Adaptive control method and system for intersection with tailgating straight movement

Abstract

The invention relates to a self-adaptive control method and system for an intersection with tailgating straight movement. The method comprises the steps that a first phase, namely an east-west straight-going phase, is started, and east-west straight-going vehicles start to continuously pass Opening a second phase, namely an east-west left-turn phase, wherein the east-west left-turn vehicle starts to continuously pass through the intersection; a third phase, namely a north-south straight-going phase, is opened, and vehicles on a north-south straight-going lane and a tailgating straight-going area start to continuously pass through the intersection; judging whether the minimum closing time of the first indication is reached or not; if yes, a second instruction is started, and the second instruction is used for indicating that the queuing vehicle on the straight lane is prohibited from entering the tailgating straight-going area; if not, ending the third phase; and starting a fourth phase, namely a north-south left-turn phase, and enabling the north-south left-turn vehicle to continuously pass through the intersection until the green light of the fourth phase is finished. By arranging the tailgating straight-going area and through self-adaptive signal control, straight-going vehicles can pass through the right-turning special lane in a limited time mode, the traffic capacity of the intersection is improved, and traffic jam is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of urban road traffic signal control, and in particular to an adaptive control method and system for an intersection with a through lane. Background Art

[0002] In recent years, some cities in China have seen the emergence of a technology that uses the right-turn lane to allow through-going vehicles to pass. By setting up a through-going area, through-going vehicles can use the right-turn lane with ample capacity next to it, further improving the intersection capacity while ensuring safety. The through-going technology has taken a major step forward in the refinement of traffic organization technology.

[0003] Chinese patent (CN214656056U) discloses a through-the-lane system, which controls through-the-lane traffic at intersections by setting fixed-duration signal lights; Chinese patent (CN106592360A) discloses a through-the-lane lane structure and a through-the-lane method, which improves the utilization rate of the intersection entrance lane by setting a waiting area and a variable lane.

[0004] These patents undoubtedly solved the problem of lack of scientific timing methods for the emerging traffic organization form of through lanes. However, with the increasing popularity of intelligent transportation today, the traditional fixed-duration timing method described in the above patents can no longer solve the increasingly congested traffic problem. Adaptive signal control technology has gradually replaced the traditional timing method; the old geomagnetic and video detection technology has also been replaced by the emerging microwave radar technology; the length of the through lane area is only set based on experience in the above patents, which lacks rationality and universality. In actual situations, the through traffic volume, road space, and queue length at different intersections are different. The length of the through lane area determines its capacity, and then determines whether as many through lane queues as possible can be cleared within a cycle. Therefore, a setting model for the length of the through lane area is proposed, which has guiding significance for whether the through lane system can be reasonably set at different intersections, and the adaptive through lane system can maximize the capacity of the intersection in the control field and reduce traffic congestion. Summary of the invention

[0005] To this end, the present invention provides an adaptive control method and system for intersections with a through lane. For intersections with a large straight traffic volume, a long straight lane queue and a right-turn lane, a through lane area is set. Through adaptive signal control, straight-moving vehicles can use the right-turn lane for a limited time, thereby improving the traffic capacity of the intersection and reducing traffic congestion.

[0006] In order to solve the above technical problems, the present invention provides an adaptive control method for setting an intersection for going straight by using a lane, comprising:

[0007] The first phase, i.e., the east-west straight phase, is turned on, and east-west straight vehicles begin to continuously pass through the intersection until the green light of the first phase ends;

[0008] The second phase, i.e. the east-west left-turn phase, is turned on, and the east-west left-turning vehicles begin to pass through the intersection continuously;

[0009] Obtain the queue length of the north-south through lane, and determine whether the remaining time of the second phase reaches the minimum opening time of the through zone; if so, start the first indication, which is used to indicate that the vehicles queuing in the through lane are allowed to enter the through zone; if not, continue to execute the step of starting the second phase;

[0010] The third phase, i.e., the north-south through phase, is started, and vehicles in the north-south through lanes and the through zone begin to continuously pass through the intersection; it is determined whether the minimum closing time of the first indication has been reached; if so, the second indication is started, and the second indication is used to indicate that vehicles queuing in the through lanes are prohibited from entering the through zone; if not, the third phase is ended;

[0011] The fourth phase, i.e., the north-south left turn phase, is turned on, and north-south left turn vehicles begin to continuously pass through the intersection until the green light of the fourth phase ends.

[0012] In one embodiment of the present invention, the minimum opening time of the through zone is calculated as follows:

[0013]

[0014] Where t' is the minimum opening time of the straight-through zone, in seconds; a' is the vehicle lane change acceleration, in m / s 2 ; D′ is the queue length of the north-south straight lane, unit is m; v is the average vehicle speed, unit is m / s.

[0015] In one embodiment of the present invention, the minimum closing time of the first indication is:

[0016]

[0017] Where t' is the minimum closing time of the first indication, in seconds; g is the duration of the straight green light in this phase, in seconds; D is the length of the detour area, in meters; v is the average speed of the vehicle, in meters per second; a is the braking acceleration of the vehicle, in meters per second 2 .

[0018] In one embodiment of the present invention, the length of the borrowing area is calculated as follows:

[0019]

[0020] Where v is the average vehicle speed, in m / s; n is the number of through lanes at the intersection; g is the duration of the through green light in this phase, in s; s is the driver's reaction time, usually taken as 0.38s; V′ is the number of vehicles queuing in the through lane after the green light in this phase ends, in veh; h is the average headway time of through vehicles, in s / veh; a is the vehicle braking acceleration, usually taken as -5m / s 2 .

[0021] In one implementation of the present invention, the queue length of the north-south through lane is acquired by microwave radar detection.

[0022] In one implementation of the present invention, the first indication and the second indication are indicated by an LED variable lane indication screen.

[0023] The present invention also provides an adaptive control system for an intersection with a through lane, characterized in that it comprises:

[0024] A first phase control unit is used to start the first phase, i.e., the east-west straight phase, and the east-west straight vehicles start to continuously pass through the intersection until the green light of the first phase ends;

[0025] The second phase control unit is used to start the second phase, i.e., the east-west left-turn phase, and the east-west left-turning vehicles begin to continuously pass through the intersection; obtain the queue length of the north-south through lane, and determine whether the remaining time of the second phase reaches the minimum opening time of the through zone; if so, start the first indication, which is used to indicate that the queued vehicles in the through lane are allowed to enter the through zone; if not, continue to execute the step of starting the second phase;

[0026] The third phase control unit is used to start the third phase, i.e., the north-south through phase, and vehicles in the north-south through lanes and the through zone begin to continuously pass through the intersection; determine whether the minimum closing time of the first indication has been reached; if so, start the second indication, which is used to indicate that vehicles queuing in the through lanes are prohibited from entering the through zone; if not, end the third phase;

[0027] The fourth phase control unit starts the fourth phase, i.e., the north-south left turn phase, and the north-south left turn vehicles begin to continuously pass through the intersection until the green light of the fourth phase ends.

[0028] The present invention also provides an adaptive control system for an intersection with a through lane, comprising:

[0029] The starting point marking of the through-the-lane area is used to indicate the starting point of the through-the-lane area;

[0030] The electronic police pole is set at the entrance of the through-travel area and installed on the side strip or sidewalk after the stop line;

[0031] A microwave radar is installed on the electronic police pole to detect the queue length on the straight lane in real time;

[0032] Electronic police equipment, installed on the electronic police pole;

[0033] The variable lane LED indicator screen is set at the starting point of the through lane area to indicate the opening and closing of the through lane area;

[0034] A standardized communication chassis for intersections is equipped with an edge computing node, which is respectively connected to the microwave radar, the electronic police equipment and the variable lane LED indicator screen for communication. The edge computing node is used to execute the adaptive control method for intersections with a lane for straight driving as described in any one of claims 1-6.

[0035] The above technical solution of the present invention has the following advantages compared with the prior art:

[0036] The adaptive control method and system for intersections with through lanes set up by the present invention can dynamically open or close the through lane function of the right turn lane according to the real-time queue length of the through lane during peak hours through adaptive signal control. Compared with simple fixed-duration timing, the present invention can significantly shorten the queue length of through vehicles, increase the traffic volume per unit time, and enhance the overall traffic efficiency of the intersection. By reasonably calculating the length of the through lane area, the traffic capacity is maximized while ensuring safety; more accurate adaptive signal control of through lane intersections is achieved through adaptive timing. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0038] Figure 1 It is a flow chart of the adaptive control method for setting up an intersection for going straight by using a lane according to the present invention.

[0039] Figure 2 It is a layout diagram of the adaptive control system for the intersection with the use of the lane to go straight according to the present invention. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0041] In the present invention, if directions (up, down, left, right, front and back) are described, it is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention.

[0042] In the present invention, "several" means one or more, "multiple" means more than two, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself. In the description of the present invention, if there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0043] In the present invention, unless otherwise clearly defined, the words "set", "install", "connect" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium; they can be fixedly connected or detachably connected or integrally formed; they can be mechanically connected or electrically connected or able to communicate with each other; they can be the internal connection of two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0044] Example 1

[0045] Reference Figure 1 As shown, this embodiment sets a through lane area for intersections with large straight traffic volume, long straight lanes and right-turn lanes. Through adaptive signal control, straight vehicles can use the right-turn lanes for a limited time to improve the traffic capacity of the intersection and reduce traffic congestion. Specifically, this embodiment provides an adaptive control method for intersections with through lanes, including the following steps:

[0046] S1. Determine the length of the through-going area. The length D (m) of the through-going area is calculated as follows:

[0047]

[0048] Where v is the average vehicle speed, in m / s; n is the number of through lanes at the intersection; g is the duration of the through green light in this phase, in s; s is the driver's reaction time, usually taken as 0.38s; V′ is the number of vehicles queuing in the through lane after the green light in this phase ends, in veh; h is the average headway time of through vehicles, in s / veh; a is the vehicle braking acceleration, usually taken as -5m / s 2 .

[0049] By reasonably calculating the length of the through lane, the traffic capacity of the intersection is maximized while ensuring safety, avoiding resource waste or inefficiency caused by too long or too short through lanes. In addition, it can ensure that vehicles have sufficient safety buffer distance and braking space when using the right-turn lane to go straight, reducing vehicle conflicts and accident risks.

[0050] S2. Adaptively generate a signal timing plan, and the order of phase changes is as follows: the first phase, that is, the east-west main signal straight phase is turned on; the second phase, that is, the east-west main signal left turn phase is turned on; the third phase, that is, the north-south main signal straight phase is turned on; the fourth phase, that is, the north-south main signal left turn phase is turned on; it should be noted that the first to fourth phases can be configured with different phases according to actual conditions;

[0051] The signal timing scheme is adaptively generated according to the sequential change of the phase, including the following steps:

[0052] S21, start the first phase, i.e., the east-west straight phase, and east-west straight vehicles start to continuously pass through the intersection until the green light of the first phase ends;

[0053] S22, starting the second phase, i.e., the east-west left-turn phase, and the east-west left-turning vehicles begin to continuously pass through the intersection;

[0054] The queue length D′(m) of the north-south through lane is obtained by microwave radar detection, and it is determined whether the remaining time of the second phase reaches the minimum opening time t′(s) of the through lane; if so, the first indication is turned on, and the first indication is used to indicate that the vehicles in the queue of the through lane are allowed to enter the through lane; if not, the step of turning on the second phase is continued;

[0055] The minimum opening time of the through zone is calculated as follows:

[0056]

[0057] Where t' is the minimum opening time of the straight-through zone, in seconds; a' is the vehicle lane change acceleration, in m / s 2 , usually 10m / s 2 ; D′ is the queue length of the north-south straight lane, unit is m; v is the average vehicle speed, unit is m / s.

[0058] S23, start the third phase, i.e., the north-south straight phase, and vehicles in the north-south straight lane and the through-going area begin to continuously pass through the intersection; determine whether the minimum closing time t'(s) of the first indication has been reached; if so, start the second indication, which is used to indicate that vehicles queuing in the through lane are prohibited from entering the through-going area; if not, end the third phase. The first indication and the second indication are indicated by the LED variable lane indication screen.

[0059] The minimum closing time of the first indication is:

[0060]

[0061] Where t' is the minimum closing time of the first indication, in seconds; g is the duration of the straight green light in this phase, in seconds; D is the length of the detour area, in meters; v is the average speed of the vehicle, in meters per second; a is the braking acceleration of the vehicle, in meters per second 2 .

[0062] The minimum opening and closing times are accurately calculated through key parameters such as phase remaining time and vehicle lane change acceleration, thereby effectively reducing conflict points and ensuring the safety of people and vehicles.

[0063] S24, the fourth phase, i.e., the north-south left turn phase, is turned on, and the north-south left turn vehicles begin to continuously pass through the intersection until the green light of the fourth phase ends. Subsequently, steps S21 to S24 are continuously executed in a loop.

[0064] This embodiment improves the traffic capacity to the maximum extent while ensuring safety by reasonably calculating the length of the through-the-lane area; and implements more accurate adaptive signal control of the through-the-lane intersection through adaptive timing.

[0065] By real-time detection of the queue length of the import through lane, the signal timing scheme can be adaptively adjusted as the traffic flow changes. During peak hours, the through lane function can be turned on to improve traffic capacity, and during low-flow periods, the through lane function can be quickly turned off to avoid resource waste, thereby adapting to different traffic flow characteristics. Reasonably calculate and set the length of the through lane area to ensure that vehicles have sufficient safety buffer distance and braking distance when using the right turn lane to go straight. The system can accurately calculate the minimum opening time and minimum closing time based on key parameters such as the remaining phase time and the vehicle lane change acceleration, which can better reduce conflict points and ensure the safety of people and vehicles.

[0066] Example 2

[0067] Based on the same inventive concept, this embodiment provides an adaptive control system for an intersection with a lane for going straight, and the principle of solving the problem is similar to the adaptive control method for an intersection with a lane for going straight, and the repeated parts will not be repeated.

[0068] This embodiment provides an adaptive control system for setting a crossing for going straight by using a lane, including:

[0069] A first phase control unit is used to start the first phase, i.e., the east-west straight phase, and the east-west straight vehicles start to continuously pass through the intersection until the green light of the first phase ends;

[0070] The second phase control unit is used to start the second phase, i.e., the east-west left-turn phase, and the east-west left-turning vehicles begin to continuously pass through the intersection; obtain the queue length of the north-south through lane, and determine whether the remaining time of the second phase reaches the minimum opening time of the through zone; if so, start the first indication, which is used to indicate that the queued vehicles in the through lane are allowed to enter the through zone; if not, continue to execute the step of starting the second phase;

[0071] The third phase control unit is used to start the third phase, i.e., the north-south through phase, and vehicles in the north-south through lanes and the through zone begin to continuously pass through the intersection; determine whether the minimum closing time of the first indication has been reached; if so, start the second indication, which is used to indicate that vehicles queuing in the through lanes are prohibited from entering the through zone; if not, end the third phase;

[0072] The fourth phase control unit starts the fourth phase, i.e., the north-south left turn phase, and the north-south left turn vehicles begin to continuously pass through the intersection until the green light of the fourth phase ends.

[0073] Example 3

[0074] Reference Figure 2 As shown, this embodiment provides an intersection adaptive control system for setting up a through lane, including:

[0075] The starting point marking line 10 of the through-the-way area is used to indicate the starting point of the through-the-way area; the starting point marking line 10 of the through-the-way area is located in the right-turn lane 3 of the entrance road (located on the right side of the through-the-way lane 1 and the through-the-way lane 2, and the through-the-way area is located on the right side of the right-turn lane 3), extending back from the stop line for several meters (determined by the calculated length of the through-the-way area). The middle or right lane of the intersection entrance road is provided with a dotted line or special mark to mark the starting point and range of the through-the-way area. Clearly indicate the starting position of the area where the driver can go through the through-the-way area, and remind the driver to enter or exit the area according to the instructions of the LED variable lane indicator screen;

[0076] The electronic police pole is installed at the entrance of the through-the-way area and 25m behind the stop line, on the side strip or sidewalk. The electronic police pole provides an installation location for electronic police equipment (such as red light running capture cameras) to meet routine law enforcement needs. It can also be used to support and fix detection devices such as microwave radars. The detection data is transmitted to the communication chassis or edge computing node through the pole chassis and Category 5e network cable.

[0077] The microwave radar 6 is installed on the electronic police pole and is used to detect the queue length on the straight lane in real time; by real-time detection of the queue length, vehicle speed and other information on the straight lane; the detection result is transmitted to the pole chassis of the electronic police pole through the network cable, and then transmitted to the edge computing node in the standardized communication chassis of the intersection;

[0078] Electronic police equipment, installed on the electronic police pole;

[0079] The variable lane LED indicator screen is set at the starting point of the through lane area to indicate the opening and closing of the through lane area;

[0080] The standardized communication chassis at the intersection is equipped with an edge computing node 5, which is respectively connected to the microwave radar, the electronic police equipment and the variable lane LED indicator screen; the edge computing node is used to execute the adaptive control method for setting the intersection for straight driving.

[0081] It should be noted that the microwave radar is connected to the pole chassis of the electronic police pole through a Category 5e network cable, and is transmitted to the communication chassis through the network cable. The edge computing node can perform real-time detection and data processing. By connecting to the microwave radar, the edge computing node can obtain the queue length, vehicle speed and other data of the straight lane in real time, and quickly process these data, calculate the opening or closing time of the borrowed straight zone, and generate a signal timing plan. According to the real-time detected traffic data and the built-in timing algorithm, the signal timing plan is dynamically generated to optimize the green light duration, borrowing time and other parameters of each phase. In addition, the edge computing node communicates with the LED variable lane indicator screen, and can control its display content in real time, and display different layouts on the variable lane LED indicator screen, such as: "You can borrow the lane to go straight" (displaying a green arrow sign); "You are prohibited from borrowing the lane to go straight" (displaying a red cross sign). When the edge computing node detects that the queue length reaches the set threshold, it automatically opens the borrowed lane to go straight; when it detects that the conditions are no longer met, it closes the borrowed lane to go straight in time to ensure traffic safety and traffic efficiency. The edge computing node detects the queue situation at the entrance of the intersection in real time. When it detects that there are too many vehicles queuing for straight driving, it quickly activates the through lane area to relieve the queue pressure. Through local data processing, the edge computing node can control the display status of the LED variable lane indicator screen in real time to ensure that vehicles enter the through lane area safely. At night or during non-peak hours, when traffic flow is low, the edge computing node can shorten the green light duration for straight driving, or directly close the through lane area to avoid wasting resources.

[0082] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] Optionally, the computer readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid state drive (SSD), or an optical disk. Among them, the random access memory may include a resistive random access memory (ReRAM) and a dynamic random access memory (DRAM). The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0084] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0087] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. An adaptive control method for setting up intersections for going straight through, characterized in that: include: The first phase, i.e., the east-west straight phase, is turned on, and east-west straight vehicles begin to continuously pass through the intersection until the green light of the first phase ends; The second phase, i.e. the east-west left-turn phase, is turned on, and the east-west left-turning vehicles begin to pass through the intersection continuously; Obtain the queue length of the north-south through lane, and determine whether the remaining time of the second phase reaches the minimum opening time of the through zone; if so, start the first indication, which is used to indicate that the vehicles queuing in the through lane are allowed to enter the through zone; if not, continue to execute the step of starting the second phase; The third phase, i.e., the north-south through phase, is started, and vehicles in the north-south through lanes and the through zone begin to continuously pass through the intersection; it is determined whether the minimum closing time of the first indication has been reached; if so, the second indication is started, and the second indication is used to indicate that vehicles queuing in the through lanes are prohibited from entering the through zone; if not, the third phase is ended; The fourth phase, i.e., the north-south left turn phase, is turned on, and north-south left turn vehicles begin to continuously pass through the intersection until the green light of the fourth phase ends.

2. The adaptive control method for setting up a crossing for going straight by using a detour according to claim 1, characterized in that: The minimum opening time of the through zone is calculated as follows: Where t' is the minimum opening time of the straight-through zone, in seconds; a' is the vehicle lane change acceleration, in m / s 2 ; D′ is the queue length of the north-south straight lane, unit is m; v is the average vehicle speed, unit is m / s.

3. The adaptive control method for setting up a straight-through intersection according to claim 1, characterized in that: The minimum closing time of the first indication is: Where t' is the minimum closing time of the first indication, in seconds; g is the duration of the straight green light in this phase, in seconds; D is the length of the detour area, in meters; v is the average speed of the vehicle, in meters per second; a is the braking acceleration of the vehicle, in meters per second 2 .

4. The adaptive control method for setting up intersections for passing through a lane according to claim 3, characterized in that: The length of the borrowing area is calculated as follows: Where, v is the average speed of the vehicle, in m / s; n is the number of through lanes at the intersection; g is the duration of the through green light in this phase, in s; s is the driver's reaction time, in s; V′ is the number of vehicles queuing in the through lane after the green light ends in this phase, in veh; h is the average headway of through vehicles, in s / veh; a is the vehicle braking acceleration, in m / s 2 .

5. The adaptive control method for setting up intersections for passing through a lane according to claim 1, characterized in that: The queue length of the north-south through lane is obtained by microwave radar detection.

6. The adaptive control method for setting up intersections for passing through a lane according to claim 1, characterized in that: The first indication and the second indication are indicated by an LED variable lane indication screen.

7. An adaptive control system for an intersection with a lane for going straight, characterized in that: include: A first phase control unit is used to start the first phase, i.e., the east-west straight phase, and the east-west straight vehicles start to continuously pass through the intersection until the green light of the first phase ends; The second phase control unit is used to start the second phase, i.e., the east-west left-turn phase, and the east-west left-turning vehicles begin to continuously pass through the intersection; obtain the queue length of the north-south through lane, and determine whether the remaining time of the second phase reaches the minimum opening time of the through zone; if so, start the first indication, which is used to indicate that the queued vehicles in the through lane are allowed to enter the through zone; if not, continue to execute the step of starting the second phase; The third phase control unit is used to start the third phase, i.e., the north-south through phase, and vehicles in the north-south through lanes and the through zone begin to continuously pass through the intersection; determine whether the minimum closing time of the first indication has been reached; if so, start the second indication, which is used to indicate that vehicles queuing in the through lanes are prohibited from entering the through zone; if not, end the third phase; The fourth phase control unit starts the fourth phase, i.e., the north-south left turn phase, and the north-south left turn vehicles begin to continuously pass through the intersection until the green light of the fourth phase ends.

8. An adaptive control system for an intersection with a lane for going straight, characterized in that: include: The starting point marking of the through-the-lane area is used to indicate the starting point of the through-the-lane area; The electronic police pole is set at the entrance of the through-travel area and installed on the side strip or sidewalk after the stop line; A microwave radar is installed on the electronic police pole to detect the queue length on the straight lane in real time; Electronic police equipment, installed on the electronic police pole; The variable lane LED indicator screen is set at the starting point of the through lane area to indicate the opening and closing of the through lane area; A standardized communication chassis for intersections is equipped with an edge computing node, which is respectively connected to the microwave radar, the electronic police equipment and the variable lane LED indicator screen for communication. The edge computing node is used to execute the adaptive control method for intersections with a lane for straight driving as described in any one of claims 1-6.

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