CN106652491A - Accumulated water monitoring-based crossing traffic signal control method and system - Google Patents
Accumulated water monitoring-based crossing traffic signal control method and system Download PDFInfo
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- CN106652491A CN106652491A CN201611236421.XA CN201611236421A CN106652491A CN 106652491 A CN106652491 A CN 106652491A CN 201611236421 A CN201611236421 A CN 201611236421A CN 106652491 A CN106652491 A CN 106652491A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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Abstract
The invention provides an accumulated water monitoring-based crossing traffic signal control method and system. Via the method, red light stopping times of vehicles in different direction at a crossing can be determined; signal light control can be realized based on real time monitoring results. When accumulated water is found in a certain scope of the crossing and the accumulated water exceeds a preset threshold value, traffic in a certain direction at the crossing is directly set to be in a prohibited state via signal light control; when the accumulated water is found in a certain direction of the crossing and height of the accumulated water does not exceed the preset threshold value, a driver is reminded of the fact that the accumulated water is found in a the direction, and the driver is reminded to pay attention to safe driving. When release time in a certain direction of the crossing comes, that vehicles at the crossing are timely cleared can be ensured after time duration in which all signal lights are red is controlled. Via the method and system disclosed in a technical solution of the invention, that smooth travel of vehicles at a road segment having accumulated water can be ensured when safety is guaranteed, and traffic jam at the crossing caused due to the accumulated water can be prevented.
Description
Technical field
The present invention relates to technical field of intelligent traffic, specifically a kind of crossing traffic signal controlling party monitored based on ponding
Method and system.
Background technology
With economic fast development, the continuous expansion of city size, motor vehicle is sharply increased, in order to ensure intersection
Safety with it is unimpeded, typically meeting the crossing of installing semaphore standard, signal controlling machine is set, control the in order logical of motor vehicle
OK.
Running into the case of bad weather causes crossing ponding, it is ensured that the safety at crossing and unimpeded, always people's concern
Focus, according to statistics in recent years, during annual June to July, Beijing always runs into several days ponding weather, causes complete
The big traffic congestion in city, it is many to trace it to its cause, wherein critically important reason be crossing a certain region ponding it is serious, one is motor vehicle
Into ponding section, it is impossible to continue current, two is that vehicle cannot be emptied in crossing, crossing plug is dead, causes a regional traffic paralysis
Paralysis, has had a strong impact on people's trip.In weather environment under normal circumstances, the control efficiency of intersection annunciator how is improved, it is crucial
It is how accurately to judge that current traffic behavior belongs to peak or flat peak, ebb.System can be directed to different traffic behaviors,
Take different control parameters.Due to currently being limited by detection technique level both domestic and external, it is impossible to precisely judge in real time to work as
The peak at front crossing, Ping Feng, ebb traffic behavior, therefore, it is impossible to precisely switching control parameter, causes crossing traffic efficiency drop
It is low.
The content of the invention
The technical problem to be solved in the present invention be in prior art because caused by the ponding of crossing traffic congestion and can not be according to current
Traffic behavior precisely selects the technical problem of control parameter etc., and then provides a kind of crossing traffic signal control monitored based on ponding
Method and system processed.
To solve above-mentioned technical problem, technical scheme is as follows：
A kind of crossing traffic signal control method monitored based on ponding, is comprised the steps：
S1：In the range of each travel direction of real-time monitoring crossing ponding height, continuous level precisely track crossing each
Motor vehicle on direction, obtains in real time the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and accurate position
Put；
S2：If first direction meets the highest parking waiting of the highest parking waiting number of times of red light and the chance red light of second direction
Number of times is equal and is zero, then kept for the current demand signal cycle；If first direction meets the highest parking waiting number of times and second of red light
The highest parking waiting number of times of the chance red light in direction is equal and be not zero, then extend the signal period；If first direction meets red light
Highest parking waiting number of times more than second direction meet red light highest parking waiting number of times then increase signal lamp on first direction
The split in cycle；Otherwise increase the split of signal lamp cycle in second direction；
S3：Judge whether there is ponding in the range of each travel direction of crossing, if return to step S1 without if, step is entered if having
Rapid S4；
S4：If the ponding of a certain travel direction scope highly exceedes given threshold, the signal lamp of the travel direction is put
For red light；
S5：If the ponding height of a certain travel direction scope is not less than given threshold, in the travel direction green light signals
The clearance time then, change signal lamp clearance direction, and whether judge to have been enter into the vehicle in crossing all by crossing, if
It is then return to step S1, otherwise extends the complete red time of the signal lamp at the crossing, the vehicle in crossing is all by crossing.
Alternatively, the above-mentioned crossing traffic signal control method monitored based on ponding, step S2 specifically include as
Lower step：
S21：Record the parking waiting number of times that each motor vehicle met red light before stop line is crossed；Each of which is motor-driven
It is zero that car meets the initial value of the parking waiting number of times of red light；
S22：Judge whether first direction is red light, if then execution step S23, otherwise execution step S24；
S23：For first direction, the stop frequency of existing motor vehicle is added 1, and obtain on first direction meet red light most
High parking waiting number of times K1；For second direction, the motor vehicle that will extend over stop line is removed from record；
S24：For first direction, the motor vehicle that will extend over stop line is removed from record；For second direction, will be existing
The parking waiting number of times of the chance red light of motor vehicle adds 1, and obtains the highest parking waiting number of times K2 that red light is met in second direction；
S25：The highest parking waiting number of times for judging the chance red light of first direction stops with the highest of the chance red light of second direction
Whether car waits number of times equal, and step S26 is entered if equal；Otherwise enter step S27；
S26：Whether the highest stop frequency for judging to meet red light is zero, if zero, then kept for the current demand signal cycle；If it is not,
Then will extend the signal period；
S27：Judge that first direction meets the highest whether the highest parking waiting number of times of red light meets red light more than second direction
Parking waiting number of times, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal in second direction
The split in lamp cycle.
Alternatively, the above-mentioned crossing traffic signal control method monitored based on ponding, is also included in step S4：
If the ponding of a certain travel direction scope in crossing highly exceedes given threshold, the row at the driver crossing is pointed out
No through traffic to sail direction；
If the ponding height of a certain travel direction scope in crossing points out driver to note the crossing not less than given threshold
The travel direction have ponding.
Alternatively, the above-mentioned crossing traffic signal control method monitored based on ponding, is also included in step S4：
If the ponding of a certain travel direction scope in crossing highly exceedes given threshold, the traveling side with the crossing is generated
To corresponding first electromagnetic wave signal of information that no through traffic, first electromagnetic wave signal is sent into the electromagnetic wave to vehicle
Reception device；
If the ponding height of a certain travel direction scope in crossing generates the traveling with the crossing not less than given threshold
There is corresponding second electromagnetic wave signal of the information of ponding in direction, and second electromagnetic wave signal is sent into the electromagnetic wave to vehicle
Reception device.
The present invention also provides a kind of crossing traffic signal control system monitored based on ponding, including：
Monitoring unit：Ponding height in the range of each travel direction of real-time monitoring crossing, continuous level precisely tracks road
Motor vehicle on mouthful each direction, obtain in real time the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and
Elaborate position；
Signalized control unit：If first direction meets the chance red light of the highest parking waiting number of times of red light and second direction
Highest parking waiting number of times is equal and is zero, then kept for the current demand signal cycle；If first direction meets highest parking of red light etc.
Treat that number of times is equal with the highest parking waiting number of times of the chance red light of second direction and is not zero, then extend the signal period；If the
The highest parking waiting number of times of red light is met in one direction then increases by first more than the highest parking waiting number of times that second direction meets red light
The split of signal lamp cycle on direction；Otherwise increase the split of signal lamp cycle in second direction；
Ponding judging unit, judges whether there is ponding in the range of each travel direction of crossing, if returning monitoring unit, if having
Then send a signal to ponding height judging unit；
Ponding height judging unit, judges whether ponding height exceedes given threshold；
Signalized control unit, when the ponding of a certain travel direction scope highly exceedes given threshold, by the traveling side
To signal lamp be set to red light；A certain travel direction scope ponding height not less than given threshold, then in the travel direction
The clearance time of green light signals then, changes signal lamp clearance direction, and judges whether the vehicle having been enter into crossing all leads to
Crossing is crossed, if otherwise extending the complete red time of the signal lamp at the crossing, the vehicle in crossing is all by crossing.
Alternatively, the above-mentioned crossing traffic signal control system monitored based on ponding, the Signalized control unit tool
Body includes：
Parking waiting number of times logging modle：Record the parking waiting that each motor vehicle met red light before stop line is crossed
Number of times；It is zero that each of which motor vehicle meets the initial value of the parking waiting number of times of red light；
First judge module：Judge whether first direction is red light, if then for first direction, by existing motor vehicle
Stop frequency adds 1, and obtains the highest parking waiting number of times K1 that red light is met on first direction；For second direction, will extend over and stop
Only the motor vehicle of line is removed from record；Otherwise for first direction, the motor vehicle that will extend over stop line is removed from record；It is right
In second direction, the parking waiting number of times of the chance red light of existing motor vehicle is added 1, and obtain the highest that red light is met in second direction
Parking waiting number of times K2；
Second judge module：Judge the highest parking waiting number of times and the chance red light of second direction of the chance red light of first direction
Highest parking waiting number of times it is whether equal；
3rd judge module：Judge that the highest stop frequency for meeting red light is if being to be if the judged result of the second judge module
No is zero, if zero, then kept for the current demand signal cycle；If it is not, then will extend the signal period；
4th judge module, if the judged result of the second judge module is otherwise to judge that first direction is met the highest of red light and stopped
Car waits whether number of times meets the highest parking waiting number of times of red light more than second direction, if then increasing signal lamp on first direction
The split in cycle；If otherwise increasing the split of signal lamp cycle in second direction.
Alternatively, the above-mentioned crossing traffic signal control system monitored based on ponding, is also included：Tip element, if road
The ponding of a certain travel direction scope of mouth highly exceedes given threshold, then point out the travel direction at the driver crossing to forbid leading to
OK；
If the ponding height of a certain travel direction scope in crossing points out driver to note the crossing not less than given threshold
The travel direction have ponding.
Alternatively, the above-mentioned crossing traffic signal control system monitored based on ponding, the Tip element is also included：Electricity
Magnetic wave generation module, if the ponding of a certain travel direction scope in crossing highly exceedes given threshold, generation should with the crossing
Corresponding first electromagnetic wave signal of the travel direction information that no through traffic, first electromagnetic wave signal is sent to vehicle
Electromagnetic receiving device；If the ponding height of a certain travel direction scope in crossing is generated and the crossing not less than given threshold
The travel direction have corresponding second electromagnetic wave signal of the information of ponding, second electromagnetic wave signal is sent to vehicle
Electromagnetic receiving device.
Compared with prior art, such scheme of the invention at least has the advantages that：
The crossing traffic signal control method monitored based on ponding of the present invention and system, the product at real-time monitoring crossing
Water height, and continuous level precisely tracks the motor vehicle on each direction of crossing, and the number of the motor vehicle in each direction is obtained in real time
Amount, the instantaneous velocity of each motor vehicle and elaborate position；The chance red parking for judging the vehicle on the different directions of crossing is waited
Number of times, is controlled according to real-time monitoring result to signal lamp.Meanwhile, real-time monitoring is carried out to the ponding in the range of crossing, when
When a certain scope in crossing has ponding and ponding highly to exceed given threshold, then directly by Signalized control setting crossing one party
To for forbidden state, when having crossing a direction to have ponding and ponding height is not less than given threshold, can remind the driver should
There is ponding in which direction of crossing, driving of taking care.Also, when the time is let pass in a direction of crossing then, by controlling letter
The length of signal lamp complete red time ensures that vehicle is emptied in time in crossing.Using the above-mentioned technical proposal of the present invention, ensure that
The vehicle in ponding section also can on the premise of safety is guaranteed unimpeded traveling, traffic congestion in crossing will not be caused because of crossing ponding
Occur.
Description of the drawings
In order that present disclosure is more likely to be clearly understood, the specific embodiment below according to the present invention is simultaneously combined
Accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the flow chart of the crossing traffic signal control method described in one embodiment of the invention based on ponding monitoring；
Fig. 2 is crossing schematic diagram described in one embodiment of the invention；
Fig. 3 is the flow chart of the specific implementation of step S2 described in Fig. 1；
The theory diagram of the crossing traffic signal control system monitored based on ponding described in Fig. 4 one embodiment of the invention.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described enforcement
Example is a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
As long as and technical characteristic involved in invention described below different embodiments does not constitute each other conflict just
Can be combined with each other.Before being described in detail to each embodiment, it should be noted that what is the present invention relates to is all
Coordinate data each means the coordinate data under same preferred coordinates system.In addition, it is phase that plane of the present invention perceives detection
Saying for section detection in prior art, the continuous detection to motor vehicle current location track is adopting for panel data
Collection can be described as plane and perceive detection.
Embodiment 1
The present embodiment provides a kind of crossing traffic signal control method monitored based on ponding, is applied to intersection signal control
In device, as shown in figure 1, comprising the steps：
S1：In the range of each travel direction of real-time monitoring crossing ponding height, continuous level precisely track crossing each
Motor vehicle on direction, obtains in real time the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and accurate position
Put.Then judge that motor vehicle is in halted state when motor vehicle instantaneous velocity is continuously zero；The crossing is as shown in Figure 2.In figure
The water detection region in the range of a travel direction is marked.Straight trip of the water detection region in figure Chinese and Western direction eastwards goes out
At mouthful.Specifically, it can be set the distance between with crossing according to actual conditions, for example, set 100 meters, and 105
Ten meters etc..Purpose is according to the water detection of the position subsequent vehicle can be reminded to enter crossing or avoid in this place
Because ponding causes vehicle congestion.
S2：If first direction meets the highest parking waiting of the highest parking waiting number of times of red light and the chance red light of second direction
Number of times is equal and is zero, then kept for the current demand signal cycle；If first direction meets the highest parking waiting number of times and second of red light
The highest parking waiting number of times of the chance red light in direction is equal and be not zero, then extend the signal period；If first direction meets red light
Highest parking waiting number of times more than second direction meet red light highest parking waiting number of times then increase signal lamp on first direction
The split in cycle；Otherwise increase the split of signal lamp cycle in second direction.It is every due to can continuously be tracked using plane
One motor vehicle, therefore, it is possible to accurately obtain the transport condition of each motor vehicle, and whether signal lamp is that red light can be direct
Obtained by traffic signal control, therefore whether can be directly obtained in motor vehicle because stopping in wait red light, due to
The position of motor vehicle is precisely obtained, can obtain whether motor vehicle meets red parking wait, therefore this enforcement after stop line
The such scheme of example can accurately obtain the number of times that each motor vehicle stops after stop line because red light is met.
S3：Judge whether there is ponding in the range of each travel direction of crossing, if return to step S1 without if, step is entered if having
Rapid S4；Water detection method can be realized using water detection technology of the prior art.Specifically, each traveling of crossing
Direction output range is required to detection.
S4：Whether the ponding height for judging a certain travel direction scope exceedes given threshold, if then execution step S40：
The signal lamp of the travel direction is set into red light；If otherwise execution step S5；Given threshold is to affect safe driving of vehicle as base
Standard, according to most of vehicle chassis highly come select setting.For example select 30cm.
S5：If the travel direction green light signals the clearance time then, change signal lamp clearance direction, step is entered afterwards
Rapid S51；That is, after green time is arrived, signal lamp is converted into amber light, red light is converted to afterwards.
S51：Whether judgement has been enter into vehicle in crossing all by crossing, if then return to step S1, otherwise performs
Step S52；
S52：Extend the complete red time of the signal lamp at the crossing, the vehicle in crossing is all by crossing.Existing skill
In art, the signal lamp complete red time at each crossing is fixed, in the case of normal weather, can usually meet vehicle complete
Portion is by crossing.But when there is ponding, existing complete red time may be ensured that at the crossing that advances into of red light
Rolling stock all passes through crossing.Therefore, in the present embodiment, whether all passed through according to the vehicle in crossing, to the complete of signal lamp
The red time enters Mobile state adjustment, is green light in the signal lamp for putting respective direction after being cleared with the rolling stock ensured in crossing.
The present embodiment provide such scheme in, be capable of real-time monitoring crossing ponding height, and continuous level precisely with
Motor vehicle on each direction of track crossing, obtains in real time quantity, the instantaneous speed of each motor vehicle of the motor vehicle in each direction
Degree and elaborate position；The chance red parking for judging the vehicle on the different directions of crossing waits number of times, according to real-time monitoring result pair
Signal lamp is controlled.Meanwhile, real-time monitoring is carried out to the ponding in the range of crossing, when crossing, a certain scope has ponding and ponding
When highly exceeding given threshold, then it is forbidden state directly to arrange crossing a direction by Signalized control, when there is crossing
One direction have ponding and ponding height not less than given threshold when, each direction of the driver crossing can be reminded to have ponding, note
Safe driving.Also, when the time is let pass in a direction of crossing then, road is ensured by the length of control signal lamp complete red time
Vehicle is emptied in time in mouthful.Using the above-mentioned technical proposal of the present invention, ensure that the vehicle in ponding section also can be true
Unimpeded traveling on the premise of ensuring safety, will not cause traffic congestion to occur because of ponding crossing.
Embodiment 2
On the basis of embodiment 1, the present embodiment is accomplished by the scheme in step S2, as shown in figure 3, bag
Include following steps：
S21：Record the parking waiting number of times that each motor vehicle met red light before stop line is crossed；Each of which is motor-driven
It is zero that car meets the initial value of the parking waiting number of times of red light；Specifically, transport condition table can be set up, records each motor vehicle
Transport condition, the transport condition includes that each motor vehicle met the parking waiting number of times of red light before stop line is crossed；
When wherein a certain motor vehicle writes first the transport condition table, the initial value for meeting the parking waiting number of times of red light is zero；
S22：Judge whether first direction is red light, if then execution step S23, otherwise execution step S24；
S23：For first direction, the stop frequency of existing motor vehicle is added 1, and obtain on first direction meet red light most
High parking waiting number of times K1；For second direction, the motor vehicle that will extend over stop line is removed from record, i.e., clear from list
Remove；
S24：For first direction, the motor vehicle that will extend over stop line is removed from record, i.e., remove from list；For
Second direction, by existing motor vehicle chance red light parking waiting number of times add 1, and obtain in second direction meet red light highest stop
Car waits number of times K2；
S25：The highest parking waiting number of times for judging the chance red light of first direction stops with the highest of the chance red light of second direction
Whether car waits number of times equal, and step S26 is entered if equal；Otherwise enter step S27；
S26：Whether the highest stop frequency for judging to meet red light is zero, if zero, then kept for the current demand signal cycle；If it is not,
Then will extend the signal period；
S27：Judge that first direction meets the highest whether the highest parking waiting number of times of red light meets red light more than second direction
Parking waiting number of times, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal in second direction
The split in lamp cycle.
The above transport condition table can be as shown in table 1：
Table 1- transport condition tables
Motor vehicle on two of which direction can be write in same form, and in the form of 1-n first party is represented
N-th motor vehicle upwards；The m motor vehicle of second direction is represented in the form of 2-m.Two forms point can also be set
Motor vehicle that Ji Lu be in both direction.And the numbering of motor vehicle can voluntarily be drafted according to actual conditions, it is therefore an objective to will be motor-driven
Car vehicle makes a distinction.And, it is clear that for the motor vehicle for waiting red light number of times most must can pass through crossing at first
Motor vehicle, therefore wait number of times unconfined can't be incremented by down, a certain motor vehicle is under green light phase behind crossing
Just while can removing from above table, and remove, the corresponding numbering of the motor vehicle is also discharged can be for new entrance
Motor vehicle in form is used.In due to the present embodiment, each motor vehicle can continuously be tracked using plane, therefore, it is possible to standard
The transport condition of each motor vehicle is really obtained, and whether signal lamp is that red light can be obtained directly by traffic signal control
, therefore whether can directly obtain in motor vehicle because stopping in wait red light, the position due to precisely obtaining motor vehicle
Put, motor vehicle can be obtained and whether red parking wait is met after stop line, therefore the such scheme of the present embodiment can be accurate
Obtain the number of times that each motor vehicle stops after stop line because red light is met.
And it is in prior art to meet red parking number of times and cycle of signal lamp and split are adjusted according to motor vehicle
Existing scheme, is not described in detail in the present embodiment.
In addition, plane is precisely continuously tracked may include steps of：
S11：Some area detectors are set on crossing, the area detector be used to carrying out motor vehicle it is continuous with
Track；By the downstream road section of the detection range of the detector, the upstream section of lane signal lamp, lane signal lamp mark to carrying
On the electronic chart of longitude and latitude, and by the position coordinate data (X of detectorj,Yj) mark on electronic chart；
S12：Obtain the current detection error (X of detectorc,Yc), judge current detection error (Xc,Yc) whether in setting
In threshold range, if then entering step S13, alarm signal is otherwise sent, prompting cannot accurately obtain calibration mark position coordinate
Data；
S13：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
S14：The reality of motor vehicle current location is obtained according to the coordinate data and current detection error of motor vehicle current location
Border coordinate data：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Specifically include situations below：
In the case that the detector is using detection radar, current detection error (X is obtained in step S12c,Yc)
Step includes：
SA1：Selected calibration mark position, and the actual coordinate data (X of flag bit will be correctedb, Yb) mark to electronic chart
On, and actual instrumentation radar detector to calibration mark apart from LlbWith the distance of calibration mark position to lamp for vehicle lane position
Ljt；The position that calibration mark position can be located for the fixed signal thing of setting on road surface, such as display board, overline bridge bridge, electric wire
Bar etc., these objects will not be subjected to displacement easily.
SA2：Judge whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), 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：(Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb)。
The actual position coordinate of calibration mark position is marked on electronic chart, when detecting to vehicle location, in real time
The coordinate data for obtaining calibration mark position is compared with actual coordinate data, when deviation therebetween exceedes certain threshold value
When, send fault alarm information and remind staff.When deviation therebetween is in threshold range, according to deviation to adopting
The vehicle location coordinate for collecting is corrected, therefore, even detector there occurs shake, also can guarantee that the vehicle of final acquisition
Position coordinate data is accurate.
When the detector adopts the situation of video tracking unit, current detection error (X is obtained in step S12c,
Yc) the step of include：
SB1：Division diatom is applied in the video monitoring range of video tracking unit, on the lines separation is provided with
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart；With apply on road draw point
The end points of diatom is used as separation.Because lines are dashed line forms, for solid line length therein and blank space all have
Regulation, generally solid line length is 2 meters, and blank space is 4 meters, so if directly using two end points of solid line as
Separation, then be readily available the coordinate value of each separation.
SB2：With the actual coordinate data (X of each separationf, Yf) as the actual coordinate data (X of calibration mark positionb,
Yb)。
SB3：Judge whether the changing coordinates data (X that can detect each calibration mark positionbd, Ybd), if detecting
According to the actual coordinate data of each calibration mark position changing coordinates data and the calibration mark position for detecting, obtain and the mark
The corresponding detection error in will position：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Also comprise the steps between step S13 and step S14：
According to the coordinate data (X of motor vehicle current locationd,Yd) the calibration mark position closest with motor vehicle is obtained, with
Current detection error (X of the detection error of the calibration mark position closest with motor vehicle as motor vehiclec,Yc)。
In the present embodiment, using each separation as calibration mark position, no matter motor vehicle current location which, all
It can be determined immediately that the calibration mark position closest with motor vehicle, using the detection error of the calibration mark position to motor vehicle
Position is corrected, so as to get motor vehicle actual position coordinate it is more accurate, so as to the motor vehicle for accurately obtaining current wink
Shi Sudu.
The detector be video tracking unit in the case of also comprise the steps：
SC1：Division diatom is applied in the video monitoring range of video tracking unit, on the lines separation is provided with
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and adjacent point of each two
The distance between boundary's point Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, each separation F is manually marked successivelyi,
And obtain number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
Every one-row pixels between the adjacent separation of each two are corresponding apart from Lfi/Hh；
Or each row pixel between the adjacent separation of each two is corresponding apart from Lfi/Cl；
In actual applications, when video detecting unit is when the target of different distance is detected, with one-row pixels and same
Distance represented by row pixel is entirely different.For example, the width of road is fixed, but road width takes below picture
43 row pixels, have only taken up 28 row pixels above picture, it is assumed that its width is 3 meters, then for each row in picture lower section
The distance that pixel is represented is 3/430.07 meter, and the distance that each row pixel in road top is represented is 3/280.1 meter.Same road
Reason, apply on road surface draw lines, solid line length be two meters, below picture 15 row pixels represent two end points of solid line away from
From 7 row pixels can represent two end points of solid line above picture, then below picture, the distance that often row pixel is represented is 2/
150.133 meters, above picture, the distance that often row pixel is represented is as 2/70.286 meter.
SC3：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
SC4：According to the coordinate data (X of motor vehicle current locationd,Yd) judge that motor vehicle current location is drawn in video monitoring
Between any two adjacent separations in face, and determine whether the coordinate data to should be between adjacent separation which
Row pixel or which row pixel；
SC5：According to the coordinate data (X of motor vehicle current locationd,Yd), with reference to the relative of each separation in practice
Position coordinates and the coordinate data (X of motor vehicle current locationd,Yd) region every corresponding distance of one-row pixels or every
The corresponding distance of one row pixel, obtains the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
Assume current time, motor vehicle is located between two end points of picture top solid line, and the actual seat of two end points
Mark can be measured and obtained, and be very accurate position coordinates, then if we obtain motor vehicle and one of end points away from
From can be obtained by the currently practical position coordinates of motor vehicle.Because we have obtained, 7 row pictures are had between two end points
Element, the distance represented by per one-row pixels is 0.286 meter, if now distance is 4 row pixels between motor vehicle and lower section end points,
It is 3 row pixels with the distance between top end points, then the distance between motor vehicle and top end points can be obtained for 0.2863
=0.858 meter, then the distance between the position coordinates of motor vehicle reality and top power-off are 0.858 meter, can be obtained by calculating
To the actual position coordinate of motor vehicle.
Embodiment 3
On the basis of above-described embodiment, also comprise the steps in step S4：
If the ponding of a certain travel direction scope in crossing highly exceedes given threshold, the row at the driver crossing is pointed out
No through traffic to sail direction；If the ponding height of a certain travel direction scope in crossing points out driver note not less than given threshold
The travel direction at the crossing of anticipating has ponding.
Crossing as shown in Figure 2, is both provided with display screen on each direction, therefore can show corresponding with display screen
Information is being prompted to driver.
As another kind of preferred scheme, also include in step S4：If the ponding of a certain travel direction scope in crossing
Highly exceed given threshold, then generate the first electromagnetic wave letter corresponding with the travel direction information that no through traffic at the crossing
Number, first electromagnetic wave signal is sent into the electromagnetic receiving device to vehicle；If a certain travel direction scope in crossing
Ponding height is generated not less than given threshold, then has corresponding second electromagnetic wave of the information of ponding with the travel direction at the crossing
Signal, by second electromagnetic wave signal electromagnetic receiving device to vehicle is sent.
Because the display screen limited amount on road, typically it is all disposed within apart from the nearer position in crossing, generally,
Driver may be not easy to see.Especially under the weather condition rained heavily, rainwater affects pilot's line of vision, and driver may
The more difficult notice seen on display screen.Therefore, the scheme in the present embodiment, it is corresponding using a kind of transmission of means of electromagnetic waves
Signal.Correspondingly, the reception device for receiving electromagnetic wave is provided with vehicle, the electromagnetic wave that reception device parsing is received can
The information that electromagnetic wave is passed on is obtained, afterwards driver is carried by the suggestion device of the instrument board in vehicle or setting
Show.So either which type of weather condition, driver can access corresponding ponding information alert.
Embodiment 4
The present embodiment provides a kind of crossing traffic signal control system monitored based on ponding, as shown in figure 4, including：
Monitoring unit 1：Ponding height in the range of each travel direction of real-time monitoring crossing, continuous level precisely tracks road
Motor vehicle on mouthful each direction, obtain in real time the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and
Elaborate position.
Signalized control unit 2：If first direction meets the highest parking waiting number of times of red light and the chance red light of second direction
Highest parking waiting number of times it is equal and be zero, then kept for the current demand signal cycle；If the highest that first direction meets red light is stopped
Wait number of times equal with the highest parking waiting number of times of the chance red light of second direction and be not zero, then extend the signal period；If
First direction meets the highest parking waiting number of times of red light then increases by the more than the highest parking waiting number of times that second direction meets red light
The split of signal lamp cycle on one direction；Otherwise increase the split of signal lamp cycle in second direction.
Ponding judging unit 3, judges whether there is ponding in the range of each travel direction of crossing, if returning monitoring unit, if
Have, send a signal to ponding height judging unit.
Ponding height judging unit 4, judges whether ponding height exceedes given threshold；
Signalized control unit 2, when the ponding of a certain travel direction scope highly exceedes given threshold, by the traveling side
To signal lamp be set to red light；A certain travel direction scope ponding height not less than given threshold, then in the travel direction
The clearance time of green light signals then, changes signal lamp clearance direction, and judges whether the vehicle having been enter into crossing all leads to
Crossing is crossed, if otherwise extending the complete red time of the signal lamp at the crossing, the vehicle in crossing is all by crossing.
The method of work of said system is identical with the methods described of embodiment 1, and here is no longer described in detail.The present embodiment is provided
Such scheme in, be capable of the ponding height at real-time monitoring crossing, and continuous level precisely tracks the machine on each direction of crossing
Motor-car, obtains in real time the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and elaborate position；Judge crossing
The chance red parking of the vehicle on different directions waits number of times, and signal lamp is controlled according to real-time monitoring result.Meanwhile, it is right
Ponding in the range of crossing carries out real-time monitoring, when a certain scope in crossing has ponding and ponding highly exceedes given threshold, then
It is forbidden state directly to arrange crossing a direction by Signalized control, has ponding and ponding height when there is crossing a direction
During not less than given threshold, each direction of the driver crossing can be reminded to have ponding, driving of taking care.Also, when crossing
The time is let pass on one direction then, ensures that vehicle is emptied in time in crossing by the length of control signal lamp complete red time.Using
The present invention above-mentioned technical proposal, ensure that ponding section vehicle also can on the premise of safety is guaranteed unimpeded row
Sail, because of ponding crossing traffic congestion will not be caused to occur.
Further, the above-mentioned crossing traffic signal control system monitored based on ponding, the Signalized control unit 2
Specifically include：
Parking waiting number of times logging modle：Record the parking waiting that each motor vehicle met red light before stop line is crossed
Number of times；It is zero that each of which motor vehicle meets the initial value of the parking waiting number of times of red light；
First judge module：Judge whether first direction is red light, if then for first direction, by existing motor vehicle
Stop frequency adds 1, and obtains the highest parking waiting number of times K1 that red light is met on first direction；For second direction, will extend over and stop
Only the motor vehicle of line is removed from record；Otherwise for first direction, the motor vehicle that will extend over stop line is removed from record；It is right
In second direction, the parking waiting number of times of the chance red light of existing motor vehicle is added 1, and obtain the highest that red light is met in second direction
Parking waiting number of times K2；
Second judge module：Judge the highest parking waiting number of times and the chance red light of second direction of the chance red light of first direction
Highest parking waiting number of times it is whether equal；
3rd judge module：Judge that the highest stop frequency for meeting red light is if being to be if the judged result of the second judge module
No is zero, if zero, then kept for the current demand signal cycle；If it is not, then will extend the signal period；
4th judge module, if the judged result of the second judge module is otherwise to judge that first direction is met the highest of red light and stopped
Car waits whether number of times meets the highest parking waiting number of times of red light more than second direction, if then increasing signal lamp on first direction
The split in cycle；If otherwise increasing the split of signal lamp cycle in second direction.
The method of work of above-mentioned modules is identical with the method described in embodiment 2, and here is no longer described in detail.This reality
In applying example, each motor vehicle can continuously be tracked using plane, therefore, it is possible to accurately obtain the traveling shape of each motor vehicle
State, and whether signal lamp is that red light can be obtained directly by traffic signal control, therefore can directly obtain in motor vehicle
Whether because stopping in wait red light, the position due to precisely obtaining motor vehicle can obtain whether motor vehicle is stopping
After line meet red parking wait, therefore the such scheme of the present embodiment can accurately obtain each motor vehicle after stop line because
The number of times stopped to meet red light.
Further, said system also includes：Tip element 5, if the ponding of a certain travel direction scope in crossing highly surpasses
Given threshold is crossed, then no through traffic for the travel direction at the prompting driver crossing；If the product of a certain travel direction scope in crossing
Water height then points out driver to notice that the travel direction at the crossing has ponding not less than given threshold.Can be every by crossing
The display screen that individual side sets up is showing corresponding information to be prompted to driver.
Used as another kind of preferred scheme, the Tip element 5 also includes：Electromagnetic wave generation module, if crossing a line
The ponding for sailing direction scope highly exceedes given threshold, then generate corresponding with the travel direction information that no through traffic at the crossing
The first electromagnetic wave signal, first electromagnetic wave signal is sent into the electromagnetic receiving device to vehicle；If crossing is a certain
The ponding height of travel direction scope then generates the information pair for having ponding with the travel direction at the crossing not less than given threshold
The second electromagnetic wave signal answered, by second electromagnetic wave signal electromagnetic receiving device to vehicle is sent.
Because the display screen limited amount on road, typically it is all disposed within apart from the nearer position in crossing, generally,
Driver may be not easy to see.Especially under the weather condition rained heavily, rainwater affects pilot's line of vision, and driver may
The more difficult notice seen on display screen.Therefore, the scheme in the present embodiment, it is corresponding using a kind of transmission of means of electromagnetic waves
Signal.Correspondingly, the reception device for receiving electromagnetic wave is provided with vehicle, the electromagnetic wave that reception device parsing is received can
The information that electromagnetic wave is passed on is obtained, afterwards driver is carried by the suggestion device of the instrument board in vehicle or setting
Show.So either which type of weather condition, driver can access corresponding ponding information alert.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Claims (8)
1. it is a kind of based on ponding monitor crossing traffic signal control method, it is characterised in that comprise the steps：
S1：Ponding height in the range of each travel direction of real-time monitoring crossing, continuous level precisely tracks each direction of crossing
On motor vehicle, the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and elaborate position are obtained in real time；
S2：If first direction meets the highest parking waiting number of times of the highest parking waiting number of times of red light and the chance red light of second direction
It is equal and be zero, then kept for the current demand signal cycle；If first direction meets the highest parking waiting number of times and second direction of red light
Chance red light highest parking waiting number of times it is equal and be not zero, then extend the signal period；If first direction meets red light most
High parking waiting number of times then increases signal lamp cycle on first direction more than the highest parking waiting number of times that second direction meets red light
Split；Otherwise increase the split of signal lamp cycle in second direction；
S3：Judge whether there is ponding in the range of each travel direction of crossing, if return to step S1 without if, step is entered if having
S4；
S4：If the ponding of a certain travel direction scope highly exceedes given threshold, the signal lamp of the travel direction is set to red
Lamp；
S5：If the ponding height of a certain travel direction scope is not less than given threshold, in putting for the travel direction green light signals
The row time then, changes signal lamp clearance direction, and whether judges to have been enter into the vehicle in crossing all by crossing, if then
Return to step S1, otherwise extends the complete red time of the signal lamp at the crossing, and the vehicle in crossing is all by crossing.
2. it is according to claim 1 based on ponding monitor crossing traffic signal control method, it is characterised in that the step
Rapid S2 specifically includes following steps：
S21：Record the parking waiting number of times that each motor vehicle met red light before stop line is crossed；Each of which motor vehicle is met
The initial value of the parking waiting number of times of red light is zero；
S22：Judge whether first direction is red light, if then execution step S23, otherwise execution step S24；
S23：For first direction, the stop frequency of existing motor vehicle is added 1, and obtain the highest of chance red light on first direction and stopped
Car waits number of times K1；For second direction, the motor vehicle that will extend over stop line is removed from record；
S24：For first direction, the motor vehicle that will extend over stop line is removed from record；For second direction, will be motor-driven
The parking waiting number of times of the chance red light of car adds 1, and obtains the highest parking waiting number of times K2 that red light is met in second direction；
S25：Judge the highest parking waiting number of times of the chance red light of first direction and the highest parking of chance red light of second direction etc.
Treat whether number of times is equal, step S26 is entered if equal；Otherwise enter step S27；
S26：Whether the highest stop frequency for judging to meet red light is zero, if zero, then kept for the current demand signal cycle；If it is not, then will
Signal period extends；
S27：Judge that first direction meets the highest parking whether the highest parking waiting number of times of red light meets red light more than second direction
Number of times is waited, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing in second direction signal lamp week
The split of phase.
3. it is according to claim 1 and 2 based on ponding monitor crossing traffic signal control method, it is characterised in that institute
Stating in step S4 also includes：
If the ponding of a certain travel direction scope in crossing highly exceedes given threshold, the traveling side at the driver crossing is pointed out
To no through traffic；
If the ponding height of a certain travel direction scope in crossing is not less than given threshold, driver is pointed out to note being somebody's turn to do for the crossing
Travel direction has ponding.
4. it is according to claim 3 based on ponding monitor crossing traffic signal control method, it is characterised in that the step
Also include in rapid S4：
If the ponding of a certain travel direction scope in crossing highly exceedes given threshold, generate and prohibit with the travel direction at the crossing
Only current corresponding first electromagnetic wave signal of information, sends first electromagnetic wave signal electromagnetic wave to vehicle and receives
Device；
If the ponding height of a certain travel direction scope in crossing generates the travel direction with the crossing not less than given threshold
There is corresponding second electromagnetic wave signal of information of ponding, second electromagnetic wave signal is sent into the electromagnetic wave to vehicle and is received
Device.
5. it is a kind of based on ponding monitor crossing traffic signal control system, it is characterised in that include：
Monitoring unit：Ponding height in the range of each travel direction of real-time monitoring crossing, it is every that continuous level precisely tracks crossing
Motor vehicle on individual direction, obtains in real time the quantity of the motor vehicle in each direction, the instantaneous velocity of each motor vehicle and precisely
Position；
Signalized control unit：If first direction meets the highest of the highest parking waiting number of times of red light and the chance red light of second direction
Parking waiting number of times is equal and is zero, then kept for the current demand signal cycle；If first direction meets the highest parking waiting of red light
Number is equal with the highest parking waiting number of times of the chance red light of second direction and is not zero, then extend the signal period；If first party
Then increase first direction more than the highest parking waiting number of times that second direction meets red light to the highest parking waiting number of times for meeting red light
The split of upper signal lamp cycle；Otherwise increase the split of signal lamp cycle in second direction；
Ponding judging unit, judges whether there is ponding in the range of each travel direction of crossing, if returning monitoring unit, sends out if having
The number of delivering letters is to ponding height judging unit；
Ponding height judging unit, judges whether ponding height exceedes given threshold；
Signalized control unit, when the ponding of a certain travel direction scope highly exceedes given threshold, by the travel direction
Signal lamp is set to red light；A certain travel direction scope ponding height not less than given threshold, then in the travel direction green light
The clearance time of signal then, changes signal lamp clearance direction, and whether judges to have been enter into the vehicle in crossing all by road
Mouthful, if otherwise extending the complete red time of the signal lamp at the crossing, the vehicle in crossing is all by crossing.
6. it is according to claim 5 based on ponding monitor crossing traffic signal control system, it is characterised in that the letter
Signal lamp control unit is specifically included：
Parking waiting number of times logging modle：Record the parking waiting that each motor vehicle met red light before stop line is crossed
Number；It is zero that each of which motor vehicle meets the initial value of the parking waiting number of times of red light；
First judge module：Judge whether first direction is red light, if then for first direction, by the parking of existing motor vehicle
Number of times adds 1, and obtains the highest parking waiting number of times K1 that red light is met on first direction；For second direction, stop line is will extend over
Motor vehicle remove from record；Otherwise for first direction, the motor vehicle that will extend over stop line is removed from record；For
Two directions, add 1 by the parking waiting number of times of the chance red light of existing motor vehicle, and obtain the highest parking that red light is met in second direction
Wait number of times K2；
Second judge module：Highest parking waiting number of times and the second direction for judging the chance red light of first direction meets red light most
Whether high parking waiting number of times is equal；
3rd judge module：Judge that whether the highest stop frequency for meeting red light is if being to be if the judged result of the second judge module
Zero, if zero, then kept for the current demand signal cycle；If it is not, then will extend the signal period；
4th judge module, if the judged result of the second judge module is otherwise to judge that first direction meets highest parking of red light etc.
Treat whether number of times meets the highest parking waiting number of times of red light more than second direction, if then increasing signal lamp cycle on first direction
Split；If otherwise increasing the split of signal lamp cycle in second direction.
7. the crossing traffic signal control system monitored based on ponding according to claim 5 or 6, it is characterised in that also
Including：Tip element, if the ponding of a certain travel direction scope in crossing highly exceedes given threshold, points out driver the crossing
The travel direction no through traffic；If the ponding height of a certain travel direction scope in crossing points out to drive not less than given threshold
The person of sailing notices that the travel direction at the crossing has ponding.
8. it is according to claim 7 based on ponding monitor crossing traffic signal control system, it is characterised in that it is described to carry
Show that unit also includes：
Electromagnetic wave generation module, if the ponding of a certain travel direction scope in crossing highly exceedes given threshold, generates and the road
Corresponding first electromagnetic wave signal of the travel direction information that no through traffic of mouth, first electromagnetic wave signal is sent to car
Electromagnetic receiving device on；If the ponding height of a certain travel direction scope in crossing is not less than given threshold, generate with
The travel direction at the crossing has corresponding second electromagnetic wave signal of the information of ponding, by second electromagnetic wave signal send to
Electromagnetic receiving device on vehicle.
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