Traffic signal control system and method based on different steering decoupling in same phase
By decoupling traffic signal control systems for different directions within the same phase, the problem of unbalanced traffic flow for different directions is solved, enabling precise regulation of slow-moving traffic, shortening waiting time, and improving traffic efficiency and environmental friendliness.
Patent Information
- Application Number
- CN202511479858.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-16
- Publication Date
- 2026-02-13
AI Technical Summary
Existing traffic signal control systems cannot effectively cope with the imbalance of traffic flow at different turns within the same phase, resulting in excessively long waiting times for slow-moving traffic travelers. This makes it difficult to meet the needs of precise and refined traffic organization and management, especially with the increasing use of shared bicycles and electric bicycles, where traditional methods cannot meet the needs of slow-moving traffic.
A traffic signal control system based on decoupling of different directions within the same phase is adopted. The system acquires data on slow-moving waiting areas, queuing traffic flow of turning vehicles, and merging turning traffic flow from afar through the data acquisition module. The system uses the background decision module to determine whether to activate the micro-sensor control process and executes the corresponding signal adjustment through the control execution module to flexibly adjust the green light duration to optimize pedestrian traffic crossing.
It significantly reduces pedestrian crossing waiting time, improves the accuracy of signal control and the level of slow-moving traffic services, promotes the development of urban slow-moving travel modes, reduces environmental pollution, and enhances traffic efficiency and safety at intersections.
Smart Images
Figure CN121528010A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of traffic signal control technology, and more specifically to a traffic signal control system and method based on decoupling of different directions within the same phase. Background Technology
[0002] Intersections, as crucial nodes in road networks, are often bottlenecks in traffic efficiency and vital arteries of transportation. More precise and real-time adjustments to traffic signal systems based on traffic flow at different intersection entrances and directions are essential for improving the operational efficiency of various traffic flows at intersections and reducing traffic delays.
[0003] Currently, there is extensive research on traffic signal control systems and methods. Among them, single-point adaptive control, inductive control, and phase overlap control are the main methods to improve the accuracy and refinement of intersection signal control. Adaptive control, through real-time monitoring and analysis of traffic flow, can automatically adjust the cycle, phase difference, and green ratio of traffic lights based on vehicle driving status and road segment traffic conditions. Inductive control can be divided into semi-inductive control and fully inductive control. Semi-inductive control adjusts the green ratio of secondary roads or inserts phases by detecting traffic flow information on secondary road approach lanes, while fully inductive control automatically adjusts the cycle, phase difference, and green ratio of traffic lights by detecting traffic flow information at each intersection approach. Phase overlap involves starting / ending another phase in advance before the end of a certain phase, adding a special "small phase" to adjust the green ratio of different phases to adapt to changes in intersection traffic flow characteristics. However, in existing signal control methods, the smallest unit in signal timing is the phase, and multiple turns constitute a phase. The green light duration of a phase is based on the turn with the longest required passage time among the multiple turns. This makes it difficult to meet the imbalance caused by the random changes in traffic flow of different turns in the same phase.
[0004] On the other hand, with the increasing public demand for green and low-carbon travel, especially the rising usage of shared bicycles and electric bicycles, new challenges are posed to traditional traffic signal control methods that primarily rely on motor vehicle traffic flow. Pedestrians generally have shorter waiting times at intersections compared to motor vehicle users. Therefore, in intersection signal control, achieving precise and refined signal control to reduce the waiting time of pedestrians has become an important means of improving intersection efficiency and safety.
[0005] In summary, existing technologies have significant shortcomings in traffic organization and management at some intersections, and cannot address the issue of unbalanced flow rates at different turns within the same phase. More flexible control methods are urgently needed to adapt to the requirements of more precise and refined traffic organization and management. Summary of the Invention
[0006] To address the aforementioned problems, this invention provides a traffic signal control system and method based on decoupling of different directions within the same phase. Its purpose is to enable front-end equipment to acquire traffic flow data for slow-moving traffic in different directions before pedestrians cross the street; significantly reduce slow-moving traffic delays; effectively improve the accuracy of signal control and the level of slow-moving traffic services; fully utilize time resources; promote the development of urban slow-moving travel modes; effectively reduce environmental pollution; and greatly contribute to the construction of environmentally friendly cities.
[0007] To solve the above problems, the technical solution provided by the present invention is as follows: A traffic signal control system based on decoupling between different directions within the same phase includes the following components: The data acquisition module is used to collect basic data, which includes slow-moving waiting area data, turning vehicle queue data, remote merging turning vehicle data, and signal control data. The background decision-making module is used to determine whether to start the micro-sensor control process based on the basic data. The control execution module is used to execute the micro-sensor control process.
[0008] Preferably, the slow-moving waiting area data includes the number of pedestrians and the number of non-motorized vehicles in the slow-moving waiting area; The queuing traffic data for turning vehicles includes the number of vehicles queuing in each turning lane at different entrances of the intersection, the position of the first vehicle in the queue, the queue length, the position of the last vehicle in the queue, and the headway. The remote merging turning traffic data includes the number of vehicles intending to enter a specific turning lane, the position of the vehicles intending to enter the specific turning lane, the headway, and the vehicle speed. The signal control data includes the signal light cycle duration, phase green light duration, all-red safety time, signal control timetable, and conflict parameter table between different flow directions.
[0009] Preferably, the data acquisition module includes a slow-moving traffic detection module, a traffic flow information monitoring module, and a real-time signal control information acquisition module; wherein: The slow traffic detection module is deployed on the side of the slow traffic waiting area to detect the number of pedestrians and non-motorized vehicles in the slow traffic waiting area in real time. The traffic flow information monitoring module is installed on the cantilever of the motor vehicle signal light and is used to detect the queuing traffic flow data of turning vehicles and the remote merging turning traffic flow data in real time. The real-time signal control information acquisition module is used to acquire the signal control data and then transmit the signal control information to the background decision-making module for use by the background decision-making module when making real-time judgments in conjunction with the basic data.
[0010] Preferably, the turning guide lane extends from the stop line within the lane to within 80m of the stop line, or is set according to the physical characteristics of the intersection; The far end is within 80m to 200m from the stop line, or it can be set according to the physical characteristics of the intersection; The traffic flow information monitoring module determines whether a vehicle is part of the remote merging turning traffic flow data based on the following criteria: If a vehicle selects one or more lanes (left turn, straight, or right turn) in a far-end lane, then the vehicle is identified as part of the traffic flow to be inspected; the traffic flow to be inspected includes left-turning traffic, straight-going traffic, and right-turning traffic. If the vehicle does not select one or more lanes corresponding to left turn, straight, or right turn in the far lane, then the vehicle is determined not to be part of the traffic flow to be inspected.
[0011] Preferably, the traffic flow information monitoring module uses microwave radar or a radar-video integrated traffic detection device.
[0012] A traffic signal control method based on in-phase decoupling of different steering directions, utilizing a traffic signal control system based on in-phase decoupling, includes the following steps: S100. Collect the aforementioned basic data; S200. Determine whether to initiate the micro-sensor control process based on the aforementioned basic data; then, based on the determination result, perform the following operations: If the determination result is to start the micro-sensor control process, then execute S300; If the determination result is that the micro-sensor control process should not be started, then return and execute S100 again; S300. Execute the micro-sensor control process; S400. While executing S300, coordinate the micro-sensor control process with the original phase operation process.
[0013] Preferably, the step S200, which determines whether to activate the micro-sensor control process based on the basic data, specifically includes the following steps: S210. Determine whether, within a phase to be determined, the traffic flow at the entrance to be inspected has completely eliminated its passage requirement; then, based on the determination result, perform the following operations: If the traffic flow to be inspected at the turn to be inspected has no need to pass, then execute S220; If the traffic flow to be inspected still has a need to pass through the direction to be inspected, the result is that the micro-sensor control process will not be activated. S220. Determine whether there is a pedestrian crossing requirement within the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210; then, based on the determination result, perform the following operations: If there is a need to cross the street in the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210, then S230 is executed. If there is no need to cross the street in the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210, the determination result is that the micro-sensor control process will not be activated. S230. Determine whether the time condition for initiating the micro-sensor control process is met; then, based on the determination result, perform the following operations: If the time condition for starting the micro-sensor control process is met, the result is that the micro-sensor control process is started. If the time condition for initiating the micro-sensor control process is not met, the determination result is that the micro-sensor control process will not be initiated.
[0014] Preferably, S210 determines whether the traffic flow to be inspected in the guide lane of the turn to be inspected has completely eliminated the need for passage within a phase to be determined, specifically including the following steps: S211. Within one of the phases to be determined, check whether the traffic flow to be checked in the guide lane of the turn to be checked has completely passed through the intersection within this phase to be determined; then, based on the check result, perform the following operations: If the traffic flow to be inspected in the guide lane of the turn to be inspected has passed through the intersection in this phase to be determined, then S212 is executed; If the traffic flow to be inspected in the guide lane of the turn to be inspected has not passed through the intersection within the phase to be determined, it is determined that the traffic flow to be inspected in the turn to be inspected still has a need to pass through. S212. Identify whether there are no motor vehicles in the guide lane to be inspected; then, based on the identification result, perform the following operations: If there are no motor vehicles in the guide lane of the turn to be inspected, it is determined that the traffic flow to be inspected at the turn to be inspected has no need to pass. If there are still motor vehicles in the guide lane of the turn to be inspected, it is determined that the traffic flow to be inspected at the turn to be inspected still has a need to pass.
[0015] Preferably, determining whether there is a pedestrian crossing requirement within the slow-moving waiting area in the two directions that conflict with the direction to be checked in S210 in step S220 specifically includes the following steps: S221. The slow-moving traffic detection module identifies whether there are pedestrians or non-motorized vehicles in the slow-moving waiting areas in two directions that conflict with the direction to be checked in S210; then, based on the identification results, the following operations are performed: If there are pedestrians or non-motorized vehicles in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210, it is determined that there is a need to cross the street in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210. If there are no pedestrians or non-motorized vehicles in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210, it is determined that there is no need to cross the street in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210.
[0016] Preferably, determining whether the time condition for initiating the micro-sensor control process is met in S230 specifically includes the following steps: S231. Read the signal control information of the intersection through the real-time signal control information acquisition module; S232. Obtain the first remaining time of the phase of the turn to be inspected based on the signal control information; the first remaining time is the remaining green light time of the turn to be inspected for this vehicle at the moment of executing S232; S233. Add the required green light time for slow travel in the first slow-moving direction to the red light safety time to obtain the micro-sensor control time threshold; expressed as follows: in: The time threshold for the micro-sensor control is given, and the unit is seconds. The green light time required for the slow-moving traffic is in seconds. The red light safety time is expressed in seconds. The required green light time for slow traffic is expressed by the following formula: in: The time for slow pedestrian crossing is in seconds. The duration of the green light flashing is indicated by seconds (s). The slow-moving pedestrian crossing time is expressed by the following formula: in: The dissipation time for slow-moving traffic of different scales is expressed in seconds (s). The length of a pedestrian crossing is measured in meters (m). Different pedestrian crossing speeds are given, in m / s. This is a correction factor; The number of people crossing the street is expressed in units of individuals. The width of a pedestrian crossing is measured in meters (m). The influence coefficient of non-motorized vehicles in the population; S234. Compare the first remaining time with the micro-sensor control time threshold; then, based on the comparison result, perform the following operations: If the first remaining time is less than the micro-sensor control time threshold, it is determined that the time condition for starting the micro-sensor control process is not met. If the first remaining time is not less than the micro-sensor control time threshold, then it is determined that the time condition for starting the micro-sensor control process is met.
[0017] Preferably, the transition green light flashing time is 3 seconds; the red light safety time is 2 seconds.
[0018] Preferably, S300 specifically includes the following steps: S310. Initiate the micro-sensor control process; then control the slow-moving light in the first slow-moving direction to change from red to green; S320. Calculate and display the green light countdown for the slow-moving light in the first slow-moving direction; expressed as follows: in, The countdown time for the green light of the slow-moving light in the first slow-moving direction in S320 is set. This refers to the first remaining time; S330. Control the traffic light of the vehicle on the turn to be inspected from green to red, and the traffic lights of other turns in the same phase shall follow the original phase operation procedure; S340. Set the countdown timer for the red light on the turn to be inspected to the time from the execution of S340 to the next phase of that turn, and execute the countdown timer for the traffic lights of other turns in the same phase.
[0019] Preferably, S400 specifically includes the following steps: S410. When the traffic flow information monitoring module on the turn to be inspected detects that a motor vehicle will merge into the guide lane of the turn to be inspected at the far end of the turn to be inspected, the signal control information of the intersection is read again through the real-time signal control information acquisition module. S420. Obtain the second remaining time of the vehicle signal phase on the turn to be inspected for the newly merged vehicle based on the signal control information; the second remaining time is the remaining time of the vehicle signal phase of the vehicle at the moment of executing S420; S430. By obtaining the location speed of the newly merging vehicle, the vehicle time is calculated based on the location speed, expressed as follows: in: The time for the motor vehicle is measured in seconds. The vehicle speed at the location is expressed in m / s. S440. Compare the vehicle time with the second remaining time; then, based on the comparison result, perform the following operations: If the vehicle time is greater than the second remaining time, the micro-sensor control process will not be changed. If the vehicle's time is not greater than the second remaining time, then execute S450; S450. Modify the micro-sensor control process according to the following steps: S451. Immediately change the green light countdown of the slow-moving light in the first slow-moving direction, expressed as follows: The countdown time for the green light of the slow-moving light in the first slow-moving direction in S451 is set. S452. Immediately change the red light countdown of the turn signal on the vehicle to be inspected to... ; S453. Close the micro-sensor control process before the newly arriving vehicle reaches the parking line; S456. After successfully closing the micro-sensor control process, set the countdown of the red light of the slow traffic light in the first slow traffic direction to the time from this moment to the next green light moment; At the same time, the countdown timer for the green light of the vehicle turning on the turn to be inspected is set to this moment until the phase of that vehicle ends.
[0020] Compared with the prior art, the present invention has the following advantages: 1. Because the traffic signal control method proposed in this invention features decoupling between different directions within the same phase, compared to traditional methods, this method can flexibly adjust the green light duration for different directions based on traffic flow, overcoming the limitation that different directions within the same phase cannot be controlled separately. Furthermore, compared to phase overlap methods that share green light durations between phases with a fixed phase sequence, this method is more flexible. 2. This invention, through real-time monitoring of each turning traffic flow at each approach lane and employing a micro-sensor control process, not only meets the fixed cycle and main phase green signal ratio requirements for linear coordination and regional control, but also satisfies the need for flexible adjustment of non-main phases. This control method satisfies both the macroscopic coordination control needs between intersections and the microscopic problem of uneven traffic flow at different approaches and turns, compensating for the shortcomings of traditional multi-time period signal control and inductive control, thereby effectively improving the level of refined signal control at intersections. 3. Because this invention uses the pedestrian crossing signal as a flexibly adjustable phase, it breaks through the traditional traffic signal control method that treats the pedestrian crossing signal as a fixed phase or a phase light group. It more flexibly utilizes the discrete gaps in traffic flow to organize pedestrian crossings. Pedestrian crossings can be allowed multiple times within each signal cycle, significantly reducing pedestrian crossing waiting time, improving the traffic comfort of pedestrians, and thus promoting the development of urban slow travel modes, which is very beneficial to building an environmentally friendly city. Attached Figure Description
[0021] Figure 1 This is a top view of a cross-shaped road intersection according to a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the control method according to a specific embodiment of the present invention. Detailed Implementation
[0022] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. After reading the present invention, any modifications of the present invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.
[0023] It should be noted beforehand that, such as Figure 1 As shown in this specific embodiment, pedestrians waiting for traffic are strictly classified according to their starting point and destination, and corresponding waiting areas are defined. In this case, the pedestrian waiting areas are divided into eight zones: pedestrian waiting area A, pedestrian waiting area B, pedestrian waiting area C, pedestrian waiting area D, pedestrian waiting area E, pedestrian waiting area F, pedestrian waiting area G, and pedestrian waiting area H. Eight corresponding video detectors are deployed next to the eight pedestrian waiting areas. Both the pedestrian traffic lights and the vehicle traffic lights are equipped with countdown functions, so that pedestrians can know the remaining time of the phase and make behavioral decisions.
[0024] It should be further explained in advance that, in this specific embodiment, the current signal phase is north-south left turn. Before the end of this phase, all vehicles queuing in the south entrance left turn lane have entered the west exit lane and no motor vehicles are detected within 150 meters of the stop line of the south entrance left turn lane. There are pedestrians or non-motorized vehicles waiting to cross the street in the four slow waiting areas B, E, F, and H.
[0025] A traffic signal control system based on decoupling between different directions within the same phase includes the following components: The data acquisition module is used to collect basic data, which includes slow-moving waiting area data, turning vehicle queue data, remote merging turning vehicle data, and signal control data.
[0026] In this specific embodiment, the slow-moving waiting area data includes the number of pedestrians and the number of non-motorized vehicles in the slow-moving waiting area.
[0027] The traffic flow data for turning vehicles includes the number of vehicles queuing in each turning lane at different entrances of the intersection, the position of the first vehicle in the queue, the queue length, the position of the last vehicle in the queue, and the headway.
[0028] The data for merging traffic from a distance includes the number of vehicles intending to enter a specific turning lane, the position of the vehicles intending to enter the specific turning lane, the headway, and the speed.
[0029] In this specific embodiment, the turning guide lane extends from the parking line within the lane to within 80m of the parking line, or is set according to the physical characteristics of the intersection.
[0030] The far end is within 80m to 200m from the stop line, or it can be set according to the physical characteristics of the intersection.
[0031] The criteria used by the traffic flow information monitoring module to determine whether a vehicle is merging into a turning traffic flow from a distant location are as follows: If a vehicle selects one or more lanes corresponding to left turn, straight, or right turn in the far-end lane, the vehicle is determined to be a traffic flow to be inspected; the traffic flow to be inspected includes left-turning traffic flow, straight-going traffic flow, and right-turning traffic flow. If a vehicle does not select one or more lanes corresponding to left turn, straight, or right turn in the far-end lane, the vehicle is determined not to be part of the traffic flow to be inspected.
[0032] The signal control data includes the duration of the traffic light cycle, the duration of the green light phase, the safe time for all-red lights, the signal control timetable, and the conflict parameter table between different flow directions.
[0033] The background decision-making module is used to determine whether to activate the micro-sensor control process based on basic data.
[0034] The control execution module is used to execute the micro-sensor control process.
[0035] In this specific embodiment, the data acquisition module includes a slow-moving traffic detection module, a traffic flow information monitoring module, and a real-time signal control information acquisition module; wherein: The slow-moving traffic detection module is deployed on the side of the slow-moving waiting area to detect the number of pedestrians and non-motorized vehicles in the slow-moving waiting area in real time.
[0036] The traffic flow information monitoring module is installed on the cantilever of the traffic lights to monitor in real time the queuing traffic flow data of turning vehicles and the traffic flow data merging into the turning vehicles from a distance.
[0037] The traffic flow feature detector can identify traffic flow, speed, and headway every 10 meters from the stop line (0-150 meters away), used to detect whether vehicles are entering and their speed. The vehicle traffic light module acquires relevant information about vehicle traffic lights and transmits this information to the backend decision-making module, allowing the module to make real-time judgments based on the above data.
[0038] The real-time signal control information acquisition module is used to acquire signal control data and then transmit the signal control information to the background decision-making module for use by the background decision-making module in real-time judgment in conjunction with the basic data.
[0039] In this specific embodiment, the traffic flow information monitoring module uses microwave radar or a radar-video integrated traffic detection device.
[0040] It should be noted that the microwave radar or integrated radar-visual traffic detection device detected that all vehicles queuing in the left-turn lane at the south entrance had passed through the intersection within that phase, and identified no motor vehicles in the left-turn lane from the south entrance stop line to 150 meters away. The criterion for determining whether a vehicle is turning left is whether it is traveling in the lane closest to the center line of the road.
[0041] The video detection module identified pedestrians or non-motorized vehicles waiting to cross the street in four areas: slow-moving waiting area B, slow-moving waiting area E, slow-moving waiting area F, and slow-moving waiting area H.
[0042] like Figure 2 As shown, a traffic signal control method based on decoupling of different directions within the same phase, utilizing a traffic signal control system, includes the following steps: S100. Collect basic data.
[0043] S200. Determine whether to initiate the micro-sensor control process based on the basic data; then, based on the determination result, perform the following operations: If the determination result is to enable the micro-sensor control process, then execute S300.
[0044] If the determination result is that the micro-sensor control process should not be started, then return and execute S100 again.
[0045] In this specific embodiment, S200, which determines whether to activate the micro-sensor control process based on basic data, specifically includes the following steps: S210. Determine whether all vehicles entering the inspection lane have no further need to pass within a given phase; then, based on the determination result, perform the following operations: If all vehicles in the turn to be inspected have no further need to pass, then execute S220.
[0046] If the traffic flow to be inspected still has a need to pass through at the turn to be inspected, the result will be that the micro-sensor control process will not be activated.
[0047] In this specific embodiment, S210 determines whether all vehicles in the guide lane for the turn to be checked have no further need to pass within a phase to be determined, specifically including the following steps: S211. Within a phase to be determined, check whether the traffic flow in the guide lane of the turn to be determined has completely passed through the intersection within this phase; then, based on the check results, perform the following operations: If the traffic flow to be inspected in the guide lane of the turn to be inspected has already passed through the intersection within this phase to be determined, then S212 is executed.
[0048] If the traffic flow to be inspected in the guide lane of the turn to be inspected has not passed through the intersection within this phase to be determined, it is determined that the traffic flow to be inspected in the turn to be inspected still has a need to pass.
[0049] S212. Identify whether there are no motor vehicles in the guide lane to be inspected; then, based on the identification result, perform the following operations: If there are no motor vehicles in the guide lane of the turn to be inspected, it is determined that the traffic flow of the turn to be inspected has no need to pass.
[0050] If there are still motor vehicles in the guide lane of the turn to be inspected, it is determined that the traffic flow of the turn to be inspected still has a need to pass.
[0051] S220. Determine whether there is a pedestrian crossing need in the slow-moving waiting areas of multiple directions that conflict with the traffic flow to be inspected in S210; then, based on the determination results, perform the following operations: If there is a need to cross the street in the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210, then S230 shall be executed.
[0052] If there is no need to cross the street in the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210, the result will be that the micro-sensor control process will not be activated.
[0053] In this specific embodiment, determining whether there is a pedestrian crossing requirement in the slow-moving waiting areas of the two directions that conflict with the direction to be checked in S210 in S220 specifically includes the following steps: S221. Identify whether there are pedestrians or non-motorized vehicles in the slow-moving waiting areas of the two directions that conflict with the direction to be checked in S210 using the slow-moving traffic detection module; then, based on the identification results, perform the following operations: If there are pedestrians or non-motorized vehicles in the slow-moving waiting areas of the two directions that conflict with the direction to be inspected in S210, it is determined that there is a need to cross the street in the slow-moving waiting areas of the two directions that conflict with the direction to be inspected in S210.
[0054] If there are no pedestrians or non-motorized vehicles in the slow-moving waiting areas of the two directions that conflict with the direction to be inspected in S210, it is determined that there is no need to cross the street in the slow-moving waiting areas of the two directions that conflict with the direction to be inspected in S210.
[0055] S230. Determine whether the time condition for initiating the micro-sensor control process is met; then, based on the determination result, perform the following operations: If the time condition for starting the micro-sensor control process is met, the result is that the micro-sensor control process is started.
[0056] If the time condition for starting the micro-sensor control process is not met, the result will be that the micro-sensor control process will not be started.
[0057] In this specific embodiment, determining whether the time condition for starting the micro-sensor control process is met in S230 specifically includes the following steps: S231. The signal control information of the intersection is read in real time through the signal control information acquisition module.
[0058] S232. Obtain the first remaining time of the phase of the turn to be inspected based on the signal control information; the first remaining time is the remaining green light time of the turn to be inspected for this vehicle at the moment of executing S232.
[0059] S233. Add the green light time required for slow travel in the first slow-moving direction Y to the red light safety time to obtain the micro-sensor control time threshold; expressed as in formula (1): (1) in: The time threshold for micro-sensor control is shown in seconds. The green light time required for slow traffic is shown in seconds. The red light safety time is shown in seconds.
[0060] In this specific embodiment, the red light safety time is 2 seconds.
[0061] The green light time required for slow traffic is expressed as follows: (2) (2) in: The time for slow pedestrian crossing is in seconds. The duration of the green light flashing is indicated by seconds (s).
[0062] In this specific embodiment, the transition green light flashing time is 3 seconds.
[0063] The time for slow pedestrian crossing is expressed as follows (3): (3) in: The dissipation time for slow-moving traffic of different scales is expressed in seconds (s). The length of a pedestrian crossing is measured in meters (m). Different pedestrian crossing speeds are given, in m / s. This is a correction factor; The number of people crossing the street is expressed in units of individuals. The width of a pedestrian crossing is measured in meters (m). The influence coefficient of non-motorized vehicles in the crowd.
[0064] S234. Compare the first remaining time with the micro-sensor control time threshold; then, based on the comparison result, perform the following operations: If the first remaining time is less than the micro-sensor control time threshold, it is determined that the time condition for starting the micro-sensor control process is not met.
[0065] If the first remaining time is not less than the micro-sensor control time threshold, then the time condition for starting the micro-sensor control process is determined to be met.
[0066] S300. Execute the micro-sensor control process.
[0067] In this specific embodiment, S300 specifically includes the following steps: S310. Initiate the micro-sensor control process; then control the slow-moving light on the first slow-moving direction Y to change from red to green.
[0068] S320. Calculate and display the countdown time of the green light for the slow-moving light in the first slow-moving direction Y; expressed as in equation (4): (4) in, The countdown time for the green light of the slow-moving light in the first slow-moving direction Y in S320; This is the first remaining time.
[0069] S330. Control the traffic light of the vehicle turning the turn to be inspected from green to red, while the traffic lights of other vehicles turning in the same phase shall follow the original phase operation procedure.
[0070] S340. Set the countdown timer for the red light on the turn to be inspected to the time from the execution of S340 to the next phase of that turn, and execute the countdown timer for the traffic lights of other turns in the same phase.
[0071] S400. While executing S300, coordinate the micro-sensor control process with the original phase operation process.
[0072] In this specific embodiment, S400 specifically includes the following steps: S410. When the traffic flow information monitoring module on the turn to be inspected detects that a motor vehicle will merge into the guide lane of the turn to be inspected at the far end, it will again read the signal control information of the intersection through the real-time signal control information acquisition module.
[0073] S420. Obtain the second remaining time of the vehicle signal phase to be inspected for the newly merged vehicle based on the signal control information; the second remaining time is the remaining time of the vehicle signal phase of the vehicle at the moment of executing S420.
[0074] S430. By obtaining the location speed of the newly merging vehicle, the vehicle time is calculated based on the location speed, and expressed as formula (5): (5) in: The time for motor vehicles is measured in seconds (s). The speed at the location is expressed in m / s.
[0075] S440. Compare the vehicle's time with the second remaining time; then, based on the comparison result, perform the following operations: If the vehicle's time exceeds the second remaining time, the micro-sensor control process will not be changed.
[0076] If the vehicle's time is not greater than the second remaining time, then S450 is executed.
[0077] S450. Modify the micro-sensor control process by following these steps: S451. Immediately change the countdown timer of the green light on the first slow-moving direction Y, expressed as in equation (6): (6) This is a countdown timer for the green light of the slow-moving light in the first slow-moving direction Y in S451.
[0078] S452. Immediately change the red light countdown timer of the turn signal on the vehicle to be inspected to... .
[0079] S453. Close the micro-sensor control procedure before the newly arriving vehicle reaches the stop line.
[0080] S456. After successfully closing the micro-sensor control process, set the countdown timer of the red light of the slow-moving light on the first slow-moving direction Y to the time from this moment to the next green light moment.
[0081] At the same time, the countdown timer for the green light of the vehicle turning on the turn to be inspected will be set to this moment until the phase of that vehicle ends.
[0082] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim.
[0083] Conversely, as reflected in the appended claims, the invention is presented in a manner that includes fewer features than all of the individual disclosed embodiments. Therefore, the appended claims are hereby clearly incorporated into the detailed description, wherein each claim stands alone as a preferred embodiment of the invention.
[0084] The disclosed embodiments have been described above to enable any person skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit and scope of this disclosure. Therefore, this disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.
[0085] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."
[0086] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A traffic signal control system based on decoupling of different directions within the same phase, characterized in that: Includes the following parts: The data acquisition module is used to collect basic data, which includes slow-moving waiting area data, turning vehicle queue data, remote merging turning vehicle data, and signal control data. The background decision-making module is used to determine whether to start the micro-sensor control process based on the basic data. The control execution module is used to execute the micro-sensor control process.
2. The traffic signal control system based on decoupling of different directions within the same phase according to claim 1, characterized in that: The slow-moving waiting area data includes the number of pedestrians and the number of non-motorized vehicles in the slow-moving waiting area; The queuing traffic data for turning vehicles includes the number of vehicles queuing in each turning lane at different entrances of the intersection, the position of the first vehicle in the queue, the queue length, the position of the last vehicle in the queue, and the headway. The remote merging turning traffic data includes the number of vehicles intending to enter a specific turning lane, the position of the vehicles intending to enter the specific turning lane, the headway, and the vehicle speed. The signal control data includes the signal light cycle duration, phase green light duration, all-red safety time, signal control timetable, and conflict parameter table between different flow directions.
3. The traffic signal control system based on decoupling of different directions within the same phase according to claim 2, characterized in that: The data acquisition module includes a slow-moving traffic detection module, a traffic flow information monitoring module, and a real-time signal control information acquisition module; wherein: The slow traffic detection module is deployed on the side of the slow traffic waiting area to detect the number of pedestrians and non-motorized vehicles in the slow traffic waiting area in real time. The traffic flow information monitoring module is installed on the cantilever of the motor vehicle signal light and is used to detect the queuing traffic flow data of turning vehicles and the remote merging turning traffic flow data in real time. The real-time signal control information acquisition module is used to acquire the signal control data and then transmit the signal control information to the background decision-making module for use by the background decision-making module when making real-time judgments in conjunction with the basic data.
4. The traffic signal control system based on decoupling of different directions within the same phase according to claim 3, characterized in that: The turning guide lane extends from the stop line within the lane to within 80m of the stop line, or is set according to the physical characteristics of the intersection; The far end is within 80m to 200m from the stop line, or it can be set according to the physical characteristics of the intersection; The traffic flow information monitoring module determines whether a vehicle is part of the remote merging turning traffic flow data based on the following criteria: If a vehicle selects one or more lanes (left turn, straight, or right turn) in a far-end lane, then the vehicle is identified as part of the traffic flow to be inspected; the traffic flow to be inspected includes left-turning traffic, straight-going traffic, and right-turning traffic. If the vehicle does not select one or more lanes corresponding to left turn, straight, or right turn in the far lane, then the vehicle is determined not to be part of the traffic flow to be inspected.
5. The traffic signal control system based on decoupling of different directions within the same phase according to claim 4, characterized in that: The traffic flow information monitoring module uses microwave radar or a radar-video integrated traffic detection device.
6. A traffic signal control method based on decoupling of different directions within the same phase, utilizing the traffic signal control system based on decoupling of different directions within the same phase as described in claim 5, characterized in that: Includes the following steps: S100. Collect the aforementioned basic data; S200. Determine whether to initiate the micro-sensor control process based on the aforementioned basic data; then, based on the determination result, perform the following operations: If the determination result is to start the micro-sensor control process, then execute S300; If the determination result is that the micro-sensor control process should not be started, then return and execute S100 again; S300. Execute the micro-sensor control process; S400. While executing S300, coordinate the micro-sensor control process with the original phase operation process.
7. The traffic signal control method based on decoupling of different directions within the same phase as described in claim 6, characterized in that: S200 determines whether to activate the micro-sensor control process based on the aforementioned basic data, specifically including the following steps: S210. Determine whether, within a phase to be determined, the traffic flow at the entrance to be inspected has completely eliminated its passage requirement; then, based on the determination result, perform the following operations: If the traffic flow to be inspected at the turn to be inspected has no need to pass, then execute S220; If the traffic flow to be inspected still has a need to pass through the direction to be inspected, the result is that the micro-sensor control process will not be activated. S220. Determine whether there is a pedestrian crossing requirement within the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210; then, based on the determination result, perform the following operations: If there is a need to cross the street in the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210, then S230 is executed. If there is no need to cross the street in the slow-moving waiting area in multiple directions that conflict with the traffic flow to be inspected in S210, the determination result is that the micro-sensor control process will not be activated. S230. Determine whether the time condition for initiating the micro-sensor control process is met; then, based on the determination result, perform the following operations: If the time condition for starting the micro-sensor control process is met, the result is that the micro-sensor control process is started. If the time condition for initiating the micro-sensor control process is not met, the determination result is that the micro-sensor control process will not be initiated.
8. The traffic signal control method based on decoupling of different directions within the same phase according to claim 7, characterized in that: S210 determines whether the traffic flow to be inspected in the guide lane of the turn to be inspected has completely eliminated the need for passage within a phase to be determined, specifically including the following steps: S211. Within one of the phases to be determined, check whether the traffic flow to be checked in the guide lane of the turn to be checked has completely passed through the intersection within this phase to be determined; then, based on the check result, perform the following operations: If the traffic flow to be inspected in the guide lane of the turn to be inspected has passed through the intersection in this phase to be determined, then S212 is executed; If the traffic flow to be inspected in the guide lane of the turn to be inspected has not passed through the intersection within the phase to be determined, it is determined that the traffic flow to be inspected in the turn to be inspected still has a need to pass through. S212. Identify whether there are no motor vehicles in the guide lane to be inspected; then, based on the identification result, perform the following operations: If there are no motor vehicles in the guide lane of the turn to be inspected, it is determined that the traffic flow to be inspected at the turn to be inspected has no need to pass. If there are still motor vehicles in the guide lane of the turn to be inspected, it is determined that the traffic flow to be inspected at the turn to be inspected still has a need to pass.
9. The traffic signal control method based on decoupling of different directions within the same phase according to claim 8, characterized in that: S220 determines whether there is a pedestrian crossing requirement within the slow-moving waiting area in the two directions that conflict with the direction to be checked in S210, specifically including the following steps: S221. The slow-moving traffic detection module identifies whether there are pedestrians or non-motorized vehicles in the slow-moving waiting areas in two directions that conflict with the direction to be checked in S210; then, based on the identification results, the following operations are performed: If there are pedestrians or non-motorized vehicles in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210, it is determined that there is a need to cross the street in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210. If there are no pedestrians or non-motorized vehicles in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210, it is determined that there is no need to cross the street in the slow-moving waiting areas in the two directions that conflict with the direction to be checked in S210.
10. The traffic signal control method based on decoupling of different directions within the same phase according to claim 9, characterized in that: S230 determines whether the timing condition for initiating the micro-sensor control process is met, specifically including the following steps: S231. Read the signal control information of the intersection through the real-time signal control information acquisition module; S232. Obtain the first remaining time of the phase of the turn to be inspected based on the signal control information; the first remaining time is the remaining green light time of the turn to be inspected for this vehicle at the moment of executing S232; S233. Add the required green light time for slow travel in the first slow-moving direction to the red light safety time to obtain the micro-sensor control time threshold; expressed as follows: in: The time threshold for the micro-sensor control is given, and the unit is seconds. The green light time required for the slow-moving traffic is in seconds. The red light safety time is expressed in seconds. The required green light time for slow traffic is expressed by the following formula: in: The time for slow pedestrian crossing is in seconds. The duration of the green light flashing is indicated by seconds (s). The slow-moving pedestrian crossing time is expressed by the following formula: in: The dissipation time for slow-moving traffic of different scales is expressed in seconds (s). The length of a pedestrian crossing is measured in meters (m). Different pedestrian crossing speeds are given, in m / s. This is a correction factor; The number of people crossing the street is expressed in units of individuals. The width of a pedestrian crossing is measured in meters (m). The influence coefficient of non-motorized vehicles in the population; S234. Compare the first remaining time with the micro-sensor control time threshold; then, based on the comparison result, perform the following operations: If the first remaining time is less than the micro-sensor control time threshold, it is determined that the time condition for starting the micro-sensor control process is not met. If the first remaining time is not less than the micro-sensor control time threshold, then it is determined that the time condition for starting the micro-sensor control process is met.
11. The traffic signal control method based on decoupling of different directions within the same phase according to claim 10, characterized in that: The transition green light flashes for 3 seconds; the red light has a safe duration of 2 seconds.
12. The traffic signal control method based on decoupling of different directions within the same phase according to claim 11, characterized in that: The S300 specifically includes the following steps: S310. Initiate the micro-sensor control process; then control the slow-moving light in the first slow-moving direction to change from red to green; S320. Calculate and display the countdown timer for the green light of the slow-moving light in the first slow-moving direction; Expressed as follows: in, The countdown time for the green light of the slow-moving light in the first slow-moving direction in S320 is set. This refers to the first remaining time; S330. Control the traffic light of the vehicle on the turn to be inspected from green to red, and the traffic lights of other turns in the same phase shall follow the original phase operation procedure; S340. Set the countdown timer for the red light on the turn to be inspected to the time from the execution of S340 to the next phase of that turn, and execute the countdown timer for the traffic lights of other turns in the same phase.
13. The traffic signal control method based on decoupling of different directions within the same phase according to claim 12, characterized in that: The S400 specifically includes the following steps: S410. When the traffic flow information monitoring module on the turn to be inspected detects that a motor vehicle will merge into the guide lane of the turn to be inspected at the far end of the turn to be inspected, the signal control information of the intersection is read again through the real-time signal control information acquisition module. S420. Obtain the second remaining time of the vehicle signal phase on the turn to be inspected for the newly merged vehicle based on the signal control information; the second remaining time is the remaining time of the vehicle signal phase of the vehicle at the moment of executing S420; S430. By obtaining the location speed of the newly merging vehicle, the vehicle time is calculated based on the location speed, expressed as follows: in: The time for the motor vehicle is measured in seconds. The vehicle speed at the location is expressed in m / s. S440. Compare the vehicle time with the second remaining time; then, based on the comparison result, perform the following operations: If the vehicle time is greater than the second remaining time, the micro-sensor control process will not be changed. If the vehicle's time is not greater than the second remaining time, then execute S450; S450. Modify the micro-sensor control process according to the following steps: S451. Immediately change the green light countdown of the slow-moving light in the first slow-moving direction, expressed as follows: The countdown time for the green light of the slow-moving light in the first slow-moving direction in S451 is set. S452. Immediately change the red light countdown of the turn signal on the vehicle to be inspected to... ; S453. Close the micro-sensor control process before the newly arriving vehicle reaches the parking line; S456. After successfully closing the micro-sensor control process, set the countdown of the red light of the slow traffic light in the first slow traffic direction to the time from this moment to the next green light moment; At the same time, the countdown timer for the green light of the vehicle turning on the turn to be inspected is set to this moment until the phase of that vehicle ends.