CN106128127B - The method and system of signal lamp control crossroad waiting time are reduced using plane cognition technology - Google Patents

Abstract

The present invention provides a kind of method and system that the signal lamp control crossroad waiting time is reduced using plane cognition technology, can effectively reduce motor vehicle by crossing and meet the red parking waiting time.Using plane cognition technology can the bright direction of real-time detection red light, waited for parking after stop line motor vehicle number of units adduction and every trolley parking waiting green light used in be accurate to the second time adduction；Can real-time detection how many platform motor vehicle green lights such as will stop are lighted if being converted to red light now to obtaining green light next time to green light clearance direction, and can accurately calculate and be accurate to the time of second needed for whole motor vehicles for lighting of green lights such as stop and sum it up；The parking number of units for waiting green light to light according to crossing stop line upstream whole motor vehicles parking and waiting time sum it up shortest principle, judge that current phase signal lamp is to maintain light color state constant or conversion light color state.

Description

Using plane cognition technology reduce the signal lamp control crossroad waiting time method and System

Technical field

It is specifically a kind of to reduce Signalized control road using plane cognition technology the present invention relates to field of intelligent transportation technology The method and system of mouth waiting time.

Background technique

With the continuous expansion of city size, vehicles number is continuously increased, in order to ensure the safety of road traffic and smooth Logical, traffic management department is provided with signal lamp at many crossings, and people during multiplying Vehicle emission, meet by row to intersection It is had become the norm to red parking waiting.

Currently, the whistle control system detector being located on road both at home and abroad, is all made of a detection and cross section detection mould Formula detects motor vehicle by the state during crossing, as long as detecting that the motor vehicle in clearance direction is continuing through crossing When, regardless of stopping the vehicles number and waiting time length of direction parking waiting green light, to be extended to clearance direction most always Big green time then, can just be transformed into other direction green light.

How to shorten the total parking waiting time for meeting red light by whole motor vehicles at crossing, makes the sum of total down time big Orientation preferentially it is current, improving crossing traffic efficiency has been focus concerned by people.

Summary of the invention

The invention solves Signalized control method and system in the prior art, can not shorten motor vehicle as far as possible on road The problem of time that mouth waits red light total, crossing totality traffic efficiency is affected.

In order to solve the above technical problems, the present invention provides the following technical solutions：

A method of the signal lamp control crossroad waiting time being reduced using plane cognition technology, is included the following steps：

S1：Plane is set on the different directions of crossing and perceives detector, the motor vehicle for each direction of real-time monitoring Instantaneous velocity, each motor vehicle is from running time required for the current location to stop line where it；

S2：Judge whether first phase is green light, if then entering step S3；

S3：Judge whether second phase has the motor vehicle of parking waiting green light signals；If otherwise entering step S4, if Enter step S5；

S4：Judge whether first phase has motor vehicle by crossing, if so, keeping first phase is green light signals, directly Conversion signal lamp light color after to the maximum green time arrival of first phase；If it is not, then when the current green time of first phase Equal to conversion signal lamp light color after minimum green time；Return step S1 later；

S5：Judge whether first phase has motor vehicle by crossing, if otherwise entering step S9；If then entering step S6；

S6：The motor vehicle number of units I and waiting time for obtaining current time second phase parking waiting green light sum it up ∑ T_i, Middle T_iRefer to i-th motor vehicle since meeting red light and stopping to the time required to when encountering green light again, and 1≤i≤I；And such as The signal lamp of first phase is converted to red light at this time by fruit, then not by the motor vehicle number of units J at crossing and every in first phase Platform motor vehicle waits until that the summation of time required for first phase green light signals is ∑ T again_j, wherein T_jRefer to jth platform motor vehicle The time required to when encountering green light again since meeting red light and stopping, and 1≤j≤J；Do not pass through the motor vehicle at crossing in first phase It is less than whole motor vehicles of maximum green time including the time needed for reaching crossing stop line from current location；

S7：Judge ∑ T_jWhether ∑ T is greater than or equal to_iIf then entering step S8, S9 is otherwise entered step；

S8：Judge whether first phase reaches maximum green time, if then conversion signal lamp light color, return step later S1；Otherwise keeping first phase is green light signals；

S9：Judge whether first phase green time reaches minimum green time, if then conversion signal lamp light color, later Return step S1；If otherwise direct return step S1.

Each motor vehicle is obtained in the step S1 required for the current location to stop line where it when driving Between the step of include：

S11：By the installation site coordinate data (X of plane perception detector_j,Y_j), the coordinate data (X of stop line_t,Y_t) It marks on electronic map；

S12：Obtain the actual coordinate data (X of motor vehicle current location_dj,Y_dj), and marked on electronic map；

S13：Obtain distance L of the motor vehicle from current location to junction ahead stop line_d：

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

S14：Obtain the current instantaneous velocity V of motor vehicle_s=(L_q-L_d)/T_s, wherein L_qRefer to motor vehicle previous detection week The distance between phase and stop line, T_sRefer to the time interval between adjacent detection cycle；

S15：Judge whether there are other motor vehicles between motor vehicle and stop line, if otherwise entering step S16, if into Enter step S17；

S16：Obtain the time needed for motor vehicle reaches stop line：

T_t1=L_d/V_s；

S17：Obtain the time needed for motor vehicle reaches stop line：

T_t2=(L_d-L_dq)/V_s+T_tq；

Wherein L_dqFor the front motor vehicle and stop line the distance between adjacent with the motor vehicle, T_tqFor front motor vehicle Reach the time required for stop line.

The plane perception detector further includes following steps between step S11 and step S12 using detection radar：

SA1：Selected calibration mark position, and the actual coordinate data (X that flag bit will be corrected_b, Y_b) mark and arrive electronic map On, and actual measurement radar detector is to the distance L of calibration mark position_lbWith the distance L of calibration mark position to stop line_jt；

SA2：Judge whether to read the changing coordinates data (X of calibration mark position_bd, Y_bd), according to school if reading The positive changing coordinates data of flag bit and the actual coordinate data of calibration mark position obtain current detection error：(X_c,Y_c)= (X_bd, Y_bd)-(X_b, Y_b), SA3 is entered step later；Otherwise S18 is entered step；

SA3：Judge current detection error (X_c,Y_c) whether within the set threshold range, if then entering step S12, otherwise Enter step S18；

In step s 12, the actual coordinate data (X of motor vehicle current location is obtained_dj,Y_dj) the step of it is as follows：

S121：Coordinate data (the X of motor vehicle current location is obtained using radar detector_d,Y_d)；

S122：The reality of motor vehicle current location is obtained according to the coordinate data of motor vehicle current location and current detection error Border coordinate data：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

S18：Alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

The plane perception detector uses video tracking unit, further includes walking between step S11 and step S12 as follows Suddenly：

SB1：Division diatom is applied in the video monitoring range of video tracking unit, is provided with separation on the lines F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic map, and every two is adjacent The distance between separation L_fi；

SB2：The monitoring image of lines is obtained in video monitoring picture, successively manually marks each separation F_i, And obtain the number of lines of pixels H between the adjacent separation of every two_hOr pixel columns H_l, obtain：

The corresponding distance L of every one-row pixels between the adjacent separation of every two_fi/H_h；

Or the corresponding distance L of each column pixel between the adjacent separation of every two_fi/H_l；

S12 is entered step later；

The step S13 is specifically included：

S13A：Coordinate data (the X of motor vehicle current location is obtained using video detector_d,Y_d)；

S13B：According to the coordinate data (X of motor vehicle current location_d,Y_d) judge that motor vehicle current location is drawn in video monitoring Between any two adjacent separations in face, and further judge which between the adjacent separation be the coordinate data correspond to Row pixel or which column pixel；

S13C：According to the coordinate data (X of motor vehicle current location_d,Y_d), in conjunction with the phase of each separation in practice To the coordinate data (X of position coordinates and motor vehicle current location_d,Y_d) the corresponding distance of the every one-row pixels in region or The corresponding distance of each column pixel, obtains the actual coordinate data (X of motor vehicle current location_dj,Y_dj) away from stop line it is practical away from From.

It further include following steps between step SB2 and step S12：

SB3：With the actual coordinate data (X of each separation_f, Y_f) actual coordinate data (X as calibration mark position_b, Y_b)；

SB4：Judge whether to detect the changing coordinates data (X of each calibration mark position_bd, Y_bd), if detecting According to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the school The corresponding detection error of positive flag bit：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), SB5 is entered step later；Otherwise it enters step S18；

SB5：Judge the corresponding detection error (X in each calibration mark position_c,Y_c) whether within the set threshold range, if all The corresponding detection error in calibration mark position all then enters step S12 within the set threshold range；Otherwise S18 is entered step；

It further include following steps in step S13B：According to the coordinate data (X of motor vehicle current location_d,Y_d) obtain with Motor vehicle is apart from nearest calibration mark position, using the detection error with motor vehicle apart from nearest calibration mark position as motor vehicle Current detection error (X_c,Y_c)；

It further include following steps in step S13C：It is missed according to the coordinate data of motor vehicle current location and current detection Difference obtains the actual coordinate data of motor vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

In step S16 and step S17, the actual range L of motor vehicle current location and stop line_dBe equal to and motor vehicle away from From nearest separation, that is, the distance between calibration mark position and stop line plus motor vehicle current location and the separation, that is, school Distance representated by number of lines of pixels or pixel columns between positive flag bit；

S18：Alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

Based on the same inventive concept, signal lamp control crossroad etc. is reduced using plane cognition technology the present invention also provides a kind of To the system of time, including：

Plane perceives detector, is set on the different directions of crossing, the motor vehicle for each direction of real-time monitoring；

Data acquisition module, the instantaneous velocity of the motor vehicle for obtaining each direction, each motor vehicle is where it Current location to stop line required for running time；

First judgment module, for judging whether first phase is green light；

Second judgment module is when being, to judge whether second phase has and stop for the judging result in first judgment module Vehicle waits the motor vehicle of green light signals or reaches the motor vehicle of stop line in preset time range；

Third judgment module, for the judging result in the second judgment module be it is no when, judge whether first phase organic Motor-car is by crossing, if so, keeping first phase is green light signals, until the maximum green time of first phase turns after reaching Change signal lamp light color；If it is not, adjusting the green time of first phase then as minimum green time；

4th judgment module is when being, to judge whether first phase is organic for the judging result in the second judgment module Motor-car passes through crossing；

Processing module is to obtain the parking of current time second phase when being for the judging result in the 4th judgment module The motor vehicle number of units I and waiting time for waiting green light sum it up ∑ T_i, wherein T_iRefer to i-th motor vehicle since meeting red light and stopping The time required to when encountering green light again, and 1≤i≤I；And if the signal lamp of first phase is converted to red light at this time, Motor vehicle number of units J and every motor vehicle so in first phase not by crossing are waited until again needed for first phase green light signals The summation for the time wanted is ∑ T_j, wherein T_jRefer to and is taken when since jth platform motor vehicle encounter green light again meeting red light and stopping Between, and 1≤j≤J；In first phase not by the motor vehicle at crossing include from current location reach crossing stop line needed for when Between be less than whole motor vehicles of maximum green time；

5th judgment module, for judging ∑ T_jWhether ∑ T is greater than or equal to_i；

6th judgment module is when being, to judge whether first phase reaches for the judging result in the 5th judgment module Maximum green time, if then conversion signal lamp light color；Otherwise keeping first phase is green light signals；

7th judgment module, for the judging result in the 4th judgment module be it is no when or the 5th judgment module judgement knot When fruit is no, judge whether first phase green time reaches minimum green time, if then conversion signal lamp light color.

The data acquisition module includes：

Unit is marked, for plane to be perceived to the installation site coordinate data (X of detector_j,Y_j), the number of coordinates of stop line According to (X_t,Y_t) mark onto electronic map；

The mark unit, the actual coordinate data (X for the motor vehicle current location that also will acquire_dj,Y_dj) mark to electricity On sub- map；

Data capture unit obtains distance L of the motor vehicle from current location to junction ahead stop line_d：

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

The data capture unit, the also current instantaneous velocity V of acquisition motor vehicle_s=(L_q-L_d)/T_s, wherein L_qRefer to machine The distance between the previous detection cycle of motor-car and stop line, T_sRefer to the time interval between adjacent detection cycle；

Judging unit, for judging whether there are other motor vehicles between motor vehicle and stop line；

The data capture unit is also used to obtain the time needed for motor vehicle reaches stop line；When the judging unit Judging result be it is no when, motor vehicle reach stop line needed for the time be T_t1=L_d/V_s；When the judgement knot of the judging unit Fruit is when being, the time needed for motor vehicle reaches stop line is：T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqFor with the motor vehicle phase The distance between adjacent front motor vehicle and stop line, T_tqThe time required for stop line is reached for front motor vehicle.

Using detection radar, the data acquisition module further includes the plane perception detector：

The data capture unit selectes calibration mark position, and the actual coordinate data (X that will correct flag bit_b, Y_b) mark It infuses on electronic map, and actual measurement radar detector is to the distance L of calibration mark position_lbStop line is arrived with calibration mark position Distance L_jt；

The judging unit judges whether the changing coordinates data (X that can read calibration mark position_bd, Y_bd), if reading To then obtaining current detection error according to the actual coordinate data of the changing coordinates data of calibration mark position and calibration mark position： (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；Judge current detection error (X_c,Y_c) whether within the set threshold range；

In the data capture unit, including：

Radar data obtains subelement, and the coordinate data (X of motor vehicle current location is obtained using radar detector_d,Y_d)；

Real data obtains subelement, is obtained according to the coordinate data of motor vehicle current location and current detection error motor-driven The actual coordinate data of vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

Alarm module cannot read the changing coordinates data (X of calibration mark position in judging unit judgement_bd, Y_bd) When, alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

The plane perception detector uses video tracking unit, and the data acquisition module further includes：

Lines mark unit, apply division diatom in the video monitoring range of video tracking unit, on the lines It is provided with separation Fi, and obtains the actual coordinate data (X of each separation_f, Y_f) and marked on electronic map, with And the distance between adjacent separation of every two L_fi；

Separation marks unit, and the monitoring image of lines is obtained in video monitoring picture, is successively manually marked each A separation Fi, and obtain the number of lines of pixels H between the adjacent separation of every two_hOr pixel columns H_l, obtain：

The corresponding distance L of every one-row pixels between the adjacent separation of every two_fi/H_h；

Or the corresponding distance L of each column pixel between the adjacent separation of every two_fi/H_l；

Video data acquiring unit obtains the coordinate data (X of motor vehicle current location using video detector_d,Y_d)；

Vehicle position determination unit, according to the coordinate data (X of motor vehicle current location_d,Y_d) judge motor vehicle present bit It sets between any two adjacent separations in video monitoring picture, and further judges that the coordinate data corresponds to this adjacent point Which pixel or which column pixel between boundary's point；

Motor vehicle actual coordinate acquiring unit, according to the coordinate data (X of motor vehicle current location_d,Y_d), it is incorporated in reality In the relative position coordinates of each separation and the coordinate data (X of motor vehicle current location_d,Y_d) the every a line in region The corresponding distance of pixel or the corresponding distance of each column pixel, obtain the actual coordinate data (X of motor vehicle current location_dj, Y_dj) actual range away from stop line.

The data acquisition module further includes：

Correction bit coordinate confirmation unit, with the actual coordinate data (X of each separation_f, Y_f) reality as calibration mark position Border coordinate data (X_b, Y_b)；

Detection data judging unit judges whether the changing coordinates data (X that can detect each calibration mark position_bd, Y_bd), according to the actual coordinate of each calibration mark position the changing coordinates data and the calibration mark position detected if detecting Data obtain detection error corresponding with the calibration mark position：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；

Threshold decision unit judges the corresponding detection error (X in each calibration mark position_c,Y_c) whether in given threshold range It is interior；

Correction error selecting unit, according to the coordinate data (X of motor vehicle current location_d,Y_d) obtain with motor vehicle distance most Close calibration mark position is missed using the detection error with motor vehicle apart from nearest calibration mark position as the current detection of motor vehicle Difference (X_c,Y_c)；

The motor vehicle actual coordinate acquiring unit according to the coordinate data and current detection error of motor vehicle current location, Obtain the actual coordinate data of motor vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；Wherein, motor vehicle current location With the actual range L of stop line_dEqual to motor vehicle apart from nearest separation, that is, between calibration mark position and stop line away from From plus between motor vehicle current location and the separation, that is, calibration mark position number of lines of pixels or pixel columns representated by away from From；

Alarm module, when the judging result of detection data judging unit is no or the judging result of threshold decision unit is When no, alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

The above technical solution of the present invention has the following advantages over the prior art：

The method and system of the present invention that the signal lamp control crossroad waiting time is reduced using plane cognition technology, energy It effectively reduces motor vehicle and the red parking waiting time is met by crossing.Each crossing can be precisely detected using plane cognition technology The current elaborate position and instantaneous velocity of every motor vehicle of the every road in stop line upstream, and energy accurate calculation goes out from present bit It sets and is accurate to second time needed for stop line；Can the bright direction of real-time detection red light, the machine waited for parking after stop line The time adduction of second is accurate to used in motor-car number of units adduction and every trolley parking waiting green light；Can real-time detection to green light clearance side To, if now be converted to red light to obtain next time green light by how many platform motor vehicle will stop etc. green lights light, and can standard Really calculate the time adduction that the second is accurate to needed for whole motor vehicles that the green lights such as parking light；According to crossing stop line upstream The parking number of units and waiting time that whole motor vehicles parkings wait green light to light sum it up shortest principle, judge current phase signal Lamp makes to maintain light color state constant or conversion light color state.

Detailed description of the invention

In order to make the content of the present invention more clearly understood, with reference to the accompanying drawing, the present invention is made further detailed Thin explanation, wherein

Fig. 1 is to reduce the signal lamp control crossroad waiting time using plane cognition technology described in one embodiment of the invention The flow chart of method；

Fig. 2 is the schematic diagram at one embodiment of the invention concrete scheme center crossing；

Fig. 3 is video detecting unit video pictures schematic diagram described in one embodiment of the invention；

Fig. 4 is video detecting unit video pictures schematic diagram described in another embodiment of the present invention；

Fig. 5 is to reduce the signal lamp control crossroad waiting time using plane cognition technology described in one embodiment of the invention The functional block diagram of system.

Specific embodiment

Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention. And technical characteristic involved in invention described below different embodiments is as long as they do not conflict with each other It can be combined with each other.Before each embodiment is described in detail, it should be noted that it is involved in the present invention arrive it is all Coordinate data each means the coordinate data under same preferred coordinates system.In addition, plane perception detection of the present invention is phase Saying for the detection of section in the prior art, the continuous detection to motor vehicle current location track is adopting for panel data Collection can be described as plane perception detection.

Embodiment 1

The present embodiment provides a kind of methods for reducing the signal lamp control crossroad waiting time using plane cognition technology, such as scheme Shown in 1, include the following steps：

S1：Plane is set on the different directions of crossing and perceives detector, the motor vehicle for each direction of real-time monitoring Instantaneous velocity, each motor vehicle is from running time required for the current location to stop line where it.Plane perception detection The set-up mode of device can be such as form that Fig. 2 is provided.

S2：Judge whether first phase is green light, if then entering step S3.

S3：Judge whether second phase has the motor vehicle of parking waiting green light signals；If otherwise entering step S4, if Enter step S5；.

S4：Judge whether first phase has motor vehicle by crossing, if so, keeping first phase is green light signals, directly Conversion signal lamp light color after to the maximum green time arrival of first phase；If it is not, when then judging the current green light of first phase Between be equal to conversion signal lamp light color after minimum green time；Return step S1 later.That is if second phase does not have machine When motor-car waits, first phase has motor vehicle then to provide green light signals until the first phase for the motor vehicle of first phase by crossing The maximum green time of position；And if first phase is also without motor vehicle by if crossing, when first phase is current When green time is minimum green time, with regard to conversion signal light color state, in this way while guaranteeing that crossing is safe, conversion is improved Speed shortens waiting time of the motor vehicle by crossing.

S5：Judge whether first phase has motor vehicle by crossing, if otherwise entering step S9；If then entering step S6；That is, further judge whether first phase has motor vehicle if second phase has motor vehicle waiting, if First phase has motor vehicle then to judge that the number of units of both sides motor vehicle and motor vehicle wait the time required for green light, when to wait Between long phase green light signals are provided, to shorten the waiting time.It is just as early as possible second if first phase does not have motor vehicle Phase provides green light signals.

S6：The motor vehicle number of units I and waiting time for obtaining current time second phase parking waiting green light sum it up ∑ T_i, Middle T_iRefer to i-th motor vehicle since meeting red light and stopping to the time required to when encountering green light again, and 1≤i≤I；And such as The signal lamp of first phase is converted to red light at this time by fruit, then not by the motor vehicle number of units J at crossing and every in first phase Platform motor vehicle waits until that the summation of time required for first phase green light signals is ∑ T again_j, wherein T_jRefer to jth platform motor vehicle The time required to when encountering green light again since meeting red light and stopping, and 1≤j≤J；Do not pass through the motor vehicle at crossing in first phase It is less than whole motor vehicles of maximum green time including the time needed for reaching crossing stop line from current location；

In this step, precondition is that first phase is green light signals, has motor vehicle by simultaneously second in first phase Phase has motor vehicle to wait through crossing, at this time in order to guarantee to shorten the motor vehicle waiting time, then needs to two phase directionals On the motor vehicle waiting time be compared, for the vehicle in first phase, if green light signals are converted to red light at this time Signal, then the time until green light can be calculated J platform motor vehicle again.And for the vehicle in second phase, by It has been waited in front of, therefore has had been waiting for a period of time, if continuing that it is allowed to wait, when the second phase Position is when becoming green light, the motor vehicle of available second phase waited altogether how long.Above scheme in the present embodiment, Since the current location of motor vehicle and the instantaneous velocity of motor vehicle can be obtained in real time, can obtain in real time each motor-driven Time of the vehicle between current location to stop line.Although it must be energy in addition, not being described in detail in the present embodiment In the control period for enough obtaining signal lamp, therefore red time, green time can be obtained, in conjunction with motor vehicle reach stop line when Between, it will be able to obtain the waiting time of each motor vehicle.

S7：Judge ∑ T_jWhether ∑ T is greater than or equal to_iIf then entering step S8, S9 is otherwise entered step.

S8：Judge whether first phase reaches maximum green time, if then conversion signal lamp light color, return step later S1；Otherwise keeping first phase is green light signals；When first phase motor vehicle is waiting for a long time, green light is provided for first phase Signal, but green light is provided for first phase always in order to prevent, cause second phase motor vehicle to fall into a long wait, so needing Judge whether first phase reaches maximum green time, if first phase reaches maximum green time, no matter first phase Whether there is vehicle all should provide green light signals for second phase.

S9：Judge whether first phase green time reaches minimum green time, if then conversion signal lamp light color, later Return step S1；If otherwise direct return step S1.

Above scheme in the present embodiment can effectively reduce motor vehicle by crossing and meet the red parking waiting time.It utilizes Plane cognition technology can precisely detect the current elaborate position of every motor vehicle of the every road in each crossing stop line upstream And instantaneous velocity, and can accurate calculation go out from current location to stop line needed for be accurate to second time；Can real-time detection it is red The second is accurate to used in the bright direction of lamp, the motor vehicle number of units adduction waited for parking after stop line and every trolley parking waiting green light Time adduction；Can real-time detection to green light clearance direction, if it is present be converted to red light to obtain next time green light will have it is more Few platform motor vehicle green lights such as will stop light, and can accurately calculate accurate needed for whole motor vehicles that the green lights such as parking light Time to the second sums it up；When the parking number of units and waiting that wait green light to light according to crossing stop line upstream whole motor vehicles parking Between sum it up shortest principle, judge current phase signal lamp make maintain light color state it is constant or conversion light color state.

Embodiment 2

The present embodiment on the basis of embodiment 1, does following improvement, real-time and precise obtains each machine in the step S1 Motor-car from current location reach stop line needed for the time the step of include：

S11：By the installation site coordinate data (X of plane perception detector_j,Y_j), the coordinate data (X of stop line_t,Y_t) It marks on electronic map；It should be noted that being all to occupy certain area for installation site and stop line , then when obtaining its coordinate data, it can be according to the coordinate data of the center position of occupied area as actual seat Mark data come using.

S12：Obtain the actual coordinate data (X of motor vehicle current location_dj,Y_dj), and marked on electronic map； Motor vehicle itself is that have certain area, then it is a point value that the coordinate data of motor vehicle, which is not, yet, in practical application When, it can choose position coordinates of the position coordinates as motor vehicle of the central point of motor vehicle front end.

S13：Obtain distance L of the motor vehicle from current location to junction ahead stop line_d：

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

Circular can refer to actual conditions shown in Fig. 3, as can be drawn from Figure 3, motor vehicle and stop line it Between distance be L_d, the coordinate of both motor vehicle and stop line is under the same coordinate system.In fact, distance between the two, it can To be obtained according to Pythagorean theorem, i.e.,：

With L in the present embodiment_d=(X_t,Y_t)-(X_dj,Y_dj) indicate.

S14：Obtain the current instantaneous velocity V of motor vehicle_s=(L_q-L_d)/T_s, wherein L_qRefer to motor vehicle previous detection week The distance between phase and stop line, T_sRefer to the time interval between adjacent detection cycle；

S15：Judge whether there are other motor vehicles between motor vehicle and stop line, if otherwise entering step S16, if into Enter step S17；

S16：Obtain the time needed for motor vehicle reaches stop line：

T_t1=L_d/V_s；It obviously, can be directly according to distance and speed if motor vehicle front is without other motor vehicles Degree obtains motor vehicle and reaches the time required for the stop line of front.

S17：Obtain the time needed for motor vehicle reaches stop line：

T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqBetween the front motor vehicle adjacent with the motor vehicle and stop line away from From T_tqThe time required for stop line is reached for front motor vehicle.If obvious motor vehicle front has other motor vehicles, when Time required for preceding motor vehicle arrival stop line certainly will be influenced by front motor vehicle.

In the present solution, obtain motor vehicle to stop line apart from when, by the row of the motor vehicle before the motor vehicle Speed is sailed to take into account together, compared to individually according to the travel speed of the current time motor vehicle obtain for, more agree with reality Border, it is more acurrate.

As a kind of specific embodiment, the plane perception detector is using detection radar, in step S11 and step It further include following steps between S12：

SA1：Selected calibration mark position, and the actual coordinate data (X that flag bit will be corrected_b, Y_b) mark and arrive electronic map On, and actual measurement radar detector is to the distance L of calibration mark position_lbWith the distance L of calibration mark position to stop line_jt；Correction Flag bit can be the position, such as display board, overline bridge bridge, electric pole etc. where the fixed signal object being arranged on road surface, this A little objects will not be subjected to displacement easily.

SA2：Judge whether to read the changing coordinates data (X of calibration mark position_bd, Y_bd), according to school if reading The positive changing coordinates data of flag bit and the actual coordinate data of calibration mark position obtain current detection error：(X_c,Y_c)= (X_bd, Y_bd)-(X_b, Y_b), SA3 is entered step later；Otherwise S18 is entered step；

SA3：Judge current detection error (X_c,Y_c) whether within the set threshold range, if then entering step S12, otherwise Enter step S18；

In step s 12, the actual coordinate data (X of motor vehicle current location is obtained_dj,Y_dj) the step of it is as follows：

S121：Coordinate data (the X of motor vehicle current location is obtained using radar detector_d,Y_d)；

S122：The reality of motor vehicle current location is obtained according to the coordinate data of motor vehicle current location and current detection error Border coordinate data：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

S18：Alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

Calibration mark position is selected on road surface, the actual position coordinate of calibration mark position is marked on the electronic map, to vehicle When position is detected, the coordinate data for obtaining calibration mark position in real time is compared with actual coordinate data, when the two it Between deviation be more than certain threshold value when, issue fault alarm information remind staff.When deviation between the two is in threshold value model When enclosing interior, collected vehicle location coordinate is corrected according to deviation, therefore, even detector is shaken, Also it can guarantee that the vehicle location coordinate data finally obtained is accurate.

Embodiment 3

In the present embodiment, the plane perception detector uses video tracking unit, between step S11 and step S12 It further include following steps：

SB1：Division diatom is applied in the video monitoring range of video tracking unit, is provided with separation on the lines F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic map, and every two is adjacent The distance between separation L_fi；It is illustrated in figure 3 a kind of scheme, the endpoint for the lines drawn is applied using on road as separation. Because lines are dashed line forms, for solid line length therein and blank space be all have as defined in, solid line under normal circumstances Length is 2 meters, and blank space is 4 meters, so if being then readily available every directly using two endpoints of solid line as separation The coordinate value of one separation, the distance between F1 and F2 as shown in the figure be 2 meters, the distance between F2 and F3 be 4 meters, F3 and The distance between F4 is two meters.

SB2：The monitoring image of lines is obtained in video monitoring picture, successively manually marks each separation F_i, And obtain the number of lines of pixels H between the adjacent separation of every two_hOr pixel columns H_l, obtain：

The corresponding distance L of every one-row pixels between the adjacent separation of every two_fi/H_h；

Or the corresponding distance L of each column pixel between the adjacent separation of every two_fi/H_l；

S22 is entered step later；

Fig. 4 gives the testing result schematic diagram in video detection picture；It is as shown in the figure the detection in a lane Result schematic diagram.It can be seen from the figure that when video detecting unit is when detecting the target of different distance, with one-row pixels and Distance represented by same row pixel is entirely different.The width of road is fixed, but road width occupies below picture 43 column pixels, have only taken up 28 column pixels above picture, it is assumed that its width is 3 meters, then for column each below picture The distance that pixel indicates is 3/430.07 meter, and the distance that each column pixel indicates above road is 3/280.1 meter.Same road Reason applies the lines drawn on road surface, and solid line length is two meters, below the picture 15 row pixels indicate between F1 and F2 away from From, 7 row pixels can indicate the distance between F5 and F6 above picture, then between F1 and F2, every row pixel represent away from From being 2/150.133 meter, between F5 and F6, the distance that every row pixel represents is 2/70.286 meter.

The step S13 is specifically included：

S13A：Coordinate data (the X of motor vehicle current location is obtained using video detector_d,Y_d)；

S13B：According to the coordinate data (X of motor vehicle current location_d,Y_d) judge that motor vehicle current location is drawn in video monitoring Between any two adjacent separations in face, and further judge which between the adjacent separation be the coordinate data correspond to Row pixel or which column pixel；The step for implement it is fairly simple, just directly with the coordinate of motor vehicle current location Data (X_d,Y_d) be compared and can obtain with the coordinate data of each separation, it is not described in detail again.

S13C：According to the coordinate data (X of motor vehicle current location_d,Y_d), in conjunction with the phase of each separation in practice To the coordinate data (X of position coordinates and motor vehicle current location_d,Y_d) the corresponding distance of the every one-row pixels in region or The corresponding distance of each column pixel, obtains the actual coordinate data (X of motor vehicle current location_dj,Y_dj) away from stop line it is practical away from From.

The actual range L of motor vehicle current location and stop line_dEqual to motor vehicle apart from nearest calibration mark position with The distance between stop line adds number of lines of pixels or pixel columns institute's generation between motor vehicle current location and the calibration mark position The distance of table.It will be understood that being easy to measure because stop line, lines are all actually to apply to draw on road surface To actual range between the two.Assuming that current time, motor vehicle is between F5 and F6, and before two separations of F5 and F6 arrive The distance of square stop line can be obtained with actual measurement, be very accurate distance, as long as then we obtain motor vehicle and F5 or The distance between person F6 can be obtained by motor vehicle at a distance from the stop line of front.Because we have obtained, F5 and F6 it Between share 7 row pixels, distance represented by every one-row pixels is 0.286 meter, at this time if distance is 4 rows between motor vehicle and F5 Pixel, the distance between F6 is 3 row pixels, then the distance between available motor vehicle and F6 are 0.2863=0.858 Rice, then motor vehicle is exactly the distance between F6 and stop line at a distance from the stop line of front along with 0.858 meter.Another feelings Condition, it is assumed that motor vehicle is closer at a distance from F5, then the distance of motor vehicle to front stop line should be just that F5 stops to front The distance of line subtracts the distance between F5 and motor vehicle.

When using video detector, since video detector is when detecting the scene of different distance, equally adjacent two The distance represented between row pixel or two column pixels is not identical.Since in video pictures, the video image ratio of short distance It is different from remote video image ratio, therefore, in this application, according to the physical length ruler of the lines on road surface It is very little, by the separation that is manually arranged on video pictures as calibration mark position, no matter when separation is in remote position With at the position of short distance, the distance of each separation to stop line is known, and be very accurately, it is only different Number of lines of pixels and columns difference between the adjacent separation of the scene of distance, the distance of representative is different, by this method, Its precision for detecting position can be increased substantially, when between two separations that the position of motor vehicle is in arbitrary neighborhood, Can number of lines of pixels according to actual range of the separation away from stop line where motor vehicle plus motor vehicle away from the separation or Columns obtains actual range of the accurate motor vehicle away from stop line.

It is further preferred that further including following steps between step SB2 and step S22：

SB3：With the actual coordinate data (X of each separation_f, Y_f) actual coordinate data (X as calibration mark position_b, Y_b)；

SB4：Judge whether to detect the changing coordinates data (X of each calibration mark position_bd, Y_bd), if detecting According to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the school The corresponding detection error of positive flag bit：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), SB5 is entered step later；Otherwise it enters step S18；

SB5：Judge the corresponding detection error (X in each calibration mark position_c,Y_c) whether within the set threshold range, if all The corresponding detection error in calibration mark position all then enters step S22 within the set threshold range；Otherwise S18 is entered step；

It further include following steps in step S23B：According to the coordinate data (X of motor vehicle current location_d,Y_d) obtain with Motor vehicle is apart from nearest calibration mark position, using the detection error with motor vehicle apart from nearest calibration mark position as motor vehicle Current detection error (X_c,Y_c)；

It further include following steps in step S23C：It is missed according to the coordinate data of motor vehicle current location and current detection Difference obtains the actual coordinate data of motor vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

In step S16 and step S17, the actual range L of motor vehicle current location and stop line_dBe equal to and motor vehicle away from From nearest separation, that is, the distance between calibration mark position and stop line plus motor vehicle current location and the separation, that is, school Distance representated by number of lines of pixels or pixel columns between positive flag bit；

S18：Alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

The principle of this preferred embodiment is similar with the solution principle in embodiment 2, substantially makees each separation For calibration mark position, if the location information that shake, which has occurred, in video detector causes video detector to detect has occurred partially It moves, since each separation is calibration mark position, no matter which two separation motor vehicle is between, can root The correction error of calibration mark position is obtained according to the nearest separation of longitudinal maneuver vehicle.In the present solution, by the prison of entire video pictures It controls distance and several segments is divided into separation, every section of distance is all shorter, therefore partially using the distance between two separations Difference is corrected the position of motor vehicle, available more accurate data.

Embodiment 4

The present embodiment provides a kind of systems for reducing the signal lamp control crossroad waiting time using plane cognition technology, such as scheme Shown in 5, including：

Plane perceives detector 1, is set on the different directions of crossing, the motor vehicle for each direction of real-time monitoring；

Data acquisition module 2, the instantaneous velocity of the motor vehicle for obtaining each direction, each motor vehicle is where it Current location to stop line required for running time；

First judgment module 3, for judging whether first phase is green light；

Second judgment module 4 is when being, to judge whether second phase has for the judging result in first judgment module 3 It waits for parking the motor vehicle of green light signals or reaches the motor vehicle of stop line in preset time range；

Third judgment module 5, for the judging result in the second judgment module 4 be it is no when, judge whether first phase has Motor vehicle is by crossing, if so, keeping first phase is green light signals, until after the maximum green time of first phase reaches Conversion signal lamp light color；If it is not, adjusting the green time of first phase then as minimum green time；

4th judgment module 6 is when being, to judge whether first phase has for the judging result in the second judgment module 4 Motor vehicle passes through crossing；

Processing module 7 is to obtain current time second phase when being and stop for the judging result in the 4th judgment module 6 Vehicle waits the motor vehicle number of units I of green light and waiting time to sum it up ∑ T_i, wherein T_iRefer to that i-th motor vehicle is opened from red light stopping is met Begin to required time when encountering green light again, and 1≤i≤I；And if the signal lamp of first phase is converted at this time red Lamp, then the motor vehicle number of units J and every motor vehicle in first phase not by crossing wait until first phase green light signals again The summation of required time is ∑ T_j, wherein T_jRefer to jth platform motor vehicle when that encounters green light again institute since meeting red light and stopping It takes time, and 1≤j≤J；In first phase not by the motor vehicle at crossing include from current location reach crossing stop line needed for Time be less than whole motor vehicles of maximum green time；

5th judgment module 8, for judging ∑ T_jWhether ∑ T is greater than or equal to_i；

6th judgment module 9 is when being, to judge whether first phase arrives for the judging result in the 5th judgment module 8 Up to maximum green time, if then conversion signal lamp light color；Otherwise keeping first phase is green light signals；

When 7th judgment module 10 for judging result in the 4th judgment module 6 is no or the 5th judgment module 7 is sentenced When disconnected result is no, judge whether first phase green time reaches minimum green time, if then conversion signal lamp light color.

Preferably, the data acquisition module 2 includes：

Unit is marked, for plane to be perceived to the installation site coordinate data (X of detector_j,Y_j), the number of coordinates of stop line According to (X_t,Y_t) mark onto electronic map；

The mark unit, the actual coordinate data (X for the motor vehicle current location that also will acquire_dj,Y_dj) mark to electricity On sub- map；

Data capture unit obtains distance L of the motor vehicle from current location to junction ahead stop line_d：

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

The data capture unit, the also current instantaneous velocity V of acquisition motor vehicle_s=(L_q-L_d)/T_s, wherein L_qRefer to machine The distance between the previous detection cycle of motor-car and stop line, T_sRefer to the time interval between adjacent detection cycle；

Judging unit, for judging whether there are other motor vehicles between motor vehicle and stop line；

The data capture unit is also used to obtain the time needed for motor vehicle reaches stop line；When the judging unit Judging result be it is no when, motor vehicle reach stop line needed for the time be T_t1=L_d/V_s；When the judgement knot of the judging unit Fruit is when being, the time needed for motor vehicle reaches stop line is：T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqFor with the motor vehicle phase The distance between adjacent front motor vehicle and stop line, T_tqThe time required for stop line is reached for front motor vehicle.

It is further preferred that the plane perception detector is using detection radar, the data acquisition module further includes：

The data capture unit selectes calibration mark position, and the actual coordinate data (X that will correct flag bit_b, Y_b) mark It infuses on electronic map, and actual measurement radar detector is to the distance L of calibration mark position_lbStop line is arrived with calibration mark position Distance L_jt；

The judging unit judges whether the changing coordinates data (X that can read calibration mark position_bd, Y_bd), if reading To then obtaining current detection error according to the actual coordinate data of the changing coordinates data of calibration mark position and calibration mark position： (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；Judge current detection error (X_c,Y_c) whether within the set threshold range；

In the data capture unit, including：

Radar data obtains subelement, and the coordinate data (X of motor vehicle current location is obtained using radar detector_d,Y_d)；

Real data obtains subelement, is obtained according to the coordinate data of motor vehicle current location and current detection error motor-driven The actual coordinate data of vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

Alarm module cannot read the changing coordinates data (X of calibration mark position in judging unit judgement_bd, Y_bd) When, alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

The present embodiment provides a kind of specific implementations：The plane perception detector uses video tracking unit, described Data acquisition module further includes：

Lines mark unit, apply division diatom in the video monitoring range of video tracking unit, on the lines It is provided with separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic map, with And the distance between adjacent separation of every two L_fi；

Separation marks unit, and the monitoring image of lines is obtained in video monitoring picture, is successively manually marked each A separation F_i, and obtain the number of lines of pixels H between the adjacent separation of every two_hOr pixel columns H_l, obtain：

The corresponding distance L of every one-row pixels between the adjacent separation of every two_fi/H_h；

Or the corresponding distance L of each column pixel between the adjacent separation of every two_fi/H_l；

Video data acquiring unit obtains the coordinate data (X of motor vehicle current location using video detector_d,Y_d)；

Vehicle position determination unit, according to the coordinate data (X of motor vehicle current location_d,Y_d) judge motor vehicle present bit It sets between any two adjacent separations in video monitoring picture, and further judges that the coordinate data corresponds to this adjacent point Which pixel or which column pixel between boundary's point；

Motor vehicle actual coordinate acquiring unit, according to the coordinate data (X of motor vehicle current location_d,Y_d), it is incorporated in reality In the relative position coordinates of each separation and the coordinate data (X of motor vehicle current location_d,Y_d) the every a line in region The corresponding distance of pixel or the corresponding distance of each column pixel, obtain the actual coordinate data (X of motor vehicle current location_dj, Y_dj) actual range away from stop line.

Preferably, the data acquisition module further includes：

Correction bit coordinate confirmation unit, with the actual coordinate data (X of each separation_f, Y_f) reality as calibration mark position Border coordinate data (X_b, Y_b)；

Detection data judging unit judges whether the changing coordinates data (X that can detect each calibration mark position_bd, Y_bd), according to the actual coordinate of each calibration mark position the changing coordinates data and the calibration mark position detected if detecting Data obtain detection error corresponding with the calibration mark position：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；

Threshold decision unit judges the corresponding detection error (X in each calibration mark position_c,Y_c) whether in given threshold range It is interior；

Correction error selecting unit, according to the coordinate data (X of motor vehicle current location_d,Y_d) obtain with motor vehicle distance most Close calibration mark position is missed using the detection error with motor vehicle apart from nearest calibration mark position as the current detection of motor vehicle Difference (X_c,Y_c)；

The motor vehicle actual coordinate acquiring unit according to the coordinate data and current detection error of motor vehicle current location, Obtain the actual coordinate data of motor vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；Wherein, motor vehicle current location With the actual range L of stop line_dEqual to motor vehicle apart from nearest separation, that is, between calibration mark position and stop line away from From plus between motor vehicle current location and the separation, that is, calibration mark position number of lines of pixels or pixel columns representated by away from From；

Alarm module, when the judging result of detection data judging unit is no or the judging result of threshold decision unit is When no, alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

The above scheme of the present embodiment perceives the detection of detector real-time and precise by plane and swims in each direction into crossing Vehicles number, the current position of every motor vehicle, instantaneous velocity and the time required to reaching stop line from current location, in real time Change the phase offset of adjustment signal lamp according to the real-time traffic of sub-district main line two entrances.In addition, above scheme of the invention Do not need setting monitoring position, even different motor vehicles, different weather condition speed under, can precisely obtain therewith The corresponding time for reaching stop line.Therefore, above scheme through the invention can accurately obtain each motor vehicle from upstream The outlet at crossing reaches the exact time of stop line, therefore can more accurately reach the head of the motor vehicle queue of stop line Vehicle opens green light signals, to guarantee that motor vehicle reduces stop frequency when passing through crossing.

Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as It selects embodiment and falls into all change and modification of the scope of the invention.

Claims (10)

1. a kind of method for reducing the signal lamp control crossroad waiting time using plane cognition technology, which is characterized in that including such as Lower step：

S1：Plane is set on the different directions of crossing and perceives detector, motor vehicle for each direction of real-time monitoring it is instantaneous Speed, each motor vehicle is from running time required for the current location to stop line where it；

S2：Judge whether first phase is green light, if then entering step S3；

S3：Judge whether second phase has the motor vehicle of parking waiting green light signals；If otherwise entering step S4, if entering Step S5；

S4：Judge whether first phase has motor vehicle by crossing, if so, keeping first phase is green light signals, until the Conversion signal lamp light color after the maximum green time of one phase reaches；If it is not, then when the current green time of first phase is equal to Conversion signal lamp light color after minimum green time；Return step S1 later；

S5：Judge whether first phase has motor vehicle by crossing, if otherwise entering step S9；If then entering step S6；

S6：The motor vehicle number of units I and waiting time for obtaining current time second phase parking waiting green light sum it up ∑ T_i, wherein T_i Refer to i-th motor vehicle since meeting red light and stopping to the time required to when encountering green light again, and 1≤i≤I；And if this When the signal lamp of first phase is converted into red light, then not passing through the motor vehicle number of units J and every machine at crossing in first phase Motor-car waits until that the summation of time required for first phase green light signals is ∑ T again_j, wherein T_jRefer to jth platform motor vehicle from chance Required time when red light stops starting to encounter again green light, and 1≤j≤J；Motor vehicle in first phase not by crossing includes Time needed for reaching crossing stop line from current location is less than whole motor vehicles of maximum green time；

S7：Judge ∑ T_jWhether ∑ T is greater than or equal to_iIf then entering step S8, S9 is otherwise entered step；

S8：Judge whether first phase reaches maximum green time, if then conversion signal lamp light color, return step S1 later； Otherwise keeping first phase is green light signals；

S9：Judge whether first phase green time reaches minimum green time, if then conversion signal lamp light color, returns later Step S1；If otherwise direct return step S1.

2. the method according to claim 1 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that, each motor vehicle is obtained in the step S1 required for the current location to stop line where it when driving Between the step of include：

S11：By the installation site coordinate data (X of plane perception detector_j,Y_j), the coordinate data (X of stop line_t,Y_t) mark and arrive On electronic map；

S12：Obtain the actual coordinate data (X of motor vehicle current location_dj,Y_dj), and marked on electronic map；

S13：Obtain distance L of the motor vehicle from current location to junction ahead stop line_d：

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

S14：Obtain the current instantaneous velocity V of motor vehicle_s=(L_q-L_d)/T_s, wherein L_qRefer to the previous detection cycle of motor vehicle with The distance between stop line, T_sRefer to the time interval between adjacent detection cycle；

S15：Judge whether there are other motor vehicles between motor vehicle and stop line, if otherwise entering step S16, if entering step Rapid S17；

S16：Obtain the time needed for motor vehicle reaches stop line：

T_t1=L_d/V_s；

S17：Obtain the time needed for motor vehicle reaches stop line：

T_t2=(L_d-L_dq)/V_s+T_tq；

Wherein L_dqFor the front motor vehicle and stop line the distance between adjacent with the motor vehicle, T_tqStop for the arrival of front motor vehicle The only time required for line.

3. the method according to claim 2 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that, the plane perception detector further includes following steps between step S11 and step S12 using detection radar：

SA1：Selected calibration mark position, and the actual coordinate data (X that flag bit will be corrected_b, Y_b) mark onto electronic map, and Distance L of the actual measurement radar detector to calibration mark position_lbWith the distance L of calibration mark position to stop line_jt；

SA2：Judge whether to read the changing coordinates data (X of calibration mark position_bd, Y_bd), according to correcting mark if reading The changing coordinates data of will position and the actual coordinate data of calibration mark position obtain current detection error：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), SA3 is entered step later；Otherwise S18 is entered step；

SA3：Judge current detection error (X_c,Y_c) whether within the set threshold range, if then entering step S12, otherwise enter Step S18；

In step s 12, the actual coordinate data (X of motor vehicle current location is obtained_dj,Y_dj) the step of it is as follows：

S121：Coordinate data (the X of motor vehicle current location is obtained using radar detector_d,Y_d)；

S122：The practical seat of motor vehicle current location is obtained according to the coordinate data of motor vehicle current location and current detection error Mark data：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

S18：Alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

4. the method according to claim 2 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that, it further includes as follows between step S11 and step S12 that the plane perception detector, which uses video tracking unit, Step：

SB1：Division diatom is applied in the video monitoring range of video tracking unit, and separation F is provided on the lines_i, and Obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic map, and the adjacent separation of every two The distance between L_fi；

SB2：The monitoring image of lines is obtained in video monitoring picture, successively manually marks each separation F_i, and obtain Number of lines of pixels H between the adjacent separation of every two_hOr pixel columns H_l, obtain：

The corresponding distance L of every one-row pixels between the adjacent separation of every two_fi/H_h；

Or the corresponding distance L of each column pixel between the adjacent separation of every two_fi/H_l；

S12 is entered step later；

The step S13 is specifically included：

S13A：Coordinate data (the X of motor vehicle current location is obtained using video detector_d,Y_d)；

S13B：According to the coordinate data (X of motor vehicle current location_d,Y_d) judge motor vehicle current location in video monitoring picture Any two adjacent separations between, and further judge the coordinate data corresponds to which picture between the adjacent separation Vegetarian refreshments or which column pixel；

S13C：According to the coordinate data (X of motor vehicle current location_d,Y_d), in conjunction with the opposite position of each separation in practice Set the coordinate data (X of coordinate and motor vehicle current location_d,Y_d) the corresponding distance or each of the every one-row pixels in region The corresponding distance of column pixel obtains the actual coordinate data (X of motor vehicle current location_dj,Y_dj) actual range away from stop line.

5. the method according to claim 4 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that, further includes following steps between step SB2 and step S12：

SB3：With the actual coordinate data (X of each separation_f, Y_f) actual coordinate data (X as calibration mark position_b, Y_b)；

SB4：Judge whether to detect the changing coordinates data (X of each calibration mark position_bd, Y_bd), the basis if detecting The actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the correcting mark The corresponding detection error in will position：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), SB5 is entered step later；Otherwise S18 is entered step；

SB5：Judge the corresponding detection error (X in each calibration mark position_c,Y_c) whether within the set threshold range, if all corrections The corresponding detection error of flag bit all then enters step S12 within the set threshold range；Otherwise S18 is entered step；

It further include following steps in step S13B：According to the coordinate data (X of motor vehicle current location_d,Y_d) obtain with it is motor-driven Vehicle is apart from nearest calibration mark position, using detection error the working as motor vehicle with motor vehicle apart from nearest calibration mark position Preceding detection error (X_c,Y_c)；

It further include following steps in step S13C：According to the coordinate data of motor vehicle current location and current detection error, obtain Obtain the actual coordinate data of motor vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

In step S16 and step S17, the actual range L of motor vehicle current location and stop line_dEqual to motor vehicle distance most Close separation, that is, the distance between calibration mark position and stop line is plus motor vehicle current location and the separation, that is, correcting mark Distance representated by number of lines of pixels or pixel columns between will position；

S18：Alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.

6. a kind of system for reducing the signal lamp control crossroad waiting time using plane cognition technology, which is characterized in that including：

Plane perceives detector, is set on the different directions of crossing, the motor vehicle for each direction of real-time monitoring；

Data acquisition module, the instantaneous velocity of the motor vehicle for obtaining each direction, each motor vehicle working as where it Running time required for front position to stop line；

First judgment module, for judging whether first phase is green light；

Second judgment module is when being, to judge whether second phase has parking etc. for the judging result in first judgment module To green light signals motor vehicle or in preset time range reach stop line motor vehicle；

Third judgment module, for the judging result in the second judgment module be it is no when, judge whether first phase has motor vehicle By crossing, if so, keeping first phase is green light signals, until the maximum green time of first phase converts letter after reaching Signal lamp light color；If it is not, adjusting the green time of first phase then as minimum green time；

4th judgment module is when being, to judge whether first phase has motor vehicle for the judging result in the second judgment module Pass through crossing；

Processing module is to obtain current time second phase parking waiting when being for the judging result in the 4th judgment module The motor vehicle number of units I of green light and waiting time sum it up ∑ T_i, wherein T_iRefer to i-th motor vehicle since meeting red light and stopping to again It is secondary when encountering green light the time required to, and 1≤i≤I；And if the signal lamp of first phase is converted to red light at this time, Motor vehicle number of units J and every motor vehicle in first phase not by crossing are waited until again required for first phase green light signals The summation of time is ∑ T_j, wherein T_jThe time required to referring to when since jth platform motor vehicle encounter green light again meeting red light and stopping, And 1≤j≤J；In first phase not by the motor vehicle at crossing include from current location reach crossing stop line needed for the time Less than whole motor vehicles of maximum green time；

5th judgment module, for judging ∑ T_jWhether ∑ T is greater than or equal to_i；

6th judgment module is when being, to judge whether first phase reaches maximum for the judging result in the 5th judgment module Green time, if then conversion signal lamp light color；Otherwise keeping first phase is green light signals；

7th judgment module, for when the judging result of the 4th judgment module is no or the judging result of the 5th judgment module is When no, judge whether first phase green time reaches minimum green time, if then conversion signal lamp light color.

7. the system according to claim 6 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that：

The data acquisition module includes：

Unit is marked, for plane to be perceived to the installation site coordinate data (X of detector_j,Y_j), the coordinate data of stop line (X_t,Y_t) mark onto electronic map；

The mark unit, the actual coordinate data (X for the motor vehicle current location that also will acquire_dj,Y_dj) mark to electronically On figure；

Data capture unit obtains distance L of the motor vehicle from current location to junction ahead stop line_d：

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

The data capture unit, the also current instantaneous velocity V of acquisition motor vehicle_s=(L_q-L_d)/T_s, wherein L_qRefer to motor vehicle The distance between previous detection cycle and stop line, T_sRefer to the time interval between adjacent detection cycle；

Judging unit, for judging whether there are other motor vehicles between motor vehicle and stop line；

The data capture unit is also used to obtain the time needed for motor vehicle reaches stop line；When sentencing for the judging unit When disconnected result is no, the time needed for motor vehicle reaches stop line is T_t1=L_d/V_s；When the judging result of the judging unit is When being, the time needed for motor vehicle reaches stop line is：T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqIt is adjacent with the motor vehicle The distance between front motor vehicle and stop line, T_tqThe time required for stop line is reached for front motor vehicle.

8. the system according to claim 7 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that：Using detection radar, the data acquisition module further includes the plane perception detector：

The data capture unit selectes calibration mark position, and the actual coordinate data (X that will correct flag bit_b, Y_b) mark and arrive On electronic map, and actual measurement radar detector is to the distance L of calibration mark position_lbWith the distance of calibration mark position to stop line L_jt；

The judging unit judges whether the changing coordinates data (X that can read calibration mark position_bd, Y_bd), the root if reading Current detection error is obtained according to the changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position：(X_c,Y_c)= (X_bd, Y_bd)-(X_b, Y_b)；Judge current detection error (X_c,Y_c) whether within the set threshold range；

In the data capture unit, including：

Radar data obtains subelement, and the coordinate data (X of motor vehicle current location is obtained using radar detector_d,Y_d)；

Real data obtains subelement, obtains motor vehicle according to the coordinate data of motor vehicle current location and current detection error and works as The actual coordinate data of front position：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

Alarm module cannot read the changing coordinates data (X of calibration mark position in judging unit judgement_bd, Y_bd) when, hair Alarm signal out, prompt can not accurately obtain calibration mark position coordinate data.

9. the system according to claim 6 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that, the plane perception detector uses video tracking unit, and the data acquisition module further includes：

Lines mark unit, and division diatom is applied in the video monitoring range of video tracking unit, is arranged on the lines There is separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic map, and it is every The distance between two adjacent separations L_fi；

Separation marks unit, and the monitoring image of lines is obtained in video monitoring picture, successively manually marks each point Boundary point F_i, and obtain the number of lines of pixels H between the adjacent separation of every two_hOr pixel columns H_l, obtain：

The corresponding distance L of every one-row pixels between the adjacent separation of every two_fi/H_h；

Or the corresponding distance L of each column pixel between the adjacent separation of every two_fi/H_l；

Video data acquiring unit obtains the coordinate data (X of motor vehicle current location using video detector_d,Y_d)；

Vehicle position determination unit, according to the coordinate data (X of motor vehicle current location_d,Y_d) judge that motor vehicle current location exists Between any two adjacent separations in video monitoring picture, and further judge that the coordinate data corresponds to the adjacent separation Between which pixel or which column pixel；

Motor vehicle actual coordinate acquiring unit, according to the coordinate data (X of motor vehicle current location_d,Y_d), in conjunction with every in practice The relative position coordinates of one separation and the coordinate data (X of motor vehicle current location_d,Y_d) the every one-row pixels in region Corresponding distance or the corresponding distance of each column pixel, obtain the actual coordinate data (X of motor vehicle current location_dj,Y_dj) away from The actual range of stop line.

10. the system according to claim 9 for reducing the signal lamp control crossroad waiting time using plane cognition technology, It is characterized in that, the data acquisition module further includes：

Correction bit coordinate confirmation unit, with the actual coordinate data (X of each separation_f, Y_f) practical seat as calibration mark position Mark data (X_b, Y_b)；

Detection data judging unit judges whether the changing coordinates data (X that can detect each calibration mark position_bd, Y_bd), if It detects, according to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position detected, obtains To detection error corresponding with the calibration mark position：(X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；

Threshold decision unit judges the corresponding detection error (X in each calibration mark position_c,Y_c) whether within the set threshold range；

Correction error selecting unit, according to the coordinate data (X of motor vehicle current location_d,Y_d) obtain it is nearest with motor vehicle distance Calibration mark position, using the detection error with motor vehicle apart from nearest calibration mark position as the current detection error of motor vehicle (X_c,Y_c)；

The motor vehicle actual coordinate acquiring unit is obtained according to the coordinate data and current detection error of motor vehicle current location The actual coordinate data of motor vehicle current location：(X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；Wherein, motor vehicle current location with stop The only actual range L of line_dAdd equal to motor vehicle apart from nearest separation, that is, the distance between calibration mark position and stop line At a distance from representated by number of lines of pixels or pixel columns of the upper motor vehicle current location between the separation, that is, calibration mark position；

Alarm module, when the judging result of detection data judging unit is no or the judging result of threshold decision unit is no When, alarm signal is issued, prompt can not accurately obtain calibration mark position coordinate data.