CN108417053B - Photoelectric detection device suitable for T-shaped intersection and control method - Google Patents
Photoelectric detection device suitable for T-shaped intersection and control method Download PDFInfo
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- CN108417053B CN108417053B CN201810158931.2A CN201810158931A CN108417053B CN 108417053 B CN108417053 B CN 108417053B CN 201810158931 A CN201810158931 A CN 201810158931A CN 108417053 B CN108417053 B CN 108417053B
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- G08—SIGNALLING
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- G—PHYSICS
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Abstract
The invention discloses a photoelectric detection device and a control method applicable to a T-shaped intersection in the field of traffic equipment devices and traffic control methods, wherein the photoelectric detection device consists of a laser transmitter, a signal receiver, a control unit and a traffic signal lamp; aiming at the T-shaped intersections with overlong one-way queue and smaller traffic flow in other directions, the method can detect the queue length of each direction of the intersection and the time for the intersection to queue and overflow in real time, and can detect data such as the headway, the traffic flow and the like, the required components are relatively common, the cost is low, the damage degree to the road is small during installation, the maintenance is convenient, the detection result is accurate, and the method is not influenced by factors such as severe weather and insufficient light at night.
Description
Technical Field
The invention belongs to the field of traffic equipment devices and traffic control methods, and particularly relates to a traffic signal control device and method suitable for a T-shaped intersection.
Background
With the development of intelligent traffic, a traffic signal lamp control system of a dynamic self-adaptive mode for dynamically optimizing a traffic signal lamp control scheme is applied according to intersection traffic flow data obtained through real-time detection. The existing traffic signal lamp control method of the dynamic self-adaptive mode generally arranges an induction detector at the upstream of an intersection entrance lane so as to obtain traffic flow data and optimize signal phase green light time, and the method can not effectively identify real-time vehicle queuing state, namely queuing length, on the entrance lane and the time spent on reaching a certain queuing length. The current traffic detection equipment is commonly used by a pressure-sensitive sensing device and a video detection device, but the pressure-sensitive sensing device mainly has three defects: firstly, the pressure-sensitive sensing device is generally buried under the ground, and the damage area of the road is large; secondly, sensing is carried out by pressure generated when a vehicle passes through, and a large number of vehicles are easy to damage when passing through the pressure-sensitive sensor; thirdly, once pressure is generated on the road surface, data can show that motor vehicles pass through, however, the passing of the multi-axis vehicles can mislead the number of the detected vehicles, and the pressure generated by pedestrians or non-motor vehicles at the position can be misjudged as the motor vehicles. And the video detection device detection result is easily influenced by bad weather, insufficient light at night and the like, and is inconvenient to maintain and high in cost. The existing signal lamp control method is usually a fixed mode with unchanged signal phase red light time at an intersection, and a signal control scheme which is adjusted according to the real-time vehicle queuing condition at a T-shaped intersection is lacked.
Disclosure of Invention
The invention provides a photoelectric detection device suitable for a T-shaped intersection and a method for adjusting signal lamp control in real time according to data provided by the detection device, aiming at the phenomena that vehicles are too much queued and wait at the T-shaped intersection, queue overflow often occurs, and motor vehicles can drive out of the intersection only by stopping for two times or even three times.
The invention relates to a photoelectric detection device suitable for a T-shaped intersection, which adopts the technical scheme that: the system comprises a laser transmitter, signal receivers, a control unit and traffic signals, wherein a laser transmitter and a corresponding signal receiver are respectively arranged at the entrance end and the exit end of each lane which are required to be controlled by the signal lamps at each intersection of the T-shaped intersection, the laser transmitter and the corresponding signal receiver are matched to measure the passing vehicle frequency, the output end of each signal receiver is connected with the input end of the control unit, and the output end of the control unit is connected with three traffic signals which respectively control a southbound intersection, a northbound intersection and a southbound intersection.
The technical scheme adopted by the control method of the photoelectric detection device suitable for the T-shaped intersection comprises the following steps:
step 1: the control unit receives the signals of each signal receiver and calculates the number f of vehicles retained in an inlet passage after the green light passes through the ith period of four-direction inlet passages including a south straight going passage st, a north straight going passage nt, a south left turning passage sl and a west left turning passage wlst、fnt、fsl、fwl；
Step 2: when the control unit receives a red light signal in a certain direction, the control unit starts timing until the real-time queuing vehicle number of the entrance lane in the direction is equal to the set maximum queuing length or the timing when the red light end signal is received stops timing;
and step 3: the control unit queues vehicles in real time for the inlet lane of south straight running, north straight running, south left turning and west left turning in the red light signal period of the ith periodst、gnt、gsl、gwlThe upper limit S of the number of queued vehicles set by the entrance lanes of south straight running, north straight running, south left turning and west left turningst、Snt、Ssl、SwlComparing to determine whether g is presentst≥Sst、gnt≥Snt、gsl≥SslOr gwl≥SwlStopping timing according to the judgment result;
and 4, step 4: when the red light signal of each direction is finished, the control unit compares the real-time queuing length on each corresponding lane with a set queuing upper limit value according to the judgment result, stops timing and judges whether the queuing reaches the upper limit or not, and the signal light is controlled according to the judgment result;
and 5: when the red light signal of each phase of the ith period is finished, the control unit calculates the total number of the vehicles entering the south straight-going lane, the north straight-going lane, the south left-turning lane and the west left-turning lane until the ith period is finished, and the total number of the vehicles exiting the south straight-going lane, the north straight-going lane, the south left-turning lane and the west left-turning lane until the ith period is finished.
The invention adopts the technical scheme to highlight the beneficial effects that:
1. the invention can detect the queuing length of each direction of the intersection and the time for the intersection to queue and overflow in real time aiming at the T-shaped intersection with overlong one-way queuing and smaller traffic flow in other directions, and can detect the data of the time interval of the vehicle head, the traffic flow and the like, and the required components are more common, the cost is low, the damage degree to the road is smaller during installation, the maintenance is convenient, the detection result is accurate, and the T-shaped intersection is not influenced by factors such as severe weather, insufficient light at night and the like.
2. The invention can detect the intersection entrance lane in a certain period to obtain the vehicle queuing data, change the signal lamp control scheme of the next period in real time, has pertinence and real-time performance, can improve the efficiency of the T-shaped opening vehicles passing through the stop line, and avoids queuing overflow in a certain direction and repeated queuing of the vehicles.
Drawings
FIG. 1 is a schematic diagram of an arrangement of a photoelectric detection device suitable for a T-shaped intersection of the invention installed at the T-shaped intersection;
FIG. 2 is a control block diagram of the photodetection device shown in FIG. 1;
FIG. 3 is a flow chart of the control method shown in FIG. 1;
the notation in the figure is: 1. 2, 3, traffic signal lamp; 4. 5, 6, 7, 8, 9, 10, 11. laser transmitter, 12, 13, 14, 15, 16, 17, 18, 19. signal receiver; 22. a control unit.
Detailed Description
As shown in fig. 1 and fig. 2, the T-shaped intersection is a two-way two-lane T-shaped intersection, and the T-shaped intersection shown in fig. 1 is taken as an example of the T-shaped intersection with the north-south direction as a main road and the west direction as an auxiliary road. T-shaped intersections of the southbound intersection (S), the northbound intersection (N) and the west intersection (W) are taken as examples. The entrance way of the south crossing (S) is provided with a straight lane (st) and a left-turn lane (sl), the entrance way of the north crossing (N) is provided with a right-turn lane (nr) and a straight lane (nt), and the right-turn lane of the north crossing is not controlled by a signal lamp; the inlet lane of the west-oriented intersection (W) is provided with a right-turn lane (wr) and a left-turn lane (wl), and the right-turn lane of the west-oriented intersection is not controlled by a signal lamp. The T-shaped intersection is easy to queue and overflow, so that road sections with specific lengths are selected on lanes in three directions of main road straight-going, main road left-turning and auxiliary road left-turning of the T-shaped intersection, and the photoelectric detection device is arranged on each lane of each road section.
The photoelectric detection device consists of a laser transmitter, a signal receiver, a control unit and a traffic signal lamp. A laser transmitter and a corresponding signal receiver are respectively installed at the entrance end and the exit end of each lane which are required to be controlled by signal lamps at each intersection of the T-shaped intersection. The laser emitters are all installed under the road surface, holes need to be reserved on the road surface for laser emission, and when the laser emitters are installed, the overlapping of multiple laser propagation paths needs to be prevented, and the laser propagation paths can be effectively blocked when vehicles pass through the laser emitters. As shown in fig. 1, a laser transmitter 4 is installed at a road marking at an entrance end of a straight lane at a southbound intersection, a laser transmitter 5 is installed at a road marking of a left-turn lane, a signal receiver 12 and a signal receiver 13 corresponding to the laser transmitters 4 and 5 are installed on a nearest street lamp or an isolation guardrail close to the laser transmitters 4 and 5, and laser of the laser transmitter 4 irradiates the signal receiver 12; the laser light of the laser transmitter 5 is irradiated to the signal receiver 13. The laser transmitter 4 can be matched with the signal receiver 12 to measure the times of vehicles entering a first lane of the road section, and the laser transmitter 5 can be matched with the signal receiver 13 to measure the times of vehicles entering a straight lane and a left-turn lane of a southbound intersection respectively. A laser transmitter 8 is arranged at a road marking of a straight lane at the exit end of the straight lane at the southward crossing, a laser transmitter 9 is arranged at a road marking of a left-turn lane, and a corresponding signal receiver 16 and a corresponding signal receiver 17 are arranged on the nearest street lamp or the isolation guardrail close to the laser transmitters 8 and 9. Similarly, a laser transmitter 7 and a corresponding signal receiver 15 are installed at the entrance end of the left-turn lane of the west-oriented intersection, a laser transmitter 11 and a corresponding signal receiver 19 are installed at the exit end of the left-turn lane of the west-oriented intersection, a laser transmitter 6 and a corresponding signal receiver 14 are installed at the entrance end of the straight lane of the north-oriented intersection, and a laser transmitter 10 and a corresponding signal receiver 18 are installed at the exit end of the straight lane of the north-oriented intersection.
As shown in fig. 2, the output of each signal receiver 12, 13, 14, 15, 16, 17, 18, 19 is connected to an input of a control unit 22. When the vehicle passes, the propagation path of the laser light is blocked, so that interruption of the laser light occurs at the signal receivers, each of which converts the detected light signal into a voltage signal and transmits the voltage signal to the control unit 22. The control unit 22 may be installed in a traffic light post at the intersection. The output end of the control unit 22 is connected with three traffic lights, which are respectively a traffic signal 1 for controlling a southbound crossing (S), a traffic signal 2 for controlling a northbound crossing (N) and a traffic signal 3 for controlling a west crossing (W). The control unit 22 filters and calculates the input signals to obtain the number of vehicles on road sections in three directions of main road straight line, main road left turn and auxiliary road left turn at a certain time, so that the control unit 22 judges the vehicle queuing condition of each road section, and distinguishes which road section has queuing overflow, thereby regulating the road section. According to the time of the road section reaching saturation, the time length of the red light and the time length of the green light of the traffic signal light of the road section are adjusted in real time, and the traffic signal light is controlled to make corresponding changes, so that the condition of one-way vehicle queue overflow of the road section is relieved.
The control unit 22 controls only one phase of the three phases of main road straight-going, main road left-turning and auxiliary road left-turning, which has more traffic flow and generates unidirectional congestion. The phase rule is: the phase is that the main road (south-north) goes straight, the phase is that the main road (south direction) turns left, and the phase is that the auxiliary road (west direction) turns left. The red light time of three phases of main road direct line, main road left turn and auxiliary road left turn is respectively tr1、tr2、tr3Showing that the minimum green light time of three phases of main road straight line, main road left turn and auxiliary road left turn are respectively t01、t02、t03. The duration of each period is fixed at T. Referring to fig. 3, the control unit 22 specifically controls the following steps:
step 1: at a certain moment, under the condition that there is no vehicle at the entrance lane in each direction of the T-shaped intersection as shown in fig. 1, the control unit 22 controls the total number of vehicles M entering the entrance lane for south straight driving, north straight driving, south left-turning and west left-turningi st、Mi nt、Mi sl、Mi wlReturning to zero, and driving out the inlet lane of south straight running, north straight running, south left turning and west left turningi st、Ni nt、Ni sl、Ni wlAnd (4) returning to zero, wherein the current cycle count i returns to zero, and the cycle fixed time length is T. The control unit starts counting because all data are cleared, so that the current period is a first period, and the initial value M of the total number of the vehicles entering the entrance way of the south straight run, the north straight run, the south left turn and the west left turn is started before the first period0 st、M0 nt、M0 sl、M0 wl0, the initial value N of the total number of the vehicles driving out of the inlet lane of the south straight run, the north straight run, the south left turn and the west left turn0 st、N0 nt、N0 sl、N0 wlIs 0.
Step 2: considering the interference of objects such as pedestrians and garbage, the control unit 22 filters out the signal with short or extra long interruption time in the incoming signal to obtain the number of vehicles driving in the green time of the i-th cycle of south straight st, north straight nt, south left turn sl and west left turn wl entrance lane as xst、xnt、xsl、xwl(ii) a The number of vehicles coming out in the green time of the entrance lane of south straight running, north straight running, south left turning and west left turning in the cycle i is yst、ynt、ysl、ywl. The initial value of the total number of the vehicles entering the entrance lane of south straight running, north straight running, south left turning and west left turning before the ith period is Mi-1 st、Mi-1 nt、Mi-1 sl、Mi-1 wlThe initial value of the total number of the vehicles driving out of the entry road of the south straight run, the north straight run, the south left turn and the west left turn is Ni-1 st、Ni-1 nt、Ni-1 sl、Ni-1 wl。
The control unit 22 obtains the number f of vehicles staying in the entrance lane after the green light passes through the i-th period through calculation by the following formula, wherein the four directions of the south straight-going entrance lane, the north straight-going entrance lane, the south left-turning entrance lane and the west left-turning entrance lane are obtained through calculation by the following formulast、fnt、fsl、fwlRespectively as follows:
fst=Mi-1 st+xst-(Ni-1 st+yst) ，
fnt= Mi-1 nt+xnt-( Ni-1 nt+ynt) ，
fsl= Mi-1 sl+xsl-( Ni-1 sl+ysl) ，
fwl= Mi-1 wl+xwl-( Ni-1 wl+ywl) 。
and step 3: when the control unit 22 receives a red light signal in a certain direction, the control unit 22 starts timing until the real-time queuing vehicle number of the entrance lane in the direction is equal to the vehicle number of the set maximum queuing length or the time of receiving the red light end signal, and the time timings of south straight running, north straight running, south left turning and west left turning are respectively tst、tnt、tsl、twl。
The laser transmitter at the entrance end of each entrance lane is matched with a corresponding signal receiver, the signal receiver transmits signals to the control unit 22, and the control unit 22 counts the real-time accumulated number z of vehicles driving into the entrance lane for straight south driving, straight north driving, left south turning and left west turning during the red light period of the ith periodst、znt、zsl、zwl. In the present invention, when the control unit 22 determines that the vehicle entrance signal is received during the red light of the i-th period, the accumulated number of vehicles on the corresponding entrance lane is increased by 1, and the real-time accumulated number of vehicles z entering the entrance lane for straight south driving, straight north driving, left turn south and left turn west is increased by 1st、znt、zsl、zwlThe value of (c) changes in real time.
The control unit 22 then calculates the number of vehicles queued in real time during the ith cycle of the red light signal for each entrance lane by the following formula:
gst=fst+zst，
gnt=fnt+znt，
gsl=fsl+zsl，
gwl=fwl+zwl。
and 4, step 4: the control unit 22 queues the number g of vehicles in real time for the entrance lane of south straight running, north straight running, south left turning and west left turning during the red light signal of the i-th cyclest、gnt、gsl、gwlThe upper limit S of the number of queued vehicles set by the entrance lanes of south straight running, north straight running, south left turning and west left turningst、Snt、Ssl、SwlTo carry outComparing and judging whether g is presentst≥Sst、gnt≥Snt、gsl≥SslOr gwl≥SwlAnd stopping timing according to the judgment result and controlling the signal lamp. Taking the congestion of the main road in the straight line as an example: when the main road goes straight during the red light of the i-th period, g appearsst=SstThe control unit 22 stops timing the time in the south-going direction to obtain tst. The control unit 22 continues to time the north road-entry if the real-time accumulated queue number of the north road-entry appears g during the red light periodnt=SntObtaining t as abovent(ii) a If the red light end time is reached, gntIs still less than SntStopping timing, outputting tntThe value is equal to the red light time.
And 5: when the red light signal of each direction is finished, the control unit 22 compares the real-time queuing length on each corresponding lane with the set queuing upper limit value, judges whether the queuing reaches the upper limit, stops timing according to the judgment result, and controls the signal light. The judgment result mainly has the following four conditions:
the first condition is as follows: the main road straight line, the main road left turn and the auxiliary road left turn do not reach the queuing upper limit.
When the red light is over, when gst<Sst，gnt<Snt，gsl<Ssl，gwl<SwlAnd considering that the queues of the phases do not overflow, the control unit does not adjust the signal timing scheme and uses the default signal timing time.
Case two: the main road left-turn queues up to the upper limit.
When the red light is over, when gst<Sst，gnt<Snt，gsl≥Ssl，gwl<SwlConsider the main road left turn queuing up to the upper limit.
The control unit 22 reaches the queuing upper limit time t for the south left-turning directionslMinimum green time t of phase line with main road01Left-turning phase minimum green time t of auxiliary road03Comparing the sums, if tsl≥t01+t03Then, get the followingOne-period main road left-turn direction red light time tr2=tslThe non-red light time is T-Tsl(ii) a If tsl<t01+t03In order to not influence the passing of other two phase vehicles, the time t of the red light in the left turn direction of the main road in the next periodr2= t01+t03The non-red light time is T- (T)01+t03）。
Case three: the left-turn queue of the auxiliary road reaches the upper limit.
When the red light is over, when gst<Sst，gnt<Snt，gsl<Ssl，gwl≥SwlThe auxiliary road left turn queue is considered to be up to the upper limit.
The control unit 22 reaches the queuing upper limit time t for the west left turn directionwlMinimum green time t of phase line with main road01The minimum green time t of the left-turn phase of the main road02Comparing the sums, if twl≥t01+t02Then the time t of the red light of left turn direction of the auxiliary road in the next periodr3=twlThe non-red light time is T-Twl(ii) a If twl<t01+t02In order to avoid influencing the traffic of other vehicles in two phases, the left turn red light time t of the auxiliary road in the next periodr3= t01+t02The non-red light time is T- (T)01+t02）。
Case four: main road straight line queuing reaches an upper limit.
When the red light is over, when gst≥Sst、gnt<Snt、gsl<Ssl、gwl<SwlOr gst<Sst、gnt≥Snt、gsl<Ssl、gwl<SwlOr gst≥Sst、gnt≥Snt、gsl<Ssl、gwl<SwlWhen any one of the three conditions occurs, the main road straight line queuing is considered to reach the upper limit. The control unit 22 reaches the queuing upper limit time t for the south straight directionstDirection of travel straight with northTime t for reaching queuing upper limitntAnd (3) comparison:
if tst≤tntIf the south straight direction reaches the queuing upper limit time tstMinimum green time t of left-hand phase of main path02Left-turning phase minimum green time t of auxiliary road03Comparing the sums, if tst≥t02+t03Then the red light time t is set for the main road going straight in the next periodr1=tstThe non-red light time is T-Tst(ii) a If tst<t02+t03In order to avoid influencing the traffic of other two-phase vehicles, the red light time t in the straight-going direction of the main road in the next periodr1= t02+t03The non-red light time is T- (T)02+t03）。
If tst>tntThe method is similar to the above and is not described in detail.
Step six: when the red light signal of each phase in the ith period is finished, the control unit 22 calculates the total number of the incoming routes of the straight south, straight north, turning left and turning left until the ith period is finished, and the total number of the incoming routes of the straight south, straight north, turning left and turning left until the ith period is finished respectively as follows:
Mi st=Mi-1 st+xst+ zst，Ni st=Ni-1 st+yst，
Mi nt= Mi-1 nt+xnt+znt，Ni nt= Ni-1 nt+ynt，
Mi sl= Mi-1 sl+xsl+zsl，Ni sl= Ni-1 sl+ysl，
Mi wl= Mi-1 wl+xwl+zwl，Ni wl= Ni-1 wl+ywl。
step seven: each phase enters the next cycle, i.e., the i +1 th cycle, and the control unit 22 repeats the steps one to six.
Claims (2)
1. A control method of a photoelectric detection device suitable for a T-shaped intersection is characterized by comprising a laser transmitter, a signal receiver, a control unit and traffic signals, wherein the laser transmitter and the corresponding signal receiver are respectively arranged at the entrance end and the exit end of each lane needing to be controlled by the signal lamps at each intersection of the T-shaped intersection, the laser transmitter and the corresponding signal receiver are matched to measure the passing vehicle frequency, the output end of each signal receiver is connected with the input end of the control unit, and the output end of the control unit is connected with three traffic signals respectively controlling a southbound intersection, a northbound intersection and a southbound intersection, and the method comprises the following steps:
step 1: the control unit receives the signals of each signal receiver and calculates the number f of vehicles retained in an inlet passage after the green light passes through the ith period of four-direction inlet passages including a south straight going passage st, a north straight going passage nt, a south left turning passage sl and a west left turning passage wlst、fnt、fsl、fwlRespectively as follows: f. ofst=Mi-1 st+xst-(Ni-1 st+yst) ，fnt= Mi-1 nt+xnt-( Ni-1 nt+ynt) ，fsl= Mi-1 sl+xsl-(Ni-1 sl+ysl) ，xst、xnt、xsl、xwlThe number of driving-in trains in the ith period within the time of green light in the south straight driving st, the north straight driving nt, the south left turn sl and the west left turn wl entrance road respectively; y isst、ynt、ysl、ywlRespectively driving out the cars in the green time in the entrance way of the ith cycle of south straight driving, north straight driving, south left turning and west left turning, Mi-1 st、Mi-1 nt、Mi-1 sl、Mi-1 wlThe initial values of the total train times of the entering entry roads of south straight running, north straight running, south left turning and west left turning before the ith period are Ni-1 st、Ni-1 nt、Ni-1 sl、Ni-1 wlRespectively driving out the initial values of the total train number of the entrance roads of south straight running, north straight running, south left turning and west left turning;
step 2: when the control unit receives a red light signal in a certain direction, the control unit starts timing until the real-time queuing vehicle number of the entrance lane in the direction is equal to the set maximum queuing length or the timing when the red light end signal is received stops timing;
and step 3: the control unit queues vehicles in real time for the inlet lane of south straight running, north straight running, south left turning and west left turning in the red light signal period of the ith periodst、gnt、gsl、gwlThe upper limit S of the number of queued vehicles set by the entrance lanes of south straight running, north straight running, south left turning and west left turningst、Snt、Ssl、SwlComparing to determine whether g is presentst≥Sst、gnt≥Snt、gsl≥SslOr gwl≥SwlStopping timing according to the judgment result; number g of vehicles queued in real timest、gnt、gsl、gwlRespectively as follows: gst=fst+zst，gnt=fnt+znt，gsl=fsl+zsl，gwl=fwl+zwl，zst、znt、zsl、zwlRespectively accumulating the driving times in the entrance ways of south straight driving, north straight driving, south left turning and west left turning in the red light period of the ith period in real time; the judgment result has the following four conditions:
the first condition is as follows: when g isst<Sst，gnt<Snt，gsl<Ssl，gwl<SwlThe main road straight line, the main road left turn and the auxiliary road left turn do not reach the queuing upper limit, the queuing of each phase does not overflow, and the control unit does not adjust the signal timing scheme;
case two: when g isst<Sst，gnt<Snt，gsl≥Ssl，gwl<SwlWhen the main road is queued to the upper limit in the left turn, the control unit queues to the upper limit time t in the south left turn directionslMinimum green time t of phase line with main road01Left-turning phase minimum green time t of auxiliary road03Comparing the sums, if tsl≥t01+t03Then the time t of red light in left turn direction of main road in the next periodr2=tslThe non-red light time is T-Tsl(ii) a If tsl<t01+t03Then the time t of red light in left turn direction of main road in the next periodr2= t01+t03The non-red light time is T- (T)01+t03) T is the duration of each period;
case three: when g isst<Sst，gnt<Snt，gsl<Ssl，gwl≥SwlWhen the auxiliary road turns left and queues up to the upper limit, the control unit queues up to the upper limit time t in the west left turn directionwlMinimum green time t of phase line with main road01The minimum green time t of the left-turn phase of the main road02Comparing the sums, if twl≥t01+t02Then the time t of the red light of left turn direction of the auxiliary road in the next periodr3=twlThe non-red light time is T-Twl(ii) a If twl<t01+t02Then the time t of the red light of left turn direction of the auxiliary road in the next periodr3= t01+t02The non-red light time is T- (T)01+t02）；
Case four: when g isst≥Sst、gnt<Snt、gsl<Ssl、gwl<SwlOr gst<Sst、gnt≥Snt、gsl<Ssl、gwl<SwlOr gst≥Sst、gnt≥Snt、gsl<Ssl、gwl<SwlWhen the main road queue reaches the upper limit, the control unit queues the south straight line for the upper limit time tstIs arranged in the direction of going straight with the northTeam upper bound time tntAnd (3) comparison: if tst≤tntIf the south straight direction reaches the queuing upper limit time tstMinimum green time t of left-hand phase of main path02Left-turning phase minimum green time t of auxiliary road03Comparing the sums, if tst≥t02+t03Then the red light time t is set for the main road going straight in the next periodr1=tstThe non-red light time is T-Tst(ii) a If tst<t02+t03Then the red light time t is set for the main road going straight in the next periodr1= t02+t03The non-red light time is T- (T)02+t03）；
And 4, step 4: when the red light signal of each direction is finished, the control unit compares the real-time queuing length on each corresponding lane with a set queuing upper limit value according to the judgment result, stops timing and judges whether the queuing reaches the upper limit or not, and the signal light is controlled according to the judgment result;
and 5: when the red light signal of each phase of the ith period is finished, the control unit calculates the total number of the vehicles entering the south straight-going lane, the north straight-going lane, the south left-turning lane and the west left-turning lane until the ith period is finished, and the total number of the vehicles exiting the south straight-going lane, the north straight-going lane, the south left-turning lane and the west left-turning lane until the ith period is finished.
2. The method for controlling a photodetecting device according to claim 1, wherein: in step 5, the total train numbers of the entrance ways of driving into the south straight run, the north straight run, the south left turn and the west left turn and the total train numbers of the entrance ways of driving out the south straight run, the north straight run, the south left turn and the west left turn until the ith cycle is finished are respectively: mi st=Mi-1 st+xst+ zst，Ni st=Ni-1 st+yst，Mi nt= Mi-1 nt+xnt+znt，Ni nt= Ni-1 nt+ynt，Mi sl= Mi-1 sl+xsl+zsl，Ni sl= Ni-1 sl+ysl，Mi wl= Mi-1 wl+xwl+zwl，Ni wl= Ni-1 wl+ywl。
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