Intelligent management method and system for intelligent highway
By establishing monitoring points at road intersections and adjusting traffic light cycles in real time, the congestion problem caused by fixed-cycle traffic lights on roads with large fluctuations in traffic volume has been solved, achieving more efficient traffic management.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HEBEI XIONGAN TRANSPORTATION INVESTMENT CO LTD
- Filing Date
- 2026-05-22
- Publication Date
- 2026-07-31
AI Technical Summary
The fixed cycle of existing traffic lights can easily lead to congestion on roads with large fluctuations in traffic volume, and existing technologies are insufficient to effectively adjust them to reduce the probability of congestion.
By setting up monitoring points at two intersections of the road, the number of vehicles is monitored in real time, and the green light time of the traffic lights is adjusted according to the arrival and departure rates of vehicles, and the traffic light cycle is dynamically adjusted to adapt to changes in traffic flow.
It effectively reduces the probability of road congestion, increases vehicle throughput, reduces vehicle delay time, and optimizes the allocation of road resources.
Smart Images
Figure CN122493676A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of smart highways, and in particular to an intelligent management method and system for smart highways. Background Technology
[0002] Smart highways refer to an advanced highway traffic management system that utilizes advanced information and communication technologies to achieve real-time control of road traffic flow, road conditions, and vehicle information through real-time monitoring, perception, analysis, and interaction, thereby providing intelligent transportation services, optimizing road resource allocation, and improving the road operating environment.
[0003] Currently, traffic in urban roads is usually controlled by traffic lights to regulate vehicle passage and reduce congestion and traffic accidents. However, in practice, the cycle of traffic lights is mostly fixed. While these fixed-cycle traffic lights can effectively prevent congestion on roads where traffic volume does not change much throughout the day, they may cause traffic jams on roads with significant traffic volume fluctuations (such as during morning and evening rush hours). Summary of the Invention
[0004] In order to reduce the probability of road congestion, this invention provides an intelligent management method and system for smart highways.
[0005] Firstly, the present invention provides an intelligent management method for smart highways, which adopts the following technical solution:
[0006] A smart management method for smart highways includes:
[0007] Information Acquisition: Acquire the normal vehicle capacity K of the road between intersection M1 and intersection M2; and acquire the traffic light time period T at intersection M2, where T = Tg + Tr, Tg is the green light time, and Tr is the red light time.
[0008] Establish monitoring points; establish the first monitoring point N1 at intersection M1 and the second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 ;
[0009] Initial assessment: When the red light at intersection M2 is on, assess the number of vehicles on the road.
[0010] If K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2If K < K, then traffic will proceed according to the signal light cycle T at the M2 intersection, where K1 is the original number of vehicles on the road.
[0011] Cycle adjustment: Adjust the traffic light at intersection M2. The traffic light at intersection M2 will count down to green light time R, preparing to allow vehicles stopped between intersections M1 and M2 to pass, and adjust the green light time Tg.
[0012] Optionally, a green light time reset calculation step is also provided after the period adjustment step:
[0013] Green light time reset calculation: Redetermine the green light time and calculate the reset green light time Tgx. The calculation model for the reset green light time Tgx is as follows:
[0014] In the formula, Q is the arrival rate of vehicle pairs, and S is the departure rate of vehicles.
[0015] After calculating Tgx, let Tg = Tgx + A; where A is a constant.
[0016] Optionally, a delay time calculation step is set after the green light time reset calculation step;
[0017] Delay time calculation: Calculate the vehicle delay time Ty. The calculation model for vehicle delay time Ty is as follows:
[0018] ;
[0019] Once Ty is calculated, the green light time Tg is redefined as Tg = Tgx + A + Ty.
[0020] Optionally, a secondary judgment step is provided after the delay time calculation step;
[0021] Secondary judgment: Set a first capacity threshold B. After the road has been open for traffic for a green light time of Tgx+A+Ty, judge the number of vehicles stuck on the road. At this time, the first monitoring point N1 monitors the number of vehicles entering the intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving the intersection M2 B2. If B1-B2≤B, the green light countdown begins. If B1-B2>B, the initial judgment step is executed.
[0022] Secondly, the present invention provides an intelligent management system for smart highways, which adopts the following technical solution:
[0023] An intelligent management system for smart highways adopts the following technical solution:
[0024] An intelligent management system for smart highways, employing the method described in the first aspect, further includes:
[0025] Acquisition Module: The output terminal is electrically connected to the input terminal of Judgment Module I, and is used to acquire the normal vehicle capacity K of the road between intersection M1 and intersection M2; and to acquire the traffic light time period T at intersection M2, where T=Tg+Tr, Tg is the green light time, and Tr is the red light time.
[0026] Monitoring module: The output terminal is electrically connected to the input terminal of judgment module I, and is used to establish a first monitoring point N1 at intersection M1 and a second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 ;
[0027] Judgment Module I: The output terminal is electrically connected to the input terminal of the adjustment module. When the red light at intersection M2 is on, it judges the number of vehicles on the road.
[0028] If K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2 If the threshold is less than K, then traffic will proceed according to the traffic light cycle T at the M2 intersection, where K is the road capacity threshold.
[0029] Adjustment module: Adjust the traffic light at intersection M2. The traffic light at intersection M2 will count down to green light time R, preparing to allow vehicles stopped between intersections M1 and M2 to pass, and adjust the green light time Tg.
[0030] Optionally, it also includes a calculation module I and a reset module;
[0031] Calculation Module I: Its input terminal is electrically connected to the output terminal of the adjustment module. It is used to redetermine the green light time and calculate the reset green light time Tgx. The calculation model for the reset green light time Tgx is as follows:
[0032] In the formula, Q is the arrival rate of vehicle pairs, and S is the departure rate of vehicles.
[0033] Reset Module: The input terminal is electrically connected to the output terminal of the calculation module and is used to reset the green light time. After the calculation module I calculates Tgx, let Tg = Tgx + A; where A is a constant.
[0034] Optionally, it also includes computing module II:
[0035] Calculation Module II: Its input terminal is electrically connected to the output terminal of Calculation Module I, and its output terminal is electrically connected to the input terminal of the reset module. It is used to calculate the vehicle delay time Ty. The calculation model for the vehicle delay time Ty is as follows:
[0036] Once Ty is calculated, the green light time Tg is redefined, where Tg = Tgx + A + Ty.
[0037] Optionally, a judgment module II is further provided after the calculation module II:
[0038] Judgment Module II: The input terminal is electrically connected to the output terminal of the reset module, and the output terminal is electrically connected to the input terminal of Judgment Module I. The first capacity threshold B is set. After the road has been open for traffic for a green light time of Tgx+A+Ty, the vehicles stuck on the road are judged. At this time, the first monitoring point N1 monitors the number of vehicles entering the intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving the intersection M2 B2. If B1-B2≤B, the green light countdown begins. If B1-B2>B, Judgment Module I is executed.
[0039] Thirdly, the present invention provides an intelligent management device for smart highways, employing the following technical solution:
[0040] An apparatus includes a processor and a storage device, the storage device being used to store a computer program, and the processor being used to execute the computer program stored in the storage device to cause the apparatus to perform the method as described in the first aspect.
[0041] Fourthly, the present invention provides a computer storage medium for intelligent management of smart highways, employing the following technical solution:
[0042] A medium having a computer program stored thereon; said computer program, when executed by a processor, implements the method as described in the first aspect.
[0043] In summary, the present invention has at least one of the following beneficial technical effects:
[0044] By acquiring information on the number of vehicles and traffic flow on the road, the timing of traffic lights can be adjusted to effectively reduce the probability of traffic congestion. By reducing the delay time caused by vehicles starting or stopping, the green light time can be further refined, thereby improving the traffic flow and reducing the probability of traffic jams. Attached Figure Description
[0045] Figure 1 This is a flowchart of Embodiment 1 of this application;
[0046] Figure 2This is a schematic diagram of the system structure of Embodiment 2 of this application;
[0047] Figure 3 This is a device diagram of Embodiment 3 of this application. Detailed Implementation
[0048] The following combination Figures 1 to 3 The present invention will be described in further detail below.
[0049] Example 1: This application provides an intelligent management method for smart highways, referring to... Figure 1 A smart management method for smart highways includes the following steps:
[0050] S1: Information Acquisition: Acquire the normal vehicle capacity K of the road between intersection M1 and intersection M2; and acquire the traffic light time period T at intersection M2, where T = Tg + Tr, Tg is the green light time, and Tr is the red light time; for example: the normal number of vehicles K that a road can accommodate is 100 vehicles. When this number is exceeded, congestion may occur. The red light time is 100 seconds, and the green light time is 40 seconds.
[0051] S2: Establish monitoring points; establish the first monitoring point N1 at intersection M1 and the second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 .
[0052] S3: Initial judgment: When the red light at intersection M2 is on, the number of vehicles in the road is judged;
[0053] If K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2 If K < K, then traffic will proceed according to the signal light cycle T at the M2 intersection, where K1 is the original number of vehicles on the road. For example, if the first monitoring point detects 90 vehicles entering within time C (time C is less than the red light time), and since it is red light time, 0 vehicles will exit, resulting in a total of 110 vehicles on the road, which may lead to congestion.
[0054] S4: Cycle Adjustment: Adjust the traffic light at intersection M2. The traffic light at intersection M2 will begin a green light countdown with time R, preparing to allow vehicles stopped between intersections M1 and M2 to proceed. The green light time Tg will also be adjusted. At this time, other intersections will begin a red light countdown, preparing to enter a red light state. Meanwhile, intersection M2 will begin its green light countdown. R can be set to 10 seconds, allowing traffic to proceed between M1 and M2.
[0055] S5: Green light time reset calculation: Redetermine the green light time and calculate the reset green light time Tgx. The calculation model for the reset green light time Tgx is as follows:
[0056] In the formula, Q is the arrival rate of vehicle pairs, and S is the departure rate of vehicles.
[0057] After calculating Tgx, let Tg = Tgx + A; where A is a constant. Here, the green light time required to clear the backlog of vehicles is calculated based on the vehicle exit rate and arrival rate. The exit rate and arrival rate can be measured through monitoring points M1 and M2. At this time, Tgx + A replaces Tg. For example, if the original green light time Tg is 40 seconds, after calculation, Tgx + A is 60 seconds. Only when the green light time is 60 seconds can the traffic pressure on the road be alleviated.
[0058] S6: Delay Time Calculation: Calculate the vehicle delay time Ty. The calculation model for vehicle delay time Ty is as follows:
[0059] ;
[0060] Once Ty is calculated, the green light time Tg is redefined, where Tg = Tgx + A + Ty. The delay time calculated here is the time required for the backlog of vehicles to start moving.
[0061] S7: Secondary judgment: Set the first capacity threshold B. After the road has been open for traffic for a green light time of Tgx+A+Ty, judge the number of vehicles stuck on the road. At this time, the first monitoring point N1 monitors the number of vehicles entering the intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving the intersection M2 B2. If B1-B2≤B, the green light countdown begins. If B1-B2>B, the initial judgment step is executed.
[0062] Here, traffic can be eased on the road between intersections M1 and M2 without releasing all vehicles on the road, as vehicles are constantly entering the road. Once the congestion on the road is relieved, the red light can be started. The purpose of this is to alleviate traffic pressure in other directions.
[0063] For example, if the first capacity threshold B is set to 40 vehicles, when the number of vehicles on the road is less than 40 after the green light turns on, the green light countdown can be restarted, and then vehicles will be buffered on the road.
[0064] The implementation principle of an intelligent management method for smart highways according to an embodiment of this application is as follows:
[0065] Obtain the normal vehicle capacity K of the road between intersection M1 and intersection M2; and obtain the traffic light duration T at intersection M2, where T = Tg + Tr, Tg is the green light time, and Tr is the red light time. For example, if a road section can normally accommodate 100 vehicles (K), congestion may occur when this number is exceeded. The red light time is 100 seconds, and the green light time is 40 seconds. Establish a first monitoring point N1 at intersection M1 and a second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 When the red light at intersection M2 turns on, the number of vehicles in the road is determined; if K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2 If K < K, then traffic proceeds according to the signal light cycle T at intersection M2. The signal light at intersection M2 is adjusted, with a green light countdown of R, preparing to allow vehicles stopped between intersections M1 and M2 to pass, and the green light duration Tg is adjusted accordingly. At this time, other intersections entering the red light countdown begin, preparing to enter the red light state, while intersection M2 enters the green light countdown (R can be 10 seconds), preparing to allow traffic to pass between M1 and M2. After the road has been open for traffic with a green light duration Tgx+A+Ty, the number of vehicles stuck on the road is assessed. At this time, the first monitoring point N1 monitors the number of vehicles entering intersection M1 (B1), and the second monitoring point N2 monitors the number of vehicles exiting intersection M2 (B2). If B1-B2≤B, the green light countdown begins; if B1-B2>B, the initial assessment step is executed.
[0066] Example 2: This application provides an intelligent management system for smart highways, referring to... Figure 2 An intelligent management system for smart highways includes the following:
[0067] Acquisition Module: The output terminal is electrically connected to the input terminal of Judgment Module I, and is used to acquire the normal vehicle capacity K of the road between intersection M1 and intersection M2; and to acquire the traffic light time period T at intersection M2, where T=Tg+Tr, Tg is the green light time, and Tr is the red light time.
[0068] Monitoring module: The output terminal is electrically connected to the input terminal of judgment module I, and is used to establish a first monitoring point N1 at intersection M1 and a second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 ;
[0069] Judgment Module I: The output terminal is electrically connected to the input terminal of the adjustment module. When the red light at intersection M2 is on, it judges the number of vehicles on the road.
[0070] If K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2 If the threshold is less than K, then traffic will proceed according to the traffic light cycle T at the M2 intersection, where K is the road capacity threshold.
[0071] Adjustment module: Adjust the traffic light at intersection M2. The traffic light at intersection M2 will count down to green light time R, preparing to allow vehicles stopped between intersections M1 and M2 to pass, and adjust the green light time Tg.
[0072] Calculation Module I: Its input terminal is electrically connected to the output terminal of the adjustment module. It is used to redetermine the green light time and calculate the reset green light time Tgx. The calculation model for the reset green light time Tgx is as follows:
[0073] In the formula, Q is the arrival rate of vehicle pairs, and S is the departure rate of vehicles.
[0074] Reset Module: The input terminal is electrically connected to the output terminal of the calculation module and is used to reset the green light time. After the calculation module I calculates Tgx, let Tg = Tgx + A; where A is a constant.
[0075] Calculation Module II: Its input terminal is electrically connected to the output terminal of Calculation Module I, and its output terminal is electrically connected to the input terminal of the reset module. It is used to calculate the vehicle delay time Ty. The calculation model for the vehicle delay time Ty is as follows:
[0076] Once Ty is calculated, the green light time Tg is redefined, where Tg = Tgx + A + Ty.
[0077] Judgment Module II: The input terminal is electrically connected to the output terminal of the reset module, and the output terminal is electrically connected to the input terminal of Judgment Module I. The first capacity threshold B is set. After the road has been open for traffic for a green light time of Tgx+A+Ty, the vehicles stuck on the road are judged. At this time, the first monitoring point N1 monitors the number of vehicles entering the intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving the intersection M2 B2. If B1-B2≤B, the green light countdown begins. If B1-B2>B, Judgment Module I is executed.
[0078] The implementation principle of an intelligent management system for smart highways according to an embodiment of this application is as follows:
[0079] The acquisition module acquires the normal vehicle capacity K of the road between intersection M1 and intersection M2; and the traffic light duration T at intersection M2, where T = Tg + Tr, Tg is the green light duration, and Tr is the red light duration; the first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 If K1+K N1 -K N2 If K ≥ K, then the traffic light at intersection M2 is adjusted. The traffic light at intersection M2 will count down to green for a period of time R, preparing to allow vehicles stopped between intersections M1 and M2 to proceed, and the green light time Tg is adjusted accordingly; if K1 + K N1 -K N2 If the signal light is less than K, then traffic will proceed according to the signal light cycle T at intersection M2. In judgment module II, a first capacity threshold B is set. After the road has been open for traffic for a green light time of Tgx+A+Ty, the vehicles that have been stuck on the road are judged. At this time, the first monitoring point N1 monitors the number of vehicles entering intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving intersection M2 B2. If B1-B2≤B, then the green light countdown begins. If B1-B2>B, then judgment module I is executed.
[0080] Example 3: This example discloses an intelligent management device for smart highways, referring to... Figure 3 An intelligent management device for smart highways includes:
[0081] Storage, used to store computer programs;
[0082] A processor is used to execute a computer program stored in a memory, thereby implementing the method described in Example 1.
[0083] Storage may include mass storage for storing data or instructions. For example, and not limitingly, storage may include hard disks, floppy disks, flash memory, optical disks, magneto-optical disks, magnetic tapes, or combinations of two or more of these. Where appropriate, storage may include removable or non-removable (or fixed) media. Where appropriate, storage may be internal or external to a data processing device. In a particular embodiment, storage is non-volatile solid-state storage. In a particular embodiment, storage includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EBROM), or combinations of two or more of these.
[0084] Example 4: This example discloses a computer storage medium for intelligent management of smart highways, wherein the computer storage medium stores a program that, when executed, can implement some or all of the steps of the method described in Example 1.
[0085] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.
Claims
1. An intelligent management method for smart highways, characterized in that: include: Information Acquisition: Acquire the normal vehicle capacity K of the road between intersection M1 and intersection M2; and acquire the traffic light time period T at intersection M2, where T = Tg + Tr, Tg is the green light time, and Tr is the red light time. Establish monitoring points; establish the first monitoring point N1 at intersection M1 and the second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 ; Initial assessment: When the red light at intersection M2 is on, assess the number of vehicles on the road; If K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2 If K < K, then traffic will proceed according to the signal light cycle T at the M2 intersection, where K1 is the original number of vehicles on the road. Cycle adjustment: Adjust the traffic light at intersection M2. The traffic light at intersection M2 will count down to green light time R, preparing to allow vehicles stopped between intersections M1 and M2 to pass, and adjust the green light time Tg.
2. The intelligent management method for smart highways according to claim 1, characterized in that: Following the cycle adjustment step, a green light time reset calculation step is also included: Green light time reset calculation: Redetermine the green light time and calculate the reset green light time Tgx. The calculation model for the reset green light time Tgx is as follows: In the formula, Q is the arrival rate of vehicle pairs, and S is the departure rate of vehicles. After calculating Tgx, let Tg = Tgx + A; where A is a constant.
3. The intelligent management method for smart highways according to claim 2, characterized in that: A delay time calculation step is also set after the green light time reset calculation step; Delay time calculation: Calculate the vehicle delay time Ty. The calculation model for vehicle delay time Ty is as follows: ； Once Ty is calculated, the green light time Tg is redefined as Tg = Tgx + A + Ty.
4. The intelligent management method for smart highways according to claim 3, characterized in that: A secondary judgment step is set after the delay time calculation step; Secondary judgment: Set a first capacity threshold B. After the road has been open for traffic for a green light time of Tgx+A+Ty, judge the number of vehicles stuck on the road. At this time, the first monitoring point N1 monitors the number of vehicles entering the intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving the intersection M2 B2. If B1-B2≤B, the green light countdown begins. If B1-B2>B, the initial judgment step is executed.
5. An intelligent management system for smart highways, employing the intelligent management method for smart highways as described in any one of claims 1-4, characterized in that: The module includes an acquisition module: its output is electrically connected to the input of the judgment module I, and is used to acquire the normal vehicle capacity K of the road between intersection M1 and intersection M2; and to acquire the traffic light time period T at intersection M2, where T = Tg + Tr, Tg is the green light time and Tr is the red light time. Monitoring module: The output terminal is electrically connected to the input terminal of judgment module I, and is used to establish a first monitoring point N1 at intersection M1 and a second monitoring point N2 at intersection M2. The first monitoring point N1 monitors the number K of vehicles entering intersection M1. N1 The second monitoring point N2 monitors the number of vehicles K exiting intersection M2. N2 ; Judgment Module I: The output terminal is electrically connected to the input terminal of the adjustment module. When the red light at intersection M2 is on, it judges the number of vehicles on the road. If K1+K N1 -K N2 If K ≥ K, then execute the cycle adjustment step; if K1 + K N1 -K N2 If the threshold is less than K, then traffic will proceed according to the traffic light cycle T at the M2 intersection, where K is the road capacity threshold. Adjustment module: Adjust the traffic light at intersection M2. The traffic light at intersection M2 will count down to green light time R, preparing to allow vehicles stopped between intersections M1 and M2 to pass, and adjust the green light time Tg.
6. The intelligent management system for smart highways according to claim 5, characterized in that: It also includes calculation module I and a reset module; Calculation Module I: Its input terminal is electrically connected to the output terminal of the adjustment module. It is used to redetermine the green light time and calculate the reset green light time Tgx. The calculation model for the reset green light time Tgx is as follows: In the formula, Q is the arrival rate of vehicle pairs, and S is the departure rate of vehicles. Reset Module: The input terminal is electrically connected to the output terminal of the calculation module and is used to reset the green light time. After the calculation module I calculates Tgx, let Tg = Tgx + A; where A is a constant.
7. The intelligent management system for smart highways according to claim 6, characterized in that: It also includes Calculation Module II: Calculation Module II: Its input terminal is electrically connected to the output terminal of Calculation Module I, and its output terminal is electrically connected to the input terminal of the reset module. It is used to calculate the vehicle delay time Ty. The calculation model for the vehicle delay time Ty is as follows: Once Ty is calculated, the green light time Tg is redefined, where Tg = Tgx + A + Ty.
8. A communication tower monitoring system based on a 5G network according to claim 7, characterized in that: A judgment module II is also provided after the calculation module II: Judgment Module II: The input terminal is electrically connected to the output terminal of the reset module, and the output terminal is electrically connected to the input terminal of Judgment Module I. The first capacity threshold B is set. After the road has been open for traffic for a green light time of Tgx+A+Ty, the vehicles stuck on the road are judged. At this time, the first monitoring point N1 monitors the number of vehicles entering the intersection M1 B1, and the second monitoring point N2 monitors the number of vehicles leaving the intersection M2 B2. If B1-B2≤B, the green light countdown begins. If B1-B2>B, Judgment Module I is executed.