Traffic control method fusing 4D radar and video, electronic equipment and storage medium

Abstract

The invention provides a traffic control method fusing a 4D radar and a video. The method comprises the following steps: obtaining operation data of a traffic signal lamp of a target intersection at a current moment; acquiring traffic flow data at the current moment acquired by at least one traffic monitoring device arranged at the target intersection, wherein the traffic monitoring device comprises a video monitoring device used for monitoring the first area and a 4D radar used for monitoring whether a target vehicle exists in the second area; according to the operation data and the traffic flow data, determining an overflow signal value of each phase at the current moment in the target stage and a stage decision value of the target stage at the current moment; and according to the overflow signal value of each phase in the target stage and the stage decision value of the target stage, generating a control instruction for controlling the traffic signal lamp of the target intersection. In this way, the passing efficiency of vehicles and the safety of pedestrians crossing the street can be effectively improved, and meanwhile, the target vehicles can pass through the intersection without stopping.

Description

Technical Field

[0001] The present application relates to the technical field of traffic control, and specifically relates to a traffic control method, an electronic device, and a computer-readable storage medium that integrate 4D radar and video. Background Art

[0002] With the improvement of people's living standards, cars have become essential tools for people to travel. However, the continuous increase in urban cars has also brought a huge burden to urban road traffic. Therefore, it is necessary to control the traffic lights on urban roads to relieve urban traffic congestion and improve vehicle passing efficiency, etc.

[0003] In the related art, usually, the traffic lights at intersections are displayed according to the configured cycle duration and duration. However, when the vehicle and / or pedestrian information that appears on the road changes, or when a specific type of vehicle appears, the above method cannot adjust the traffic lights in time, affecting the passing efficiency of vehicles and the safety of pedestrians crossing the street. Summary of the Invention

[0004] To solve the above technical problems, the present application provides a traffic control method, an electronic device, and a computer-readable storage medium that integrate 4D radar and video, which can effectively improve the passing efficiency of vehicles and the safety of pedestrians crossing the street, and at the same time can enable target vehicles to pass through the intersection without stopping.

[0005] The present application provides a traffic control method that integrates 4D radar and video, including:

[0006] Obtain the operation data of the traffic lights at the target intersection at the current moment; the operation data includes the operation plan, the target phase being executed, and the light states of each phase in the target phase;

[0007] Obtain the traffic flow data at the current moment collected by at least one traffic monitoring device set at the target intersection, the traffic monitoring device includes a video monitoring device for monitoring the first area and a 4D radar for monitoring whether there are target vehicles in the second area, and the traffic flow data includes video stream data and radar detection data; the first area is set relative to the center position of the target intersection closer to the second area;

[0008] According to the operation data and the traffic flow data, determine the overflow signal value of each phase in the target phase at the current moment and the phase decision value of the target phase at the current moment;

[0009] Generate a control instruction for controlling the traffic lights at the target intersection according to the overflow signal value of each phase in the target phase and the phase decision value of the target phase.

[0010] In one embodiment, the operation plan includes operation control logic and the threshold of the number of target objects corresponding to each phase in the target phase; determining the overflow signal value of each phase in the target phase and the phase decision value of the target phase according to the operation data and traffic flow data, including:

[0011] Perform phase-correlation detection on the traffic flow data to obtain the detection results of the traffic flow sub-data correlated with each phase in the target phase;

[0012] Determine the overflow signal value of each phase in the target phase at the current moment according to the threshold of the number of target objects corresponding to each phase and the detection results of the traffic flow sub-data correlated with each phase;

[0013] Determine the phase signal value of the target phase at the current moment according to the operation control logic, the detection results of the traffic flow sub-data correlated with each phase, and the threshold of the number of target objects corresponding to each phase;

[0014] Determine the phase decision value of the target phase at the current moment according to the phase signal value of the target phase at the current moment.

[0015] In one embodiment, the detection result includes the number of target objects in the detection area corresponding to the phase; the target object includes a vehicle, the detection area includes an exit vehicle detection area, and the threshold of the number of target objects includes the threshold of the number of exit vehicles;

[0016] Determine the overflow signal value of each phase in the target phase at the current moment according to the threshold of the number of target objects corresponding to each phase and the detection results of the traffic flow sub-data correlated with each phase, including:

[0017] If the number of vehicles in the exit vehicle detection area corresponding to the target phase is greater than or equal to the threshold of the number of exit vehicles, mark the overflow status value of the target phase at the current moment as the first preset value, otherwise mark the overflow status value of the target phase at the current moment as the second preset value; the target phase is any phase in the target phase;

[0018] When the duration for which the overflow status value of the target phase is the first preset value is greater than or equal to the first preset duration as of the current moment, mark the overflow signal value of the target phase at the current moment as the third preset value, otherwise mark the overflow signal value of the target phase at the current moment as the second preset value.

[0019] In one embodiment, the target object further includes a pedestrian; the detection area further includes an import vehicle tactical detection area, an import vehicle strategic detection area, and a pedestrian detection area; the threshold of the number of target objects further includes the threshold of the number of vehicles in the tactical detection area, the threshold of the number of target vehicles, and the threshold of the number of pedestrians; the phase signal value includes a target vehicle signal value, a phase signal value, an offline signal value, a delay signal value, and a non-release phase abandonment value;

[0020] Determine the phase signal value of the target phase at the current moment according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the target object quantity threshold corresponding to each phase, including:

[0021] Determine the target vehicle signal priority request value, the vehicle phase state value, and the pedestrian phase state value of the target phase at the current moment according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the target object quantity threshold corresponding to each phase;

[0022] If the target vehicle signal priority request value of the target phase at the current moment is the fourth preset value, mark the target vehicle signal value of the target phase at the current moment and within the preset priority duration after the current moment as the first preset value, otherwise mark the target vehicle signal value of the target phase at the current moment as the second preset value;

[0023] If the phase signal value of the target phase at the previous moment is the second preset value, mark the phase signal value of the target phase at the current moment as the second preset value;

[0024] If the target vehicle signal value of the target phase at the current moment is the first preset value, mark the phase signal value of the target phase at the current moment as the first preset value;

[0025] If, as of the current moment, the duration during which the vehicle phase state value of the target phase is the second preset value has exceeded the preset second duration and the pedestrian phase state value of the target phase at the current moment is the second preset value, mark the phase signal value of the target phase at the current moment as the second preset value; if, as of the current moment, the duration during which the vehicle phase state value of the target phase is the fifth preset value has exceeded the preset second duration and the pedestrian phase state value of the target phase at the current moment is the fifth preset value, mark the phase signal value of the target phase at the current moment as the fifth preset value, otherwise mark the phase signal value of the target phase at the current moment as the first preset value;

[0026] If the phase signal value of the target phase at the current moment is the fifth preset value and the released duration of the target phase is less than the preset phase degradation duration, mark the offline signal value of the target phase at the current moment as the first preset value, otherwise mark the offline signal value of the target phase at the current moment as the second preset value;

[0027] If the delay signal value of the target phase at the previous moment is the second preset value, and the phase signal value and the offline signal value of the target phase at the current moment are not the first preset value, or the delay signal value of the target phase at the previous moment is the first preset value, and as of the previous moment, the duration during which the delay signal value of the target phase is the first preset value is less than the preset third duration, mark the delay signal value of the target phase at the current moment as the first preset value, otherwise mark the delay signal value of the target phase at the current moment as the second preset value;

[0028] If the sum of the phase application values of all waiting phases other than the target phase in the traffic plan at the current moment is greater than the second preset value, mark the non-release phase abandonment value of the target phase at the current moment as the first preset value; otherwise, mark the non-release phase abandonment value of the target phase at the current moment as the second preset value. For any waiting phase in the traffic plan, if the sum of the phase judgment values within the previous N moments as of the current moment is greater than the second preset value, mark the phase application value of the waiting phase at the current moment as the first preset value; otherwise, mark the phase application value of the waiting phase at the current moment as the second preset value. The phase judgment value of the waiting phase at the current moment is the sum of the number of vehicles in the tactical detection area of the import lane and the number of pedestrians in the pedestrian detection area for each phase in the waiting phase.

[0029] In one implementation, according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the target object quantity threshold corresponding to each phase, determine the target vehicle signal priority request value, the vehicle phase status value, and the pedestrian phase status value of the target phase at the current moment, including:

[0030] If the number of target vehicles in the strategic detection area of the import lane corresponding to the target phase is greater than or equal to the target vehicle quantity threshold, mark the target vehicle signal priority status value of the target phase at the current moment as the first preset value; otherwise, mark the target vehicle signal priority status value of the target phase at the current moment as the second preset value.

[0031] When the duration during which the target vehicle signal priority status value of the target phase is the first preset value as of the current moment is greater than or equal to the fourth preset duration, mark the target vehicle signal priority request value of the target phase at the current moment as the fourth preset value; otherwise, mark the target vehicle signal priority request value of the target phase at the current moment as the second preset value.

[0032] If the number of vehicles in the tactical detection area of the import lane corresponding to the target phase is empty, mark the vehicle detection status value of the target phase at the current moment as the fifth preset value; if the number of vehicles in the tactical detection area of the import lane corresponding to the target phase is greater than or equal to the tactical detection area vehicle quantity threshold, mark the vehicle detection status value of the target phase at the current moment as the first preset value; otherwise, mark the vehicle detection status value of the target phase at the current moment as the second preset value.

[0033] When the operation control logic is the first operation logic, mark the vehicle phase status value of the target phase at the current moment as the minimum value of the vehicle detection status values of all phases in the target phase at the current moment.

[0034] When the operation control logic is the second operation logic, if the vehicle detection status value of at least one phase in the target phase is the first preset value, mark the vehicle phase status value of the target phase at the current moment as the first preset value; otherwise, mark the vehicle phase status value of the target phase at the current moment as the maximum value of the vehicle detection status values of all phases in the target phase at the current moment.

[0035] If the number of pedestrians in the pedestrian detection area corresponding to the target phase is empty, mark the pedestrian detection status value of the target phase at the current moment as the fifth preset value; if the number of pedestrians in the pedestrian detection area corresponding to the target phase is greater than or equal to the pedestrian number threshold, mark the pedestrian detection status value of the target phase at the current moment as the first preset value; otherwise, mark the pedestrian detection status value of the target phase at the current moment as the second preset value.

[0036] Determine the minimum value of the pedestrian detection status values of all phases in the target phase at the current moment as the pedestrian phase status value of the target phase at the current moment.

[0037] In one embodiment, determining the stage decision value of the target stage at the current moment according to the stage signal value of the target stage at the current moment includes:

[0038] When the current moment has not reached the stage minimum decision moment of the target stage, determine the stage decision value of the target stage at the current moment as the first preset value.

[0039] When the current moment has reached the stage minimum decision moment of the target stage but has not reached the stage maximum decision moment of the target stage, if the stage decision value of the target stage at the previous moment is the second preset value, or the target vehicle signal value of any waiting stage other than the target stage in the traffic plan at the current moment is the first preset value, mark the stage decision value of the target stage at the current moment as the second preset value; if the phase signal value of the target stage at the current moment is the first preset value, mark the stage decision value of the target stage at the current moment as the first preset value; otherwise, mark the stage decision value of the target stage at the current moment as the maximum value among the offline signal value, delay signal value and non-release stage abandonment value of the target stage.

[0040] When the current moment has reached the stage maximum decision moment of the target stage, if the non-release stage abandonment value is greater than the second preset value, mark the stage decision value of the target stage at the current moment as the second preset value; otherwise, mark the stage decision value of the target stage at the current moment as the first preset value.

[0041] Wherein, the stage minimum decision moment and stage maximum decision moment of the target stage are determined based on the minimum green light duration and maximum green light duration of all phases in the target stage.

[0042] In one embodiment, a control instruction for controlling the traffic lights at a target intersection is generated according to the overflow signal values of each phase in a target phase and the phase decision value of the target phase, including:

[0043] When the overflow signal value of the target phase at the current moment is the first preset value, if the phase decision value of the target phase at the current moment is the first preset value, a phase continuation instruction is generated for other phases in the target phase except the target phase; otherwise, a phase end instruction is generated for other phases in the target phase except the target phase. At the same time, when the light state of the target phase is green, a phase overflow early break instruction is generated for the target phase;

[0044] When the overflow signal value of the target phase at the current moment is the second preset value, it is detected whether the phase decision value of the target phase at the current moment is greater than the second preset value. If so, a control instruction for continuing the target phase is generated; otherwise, a control instruction for ending the target phase is generated, and the next release phase is determined, and a control instruction for executing the next release phase is generated.

[0045] In one embodiment, determining the next release phase includes:

[0046] If the target vehicle signal value of a waiting phase other than the target phase in the traffic plan at the current moment is the first preset value, then this waiting phase is determined as the next release phase;

[0047] If the maximum value of the phase application values of all waiting phases other than the target phase in the traffic plan at the current moment is the first preset value, then according to the release order of each phase in the traffic plan, the waiting phase that is close to the target phase and has a phase application value of the first preset value at the current moment is determined as the next release phase.

[0048] The present application also provides an electronic device, including: a memory and a processor. Among them, computer program instructions for execution on the processor are stored on the memory. When the processor executes the computer program instructions, the traffic control method for fusing 4D radar and video as described above is implemented.

[0049] The present application also provides a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, the traffic control method for fusing 4D radar and video as described above is implemented.

[0050] As described above, in the traffic control method integrating 4D radar and video provided by the present application, traffic flow data at the current moment is collected by at least one traffic monitoring device set at the target intersection. The traffic flow data includes video stream data collected by a video monitoring device for monitoring a first area and radar detection data collected by a 4D radar for monitoring whether there is a target vehicle in a second area. By combining the operation data at the current moment, the overflow signal value of each phase in the target phase at the current moment and the phase decision value of the target phase at the current moment are determined. Then, according to the overflow signal value of each phase in the target phase and the phase decision value of the target phase, a control instruction for controlling the traffic signal lights at the target intersection is generated, so as to flexibly control the traffic signal lights at the target intersection according to the traffic conditions around the target intersection, which can effectively improve the passing efficiency of vehicles and the safety of pedestrians crossing the street, reduce the control cost, and at the same time enable the target vehicle to pass through the intersection without stopping. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a phase schematic diagram;

[0052] Figure 2 is a detection area schematic diagram;

[0053] Figure 3 is a flowchart of a traffic control method integrating 4D radar and video provided by an embodiment of the present application;

[0054] Figure 4 is a schematic architecture diagram of a traffic control system integrating 4D radar and video provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] First, relevant terms involved in the embodiments of the present application are explained.

[0057] Phase: It is used to indicate the direction and turning information of at least one traffic flow that simultaneously obtains the right of way. Each phase corresponds to a unique phase identifier, and the phase identifier can be a phase number. Taking the digital representation of the phase identifier as an example, as Figure 1 shown, Phase 1 represents east left turn, Phase 2 represents east straight, Phase 3 represents east right turn, Phase 4 represents east side pedestrians, Phase 5 represents west left turn, Phase 6 represents west straight, Phase 7 represents west right turn, Phase 8 represents west side pedestrians, Phase 9 represents south left turn, Phase 10 represents south straight, Phase 11 represents south right turn, Phase 12 represents south side pedestrians, Phase 13 represents north left turn, Phase 14 represents north straight, Phase 15 represents north right turn, and Phase 16 represents north side pedestrians.

[0058] Phase: Naming of phase combinations, including straight movement in the east-west direction, left turn in the east-west direction, straight movement in the north-south direction, left turn in the north-south direction, release of the east phase, release of the west phase, release of the south phase, release of the north phase, etc. Taking the north-south straight movement phase as an example, it includes the south straight movement phase and the north straight movement phase.

[0059] Traffic flow plan: Combinations of phase sequence and phase duration. For example, for a traffic flow plan, the phases included may be north-south straight movement, north-south left turn, east-west straight movement, east-west left turn in sequence, and the phase duration of each phase is 30 seconds.

[0060] Detection area: The area corresponding to the phase in the intersection that needs to be detected, including the exit vehicle detection area, the import vehicle tactical detection area, the import vehicle strategic detection area, and the pedestrian detection area. The exit vehicle detection area is used to detect vehicles that have entered the intersection but have not exited the intersection (i.e., between the stop lines on both sides of the intersection). The import vehicle tactical detection area is used to detect vehicles approaching the stop line and about to enter the intersection. The import vehicle strategic detection area is used to detect vehicles that are at a certain distance from the stop line and want to enter the intersection. The pedestrian detection area is used to detect pedestrians on the sidewalk. Taking the east-west straight movement phase as an example, as Figure 2 shown, the east-west straight movement phase includes the east straight movement phase and the west straight movement phase. The first area corresponding to the east straight movement phase includes the import vehicle tactical detection area 1, the exit vehicle detection area 1, and the pedestrian detection area 1. The second area corresponding to the east straight movement phase includes the import vehicle strategic detection area 1. The first area corresponding to the west straight movement phase includes the import vehicle tactical detection area 2, the exit vehicle detection area 2, and the pedestrian detection area 2. The second area corresponding to the west straight movement phase includes the import vehicle strategic detection area 2. Figure 2 The different detection areas are represented by boxes in the figure.

[0061] This embodiment provides a traffic control method integrating 4D radar and video. As Figure 3 shown, this traffic control method integrating 4D radar and video can be applied to signal control intelligent devices. The signal control intelligent devices are used to directly or indirectly control the traffic at the intersection, and can specifically be electronic devices such as edge computing devices, including:

[0062] Step S101, obtain the operation data of the traffic signal lights at the target intersection at the current moment; the operation data includes the traffic flow plan, the target phase being executed, and the light states of each phase in the target phase.

[0063] Step S102, obtain the traffic flow data at the current moment collected by at least one traffic monitoring device set at the target intersection. The traffic monitoring devices include video monitoring devices for monitoring the first area and 4D radars for monitoring whether there are target vehicles in the second area. The traffic flow data includes video stream data and radar detection data; the first area is set closer to the center position of the target intersection than the second area.

[0064] Step S103: Determine the overflow signal value of each phase in the target phase at the current moment and the phase decision value of the target phase at the current moment according to the operation data and traffic flow data.

[0065] Step S104: Generate a control instruction for controlling the traffic lights at the target intersection according to the overflow signal value of each phase in the target phase and the phase decision value of the target phase.

[0066] Among them, the target intersection is the intersection that needs traffic control, which can specifically be a crossroads, a T-shaped intersection or other forms of intersections, and no specific limitation is made here. Obtaining the operation data of the traffic lights at the target intersection at the current moment can be to obtain the operation data of the traffic lights at the target intersection periodically, such as at intervals of 1 second. The video monitoring equipment includes but is not limited to equipment such as electronic police, bayonet, traffic cameras, etc. that can collect videos and / or images to provide stable video stream data. In specific applications, the traffic monitoring equipment can specifically be a radar-vision integrated machine, etc. Optionally, the target vehicle is used to indicate a specific type of vehicle, such as an ambulance, a fire truck, a truck, etc. Since the first area is closer to the center position of the target intersection than the second area, that is, relative to the first area, the second area is farther from the center position of the target intersection. Therefore, the radar detection data collected by the 4D radar can include information such as the number of vehicles and vehicle types at positions farther from the center position of the target intersection. Continue to refer to Figure 2 , the first area can include an exit vehicle detection area and an import vehicle tactical detection area, while the second area can include an import vehicle strategic detection area. For each phase or each traffic direction of the intersection, at least one traffic monitoring device can be respectively set. It should be noted that the detection range of the 4D radar can also partially cover the detection range of the video monitoring equipment. For example, the 4D radar can also monitor part of the import vehicle tactical detection area at the same time.

[0067] Optionally, at different time periods, the operation plan of the traffic lights at the target intersection may be different. For example, the operation plan corresponding to 8:00 am to 9:00 am may be the morning peak operation plan, while the operation plan corresponding to 9:00 am to 5:00 pm may be the flat peak operation plan, etc. At the same time, the target phase executed at different moments may also be different. For example, at 7:11:10 am, the target phase executed may be north-south straight, while at 7:12:00 am, the target phase executed may be north-south left turn, etc. The phases in the target phase are the phases related to the target phase. For example, when the target phase is north-south straight, the phases in the target phase include the north straight phase, the south straight phase, the east side pedestrian phase, and the west side pedestrian phase. At the current moment, the light states of the phases in the target phase may be the same or different. For example, the light states of some phases in the target phase may be green, and the light states of some phases may be red.

[0068] Among them, the operation plan is used to indicate the traffic control rules for the traffic flow in each direction, and may include the operation plan, operation control logic, and the threshold values of the target object quantities corresponding to each phase in the target stage, the minimum green light duration, the maximum green light duration, the delay output duration, etc. When the signal machine for controlling the traffic lights at the target intersection is not integrated on the signal control intelligent device, the signal control intelligent device can periodically obtain the operation data of the traffic lights at the target intersection at the current moment from the signal machine. In addition, when the signal control intelligent device has stored different operation plans for the traffic lights at the target intersection, the operation plan in the operation data can be an operation plan identifier such as an operation plan number, and the signal control intelligent device can determine the corresponding operation plan from the local based on the operation plan identifier. Of course, the signal machine can also be integrated on the signal control intelligent device.

[0069] Among them, the overflow signal value of a phase at the current moment is used to characterize whether the number of outgoing vehicles corresponding to the phase is large at the current moment, and the stage decision value of the target stage at the current moment is used to characterize the control strategy for the target stage at the current moment, that is, whether to continue the target stage or end the target stage. According to the overflow signal values of the phases in the target stage and the stage decision value of the target stage, a control instruction for controlling the traffic lights at the target intersection can be generated, so as to adjust the state of the phase and / or adjust the released stage, etc. based on the control instruction through the signal machine, thereby achieving the improvement of the safety of pedestrians crossing the street and the vehicle passing efficiency, as well as the priority control of the passing of target vehicles, etc.

[0070] In one embodiment, the operation plan includes operation control logic and the threshold values of the target object quantities corresponding to each phase in the target stage; determining the overflow signal values of the phases in the target stage and the stage decision value of the target stage according to the operation data and traffic flow data includes:

[0071] Performing phase correlation detection on the traffic flow data to obtain the detection results of the traffic flow sub-data associated with each phase in the target stage;

[0072] Determining the overflow signal values of the phases in the target stage at the current moment according to the threshold values of the target object quantities corresponding to each phase and the detection results of the traffic flow sub-data associated with each phase;

[0073] Determining the stage signal value of the target stage at the current moment according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the threshold values of the target object quantities corresponding to each phase;

[0074] Determining the stage decision value of the target stage at the current moment according to the stage signal value of the target stage at the current moment.

[0075] Among them, the operation control logic is used to indicate the operation logic in the process of generating the phase signal value of the target phase, including the first operation logic and the second operation logic. The target objects include vehicles and pedestrians. Different phases are respectively used to control vehicles or pedestrians, and the threshold values of the number of target objects corresponding to different phases may be the same or different. At the same time, the same phase may correspond to multiple threshold values of the number of target objects. It can be understood that since the traffic flow sub-data associated with different phases are different, it is necessary to perform phase association detection on the traffic flow data to obtain the detection results of the traffic flow associated with each phase in the target phase. The detection results may include whether traffic flow sub-data associated with the phase is obtained (including video stream sub-data and radar detection sub-data), and in the case where traffic flow sub-data associated with the phase is obtained, the number of target objects in the detection area corresponding to the phase, etc. Exemplarily, continue to refer to Figure 2 , the traffic flow sub-data associated with the east straight phase may include video stream sub-data corresponding to the first import vehicle tactical detection area, the first pedestrian detection area, and the first export detection area respectively, as well as radar detection sub-data corresponding to the first import vehicle strategic detection area, etc. In this way, it is possible to accurately obtain the overflow signal value of each phase in the target phase at the current moment and the phase decision value of the target phase at the current moment, further improving the traffic efficiency of vehicles and the safety of pedestrians crossing the street.

[0076] In one embodiment, performing phase association detection on the traffic flow data to obtain the detection results of the traffic flow sub-data associated with each phase in the target phase includes:

[0077] Determining target video stream sub-data associated with the target phase from the video stream data, and determining target radar detection sub-data associated with the target phase from the radar detection data; the target phase is any phase in the target phase;

[0078] Identifying and detecting the target objects in at least one first detection area corresponding to the target phase in the target video stream sub-data to obtain the first number of target objects in each first detection area corresponding to the target phase;

[0079] Identifying and detecting the target objects in the second detection area corresponding to the target phase in the target radar detection sub-data to obtain the second number of target objects in the second detection area corresponding to the target phase.

[0080] It can be understood that although the monitoring ranges of different traffic monitoring devices set at the target intersection are different, according to the monitoring ranges of different traffic monitoring devices, it can be determined which one or which several video monitoring devices can be used to capture the video stream sub-data associated with each phase, and which 4D radar can be used to collect the radar detection sub-data associated with each phase. For example, continue to refer to Figure 2For the east straight phase, the video stream data captured by the video surveillance device installed on the east side of the target intersection and covering the exit vehicle detection area 1 and the pedestrian detection area 1, as well as the video stream data captured by the video surveillance device covering the import vehicle tactical detection area 1, can be used as the video stream sub-data associated with the east straight phase. Additionally, the radar detection data collected by the 4D radar installed on the east side of the target intersection and covering the import vehicle strategic detection area 1 can be used as the radar detection sub-data associated with the east straight phase.

[0081] Optionally, after determining the target video stream sub-data and the target radar detection sub-data associated with the target phase, identification and detection can be performed correspondingly based on the vehicle recognition algorithm and / or the pedestrian recognition algorithm to obtain the number of target objects in different detection areas. It should be noted that before identifying and detecting the target objects in the corresponding detection area of the target video stream sub-data, a rectangle can be set as the analysis range of the video stream screen based on the detection requirements to minimize interference. At the same time, when setting the exit vehicle detection area, in order to make the exit vehicle detection area cover the vehicles that have entered the intersection as much as possible, the shape of the exit vehicle detection area can be set as a polygon, such as a hexagon or an octagon, etc. In this way, the detection results of the traffic flow sub-data associated with each phase in the target stage can be accurately obtained, facilitating the subsequent accurate control of the traffic lights at the target intersection.

[0082] In one embodiment, the detection result includes the number of target objects in the detection area corresponding to the phase; the target object includes a vehicle, the detection area includes the exit vehicle detection area, and the target object quantity threshold includes the exit vehicle quantity threshold;

[0083] According to the target object quantity threshold corresponding to each phase and the detection results of the traffic flow sub-data associated with each phase, determining the overflow signal value of each phase in the target stage at the current moment includes:

[0084] If the number of vehicles in the exit vehicle detection area corresponding to the target phase is greater than or equal to the exit vehicle quantity threshold, mark the overflow status value of the target phase at the current moment as the first preset value; otherwise, mark the overflow status value of the target phase at the current moment as the second preset value; the target phase is any phase in the target stage;

[0085] When the continuous duration of the overflow status value of the target phase being the first preset value is greater than or equal to the first preset duration as of the current moment, mark the overflow signal value of the target phase at the current moment as the third preset value; otherwise, mark the overflow signal value of the target phase at the current moment as the second preset value.

[0086] Among them, the detection area corresponding to the phase includes the imported vehicle tactical detection area, the exported vehicle detection area, and the pedestrian detection area corresponding to the phase. The first preset value and the second preset value can be set according to actual needs. The first preset value can be set to be greater than the second preset value. For example, the first preset value can be set to 1, and the second preset value can be set to 0. If the number of vehicles in the exported vehicle detection area corresponding to the target phase is greater than or equal to the exported vehicle quantity threshold, it indicates that there are more vehicles in the exported vehicle detection area at the current moment. Then, mark the overflow status value of the target phase at the current moment as the first preset value. Otherwise, mark the overflow status value of the target phase at the current moment as the second preset value. When, as of the current moment, the duration during which the overflow status value of the target phase is the first preset value is greater than or equal to the first preset duration, it indicates that the situation where there are more vehicles in the exported vehicle detection area has lasted for a certain period. Then, mark the overflow signal value of the target phase at the current moment as the third preset value. Otherwise, mark the overflow signal value of the target phase at the current moment as the second preset value. The third preset value can be set according to actual needs. The third preset value is greater than the first preset value. For example, it can be set to 3, etc. The first preset duration is used to represent the maximum continuous overflow duration threshold. If the operation data of the traffic signal lights at the target intersection is obtained every 1 second at the current moment, the first preset duration can be set to 3 seconds, 4 seconds, etc. In this way, it is possible to accurately and comprehensively obtain the overflow signal values of each phase in the target stage at the current moment, further improving the traffic efficiency of vehicles.

[0087] In one embodiment, the target object further includes pedestrians; the detection area further includes the imported vehicle tactical detection area, the imported vehicle strategic detection area, and the pedestrian detection area; the target object quantity threshold further includes the tactical detection area vehicle quantity threshold, the target vehicle quantity threshold, and the pedestrian quantity threshold; the phase signal value includes the target vehicle signal value, the phase signal value, the offline signal value, the delay signal value, and the non-release phase abandonment value; the operation plan further includes the traffic plan;

[0088] Determine the phase signal value of the target stage at the current moment according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the target object quantity threshold corresponding to each phase, including:

[0089] Determine the target vehicle signal priority request value, the vehicle phase status value, and the pedestrian phase status value of the target stage at the current moment according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the target object quantity threshold corresponding to each phase;

[0090] If the target vehicle signal priority request value of the target stage at the current moment is the fourth preset value, then mark the target vehicle signal value of the target stage at the current moment and within the preset priority duration after the current moment as the first preset value. Otherwise, mark the target vehicle signal value of the target stage at the current moment as the second preset value;

[0091] If the phase signal value of the target stage at the previous moment is the second preset value, mark the phase signal value of the target stage at the current moment as the second preset value;

[0092] If the target vehicle signal value of the target stage at the current moment is the first preset value, mark the phase signal value of the target stage at the current moment as the first preset value;

[0093] If the duration during which the vehicle phase state value of the target stage has been the second preset value up to the current moment is greater than the preset second duration and the pedestrian phase state value of the target stage at the current moment is the second preset value, mark the phase signal value of the target stage at the current moment as the second preset value; if the duration during which the vehicle phase state value of the target stage has been the fifth preset value up to the current moment is greater than the preset second duration and the pedestrian phase state value of the target stage at the current moment is the fifth preset value, mark the phase signal value of the target stage at the current moment as the fifth preset value, otherwise mark the phase signal value of the target stage at the current moment as the first preset value;

[0094] If the phase signal value of the target stage at the current moment is the fifth preset value and the released duration of the target stage is less than the preset stage degradation duration, mark the offline signal value of the target stage at the current moment as the first preset value, otherwise mark the offline signal value of the target stage at the current moment as the second preset value;

[0095] If the delay signal value of the target stage at the previous moment is the second preset value, and the phase signal value and the offline signal value of the target phase at the current moment are not the first preset value, or the delay signal value of the target stage at the previous moment is the first preset value, and the duration during which the delay signal value of the target stage has been the first preset value up to the previous moment is less than the preset third duration, mark the delay signal value of the target stage at the current moment as the first preset value, otherwise mark the delay signal value of the target stage at the current moment as the second preset value;

[0096] If the sum of the stage application values of all waiting stages other than the target stage in the traffic plan at the current moment is greater than the second preset value, mark the non-release stage abandonment value of the target stage at the current moment as the first preset value, otherwise mark the non-release stage abandonment value of the target stage at the current moment as the second preset value; wherein, for any waiting stage in the traffic plan, if the sum of the stage judgment values within the previous N moments up to the current moment is greater than the second preset value, mark the stage application value of the waiting stage at the current moment as the first preset value, otherwise mark the stage application value of the waiting stage at the current moment as the second preset value; the stage judgment value of the waiting stage at the current moment is the sum of the number of vehicles in the import vehicle tactical detection area and the number of pedestrians in the pedestrian detection area of each phase in the waiting stage.

[0097] Optionally, the target vehicle signal priority request value is used to indicate whether there is a target vehicle that needs to pass, the vehicle detection status value is used to indicate whether to continue to prioritize vehicle passage, and the pedestrian phase status value is used to indicate whether to continue to prioritize pedestrian passage. Since the detection results of the traffic flow sub-data associated with each phase can represent the number of target objects corresponding to each phase, therefore, the target vehicle signal priority request value, the vehicle phase status value, and the pedestrian phase status value of the target phase at the current moment can be determined by combining the target object number threshold corresponding to each phase and / or the operation control logic.

[0098] Optionally, the fourth preset value can be set according to actual needs. The fourth preset value is greater than the third preset value, for example, it can be set to 4, etc. The preset priority duration is used to indicate the duration for which the target vehicle needs to pass with priority. Specifically, it can combine the distance between the strategic detection area and the stop line of the target intersection and the vehicle speed to determine the driving duration required for the vehicle in the strategic detection area to drive from the strategic detection area to the stop line and pass through the target intersection, and then determine the preset priority duration based on this driving duration. Of course, it can also be set to a fixed value, for example, it can be set to 15 seconds, etc. The target vehicle signal value is used to indicate whether to prioritize the passage of the target vehicle. It should be noted that if the target vehicle signal value of the target phase at the previous moment is the first preset value, and the duration for which the target vehicle signal value of the target phase is the first preset value is less than the preset priority duration, then it can be directly determined that the target vehicle signal value of the target phase at the current moment is the first preset value.

[0099] Optionally, the preset second duration and the preset third duration can be set according to actual needs. For example, the preset second duration can be set to 3 seconds, 4 seconds, etc., and the preset third duration can be set to 3 seconds, 5 seconds, etc. The fifth preset value can be set according to actual needs. The fifth preset value is less than the third preset value and greater than the first preset value. For example, it can be set to 2, etc. The preset stage degradation duration is used to indicate the minimum duration that a stage needs to maintain. For example, it can be set to 30 seconds, etc. The delay signal value is used to indicate whether the control instruction at a certain moment needs to take effect after a preset third duration. For example, assuming that a control instruction for ending the target stage is generated at 9:10:01 am, if the preset third duration is 3 seconds, the delay signal value from 9:10:02 am to 9:10:04 am is the first preset value. N is a positive integer. For example, it can be set to 3, 4, etc. The passing plan includes multiple stages. Any stage other than the target stage in the passing plan can be called a waiting stage. For each waiting stage other than the target stage in the passing plan, the stage judgment value and the stage application value of the waiting stage at the current moment can be calculated in sequence. Then, according to the stage application values of all waiting stages at the current moment, the non-release stage abandonment value of the target stage at the current moment can be determined. In this way, the stage signal value of the target stage at the current moment can be accurately and quickly obtained, further improving the passing efficiency of vehicles and the safety of pedestrians crossing the street.

[0100] In one embodiment, according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase, and the target object quantity threshold corresponding to each phase, determining the target vehicle signal priority request value, the vehicle phase state value, and the pedestrian phase state value of the target phase at the current moment includes:

[0101] If the number of target vehicles in the target vehicle strategic detection area corresponding to the target phase is greater than or equal to the target vehicle quantity threshold, mark the target vehicle signal priority state value of the target phase at the current moment as the first preset value; otherwise, mark the target vehicle signal priority state value of the target phase at the current moment as the second preset value.

[0102] When the continuous duration for which the target vehicle signal priority state value of the target phase is the first preset value up to the current moment is greater than or equal to the fourth preset duration, mark the target vehicle signal priority request value of the target phase at the current moment as the fourth preset value; otherwise, mark the target vehicle signal priority request value of the target phase at the current moment as the second preset value.

[0103] If the number of vehicles in the import vehicle tactical detection area corresponding to the target phase is empty, mark the vehicle detection status value of the target phase at the current moment as the fifth preset value; if the number of vehicles in the import vehicle tactical detection area corresponding to the target phase is greater than or equal to the vehicle number threshold of the tactical detection area, mark the vehicle detection status value of the target phase at the current moment as the first preset value, otherwise mark the vehicle detection status value of the target phase at the current moment as the second preset value;

[0104] When the operation control logic is the first operation logic, mark the vehicle phase status value of the target phase at the current moment as the minimum value of the vehicle detection status values of all phases in the target phase at the current moment;

[0105] When the operation control logic is the second operation logic, if the vehicle detection status value of at least one phase in the target phase is the first preset value, mark the vehicle phase status value of the target phase at the current moment as the first preset value, otherwise mark the vehicle phase status value of the target phase at the current moment as the maximum value of the vehicle detection status values of all phases in the target phase at the current moment;

[0106] If the number of pedestrians in the pedestrian detection area corresponding to the target phase is empty, mark the pedestrian detection status value of the target phase at the current moment as the fifth preset value; if the number of pedestrians in the pedestrian detection area corresponding to the target phase is greater than or equal to the pedestrian number threshold, mark the pedestrian detection status value of the target phase at the current moment as the first preset value, otherwise mark the pedestrian detection status value of the target phase at the current moment as the second preset value;

[0107] Determine the minimum value of the pedestrian detection status values of all phases in the target phase at the current moment as the pedestrian phase status value of the target phase at the current moment.

[0108] Optionally, the target vehicle number threshold can be set according to actual needs, for example, it can be set to 1 or 2, etc. The fourth preset duration can be set according to actual needs, for example, it can be set to 2 seconds or 3 seconds, etc. The target vehicle signal priority request value of the target phase at the current moment is the fourth preset value, indicating that there is a need for target vehicle priority passage in the target phase. The number of vehicles in the import vehicle tactical detection area being empty can be understood as the number of vehicles in the import vehicle tactical detection area being zero. The vehicle number threshold of the tactical detection area can be set according to actual needs, for example, it can be set to 1 or 2, etc. The vehicle detection status value of the target phase at the current moment being the first preset value indicates that there are more vehicles in the passing direction corresponding to the target phase that need to pass through the target intersection. The first operation logic and the second operation logic can be set according to actual needs, for example, the first operation logic can be the AND logic, and the second operation logic can be the ADD logic.

[0109] In one embodiment, determining the stage decision value of the target stage at the current moment according to the stage signal value of the target stage at the current moment includes:

[0110] When the stage minimum decision moment of the target stage is not reached at the current moment, determining the stage decision value of the target stage at the current moment as the first preset value;

[0111] When the stage minimum decision moment of the target stage is reached at the current moment but the stage maximum decision moment of the target stage is not reached, if the stage decision value of the target stage at the previous moment is the second preset value, or the target vehicle signal value of any waiting stage other than the target stage in the passing plan is the first preset value at the current moment, marking the stage decision value of the target stage at the current moment as the second preset value; if the phase signal value of the target stage at the current moment is the first preset value, then marking the stage decision value of the target stage at the current moment as the first preset value, otherwise marking the stage decision value of the target stage at the current moment as the maximum value among the offline signal value, delay signal value and non-release stage abandonment value of the target stage;

[0112] When the stage maximum decision moment of the target stage is reached at the current moment, if the non-release stage abandonment value is greater than the second preset value, then marking the stage decision value of the target stage at the current moment as the second preset value, otherwise marking the stage decision value of the target stage at the current moment as the first preset value;

[0113] Wherein, the stage minimum decision moment and stage maximum decision moment of the target stage are determined based on the minimum green light duration and maximum green light duration of all phases in the target stage.

[0114] Optionally, the minimum decision-making moment and the maximum decision-making moment of the target phase are used to indicate the time range during which the target phase can be adjusted and controlled. Among them, the operation plan may include the minimum green light duration, the maximum green light duration, and the delay output duration corresponding to each phase in the target phase. The minimum green light duration is used to indicate the minimum duration when the light state is green, the maximum green light duration is used to indicate the maximum duration when the light state is green, and the delay output duration is used to indicate the duration by which the control instruction is delayed from generation to taking effect. At the first moment of entering the target phase (i.e., the previous moment belongs to another phase), the minimum decision-making moment of the target phase can be determined based on the minimum decision-making duration of the target phase, and the maximum decision-making moment of the target phase can be determined based on the maximum decision-making duration of the target phase. The minimum decision-making duration of the target phase is the value obtained by subtracting the maximum delay output duration and the preset duration from the minimum value among the minimum green light durations of all phases in the target phase. The maximum decision-making duration of the target phase is the value obtained by subtracting the maximum delay output duration and the preset duration from the minimum value among the maximum green light durations of all phases in the target phase. The preset duration can be set according to actual needs, such as it can be set to 4 seconds, etc. For example, assume that the current moment 9:10:10 is the first moment of the target phase, the minimum decision-making duration of the target phase is 20 seconds, and the maximum decision-making duration is 30 seconds. Then the minimum decision-making moment of the target phase is 9:10:30, and the maximum decision-making moment of the target phase is 9:10:40. Continuing with the above example, if the current moment is 9:10:20, it means that the current moment has not reached the minimum decision-making moment of the target phase; if the current moment is 9:10:35, it means that the current moment has reached the minimum decision-making moment of the target phase but has not reached the maximum decision-making moment of the target phase; if the current moment is 9:10:40, it means that the current moment has reached the maximum decision-making moment of the target phase.

[0115] Optionally, when the minimum stage decision moment of the target stage has not been reached at the current moment, it indicates that the target stage cannot be adjusted, and then the stage decision value of the target stage at the current moment is determined to be the first preset value. When the minimum stage decision moment of the target stage has been reached at the current moment but the maximum stage decision moment of the target stage has not been reached, it indicates that the target stage can be adjusted, and then the stage decision value of the target stage at the current moment is determined according to the stage decision value of the target stage at the previous moment, the target vehicle signal value of any waiting stage other than the target stage in the current moment in the passing plan, or the phase signal value of the target stage at the current moment. Among them, since any one of the offline signal value, delay signal value, and non-release stage abandonment value of the target stage takes the first preset value or the second preset value, therefore, the stage decision value of the target stage at the current moment is correspondingly the first preset value or the second preset value. In this way, according to the size of the current moment relative to the minimum stage decision moment and the maximum stage decision moment of the target stage, the stage decision value of the target stage at the current moment is determined based on the corresponding method, which can accurately and timely obtain the stage decision value of the target stage at the current moment, and further improve the passing efficiency of vehicles and the safety of pedestrians crossing the street.

[0116] In one embodiment, according to the overflow signal value of each phase in the target stage and the stage decision value of the target stage, a control instruction for controlling the traffic signal lights of the target intersection is generated, including:

[0117] When the overflow signal value of the target phase at the current moment is the first preset value, if the stage decision value of the target stage at the current moment is the first preset value, then a phase continuation instruction is generated for other phases in the target stage except the target phase, otherwise a phase end instruction is generated for other phases in the target stage except the target phase, and at the same time, when the light state of the target phase is green, a phase overflow early break instruction is generated for the target phase;

[0118] When the overflow signal value of the target phase at the current moment is the second preset value, it is detected whether the stage decision value of the target stage at the current moment is greater than the second preset value. If so, a control instruction for continuing the target stage is generated, otherwise a control instruction for ending the target stage is generated, and the next release stage is determined, and a control instruction for executing the next release stage is generated.

[0119] Optionally, when the overflow signal value of the target phase at the current moment is the first preset value, it indicates that there are many vehicles in the exit vehicle detection area corresponding to the target phase at the current moment. It is necessary to stop the import vehicle tactical detection area corresponding to the target phase from entering the exit vehicle detection area. Therefore, if the light state of the target phase is green, a phase overflow early break instruction for the target phase is generated to adjust the light state of the target phase to red. If the light state of the target phase is red, no control instruction for the target phase is generated. At the same time, if the phase decision value of the target phase at the current moment is the first preset value, it indicates that there are a certain number of vehicles in the import vehicle tactical detection area corresponding to a phase in the target phase and / or there are target vehicles in the import vehicle strategic detection area. Then, a phase continuation instruction is generated for other phases except the target phase in the target phase to keep the light states of other phases green. If the phase decision value of the target phase at the current moment is not the first preset value, a phase end instruction is generated for other phases except the target phase in the target phase to adjust the light states of other phases to red.

[0120] Optionally, when the overflow signal value of the target phase at the current moment is the second preset value, it indicates that there are few or no vehicles in the exit vehicle detection area corresponding to the target phase at the current moment. Then, it is detected whether the phase decision value of the target phase at the current moment is greater than the second preset value. For example, it is detected whether the phase decision value of the target phase at the current moment is the first preset value. If so, a control instruction to continue the target phase is generated to continue maintaining the execution of the target phase. Otherwise, a control instruction to end the target phase is generated to end the execution of the target phase, determine the next release phase, and generate a control instruction to execute the next release phase. In this way, control instructions for controlling the traffic lights at the target intersection can be accurately generated, further improving the traffic efficiency of vehicles and the safety of pedestrians crossing the street.

[0121] In an embodiment, determining the next release phase includes:

[0122] If the target vehicle signal value of a waiting phase other than the target phase in the traffic plan at the current moment is the first preset value, then this waiting phase is determined as the next release phase;

[0123] If the maximum value of the phase application values of all waiting phases other than the target phase in the traffic plan at the current moment is the first preset value, then according to the release order of each phase in the traffic plan, the waiting phase that is close to the target phase and has a phase application value of the first preset value at the current moment is determined as the next release phase.

[0124] Optionally, the target vehicle signal value of the waiting phase at the current moment can be determined by referring to the acquisition method of the target vehicle signal value of the aforementioned target phase at the current moment. At the same time, the phase application value of the waiting phase at the current moment can be referred to the aforementioned description, which will not be elaborated here. If the target vehicle signal value of a waiting phase other than the target phase in the traffic plan is the first preset value at the current moment, it indicates that there is a target vehicle approaching the target intersection and needs to pass when the traffic signal at the target intersection executes this waiting phase. In order to preferentially control the passage of the target vehicle, this waiting phase can be determined as the next release phase. If the maximum value of the phase application values of all waiting phases other than the target phase in the traffic plan is the first preset value at the current moment, it indicates that there are vehicles in the tactical detection area of the inlet of the phase in the waiting phase and / or pedestrians in the sidewalk detection area. Then, according to the release order of each phase in the traffic plan, the waiting phase that is close to the target phase and has a phase application value of the first preset value at the current moment is determined as the next release phase. For example, assuming that the release order of each phase in the traffic plan is the north-south straight phase, the north-south left-turn phase, the east-west straight phase, and the east-west left-turn phase in sequence. When the target phase is the north-south straight phase, if the phase application value of the east-west straight phase is the first preset value at the current moment, the east-west straight phase is determined as the next release phase.

[0125] It should be noted that when the signal machine is not integrated on the signal control intelligent device, the signal control intelligent device can send detector instructions corresponding to different phases to the signal machine according to the control instructions, so that the signal machine performs corresponding control operations on the traffic signals at the target intersection. For example, when the overflow signal value of the target phase is the first preset value at the current moment, if the light state of the target phase is green, the signal control intelligent device can send a detector instruction with an instruction value of 100 to the signal machine for the target phase, so that the signal machine adjusts the light state of the target phase to red. If the light state of the target phase is red, the signal control intelligent device can send a detector instruction with an instruction value of 0 to the signal machine for the target phase, so that the signal machine keeps the light state of the target phase unchanged, that is, remains red.

[0126] Specifically, the signal machine is communicatively connected to the signal control intelligent device. For example, the signal machine and the signal control intelligent device can communicate through protocol messages. The signal machine can include a local fixed-cycle control mode and a traffic control mode. In the local fixed-cycle control mode, the signal machine will control the traffic signals to execute different traffic plans according to the preset cycle. In the traffic control mode, the signal machine will control the traffic signals according to the phase detector instructions sent by the signal control intelligent device. The signal machine can periodically or real-time send the operation data at the current moment to the signal control intelligent device; the operation data includes the operation plan, the executed target phase, and the light states of each phase in the target phase. At the same time, the signal machine can control the light states of each phase of the traffic signals at the target intersection according to the detector instructions sent by the signal control intelligent device.

[0127] In summary, in the traffic control method that integrates 4D radar and video provided by the above embodiments, traffic flow data at the current moment is collected by at least one traffic monitoring device disposed at the target intersection. The traffic flow data includes video stream data collected by a video monitoring device for monitoring a first area and radar detection data collected by a 4D radar for monitoring whether there are target vehicles in a second area. By combining the operation data at the current moment, the overflow signal value of each phase in the target phase at the current moment and the phase decision value of the target phase at the current moment are determined. Furthermore, according to the overflow signal values of each phase in the target phase and the phase decision value of the target phase, a control instruction for controlling the traffic signal lights at the target intersection is generated, so as to flexibly control the traffic signal lights at the target intersection according to the traffic conditions around the target intersection, which can effectively improve the passing efficiency of vehicles and the safety of pedestrians crossing the street, reduce the control cost, and at the same time enable the target vehicle to pass through the intersection without stopping.

[0128] Based on the same inventive concept as the foregoing embodiments, the traffic control method that integrates 4D radar and video provided by this embodiment will be specifically described below through a specific example. In this example, the traffic monitoring device is used as the detection device, the signal control intelligent device is used as the signal control intelligent agent, the target vehicle is used as a special vehicle, the import vehicle tactical detection area is used as the import tactical detection area, the import vehicle strategic detection area is used as the import strategic detection area, and the export vehicle detection area is used as the export detection area.

[0129] The traffic control method that integrates 4D radar and video provided by this embodiment can be implemented by a traffic control system that integrates 4D radar and video. As Figure 4 shown, the system may include a detection device, a signal machine, and a signal control intelligent agent that is communicatively connected to the detection device and the signal machine respectively. First, the functions of each part that composes the system will be described separately:

[0130] Detection device: It includes devices such as 4D radar, electronic police, checkpoint, traffic flow camera, and radar-vision device, and provides stable video stream and radar detection data for the signal control intelligent agent.

[0131] The signal control intelligent agent includes a total of four major functional modules or functions: detection and analysis, plan reading, control decision-making, and instruction output. Among them,

[0132] Detection and analysis includes: ① Region annotation: First, set an arbitrary rectangle as the analysis range of the signal control intelligent agent in the video stream picture and select a motor vehicle or pedestrian recognition algorithm. For 4D radar detection, the above operations are not required; ② Target detection: Set an arbitrary octagon detection area in the video annotation range or 4D radar detection range and select a motor vehicle or pedestrian recognition algorithm; ③ Data statistics: Count the number of motor vehicles or pedestrians in the detection area.

[0133] Scenario reading includes: ① Lamp status reading: The signal control agent reads the signal machine message through the protocol or the secondary signal control platform to obtain the current operation plan number, stage number, and lamp status; ② Parameter configuration: Initialize the global general parameters and phase-time period parameters based on the current operation timing plan, intersection channelization, and traffic organization.

[0134] Control decision-making includes: ① Priority control: Special vehicles detected by the 4D radar (such as trucks, ambulances, fire trucks, etc.) are given priority response in the phase; ② Overflow control: In response to the overflow of exit vehicles, the current release is terminated early to the overflow exit phase; ③ Phase duration: Determine the termination of the phase based on the current phase traffic flow and operation logic; ④ Specified phase: When the phase is about to terminate, decide the next release phase.

[0135] Instruction output includes: ① Phase instruction: The signal machine in the induction mode communicates with the phase and instructions; ② Detection data: The signal machine in the induction mode communicates with the phase and detection data.

[0136] The signal machine includes functional modules such as scenario configuration, control mode setting, output lamp status, and receiving execution instructions. Among them, scenario configuration: Phase setting, stage setting, scenario setting, time period setting, and plan setting required by the signal machine in the local fixed-cycle control mode. Control mode setting: Provide at least the local fixed-cycle control mode and the local traffic control mode. Output lamp status: Provide the signal control agent with the current operation plan number, stage number, and lamp status of the phase. Receiving execution instructions: The signal machine receives the phase number and phase signal value sent by the signal control agent and executes operations such as phase extension, phase termination, early phase, and downgrading and recovery of the phase control mode.

[0137] Based on the above traffic control system and Figure 1 , the traffic control method integrating 4D radar and video provided in this embodiment includes the following processes:

[0138] S1. The signal machine configures the scenario and runs the local fixed-cycle control mode.

[0139] Specifically, based on the timing plan of the target intersection, the signal machine performs phase setting, stage setting, scenario setting, time period setting, and plan setting respectively. Among them, phase setting: Configure the numbers, minimum greens, maximum greens, and unit green light parameters of the corresponding traffic monitoring devices for each phase in the phase setting interface. Stage setting: Configure the corresponding phases, yellow flashes, all reds, delays, early breaks, etc. parameters for each stage in the stage setting interface. Scenario setting: Add the target stage one by one in the scenario setting interface and configure the corresponding green light duration parameters. Time period setting: Configure the scenario for each time period in the time period setting interface and select the local fixed-cycle control mode in the corresponding operation mode. Plan setting: Set the operation plan in the plan setting interface. If it is the same every day, select the operation plan from Sunday to Saturday.

[0140] S2. The signal control intelligent agent accesses the signal machine, 4D radar, and video stream, and initializes the parameter configuration.

[0141] Among them, for the signal control intelligent agent to access the signal machine, it can be through protocol docking between the signal control intelligent agent and the signal machine to read the operation plan number, stage number, and lamp status of the phase of the signal machine in real time. Taking the north-south straight phase of the morning peak plan in operation at time t as an example, as shown in Table 1.

[0142] Table 1

[0143]

[0144] Among them, the signal control intelligent agent also needs to access the 4D radar and video stream, set up a virtual detection area, and generate detection data. The traffic monitoring devices accessed by the signal control intelligent agent are not limited to 4D radar, electronic police, checkpoint, traffic flow camera, and radar-vision integrated devices, etc. In this embodiment, taking the access of the video stream from the video terminal box as an example.

[0145] Specifically, the signal control intelligent agent first obtains the video stream from the video terminal box and the radar detection data from the 4D radar, then configures the target analysis area for the video stream, and selects the motor vehicle recognition algorithm or pedestrian algorithm, and then configures the target detection area within the target analysis area and binds the associated phase. After binding, it will be reflected in the phase-time period parameters of the basic parameter configuration, as shown in Table 2 below. For specific phases, please refer to Figure 1 as shown.

[0146] Table 2

[0147]

[0148] Among them, the basic parameter configuration of the signal control intelligent agent includes global general parameter configuration and local phase-time period parameter initialization configuration. Among them, the global general parameters include general parameters and configurations, the correspondence between the timing plan and the stage, and the correspondence between the stage and the phase. Among them, the general parameters and configurations include: video stream capture interval, maximum consecutive number threshold for the offline state of the video stream, maximum consecutive number threshold for overflow, maximum consecutive number threshold for the empty release state of the stage, consecutive recognition times of special vehicles, and priority duration of special vehicles, as shown in Table 3.

[0149] Table 3

[0150] Serial Number Name Meaning Parameter Unit 1 INT Video Stream Capture Interval 1 Second 2 ANO Threshold of Maximum Consecutive Times for Video Stream Offline Status 5 Time 3 TJNO Threshold of Maximum Consecutive Times for Overflow 3 Time 4 TJN Threshold of Maximum Consecutive Frequency for Phase Idle State 3 Time 5 SJN Continuous Identification Times of Special Vehicles 2 Time 6 SJT Priority Duration of Special Vehicles 15 Second

[0151] For the correspondence between the timing plan and the stage, the correspondence between the timing plan and the stage in the signal control intelligent agent is consistent with the docked signal machine, as shown in Table 4.

[0152] Table 4

[0153]

[0154] Among them, for the correspondence between phases and phases, the correspondence between phases and phases in the signal control agent is consistent with that of the connected signal machine, as shown in Table 5 below.

[0155] Table 5

[0156]

[0157] Among them, for the initialization configuration of phase-time period parameters, the time period parameters include the time period range, plan number, and operation logic; the phase parameters can include the signal machine receiving detector, minimum green light duration (which can also be simply referred to as minimum green), maximum green light duration (which can also be simply referred to as maximum green), phase degradation duration, special vehicle threshold, strategic detection area threshold, tactical detection area threshold, number of exit vehicles threshold, and delayed output duration, as shown in Table 6. Taking the configuration of the time period parameters of the east phase as an example. In this example, the number of vehicles in the strategic detection area is not considered, that is, the strategic detection area threshold is not considered.

[0158] Table 6

[0159]

[0160] Among them, the signal control agent binds to the signal machine receiving detector, that is, the strategic detection area j YC, tactical detection area j JC and the binding relationship between the exit detection area j OC and the signal machine receiving detector.

[0161] Time period: The time reference range of the signal machine timing plan number, which does not participate in the operation.

[0162] Operation logic: To adapt to the logical judgment of the number of pedestrians and motor vehicles and the threshold required for the termination of the timing plan in different time periods, two logical operations of 'and' and 'add' are provided. Among them: 'and' is to judge the number of vehicles or pedestrians in the detection area of the same phase separately with the corresponding threshold; 'add' is to judge the sum of the number of vehicles in different detection areas of the same phase and the sum of the corresponding thresholds, as shown in Table 7 below.

[0163] Table 7

[0164]

[0165]

[0166] Regarding the minimum green light duration of the phase j t min , which is the minimum green light duration of the phase under the current time period operation plan.

[0167] Regarding the maximum green light duration of the phase j tmax , which is the maximum green light duration of the phase under the current period operation plan.

[0168] Regarding the stage degradation duration j t fix , which is the green light duration of the phase during stage degradation under the current period operation plan, with the unit of seconds.

[0169] Regarding the special vehicle threshold j NSC is the threshold for special vehicles to apply for signal priority in phase j, with the unit of vehicles.

[0170] Regarding the strategic detection area threshold j NYC is the vehicle number threshold of the imported strategic detection area bound to phase j j YC.

[0171] Regarding the tactical detection area threshold j NJC is the vehicle number threshold of the imported tactical detection area bound to phase j j JC.

[0172] Regarding the export vehicle number threshold j NOC is the vehicle number threshold of the export detection area bound to phase j j OC.

[0173] Regarding the phase pedestrian threshold j NJP is the pedestrian detection area bound to phase j j JP.

[0174] S3. The signal control agent performs data processing.

[0175] Specifically, the signal control agent calculates the overflow signal value, special vehicle priority request value, stage instruction value, etc. based on the relationship between the online status of traffic monitoring devices, the export overflow status, the number of special vehicles in the imported strategic detection area, the number of vehicles in the imported tactical detection area, and the number of pedestrians in the sidewalk detection area and the corresponding thresholds. The specific steps are as follows:

[0176] S31. Obtain the detection area values, the operating status of the signal machine, and the relevant parameters of the signal control agent.

[0177] Specifically, obtain the detection area values every second, including: obtaining the number of vehicles in the export detection area of phase j at time t j noc t , the number of special vehicles in the imported strategic detection area j nsc t , the number of vehicles in the imported tactical detection area j njc t and the number of pedestrians in the sidewalk detection area j njp t; Query the status of the signal controller, including: querying the operation plan number m, stage number p, and phase j lamp status of the signal controller at time t; relevant parameters of the signal control agent, including: based on the operation plan number m of the signal controller at time t, obtaining relevant parameters from the basic parameter table of the signal control agent.

[0178] S32. Calculate the overflow signal value of phase j in stage p

[0179] Overflow status value Judge the number of vehicles in the exit detection area of phase j at time t j noc t Whether it is greater than the threshold If so, record the overflow status value Otherwise, record the overflow status value

[0180] Overflow signal value If the sum of the overflow status values of the exit detection area bound to phase j in stage p during the time period [t - TJNO, t] Reaches the maximum continuous overflow count threshold TJNO, that is Then record the overflow signal value of phase j in stage p at time t Otherwise,

[0181] S33. Calculate the special vehicle signal priority request value j oans t :

[0182] Judge the number of special vehicles in the import strategic detection area of phase j at time t j nsc t Whether it is not less than the special vehicle threshold j NSC, if so, record the signal priority status value of phase j as 1, that is j ans t = 1; otherwise, record the signal priority status value of phase j as 0, that is j ans t = 0.

[0183] Judge whether the number of consecutive occurrences of j ans t = 1 during the time period [t - SJN, t] is not less than SJN. If so, record the special vehicle signal priority request value of phase j as 4, that is j oans t = 4; otherwise, record the special vehicle signal priority request value of phase j as 0, that is j oans t = 0.

[0184] S34. Calculate the phase status value: including the detection status valuej ano t and the vehicle and pedestrian phase state values (including the vehicle phase state value and the pedestrian phase state value).

[0185] Phase detection status value j ano t : If the value of the detection area of phase j at time t j njc t or j njp t is empty, then record the phase detection status value of phase j j ano t = 2; otherwise, if j njc t is greater than the threshold j NJC or j njp t is greater than j NJP, then record the phase detection status value of phase j j ano t = 1; conversely, record the phase detection status value of phase j j ano t = 0.

[0186] Vehicle phase state value p tpc t : If the operation logic at time t is 'and', then the vehicle phase state value takes the smaller value of the phase detection status values of all motor vehicle phases within phase p That is Conversely, if the operation logic is 'add', then determine whether there is a 1 in the phase detection status values of all motor vehicle phases within phase p If there is then the vehicle phase state value p tpc t takes 1; conversely, take the maximum value.

[0187] Pedestrian phase state value p tpp t : The pedestrian phase state value takes the smaller value of the phase detection status values of the pedestrian phases within phase p That is

[0188] S35. Calculate the stage signal value: Calculate the special vehicle signal value, phase signal value, offline signal value, delay signal value and the abandonment value of phase p θ in stage p.

[0189] Special vehicle signal value p os t : If the special vehicle signal priority request value is received in phase p at time t j oanst = 4 and the signal priority stage p ′ is the p stage, then the special vehicle signal value within the SJT duration after time t is p os t = 1; conversely, p os t = 0.

[0190] Phase signal value p op t : It is necessary to comprehensively consider the phase signal value, special vehicle signal value, vehicle phase state value, and pedestrian phase state value of the previous second.

[0191] Case 1: Considering the phase signal value: If the phase signal value at time t - 1 p op t-1 = 0, then the phase signal value of the p stage at time t p op t = 0;

[0192] Case 2: Considering the special vehicle signal value: If the special vehicle signal value at time t p os t = 1, then p op t = 1;

[0193] Case 3: Considering the vehicle phase state value and pedestrian phase state value: If the vehicle phase state value at time t p tpc t = 0 reaches the maximum continuous frequency threshold of the p stage empty running state p TJN and the pedestrian phase state value p tpp t = 0, that is and p tpp t = 0, then record the p op t of the p stage at time t p tpc t = 2 reaches the maximum continuous frequency threshold of the p stage empty running state p TJN and the pedestrian empty running state value p tpp t = 2, that is and p tpp t = 2, then record the phase signal value of the p stage at time t p op t = 2; conversely, record the phase signal value of the p stage at time t p op t = 1.

[0194] Offline signal valuep oa t : If the phase signal value in the p stage at time t p op t = 2 and the elapsed time t of the p stage is less than the stage degradation time then record p oa t = 1; otherwise, record p oa t = 0.

[0195] Delay signal value p od t : When p TD t > 0, the delay signal value is 1 in the following two cases: ① The delay signal value p od t-1 = 0, and at time t in the p stage p op t ≠ 1,[[]] p oa t ≠ 1; ② p od t-1 = 1 in the continuous occurrence times from time t - 1 - p TD t to time t - 1 is less than p TD t . Otherwise, the delay signal value p od t takes 0.

[0196] p θ Stage abandonment value p of t :

[0197] p θ Stage judgment value takes the sum of the number of vehicles in the tactical detection areas of all j phases and the number of pedestrians in the pedestrian detection area included in the p * stage (i.e., any waiting stage other than the p stage in the traffic plan) at time t and the number of pedestrians in the pedestrian detection area .

[0198] p θ Stage application value If p * stage judgment value sum from t - 3 to t is greater than 0, then p θ stage application value is 1; otherwise, is 0.

[0199] p θ Stage abandonment value If all p * stage application values If the sum is greater than 0, then p * Stage abandonment value is 1; otherwise, is 0.

[0200] S4. Control decision: Calculate the minimum, maximum decision times, and decision value in the p stage p o t , output the phase command value, detector command value, and time update.

[0201] S41. Stage decision period: Includes the minimum decision time p tp min and the maximum decision time p tp max .

[0202] Minimum decision time p tp min : The minimum value among the minimum green light durations of all motor vehicle phases in the stage minus the delay duration j The maximum value in TD minus 4 seconds, that is p tp min = min{ j t min}- max{ j TD}- 4.

[0203] Maximum decision time p tp max : The minimum value among the maximum green light durations of all motor vehicle phases in the stage minus the delay duration j The maximum value in TD minus 4 seconds, that is p tp max = min{ j t max}- max{ j TD}- 4.

[0204] S42. Calculate the stage decision value according to the decision period at time t in the p stage p o t :

[0205] At time t, the minimum decision time has not been reached p tp min (that is, t < p tp min ), the stage decision value p o t takes 1, that is p o t = 1;

[0206] At time t, the minimum decision time has been passed p tp minBut the maximum decision-making moment has not been reached p tp max (i.e., p tp min ≤t< p tp max ), if the stage decision value at time t-1 p o t-1 is 0 or there is a special vehicle priority application within the minimum decision-making moment of the non-p stage in the past stages, then the stage decision value at time t p o t is 0; otherwise, judge whether the phase signal value at time t p op t is 1. If so, record the stage decision value at time t p o t as 1; otherwise, the stage decision value at time t p o t takes the larger value of the offline signal value p oa t , the delay signal value p od t and the p θ stage abandonment value p* of t .

[0207] The maximum decision-making moment at time t has been passed p tp max (i.e., t≥ p tp max ), if the p θ stage abandonment value is greater than 0, then the stage decision value at time t p o t takes 0; otherwise, the stage decision value at time t p o t takes 1.

[0208] S43. Judge whether the j phase at time t overflows. If so, the j phase is prematurely interrupted, and the output phase decision value is taken as 3, i.e., proceed to step S45; otherwise, proceed to step S44;

[0209] S44. Judge whether the stage decision value p o t is greater than 0. If so, the current stage continues, and the p stage decision value is taken as 1, i.e., p o t =1; otherwise, end the current stage and select the next release stage based on the following situations:

[0210] Situation 1. If the special vehicle signal value of the p * stage is 4, then select the p with a special vehicle priority request* Phase (denoted as ) is used as the next release phase, that is and

[0211] Case 2: If p * The maximum phase application value of the phase is 1, then the phase close to the p phase with a phase application value of 1 is selected according to the phase sequence That is and

[0212] S45. Output the phase command value If it is not a green light phase, the phase command value is not sent; otherwise, the phase command value is sent according to three cases: phase overflow early break, continue the current phase, and end the current phase:

[0213] Phase overflow early break command value t ∞ Output phase command value of the moment overflow phase j ∞ and t and t ∞ ≤t≤t(p) end .

[0214] If it is the case of continuing the current phase, the phase command value of the green light phase is sent as 1; otherwise, the phase command value of the green light phase is sent as 0, that is

[0215] S46. Output the detector command value If it is not a green light phase, the detector command value sent is 0; otherwise, the detector command value is sent according to three cases: phase overflow early break, continue the current phase, and end the current phase:

[0216] Overflow phase detector command value t ∞ Output detector command value of the moment overflow phase j ∞ takes 100 until the decision termination moment t(p) of the current phase end , that is t ∞ and t end ≤t≤t(p) .

[0217] If it is the case of continuing the current phase, the detector command value of the green light phase is 1; otherwise, the detector command value of the green light phase is 0, that is

[0218] S47. Update t = t + 1 and then return to step S3.

[0219] S5. The signal controller sets the operation mode to 'inductive control mode' and receives and executes the command values output by the signal control agent.

[0220] In summary, in the traffic control method integrating 4D radar and video provided by the above embodiments, when the 4D radar operates in the semi-inductive control mode for the local direction of the signalized intersection, in response to situations such as emergency braking and stopping of special vehicles like large trucks, overflow at the exit making it impossible to phase-advance early, and signal controller degradation after the detection equipment goes offline, a signal control agent integrating 4D radar and monitoring video is proposed. By comprehensively using radar and video analysis technologies to count the number of incoming vehicles, the number of pedestrians on the sidewalk, and the number of outgoing vehicles, and combining the pedestrian and vehicle inductive control method to transmit decision-making detection data to the signal controller detector, it is possible to achieve that special vehicles in the detection direction of the 4D radar do not stop, the phase is extended, the phase is terminated, the phase is advanced early, and the signal controller does not degrade in the case of equipment offline, greatly reducing the application cost of inductive control, improving the safety of pedestrians crossing the street, and enhancing the traffic efficiency of vehicles.

[0221] An embodiment of the present application also provides an electronic device, including a processor and a memory. The memory stores computer program instructions for execution on the processor. When the processor executes the computer program instructions, the traffic control method integrating 4D radar and video as described above is implemented.

[0222] An embodiment of the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are run by a processor, the traffic control method integrating 4D radar and video as described above is implemented.

Claims

1. A traffic control method, characterized in that: The method comprises: Obtaining the operating data of the traffic lights at the target intersection at the current moment; the operating data includes the operating plan, the target stage of execution, and the light states of each phase in the target stage; Obtaining traffic flow data at the current moment collected by at least one traffic monitoring device set at the target intersection, the traffic monitoring device includes a video monitoring device for monitoring a first area and a 4D radar for monitoring whether there is a target vehicle in a second area, and the traffic flow data includes video stream data and radar detection data; the first area is set at a central position of the target intersection relative to the second area; Determine the overflow signal value of each phase in the target phase at the current moment and the phase decision value of the target phase at the current moment according to the operation data and the traffic flow data; A control instruction for controlling a traffic light at a target intersection is generated according to the overflow signal value of each phase in the target phase and the phase decision value of the target phase.

2. The method according to claim 1, characterized in that The operation scheme includes the operation control logic and the target object quantity threshold corresponding to each phase in the target stage; the overflow signal value of each phase in the target stage and the stage decision value of the target stage are determined according to the operation data and traffic flow data, including: Perform phase correlation detection on traffic flow data to obtain detection results of traffic flow sub-data associated with each phase in the target phase; Determine the overflow signal value of each phase at the current moment in the target stage according to the target object quantity threshold corresponding to each phase and the detection result of the traffic flow sub-data associated with each phase; Determine the phase signal value of the target phase at the current moment according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase and the threshold value of the number of target objects corresponding to each phase; According to the stage signal value of the target stage at the current moment, the stage decision value of the target stage at the current moment is determined.

3. The method according to claim 2, characterized in that The detection result includes the number of target objects in the detection zone corresponding to the phase; the target objects include vehicles, the detection zone includes an exit vehicle detection zone, and the target object number threshold includes an exit vehicle number threshold; According to the target object quantity threshold corresponding to each phase and the detection results of the traffic flow sub-data associated with each phase, the overflow signal value of each phase in the target stage at the current moment is determined, including: If the number of vehicles in the exit vehicle detection area corresponding to the target phase is greater than or equal to the exit vehicle number threshold, the overflow state value of the target phase at the current moment is marked as the first preset value, otherwise the overflow state value of the target phase at the current moment is marked as the second preset value; the target phase is any phase in the target stage; When, as of the current moment, the duration of the overflow state value of the target phase being greater than or equal to the first preset value, the overflow signal value of the target phase at the current moment is marked as the third preset value, otherwise the overflow signal value of the target phase at the current moment is marked as the second preset value.

4. The method according to claim 3, characterized in that The target objects also include pedestrians; the detection areas also include the imported vehicle tactical detection area, the imported vehicle strategic detection area and the pedestrian detection area; the target object quantity threshold also includes the tactical detection area vehicle quantity threshold, the target vehicle quantity threshold and the pedestrian quantity threshold; the phase signal value includes the target vehicle signal value, the phase signal value, the offline signal value, the delayed signal value and the non-release phase abandonment value; the operation plan also includes the passage plan; According to the operation control logic, the detection results of the traffic flow sub-data associated with each phase and the threshold value of the number of target objects corresponding to each phase, the phase signal value of the target phase at the current moment is determined, including: Determine the target vehicle signal priority request value, vehicle phase state value and human phase state value at the current moment in the target phase according to the operation control logic, the detection results of the traffic flow sub-data associated with each phase and the target object quantity threshold value corresponding to each phase; If the target vehicle signal priority request value of the target phase at the current moment is the fourth preset value, then the target vehicle signal value of the target phase at the current moment and within the preset priority time after the current moment is marked as the first preset value, otherwise the target vehicle signal value of the target phase at the current moment is marked as the second preset value; If the phase signal value of the target stage at the previous moment is the second preset value, then marking the phase signal value of the target stage at the current moment as the second preset value; If the target vehicle signal value of the target phase at the current moment is the first preset value, then marking the phase signal value of the target phase at the current moment as the first preset value; If, as of the current moment, the duration of the vehicle phase state value of the target stage being the second preset value is greater than the preset second duration and the human phase state value of the target stage at the current moment is the second preset value, then the phase signal value of the target stage at the current moment is marked as the second preset value; if, as of the current moment, the duration of the vehicle phase state value of the target stage being the fifth preset value is greater than the preset second duration and the human phase state value of the target stage at the current moment is the fifth preset value, then the phase signal value of the target stage at the current moment is marked as the fifth preset value, otherwise the phase signal value of the target stage at the current moment is marked as the first preset value; If the phase signal value of the target stage at the current moment is the fifth preset value and the released duration of the target stage is less than the preset stage degradation duration, then the offline signal value of the target stage at the current moment is marked as the first preset value, otherwise the offline signal value of the target stage at the current moment is marked as the second preset value; If the delay signal value of the target phase at the previous moment is the second preset value, and the phase signal value and the offline signal value of the target phase at the current moment are not the first preset value, or the delay signal value of the target phase at the previous moment is the first preset value, and as of the previous moment, the duration of the delay signal value of the target phase being the first preset value is less than or equal to the preset third duration, then the delay signal value of the target phase at the current moment is marked as the first preset value, otherwise the delay signal value of the target phase at the current moment is marked as the second preset value; If the sum of the stage application values ​​of all waiting stages except the target stage in the traffic plan at the current moment is greater than the second preset value, then the non-release stage abandonment value of the target stage at the current moment is marked as the first preset value, otherwise the non-release stage abandonment value of the target stage at the current moment is marked as the second preset value; wherein, for any waiting stage in the traffic plan, if the sum of the stage judgment values ​​in the previous N moments up to the current moment is greater than the second preset value, then the stage application value of the waiting stage at the current moment is marked as the first preset value, otherwise the stage application value of the waiting stage at the current moment is marked as the second preset value; the stage judgment value of the waiting stage at the current moment is the sum of the number of vehicles in the imported vehicle tactical detection area and the number of pedestrians in the pedestrian detection area in each phase in the waiting stage at the current moment.

5. The method according to claim 4, characterized in that According to the operation control logic, the detection results of the traffic flow sub-data associated with each phase and the target object quantity threshold corresponding to each phase, the target vehicle signal priority request value, vehicle phase state value and human phase state value at the current moment of the target phase are determined, including: If the number of target vehicles in the strategic detection area for imported vehicles corresponding to the target phase is greater than or equal to the target vehicle number threshold, the target vehicle signal priority state value of the target phase at the current moment is marked as a first preset value, otherwise the target vehicle signal priority state value of the target phase at the current moment is marked as a second preset value; When the duration of the target vehicle signal priority state value of the target phase as of the current moment is greater than or equal to the fourth preset duration, the target vehicle signal priority request value of the target phase at the current moment is marked as the fourth preset value, otherwise the target vehicle signal priority request value of the target phase at the current moment is marked as the second preset value; If the number of vehicles in the imported vehicle tactical detection zone corresponding to the target phase is empty, the vehicle detection state value of the target phase at the current moment is marked as the fifth preset value; if the number of vehicles in the imported vehicle tactical detection zone corresponding to the target phase is greater than or equal to the vehicle number threshold of the tactical detection zone, the vehicle detection state value of the target phase at the current moment is marked as the first preset value, otherwise the vehicle detection state value of the target phase at the current moment is marked as the second preset value; When the operation control logic is the first operation logic, the vehicle phase state value of the target phase at the current moment is marked as the minimum value of the vehicle detection state values ​​of all phases in the target phase at the current moment; When the operation control logic is the second operation logic, if the vehicle detection state value of at least one phase in the target phase is the first preset value, then the vehicle phase state value of the target phase at the current moment is marked as the first preset value, otherwise the vehicle phase state value of the target phase at the current moment is marked as the maximum value of the vehicle detection state values ​​of all phases in the target phase at the current moment; If the number of pedestrians in the pedestrian detection area corresponding to the target phase is empty, the human detection state value of the target phase at the current moment is marked as the fifth preset value; if the number of pedestrians in the pedestrian detection area corresponding to the target phase is greater than or equal to the pedestrian number threshold, the human detection state value of the target phase at the current moment is marked as the first preset value, otherwise the human detection state value of the target phase at the current moment is marked as the second preset value; The minimum value of the human detection state values ​​of all phases in the target stage at the current moment is determined as the human phase state value of the target stage at the current moment.

6. The method according to claim 4, characterized in that According to the stage signal value of the target stage at the current moment, the stage decision value of the target stage at the current moment is determined, including: When the current moment does not reach the minimum decision moment of the target stage, determining the stage decision value of the target stage at the current moment to be a first preset value; When the minimum decision moment of the target stage has been reached but the maximum decision moment of the target stage has not been reached at the current moment, if the stage decision value of the target stage at the previous moment is the second preset value, or the target vehicle signal value of any waiting stage other than the target stage in the traffic plan at the current moment is the first preset value, the stage decision value of the target stage at the current moment is marked as the second preset value; if the phase signal value of the target stage at the current moment is the first preset value, the stage decision value of the target stage at the current moment is marked as the first preset value, otherwise the stage decision value of the target stage at the current moment is marked as the maximum value of the offline signal value, the delayed signal value and the non-release stage abandonment value of the target stage; When the maximum decision moment of the target stage has been reached at the current moment, if the abandonment value of the non-release stage is greater than the second preset value, the stage decision value of the target stage at the current moment is marked as the second preset value, otherwise the stage decision value of the target stage at the current moment is marked as the first preset value; The minimum decision time and the maximum decision time of the target phase are determined based on the minimum green light duration and the maximum green light duration of all phases in the target phase.

7. The method according to claim 6, characterized in that According to the overflow signal value of each phase in the target phase and the phase decision value of the target phase, a control instruction for controlling the traffic light at the target intersection is generated, including: When the overflow signal value of the target phase at the current moment is the first preset value, if the stage decision value of the target stage at the current moment is the first preset value, a phase continuation instruction is generated for other phases except the target phase in the target stage, otherwise a phase end instruction is generated for other phases except the target phase in the target stage, and at the same time, when the light state of the target phase is green, a phase overflow early break instruction is generated for the target phase; When the overflow signal value of the target phase at the current moment is the second preset value, it is detected whether the stage decision value of the target stage at the current moment is greater than the second preset value. If so, a control instruction to continue the target stage is generated, otherwise a control instruction to end the target stage is generated, and the next release stage is determined, and a control instruction to execute the next release stage is generated.

8. The method according to claim 7, characterized in that Determine the next release stage, including: If the target vehicle signal value of a waiting stage other than the target stage in the traffic plan at the current moment is the first preset value, the waiting stage is determined as the next release stage; If the maximum value of the stage application values ​​of all waiting stages except the target stage in the passage plan at the current moment is a first preset value, then according to the release order of each stage in the passage plan, the waiting stage close to the target stage and with the stage application value of the first preset value at the current moment is determined as the next release stage.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores computer program instructions for being executed on the processor, and when the processor executes the computer program instructions, the traffic control method for fusing 4D radar and video as claimed in any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: It stores computer instructions, and when the computer instructions are executed by a processor, the traffic control method integrating 4D radar and video as described in any one of claims 1 to 8 is implemented.

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