CN114093158A - Traffic management method and device - Google Patents

Traffic management method and device Download PDF

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CN114093158A
CN114093158A CN202010857294.5A CN202010857294A CN114093158A CN 114093158 A CN114093158 A CN 114093158A CN 202010857294 A CN202010857294 A CN 202010857294A CN 114093158 A CN114093158 A CN 114093158A
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vehicle
information
traffic
driving direction
target
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张竞
王发平
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Huawei Cloud Computing Technologies Co Ltd
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Huawei Cloud Computing Technologies Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
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    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase

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Abstract

The application provides a traffic management method and a traffic management device, wherein the method comprises the following steps: determining the traffic flow which is going to pass through the target intersection within preset time according to the path planning information and the speed of at least one vehicle; determining the timing information of a traffic light corresponding to a first driving direction of the target intersection according to the traffic flow of the target intersection; and timing control is carried out on the traffic lights according to the timing information. The traffic flow of each driving direction of the target intersection in the preset time period can be accurately determined according to the planned path information and the speed of the first vehicle, the determined time distribution of the traffic light is more adaptive to the actual traffic road condition, and the traffic light can be applied to various traffic scenes and has strong applicability.

Description

Traffic management method and device
Technical Field
The present application relates to the field of communications and traffic control technologies, and in particular, to a traffic management method and apparatus.
Background
The existing traffic four-way reaches, and the optimized control of traffic lights can improve the urban traffic efficiency.
For example, during rush hours or other special periods, the instantaneous traffic flow at some intersections will increase significantly, and if the timing strategy of the intersection traffic lights is not matched with the traffic flow in each driving direction, congestion is easily caused, so that the time cost of the vehicle is greatly increased. In a more serious situation, individual vehicles are jammed in the center of the intersection, causing short-time traffic paralysis, and therefore how to effectively improve the traffic optimization capability is a hot problem at present.
Currently, common optimization schemes include: based on historical big data, the traffic light timing is periodically optimized, the method is suitable for intersections with obvious periodic regularity of traffic flow change, for example, the traffic flow of a certain intersection is obviously increased at a certain specific moment every day in a certain driving direction, the method is suitable for macroscopic regulation and control of traffic, and the problem of traffic jam caused by non-periodic factors cannot be solved.
Disclosure of Invention
The application provides a traffic management method and a traffic management device, which are used for realizing that a traffic light is matched in time so as to be more suitable for the actual traffic condition and reducing traffic jam caused by non-periodic factors.
In a first aspect, the present application provides a traffic management method, which may be implemented by a network device (e.g., a cloud server or a roadside server), or may be implemented by a component of the network device, such as a processing device, a circuit, a chip, or the like in the network device. The method comprises the following steps: determining the traffic flow which is going to pass through the target intersection within preset time according to the path planning information and the speed of at least one vehicle; determining the timing information of the traffic lights corresponding to the first driving direction of the target intersection according to the traffic flow of the target intersection; and timing control is carried out on the traffic lights according to the timing information.
By the method, the driving steering of the first vehicle at the target intersection can be determined according to the planned path information of the first vehicle, and the traffic flow of each driving direction of the target intersection in the preset time period can be accurately determined according to the speed, so that the determined timing of the traffic lights is more adaptive to the actual traffic road conditions, the method can be applied to various traffic scenes, the flexibility of traffic management is improved, and the method has strong applicability. In addition, the method does not need to install additional sensor equipment, and cost overhead is reduced.
In one possible implementation, the traffic flow of the target intersection may include a traffic flow of one driving direction of the target intersection, or traffic flows corresponding to a plurality of driving directions.
In one possible implementation method, before determining the traffic flow that will pass through the target intersection within the preset time, the method further includes acquiring path planning information of at least one vehicle: receiving planning path information sent by at least one vehicle; or receiving planning path information of at least one vehicle sent by the first terminal equipment; the first terminal device is a road side device (RSU), or the first terminal device is a third party application server, or the first terminal device is a mobile terminal.
By the method, the planned path information of the vehicle can be acquired in various ways, and the method is high in flexibility and wide in application scene.
In a possible implementation method, first indication information is sent to each vehicle in at least one vehicle, the first indication information is used for indicating state information of one or more traffic lights which the vehicle will pass through, the state information includes states of the traffic lights and remaining time of the traffic lights in the states, and the states include a red light state, a green light state or a yellow light state.
By the method, the first indication information is sent to the vehicle to indicate the state information that the vehicle is about to pass through one or more traffic lights, so that the user can clearly and accurately determine the state of the traffic lights, and the situation that the state of the traffic lights cannot be determined when the user is far away from the traffic lights is avoided, and driving is affected.
In one possible implementation, determining the traffic flow that will pass through the target intersection within the preset time includes obtaining the speed of at least one vehicle, including: for each vehicle in the at least one vehicle, receiving at least two pieces of position information from the vehicle, and determining the speed of the vehicle according to the at least two pieces of position information and the time for respectively receiving the at least two pieces of position information; or receiving speed information sent by the vehicle; alternatively, the speed of the vehicle is determined from path planning information, which includes the distance to the planned path and the estimated time of travel.
By the method, the speed information of the vehicle can be acquired in various ways, the flexibility is strong, and the application scene is wide.
In one possible implementation method, determining the traffic flow that will pass through the target intersection within the preset time according to the path planning information and the speed of at least one vehicle includes: determining a target vehicle in the driving direction according to the path planning information and the speed of at least one vehicle aiming at each driving direction of the target cross path, wherein the target vehicle is a vehicle which reaches a target intersection within a preset time and is in the driving direction; and determining the traffic flow of the driving direction according to the target vehicle.
By the method, the driving steering of the first vehicle at the target intersection can be determined according to the planned path information of the first vehicle, so that the traffic flow of each driving direction of the target intersection in the preset time period can be determined in advance, and the accuracy of traffic light timing is improved.
In one possible implementation method, the traffic flow of the driving direction is determined according to the attribute and the reliability of the target vehicle; the attribute represents the size specification of the target vehicle, and the reliability represents the consistency degree of the actual running track of the target vehicle and the planned path. The vehicle flow is calculated by combining the attribute and the reliability of the vehicle, so that the calculation result is closer to the actual condition, and the calculation accuracy is improved.
In one possible implementation method, whether the target vehicle deviates from the planned path is determined according to the position information of the target vehicle, and when the vehicle deviates from the planned path, the value of the reliability of the vehicle is adjusted.
In a possible implementation method, when a plurality of groups of pre-configured first timing information of a target intersection are stored, the first timing information comprises second timing information of traffic lights corresponding to each driving direction of the target intersection;
determining timing information of a traffic light corresponding to a first driving direction of a target intersection, comprising: determining first waiting time of the vehicle in the driving direction according to the traffic flow of each driving direction and the second timing information of the traffic lights corresponding to the driving direction; determining second waiting time corresponding to the target intersection according to the first waiting time corresponding to each driving direction; and determining the time distribution information of the traffic lights corresponding to the first driving direction of the target intersection according to the first time distribution information with the shortest second waiting time in the plurality of groups of first time distribution information.
In one possible implementation method, the timing information of the traffic lights corresponding to the first driving direction of the target intersection is determined according to the traffic flow of the target intersection and the traffic flow of at least one second intersection, wherein the second intersection is other than the target intersection.
In a possible implementation method, when a plurality of groups of pre-configured combined timing information of a plurality of intersections are stored, the plurality of intersections comprise a target intersection and at least one second intersection, and the combined timing information comprises second timing information of traffic lights corresponding to each driving direction of each intersection in the plurality of intersections;
determining timing information of a traffic light corresponding to a first driving direction of a target intersection, comprising: aiming at any one group of joint timing information in the multiple groups of joint timing information: determining second waiting time corresponding to each intersection; the second waiting time is determined according to the first waiting time corresponding to each driving direction of the intersection, and the first waiting time is determined according to the traffic flow of the driving direction and the second timing information of the traffic lights corresponding to the driving direction; determining third waiting time corresponding to multiple intersections according to the second waiting time corresponding to each intersection; and determining the timing information of the traffic light corresponding to the first driving direction of the target intersection according to the combined timing information with the shortest third waiting time in the plurality of groups of combined timing information.
In a second aspect, embodiments of the present application provide a method for traffic management, where the method may be implemented by a vehicle, or may be implemented by a component of the vehicle, such as a processing device, a circuit, a chip, and the like in the vehicle. The method comprises the following steps: the method comprises the steps that a first vehicle sends planned path information and receives first indication information, wherein the first indication information is used for indicating state information of at least one traffic light through which the first vehicle passes, the state information comprises the state of the traffic light and the remaining time of the traffic light in the state, and the state comprises a red light state, a green light state or a yellow light state.
The technical effects achieved by any one of the possible designs of the second aspect can be achieved by referring to the technical effects achieved by the first aspect, and will not be repeated herein.
In a third aspect, an embodiment of the present application provides a traffic management device, where the traffic management device has a function of implementing the method in the first aspect, and the function may be implemented by hardware, or by software, or by hardware executing corresponding software. The apparatus comprises one or more modules corresponding to the above-described functions, such as a processing unit and a communication unit.
In one possible design, the device may be a chip or an integrated circuit.
In one possible design, the apparatus includes a memory, a processor, and a transceiver for receiving and transmitting data, the memory storing a program or instructions for execution by the processor, and the apparatus may perform the method according to the first aspect and the various possible designs of the first aspect when the program or instructions are executed by the processor.
In one possible design, the device may be a cloud server or a roadside server.
In a fourth aspect, an embodiment of the present application provides a terminal device, where the terminal device has a function of implementing the method in the second aspect, and the function may be implemented by hardware, or by software, or by hardware executing corresponding software. The apparatus includes one or more modules corresponding to the above-described functions, such as a transmitting unit and a receiving unit.
In one possible design, the device may be a chip or an integrated circuit.
In one possible design, the apparatus includes a memory, a processor, and a transceiver for receiving and transmitting data, the memory storing a program or instructions for execution by the processor, and the device may perform the method according to the second aspect and its various possible designs when the program or instructions are executed by the processor.
In one possible design, the device may be a vehicle, an RSU, or a mobile terminal device.
In a fifth aspect, an embodiment of the present application provides an apparatus, where the communication apparatus includes a processor and an interface circuit, where the interface circuit is configured to receive a program or instruction code and transmit the program or instruction code to the processor; the processor executes the program or instruction code to perform the methods as referred to by the first aspect and its various possible designs or to perform the methods as referred to by the second aspect and its various possible designs.
In a sixth aspect, the present application provides an apparatus, which may be a terminal device, and may also be a chip for the terminal device. The apparatus has the functionality to implement the embodiments of the first or second aspect described above. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In a seventh aspect, embodiments of the present application provide a computer-readable storage medium for storing a program or instructions, which when executed, enable a method according to the first aspect and various possible designs of the first aspect thereof, or a method according to the second aspect and various possible designs of the second aspect thereof to be implemented.
In an eighth aspect, embodiments of the present application provide a computer program product comprising instructions that, when executed, cause a method according to the first aspect and its various possible designs in the first aspect, or a method according to the second aspect and its various possible designs in the second aspect, to be implemented.
Drawings
Fig. 1 is a schematic diagram of a possible network architecture provided in an embodiment of the present application;
fig. 2 is a schematic flow chart corresponding to a traffic management method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a target planning path according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a target intersection provided by an embodiment of the present application;
fig. 5 is a schematic view of a scene for acquiring real-time positioning information of a vehicle according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating a relationship between traffic flow and traffic light timing according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a multi-port circuit according to an embodiment of the present disclosure;
FIG. 8a is a schematic diagram illustrating adjustment of traffic light timing according to an embodiment of the present disclosure;
fig. 8b is a schematic flowchart corresponding to a complete method for traffic management according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a traffic management apparatus according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of another traffic management apparatus according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of another traffic management device according to an embodiment of the present application.
Detailed Description
With the rapid expansion of vehicles, traffic congestion problems are becoming more severe. The intelligent traffic system aims to improve traffic transportation efficiency through harmonious and close cooperation of vehicles and roads, relieve traffic jam and improve road network passing capacity.
In an intelligent traffic system, urban traffic light timing control is an extremely important part. At present, the existing traffic light timing control schemes mainly include the following:
the method is characterized in that the traffic light timing is adjusted in real time based on the traffic flow monitored by the detection equipment in real time.
The detection device can be a camera, a geomagnetic sensor and the like, the detection device obtains real-time traffic flow in the detection range of the detection device, and timing of the traffic light is adjusted in real time based on the real-time traffic flow, for example, if the detection device monitors that the traffic flow of a straight lane is large, green light time of the traffic light in the straight direction can be prolonged in real time.
However, in the above-mentioned manner, the vehicle generally enters the lane corresponding to the driving direction at a position close to the intersection, and the vehicle far from the intersection is difficult to determine whether it is on the corresponding lane, in order to ensure the validity of the data, the detection method based on the camera can only monitor the vehicles within a small range below the intersection, and the number of the acquired samples is small, so that effective optimization cannot be performed.
And in the second mode, based on historical big data, the traffic light timing is periodically optimized.
For example, if the traffic flow of a certain driving direction of a certain intersection is obviously increased in a certain time period of each day, the green light of the driving direction of the intersection can be prolonged in the certain time period of each day.
However, the above method is suitable for intersections with significant periodic regularity of traffic flow change, and cannot solve the problem of traffic jam caused by non-periodic factors. For example, sudden temporary congestion may occur due to traffic accidents such as weather or vehicle grazing, vehicle failure, etc.
In summary, the existing traffic light timing method has a poor optimization effect, may cause traffic congestion, and still has a great improvement space, and a new traffic light timing scheme needs to be provided to be more suitable for real-time traffic conditions and alleviate traffic congestion.
In view of this, a traffic management method according to an embodiment of the present application is provided, which has the following principle: the method comprises the steps of obtaining planned path information of vehicles, predicting the traffic flow which will pass through a target intersection in a certain time period in the future based on the planned path information of at least one vehicle, and recording the vehicles which pass through the target intersection in the time period as first vehicles for convenient description.
The technical solution of the present application will be described in further detail with reference to the accompanying drawings.
For the convenience of understanding the embodiments of the present application, a system architecture for traffic management according to the embodiments of the present application will be described first. The system architecture can be applied to application scenes such as unmanned driving, automatic driving, intelligent driving, internet connection driving and the like.
Please refer to fig. 1, which illustrates a system architecture applicable to the present embodiment. As shown in fig. 1, the system architecture includes: vehicle end, roadside end and high in the clouds.
Wherein, the vehicle end comprises at least one vehicle. A vehicle at the vehicle end may include a processing module, a communication module, etc. The processing module may run one or more applications, and the one or more applications may include a map application, and the running map application may display the following information: for example, one or more planned routes from a vehicle from a location a to a location B, and receives a target planned route selected by a user among the one or more planned routes. The processing module can also activate the communication module to control the communication module to send the target planning path information. The communication module may be used to communicate with the outside world (e.g., roadside devices, roadside servers, cloud servers, etc.). For example, the target planned path information of the vehicle is transmitted to the roadside apparatus. As another example, the target planned path information of the vehicle is transmitted to the cloud server.
Optionally, when the vehicle end includes at least two vehicles, the vehicles may further communicate with each other, for example, the at least two vehicles include a first vehicle and a second vehicle, where target planned path information determined by the first vehicle is recorded as first target planned path information, target planned path information determined by the second vehicle is recorded as second target planned path information, the first vehicle may send the first target planned path information to the second vehicle, and the second vehicle sends the first target planned path information and the second target planned path information to the road side device and/or the cloud server.
Optionally, the vehicle end further includes a fleet of vehicles, where the fleet of vehicles may include a lead vehicle and a team member vehicle, and any vehicle in the fleet of vehicles, for example, the lead vehicle may determine the target planned path, and the lead vehicle may transmit the target planned path and fleet information to the roadside device and/or the cloud server. The fleet information may include the number of vehicles included in the fleet, vehicle information for each vehicle within the fleet, such as the model number of the vehicle, and the like. It should be understood that the travel path of any vehicle in the fleet is the same, i.e., any vehicle in the fleet may travel under the guidance of the lead vehicle according to the target planned path determined by the lead vehicle.
The roadside end may include one or more roadside devices. The roadside apparatus may include a communication module or the like. The communication module is used for receiving target planning path information and the like sent by the vehicle. Optionally, the roadside device may further include a processing module, where the processing module is configured to process, for example, merge and package, the target planned path information of the multiple vehicles received by the communication module, and then send the target planned path information through the communication module. Illustratively, the roadside device may be a Road Side Unit (RSU). Taking the RSU as an example, the RSU may receive target planned path information of at least one vehicle, and send the target planned path information to a roadside server or a cloud server.
The roadside end may also include one or more roadside servers. Similarly, the roadside server may receive the target planned path information sent by at least one vehicle, or receive the target planned path information sent by the RSU for at least one vehicle. In a possible implementation manner, the roadside server may further receive timing information of traffic lights of a target intersection sent by the cloud server, and control timing of the traffic lights according to the timing information, where the target intersection may be any intersection including intersections in an area where the roadside server is located. In another possible implementation manner, the roadside server may further determine timing information of traffic lights at the target intersection, and control timing of the traffic lights according to the timing information.
The cloud end can comprise a cloud server and the like and is used for receiving target planning path information of at least one vehicle, determining timing information of traffic lights of the target intersection, sending the timing information to a road side server of the target intersection and controlling timing of the traffic lights through the road side server. The details of how to determine the timing information of the traffic light will be described in detail below, and will not be described in detail here.
It should be understood that fig. 1 is only an illustration, and 1) the system architecture may further include more or fewer devices, for example, an application server, where the vehicle determines the target planned path information using a map-like application program, and the application server may obtain the target planned path information of the vehicle, so that the application server sends the target planned path information of the vehicle to the cloud server or the roadside server. 2) Each device in the system architecture may also include more or fewer components. For example, the cloud server and the roadside server may further include a storage device for storing historical path information, historical positioning information, or speed information of the vehicle, and the number of the roadside servers, the vehicles, and the cloud servers included in the system architecture is not limited in the present application. 3) In fig. 1, the vehicle end includes a vehicle as an example, and in the system architecture of the embodiment of the present application, the vehicle end may further include other types of terminal devices, such as a mobile phone and a tablet computer. For example, when the vehicle end includes a mobile phone, the user may determine a target planned path through the mobile phone (for example, a map application installed on the mobile phone), and when the target planned path is a driving path suitable for the vehicle, send the target planned path information to the outside through the mobile phone.
The techniques described in this embodiment may be used in various system architectures, such as a 4th generation (4G) system architecture, a 5G system architecture, a system with a combination of multiple system architectures, or a system architecture that evolves in the future (e.g., a 6G system architecture). Such as a Long Term Evolution (LTE) system, a New Radio (NR) system, a vehicle to everything (V2X), a long term evolution-vehicle networking (LTE-vehicle, LTE-V), a vehicle to vehicle (V2V), a vehicle networking, and other such system architectures, which are not limited in the embodiments of the present application.
The following provides a technical solution of an embodiment of the present application.
The embodiment of the application provides a traffic management method. Referring to fig. 2, which is a flow chart of the method, the method can be applied to the system architecture shown in fig. 1. The execution subject of the flow may include a computing device, a vehicle, a control device, and the like. The computing device in the method may be the cloud server or the roadside server in fig. 1. The control device may be a roadside device in fig. 1, such as a roadside server having a function of controlling traffic lights.
For convenience of introduction, the method is described below by taking the computing device as a cloud server and the control device as a roadside server as an example. As shown in fig. 2, the method comprises the steps of: step 201: the cloud server acquires the planned path information of the vehicle.
The route planning information is used for indicating a planned route, such as a route which is available for a vehicle to travel from a starting point to a specified destination. Fig. 3 is a schematic diagram of a planned path. Wherein the starting point may be the position where the vehicle is located at the time. It should be understood that there may be multiple driving paths from the same starting point to the same specified end point, and the planned path information in the embodiment of the present application may include information of a planned path (which may also be understood as a target path), where the planned path is one of the multiple driving paths, and the planned path may be a path selected by a user, for example, a manner of determining the planned path by a vehicle may include: the vehicle runs the map application program, receives the operation (touch screen operation or voice instruction) of the path selected by the user, and takes the path selected by the user as a planning path. Or, the planning path is determined according to a selection policy set by a user, for example, the selection policy includes, but is not limited to, one or more of the following: the major road is in priority, the time is shortest, the path is shortest, the traffic lights are the least, and the limited road sections are avoided. In short, the target planned path is a path selected by the user and used for controlling the vehicle to travel according to the path, and the method for determining the planned path is not limited in the embodiment of the application.
Specifically, the path planning information includes, but is not limited to, one or more of the following: the method comprises the steps of vehicle identification, the starting point of a planned path, the end point of the planned path, and relevant information of the planned path, such as total driving distance, names of roads, traffic light information such as traffic light number information and position information of traffic lights, and time information such as total elapsed time and predicted arrival time information.
The following describes a manner of obtaining planned path information of at least one vehicle:
the first method is as follows: the vehicle transmits the path planning information.
The vehicle sends the planned path information to the cloud server, and correspondingly, the cloud server receives the planned path information sent by the vehicle. For example, after the planned path is determined, the vehicle sends the planned path information, or after the planned path is determined, the vehicle sends the planned path information for the first time, and subsequently, the vehicle periodically updates the planned path information according to the position of the vehicle, where the updated planned path information is used to indicate a driving path from the real-time position of the vehicle to the destination and send the planned path information, or after the vehicle sends the planned path information for the first time, and after a sending instruction is received, the vehicle sends the planned path information, and the sending instruction is used to indicate the vehicle to send the updated planned path information.
When the planned path information is sent, the vehicle may directly send to the cloud server, or may send to the cloud server through an intermediate device, where the intermediate device includes but is not limited to: a mobile terminal, other vehicle, RSU, or roadside server. The mobile terminal is, for example, a mobile phone, a tablet, or the like. For example, when a user (for example, a driver or a passenger) determines a planned path by running a map application program through a mobile phone, the mobile phone sends the planned path information.
The second method comprises the following steps: the travel plan of the vehicle is prestored.
The mode is mainly aimed at vehicles with fixed driving paths and periodic regularity, such as buses.
The cloud server can store a driving plan of the type of vehicle, wherein the driving plan comprises planned path information and driving time information, and the planned path information is used for indicating a specified driving path of the type of vehicle; the travel time information may include departure time and the like. For example: the departure time of a certain bus is 8:00, and then within the period of 8: 00-11: 00, the departure time is 15 minutes at intervals.
And the cloud server determines the planned path information of the vehicle according to a pre-stored running plan of the vehicle.
Step 202: and the cloud server determines the traffic flow which is going to pass through the target intersection within the preset time according to the planned path information and the speed of at least one vehicle.
The intersection in the embodiment of the present application refers to a position where two or more roads intersect on the same plane, for example, an intersection formed by converging a plurality of roads, such as a three-way intersection or an intersection. Referring to fig. 4, a schematic diagram of a target intersection is provided according to an embodiment of the present application.
The target intersection can be determined by the cloud server, the preset time can be a certain period of time in the future, the cloud server determines the traffic flow of the target intersection in the certain period of time in the future according to the planned path information of at least one vehicle, and the timing of traffic lights of the target intersection is determined according to the traffic flow. The traffic flow of the target intersection comprises traffic flows corresponding to one or more driving directions of the target intersection respectively.
It is understood that, after the cloud server has the planned path information of the vehicle, the following may be determined:
1, an intersection through which a vehicle will pass; 2, the running direction of the vehicle at the intersection; 3, approximate position of the vehicle.
For example, the process of the cloud server determining the traffic flow of the target intersection within the preset time may include:
1) screening candidate vehicles from the sample vehicles;
and determining the intersections which the vehicles will pass through according to the planned path information of the sample vehicles, screening out the vehicles with the planned paths containing the target intersections in the sample vehicles, and marking as candidate vehicles.
For example, in order to calculate the traffic flow (of the target intersection within the preset time), determine the timing information of the traffic lights, configure the traffic lights according to the timing information, and the like, and reserve time for operation, the cloud server may start calculating at a time before the preset time period, for example, the preset time period is 7:00 to 7:10, and may start calculating the traffic flow 3 minutes before the preset time period, that is, 6:57, and this time (6:57) may also be referred to as a cutoff time.
Correspondingly, the sample vehicle may be a vehicle corresponding to the path planning information received by the cloud server within a period from the start time to the end time, where a time interval between the start time and the end time may be a preset time length, for example, the preset time length is 2 hours, and in the above example, the sample vehicle may be a vehicle corresponding to the path planning information received by the cloud server within a period from 4:57 to 6: 57.
And/or the sample vehicle may be a vehicle whose distance between the position of the vehicle determined by the cloud server and the target intersection is within a preset distance range before the arrival time, where the preset distance range may be a straight distance from the vehicle to the target intersection, and may also refer to a driving distance from the vehicle to the target intersection, which is not limited in the embodiment of the present application.
Determining intersections through which the vehicles will pass according to the planned path information of the sample vehicles, screening out vehicles with planned paths containing target intersections in the sample vehicles, and marking as candidate vehicles;
2) and determining vehicles which can reach the target intersection within the preset time in the candidate vehicles, and recording as the target vehicles.
Illustratively, for each candidate vehicle, the cloud server predicts whether the candidate vehicle can reach the target intersection within a preset time according to the first position and the speed of the candidate vehicle. The first position of the vehicle may be a starting point of a planned path of the candidate vehicle, or a real-time position of the candidate vehicle acquired by the cloud server.
For example, the cloud server determines a distance L for the vehicle to travel from the first position to the target intersection, determines an estimated time when the vehicle travels to the target intersection according to the distance and the speed of the vehicle, and if the estimated time is within a preset time, the candidate vehicle is the target vehicle. For example, the vehicle sends path planning information to the cloud server at t1 (e.g., 6:00:00), the starting point position indicated by the path planning information is the position where the vehicle is located at t1, the cloud server receives the planned path information sent by the vehicle at t2 (e.g., 6:00:01), the cloud server determines that the predicted time when the vehicle reaches the target intersection is t3(t1+ L/v) according to t1, the distance L and the speed v of the vehicle, and the distance L is the distance from the starting point position indicated by the planned path information to the target intersection by taking the first position as the starting point of the planned path as an example. If t3 (e.g., 7:01) is within a preset time (e.g., 7:00 to 7:10), the candidate vehicle is the target vehicle. For example, the cloud server may determine a time difference between t1 and t2 according to the transmission delay from the vehicle to the cloud server of the planned path information, thereby determining t1 according to t2 and the time difference. Further illustratively, in one possible implementation, t2 is equal to t 1. It should be understood that the first location may also be a real-time location of the candidate vehicle.
The manner in which the speed of the candidate vehicle is determined is described as follows.
And determining the speed of the vehicle according to the total distance and the total running time of the planned path in the first determination mode.
In one implementation, the planned path information includes a total distance of the planned path and a predicted total travel time, and the cloud server may calculate an average speed of the vehicle based on the total travel distance and the total travel time of the planned path. For example, the average speed of the candidate vehicle satisfies the following equation 1:
the average speed is the total travel distance/total travel time formula 1;
the cloud server may use the average speed as the speed of the candidate vehicle.
And determining the speed of the vehicle according to at least two real-time positions of the same vehicle in a second determining mode.
In one implementation, the cloud server may periodically obtain the real-time locations of the vehicles, see fig. 5, as one or more real-time locations of the candidate vehicles that the cloud server may obtain, as shown in fig. 5, the real-time location of the candidate vehicle obtained at t11 is location a, the real-time location of the candidate vehicle obtained at t12 is location B, and the real-time location of the candidate vehicle obtained at t13 is location C.
The cloud server may determine the speed of the vehicle from at least two real-time locations, e.g., from a journey between location a and location B, L1, a time difference between T11 and T12, T1, and a speed V1 — L1/T1. For another example, based on the distance L2 between position B and position C, and the time difference T2 between T12 and T13, the speed V2 is determined to be L2/T2. For another example, speed V3-L3/T3 is determined from the distance L3 between position a and position C, the time difference T3 between T11 and T13. In an alternative embodiment, the cloud server may obtain the real-time position of the vehicle at equal time intervals, and in the above example, the time difference values T1, T2, and T3 are all equal to the time intervals.
It will be appreciated that the cloud server may determine one or more speed values in the manner described above and determine the speed of the vehicle from the one or more speed values, for example from a weighted average of a plurality of speed values. To improve the accuracy of the determined speed, the cloud server may determine the speed of the candidate vehicle based on the distance traveled and the interval time between the latest position of the candidate vehicle and the last acquired position, which is hereinafter referred to as a real-time speed for ease of distinction.
In the above manner, since the real-time speed determined in the above manner is closer to the actual traveling speed of the candidate vehicle, it is more accurate to estimate the time for the candidate vehicle to reach the target intersection according to the real-time speed.
Determining a third mode: the speed of the vehicle is determined from the historical speed.
In one implementation, the cloud server stores historical travel records of the vehicle, including, but not limited to, travel trajectory, travel duration, and the like.
The cloud server can determine the historical speed of the vehicle according to the historical driving records of the candidate vehicle on the planned path, and the historical speed is used as the speed of the vehicle. For example, the historical travel record may include a travel distance and a travel time of the vehicle from a certain location to another location (e.g., a target intersection) in the planned route, and a historical travel speed determined from the travel distance and the travel actual may be used as the speed of the candidate vehicle.
Determining a mode four: the speed of the candidate vehicle is determined based on historical and/or real-time speeds of one or more vehicles.
For example, the speed of the candidate vehicle may be determined by a real-time speed and/or a historical speed of one or more vehicles, for example, a weighted average of the real-time speed and/or the historical speed of one or more vehicles, which may include the candidate vehicle, and the one or more vehicles may or may not be candidate vehicles, which is not limited in this embodiment of the present application.
For example, the real-time speed of another candidate vehicle other than the candidate vehicle a on the planned path is taken as the speed of the candidate vehicle a, where the real-time speed of the another candidate vehicle may be determined by the above determination method two, and a description thereof is not repeated here. For another example, the weighted average of the real-time speeds of the plurality of candidate vehicles other than the candidate vehicle a on the planned route is used as the speed of the candidate vehicle a. Illustratively, the other vehicles comprise a candidate vehicle 1, a candidate vehicle 2 and a candidate vehicle 3, weighted average calculation is carried out according to the real-time speed 1 of the candidate vehicle 1 on the planned path, the real-time speed 2 of the candidate vehicle 2 on the planned path and the real-time speed 3 of the candidate vehicle 3 on the planned path, and the obtained weighted average is used as the speed of the candidate vehicle a. For another example, a weighted average of the real-time speeds of the plurality of candidate vehicles including the candidate vehicle a on the planned route is used as the speed of the candidate vehicle a.
Similarly, the speed of the candidate vehicle a may also be determined according to the historical speeds of one or more other vehicles, please refer to the above-mentioned manner of determining the speed of the candidate vehicle a according to the real-time speeds of one or more other candidate vehicles, which is not described herein again. The historical speed of one or more other vehicles can be determined in the third determination mode, and the description is not repeated here.
The fifth mode is as follows: the vehicle itself reports the speed.
In one implementation, the vehicle sends speed information to the cloud server indicating the speed of the vehicle, which may be sent directly to the cloud server or via an intermediary device, for example. For example, the route planning information and/or the real-time location information may be sent together, or may be sent separately, which is not limited in this embodiment of the present application.
It should be noted that, when determining the arrival time of the vehicles, the interaction between the vehicles may also be considered, for example, if one or more traffic lights are going to pass between the first position of the candidate vehicle and the target intersection, the predicted arrival time of the candidate vehicle at the target intersection may also be determined in the above manner, and the influence of other vehicles on the candidate vehicle and the waiting time of the candidate vehicle when the one or more traffic lights are red lights may also be considered. This can be done by existing techniques, such as existing navigation software that can predict the expected arrival time of a vehicle from one location to another, and is not described here in a significant detail.
3) And determining the driving direction of the target vehicle at the target intersection according to the path planning information of the target vehicle, and determining the traffic flow of each driving direction at the target intersection.
It should be understood that the target vehicle is a vehicle that can reach the target intersection within a preset time, and therefore, the traffic flow in each driving direction of the target intersection determined by the target vehicle is actually the traffic flow in each driving direction of the target intersection within the preset time.
The following describes in detail a process of determining the traffic flow in each driving direction at the target intersection, taking the intersection shown in fig. 4 as an example.
As shown in fig. 4, the intersection is formed by intersection of an east-west road and a north-south road, the intersection includes 4 phases, the phases refer to driving directions that do not affect each other when passing through the intersection, see the following table 1, the intersection shown in fig. 4 has 4 phases, wherein, right-turning vehicles are not considered, and the remaining traffic flows do not affect each other as the same phase.
TABLE 1
Figure BDA0002646808450000101
In the above-mentioned 4 phases, each traveling direction corresponds to one traffic light, for example, the traffic light 1 in the straight traveling direction from east to west, the traffic light 2 in the left turn direction from east to west, the traffic light 3 in the straight traveling direction from west to east, the traffic light 4 in the left turn direction from east to west, the traffic light 5 in the straight traveling direction from south to north, the traffic light 6 in the left turn direction from south to north, the traffic light 7 in the straight traveling direction from north to south, and the traffic light 8 in the left turn direction from north to south. Alternatively, a traffic light may be provided for a right-turn vehicle.
The cloud server may determine the traveling direction of the target vehicle at the target intersection according to the route planning information of the target vehicle, for example, as shown in fig. 4, if the planned route of a certain target vehicle includes a route shown by a black solid line in fig. 4, the traveling direction of the target vehicle at the target intersection may be determined according to the planned route.
Next, a description will be given of a manner of determining a traffic flow rate in a first travel direction, taking as an example one travel direction (referred to as a first travel direction) below a target intersection. The following target vehicle is a vehicle whose turning direction at the target intersection is the first traveling direction.
Illustratively, the traffic volume for the first direction of travel is determined based on the attributes of the target vehicle. The attribute is used to indicate a dimensional specification of the vehicle, and the dimensional specification includes, for example, a large-sized vehicle, a medium-sized vehicle, and a small-sized vehicle.
For example: assuming that the target vehicles in the first traveling direction are m vehicles, the cloud server may determine the traffic flow according to the size specification of the target vehicles, and the traffic flow may satisfy the following formula 2:
Figure BDA0002646808450000111
wherein L represents a traffic flow; x is the number ofiAnd a traffic flow coefficient corresponding to the dimensional specification of the vehicle i. For example, the vehicle flow rate coefficient for large vehicles is 2, the vehicle flow rate coefficient for medium vehicles is 1.5, and the vehicle flow rate coefficient for small vehicles is 1. It will be appreciated that a large vehicle corresponds to 2 small vehicles, a medium vehicle corresponds to 1.5 small vehicles and the small vehicle may be a standard 5 person car. It is understood that the amount of traffic in the first direction of travel may be the number of target vehicles regardless of the size specification.
Further illustratively, the flow rate of the first travel direction is determined based on the attribute and the reliability of the target vehicle. The reliability refers to the degree of coincidence between the actual driving path of the vehicle and the planned path.
As described above, the cloud server may obtain the real-time position of the vehicle, and thus, the cloud server may detect whether the vehicle travels on the planned path according to the real-time position of the vehicle. If it is detected that the vehicle does not travel on the planned path, that is, the actual travel path of the vehicle deviates from the planned path, the reliability of the vehicle may be reduced, for example, the reliability may be set to the reliability corresponding to the section where the number of times of deviation of the vehicle is located, for example, the correspondence between the number section where the number of times of deviation (abbreviated as the number of times of deviation) and the reliability.
The cloud server may determine a traffic flow of the first driving direction according to the attribute and the reliability of the target vehicle, and the traffic flow may satisfy the following formula 3:
Figure BDA0002646808450000112
wherein, wiRepresenting a reliability value of the vehicle.
Optionally, if the cloud server determines that the vehicle deviates from the planned path, first indication information (a sending instruction) may be sent to the vehicle, where the first indication information is used to indicate the vehicle to report new planned path information again.
It should be understood that the above may determine the time when the target vehicle reaches the target intersection, and therefore, the above manner may determine the traffic flow at each time within the preset time period, and the accuracy of the time may be minutes or seconds or milliseconds, which is not limited by the embodiment of the present application.
The traffic flow rate in each driving direction at the target intersection is determined by the above-described manner of determining the traffic flow rate in the first driving direction.
Step 203: and the cloud server determines the timing information of the traffic lights in the first driving direction of the target intersection according to the determined traffic flow of the target intersection.
Several ways of determining the timing of traffic lights are listed below:
in a first practical manner, timing information of traffic lights corresponding to each driving direction of the target intersection is determined based on the traffic flow of a single intersection (i.e., the target intersection).
The cloud server is assumed to store multiple groups of first timing information of the traffic lights corresponding to each driving direction of the target intersection, and each group of first timing information contains timing information of the traffic lights corresponding to each driving direction of the target intersection within a preset time period.
Aiming at a group of first timing information, when each traffic light at a target intersection is configured according to the first timing information, the cloud server respectively determines waiting time of target vehicles in each driving direction of the target intersection, the sum of the waiting time corresponding to each driving direction is used as total waiting time corresponding to the first timing information applied to the target intersection, and in multiple groups of first timing information, the first timing information with the shortest total waiting time is selected as the determined target first timing information, so that the target timing scheme contains timing information of the traffic light corresponding to the first driving direction.
The following will also take the first driving direction as an example, and describe a process of determining the waiting time of the target vehicle in the first driving direction when applying a set of first timing information:
as mentioned above, the traffic flow of the first driving direction at each time within the preset time period can be determined through step 202, as shown in fig. 6, the traffic flow of the first driving direction within the preset time period and the timing information of the traffic light corresponding to the first driving direction within the preset time period indicated by the first timing information.
As shown in fig. 6, the traffic light has a red light and a yellow light for a plurality of times within a preset time period, and for a red light or a yellow light, it can be understood that if the traffic light is a green light when the target vehicle reaches the target intersection, the target vehicle does not need to wait; if the traffic light is red or yellow when the target vehicle reaches the target intersection, the target vehicle needs to wait until the traffic light is switched to green. Taking a red light as an example, the cloud server may determine the waiting time of the vehicle at the red light each time according to the traffic flow and the remaining red light time at each time when the traffic light is the red light, and then determine the waiting time of the vehicle at the red light each time respectively by the method, and finally add the waiting times of the vehicles determined at the red lights each time to obtain the total waiting time of the vehicle corresponding to the first driving direction within the preset time period.
For example. Assuming that the traffic flow of 7:00:00 is 10 and the remaining time of the red light at the time is 20 seconds, the determined waiting time period required by the vehicle at the time satisfies the traffic flow at the time and the remaining time period of the red light at the time, i.e., 10 × 20 is 200 seconds. Similarly, assuming that the traffic flow of 7:00:01 is 5 and the remaining time of the red light is 19 seconds, the waiting time of the vehicle corresponding to the traffic flow at that time is 5 × 19 to 135 seconds. And analogizing in turn, adding the waiting time required by the vehicle at each moment when the traffic light is red in the preset time period to obtain the total waiting time corresponding to the first driving direction in the preset time period.
Through the method, the total waiting time corresponding to each driving direction of the target intersection is respectively determined, and the total waiting time corresponding to each driving direction is added to obtain the total waiting time corresponding to the target intersection.
And then respectively determining the total waiting time length corresponding to the target intersection when the traffic lights of the target intersection apply each group of first timing information, and selecting the first timing information with the shortest total waiting time length corresponding to the target intersection from the multiple groups of first timing information as a target timing scheme.
As another example, the traffic flow can be different for different road sections, and the role in traffic is also different, for example, the main road is used for carrying larger traffic flow, and the requirement for road smoothness is higher. The secondary trunk road is used for bearing smaller traffic flow, and the requirement on road smooth rate is lower relative to the main trunk road. Therefore, when determining the total waiting time corresponding to the target intersection when applying the set of first timing information, different driving paths can also be set with different weights, for example, in connection with the intersection shown in fig. 4 as an example, assuming that the east-west lane is the trunk road, the north-south lane is the secondary trunk road, the weight of the trunk road is 1.2, and the weight of the secondary trunk road is 0.8, the traffic lights on the trunk road include the traffic light 1 in the straight traveling direction from east to west, the traffic light 2 in the left-turn direction from east to west, the traffic light 3 in the straight traveling direction from west to east, the traffic light 4 in the left-turn direction from east to west, and the traffic light on the secondary trunk road includes the traffic light 5 in the straight traveling direction from south to north, the traffic light 6 in the left-turn direction from south to north, the traffic light 7 in the straight traveling direction from north to south, and the traffic light 8 in the left-turn direction from north to south, the total waiting time may be 1.2 (T34 + T2+ T3946 4 + T0.8) +0.8 (T32 + T2+ T38964); where T1 is the first wait time for the target vehicle under traffic light 1, T2 is the first wait time for the vehicle under traffic light 2, T3 is the first wait time for the vehicle under traffic light 3, and so on. It should be noted that the above is only for convenience of description, and the vehicles stopped under different traffic lights are actually different.
In the second practical mode, the timing of the traffic lights corresponding to the driving directions of the target intersection is determined based on the traffic flow of the multiple intersections. Referring to fig. 7, a schematic diagram of a plurality of intersections including a target intersection is shown. Here, a road between two adjacent intersections may be referred to as a link.
Similar to a single intersection, the cloud server stores multiple sets of second timing information, wherein each set of second timing information respectively includes timing information of traffic lights corresponding to each driving direction of each intersection in the multiple intersections. Therefore, the total waiting time corresponding to each intersection can be determined by the above-mentioned method for determining the total waiting time corresponding to the target intersection, the total waiting time of each intersection is added to obtain the total waiting time corresponding to multiple intersections when one group of second timing information is applied, and the second timing information with the shortest total waiting time corresponding to multiple intersections is selected from the multiple groups of second timing information as the target second timing information. It should be understood that the target second timing information includes timing information of traffic lights corresponding to each driving direction of the target intersection.
For example, assume that the number of multiple intersections is m0The mth intersection contains nmEach road section, similar to the previous one, having a different weight β due to its traffic functionm，nEach section having lm，nA first waiting time of the vehicle due to the non-green state of the traffic light in each turn is T within a preset time period (assumed as T1-T2)m，n，lThen m is0The total waiting time (denoted as the third waiting time) of the vehicles in each traveling direction of each section of each intersection satisfies the following formula 4:
Figure BDA0002646808450000131
wherein, Tm，n，lThe time distribution method is determined according to the traffic flow in the preset time period and pre-configured combined time distribution information, the combined time distribution information comprises second time distribution information of traffic lights corresponding to each driving direction of each intersection in m0 intersections, and the m0 intersections comprise target intersections.
Illustratively, for a group of joint timing information, in the corresponding intersection, road section and direction, i is caused by a traffic signal lamp0The vehicles are stopped with a weight xi，xiMay be determined by the specification and/or the reliability of the vehicle i, the stop time being τ, respectivelyiThen T ism，n，lSatisfies the following equation 5:
Figure BDA0002646808450000132
it should be noted that the above is only an example, and the weight of the link and/or the weight of the vehicle may not be set in calculating the total waiting time corresponding to the multiple intersections, which is not limited in the embodiment of the present application.
A third implementable manner is to determine the timing of the traffic light according to the traffic flow in the first driving direction at the target intersection, for example, the average traffic flow exceeds a first set value, determine the time when the traffic light is green according to the time period exceeding the first set value, and determine the time when the traffic light is red according to the time period lower than the first set value.
In a fourth implementable manner, in conjunction with the target intersection shown in fig. 4, assuming that the traffic flow in a certain driving direction (assumed as the first driving direction) of the target intersection within a preset time period is significantly increased, the duration of increasing the green light of the traffic light corresponding to the driving direction can be adapted to alleviate the traffic jam caused by the temporary increase of the traffic flow.
For example, suppose T0For the minimum duration of a single green light of a traffic light, X0To be within the minimum duration T0The maximum traffic flow rate that can pass through, X, is the traffic flow rate in the determined first driving direction, and the duration of the green light of the traffic light corresponding to the first driving direction satisfies the following formula 6.
Figure BDA0002646808450000133
As shown in fig. 8a, a schematic diagram of the duration of the green light to increase the traffic light, determined in accordance with the above-described manner. For ease of understanding, in fig. 8a, only the timing of traffic lights for one driving direction in each phase is shown.
It should be understood that the timing of the traffic lights at each destination intersection should meet traffic regulations. For example, based on the psychological waiting study, the maximum waiting time of the vehicle is set to be 120 seconds, so that the situation that the vehicle runs a red light when driving or pedestrians does not occur due to overlong waiting time is guaranteed. For another example, there should be no traffic conflict between different phases, e.g., a traffic light for north-south traffic should be green, and a traffic light for east-west traffic should be red.
Step 204: and the cloud server performs timing control on the traffic light according to the determined timing information.
If the timing information of the traffic lights is determined by the cloud server, the cloud server can send the timing information of the traffic lights corresponding to each driving direction of the target intersection to the control equipment of the traffic lights, and the control equipment respectively controls the timing of each traffic light according to the timing information of each traffic light of the target intersection.
For example, when the control device performs timing control on the traffic light, the control device may control the on and off of different colored lights of the traffic light according to the corresponding timing information to control the state change of the traffic light. For example, the timing information indicates that the red light lasts for 50 seconds, the red light is controlled to be on for 50 seconds, then the yellow light lasts for 3 seconds, the red light is controlled to be off, the yellow light is controlled to be on for 3 seconds, and then the green light is controlled to be off, and the green light is controlled to be on for 90 seconds.
The control equipment of the traffic light can be RSU, road side server and the like, in an implementable mode, the control equipment can also be integrated in the traffic light, timing control can be realized by the traffic light, and the embodiment of the application does not limit the time.
It should be noted that the cloud server may periodically execute the technical solution of the embodiment of the present application at a specified time or within a specified time range, and may not frequently regulate and control the traffic lights for a time period with a small traffic flow, so as to save energy consumption.
Referring to fig. 8b, a flowchart corresponding to a complete method for traffic management provided in the embodiment of the present application is shown. The method can be applied to the system architecture shown in fig. 1. The execution subject of the flow may include a computing device, a vehicle, a control device, and the like. The computing device in the method may be the cloud server or the roadside server in fig. 1. The control device may be a roadside device such as a roadside server having a function of controlling the traffic light.
For convenience of introduction, the method is described below by taking the computing device as a cloud server and the control device as a roadside server as an example.
As shown in fig. 8b, the complete method comprises the following steps:
step 801: and the vehicle sends the planning path information to the cloud server. Correspondingly, the cloud server receives the planned path information sent by the vehicle.
In an optional implementation manner, in step 8011a, after the vehicle path is changed, the changed planned path information is sent to the cloud server.
In another alternative embodiment, in step 8011b, the cloud server obtains the real-time position of the vehicle, and after determining that the vehicle deviates from the planned path, sends the second indication information to the vehicle, and correspondingly, the vehicle receives the second indication information from the cloud server.
In step 8012b, the vehicle sends the updated planned path information to the cloud server in response to the second indication information. Correspondingly, the cloud server receives new planned path information sent by the vehicle.
8013b, the cloud server resets the reliability of the vehicle based on the number of times the vehicle deviates from the planned path.
Step 802: and the cloud server determines the traffic flow which is about to pass through the target intersection within the preset time according to the path planning information and the speed of at least one vehicle.
Step 803: and the cloud server determines the timing information of the traffic lights corresponding to each driving direction of the target intersection according to the traffic flow of the target intersection.
The specific execution flows of steps 801 to 803 may refer to the related descriptions of steps 201 to 203 in fig. 2, and are not described herein again.
Step 804: the cloud server sends the timing information of each traffic light of the target intersection to the road side server, and correspondingly, the road side server receives the timing information.
Here, a roadside server is taken as an example of a control device of traffic lights of a target intersection.
Step 805: and the roadside server respectively performs timing control on each traffic light according to the timing information of each traffic light.
Step 806: the roadside server sends first indication information to the vehicle to indicate real-time status information of one or more traffic lights that the vehicle is about to pass.
Correspondingly, the vehicle receives the first indication information, optionally, the user can accurately determine the real-time state information of the traffic light in front according to the first indication information, so that the corresponding acceleration or braking operation is executed according to the real-time state information to control the vehicle, and the safety of traffic operation is improved. The problem that when the vehicle is far away from the traffic light, a user cannot accurately determine the real-time state of the traffic light is solved, and the efficiency and the safety of traffic operation are improved.
As an optimization mode, the cloud server or the roadside server may also determine a recommended driving mode for the vehicle according to the real-time state information of one or more traffic lights which the vehicle is about to pass through, where the recommended driving mode includes a driving speed, a driving operation, and the like. For example, in one possible scenario, if the traffic light coming through the vehicle ahead is in a red light state and the remaining red light duration is 5s, the recommended driving manner may be a braking operation, and the driving speed may be determined according to the distance between the real-time position of the vehicle and the traffic light and the remaining red light duration on the basis of keeping a safe distance from the vehicle ahead.
In the embodiments provided in the present application, the method provided in the embodiments of the present application is introduced from the perspective of interaction between the devices. In order to implement the functions in the method provided by the embodiment of the present application, the cloud server and the roadside server may include a hardware structure and/or a software module, and the functions are implemented in the form of a hardware structure, a software module, or a hardware structure and a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.
The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. In addition, functional modules in the embodiments of the present application may be integrated into one processor, may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
Similar to the above concept, as shown in fig. 9, an apparatus 900 is further provided in the embodiment of the present application to implement the function of the cloud server or the roadside server in the above method. The device may be a software module or a system-on-a-chip, for example. In the embodiment of the present application, the chip system may be composed of a chip, and may also include a chip and other discrete devices. The apparatus 900 may include: a processing unit 901, a control unit 902 and a communication unit 903.
In this embodiment of the application, the communication unit may also be referred to as a transceiver unit, and may include a transmitting unit and/or a receiving unit, which are respectively configured to perform the steps of transmitting and receiving by the cloud server or the roadside server in the above method embodiments.
Hereinafter, the communication device according to the embodiment of the present application will be described in detail with reference to fig. 9 to 10. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments, and therefore, for brevity, details are not repeated here, since the details that are not described in detail may be referred to the above method embodiments.
In one possible design, the apparatus 900 may implement steps or flows corresponding to the steps or flows performed by the cloud server in the above method embodiments, which are respectively described below.
Illustratively, when the apparatus 900 implements the function of the cloud server in the foregoing flow:
the processing unit 901 is configured to determine a traffic flow that will pass through the target intersection within a preset time according to the path planning information and the speed of at least one vehicle; determining the timing information of the traffic lights corresponding to the first driving direction of the target intersection according to the vehicle flow of the target intersection;
and the control module 902 is configured to perform timing control on the traffic light according to the timing information.
In one possible implementation, the communication unit 903 is configured to: receiving planning path information sent by the at least one vehicle; or receiving the planned path information of the at least one vehicle sent by the first terminal equipment; the first terminal device is a road side device (RSU), or the first terminal device is a third party application server, or the first terminal device is a mobile terminal.
In one possible implementation, the communication unit 903 is further configured to: sending first indication information to each vehicle in the at least one vehicle, wherein the first indication information is used for indicating state information of one or more traffic lights which the vehicle will pass through, the state information comprises states of the traffic lights and remaining time of the traffic lights in the states, and the states comprise a red light state, a green light state or a yellow light state.
In a possible embodiment, for each of the at least one vehicle, a communication unit 903 for receiving at least two position information from the vehicle; a processing unit 901, configured to determine a speed of the vehicle according to the at least two pieces of location information and a time when the at least two pieces of location information are received respectively; alternatively, the first and second electrodes may be,
a communication unit 903 for receiving speed information transmitted from the vehicle; alternatively, the first and second electrodes may be,
a processing unit 901, configured to determine a speed of the vehicle according to the path planning information, where the path planning information includes a distance of the planned path and an expected driving time.
In a possible implementation manner, the processing unit 901 is specifically configured to determine, for each driving direction of the target intersection path, a target vehicle in the driving direction according to the path planning information and the speed of the at least one vehicle, where the target vehicle is a vehicle that arrives at the target intersection within a preset time and is in the driving direction;
and determining the traffic flow of the driving direction according to the target vehicle.
In a possible implementation, the processing unit 901 is further configured to determine a traffic flow of the driving direction according to the attribute and the reliability of the target vehicle; wherein the attribute represents a dimension specification of a target vehicle, and the reliability represents a degree of coincidence between an actual travel track of the target vehicle and the planned path.
In a possible implementation, the processing unit 901 is further configured to determine whether the target vehicle deviates from a planned path according to the position information of the target vehicle, and adjust the value of the reliability of the vehicle when the vehicle deviates from the planned path.
In one possible embodiment, when the apparatus stores a plurality of sets of preconfigured first timing information of the target intersection, the first timing information including second timing information of traffic lights corresponding to each driving direction of the target intersection; the processing unit 901 is specifically configured to determine a first waiting time of the vehicle in the driving direction according to the traffic flow in each driving direction and the second timing information of the traffic light corresponding to the driving direction; determining a second waiting time corresponding to the target intersection according to the first waiting time corresponding to each driving direction; and determining the time distribution information of the traffic lights corresponding to the first driving direction of the target intersection according to the first time distribution information with the shortest second waiting time in the plurality of groups of first time distribution information.
In one possible implementation, the processing unit 901 is further configured to determine timing information of a traffic light corresponding to a first driving direction of the target intersection according to a traffic flow of the target intersection and a traffic flow of the at least one second intersection, where the second intersection is an intersection other than the target intersection.
In one possible embodiment, when the apparatus stores a plurality of sets of pre-configured joint timing information of a plurality of intersections including the target intersection and the at least one second intersection, the joint timing information including second timing information of traffic lights corresponding to each traveling direction of each of the plurality of intersections; the processing unit 901 is specifically configured to, for any one group of joint timing information in the multiple groups of joint timing information: determining second waiting time corresponding to each intersection; the second waiting time is determined according to a first waiting time corresponding to each driving direction of the intersection, and the first waiting time is determined according to the traffic flow of the driving direction and second timing information of the traffic lights corresponding to the driving direction; determining third waiting time corresponding to the multiple intersections according to the second waiting time corresponding to each intersection; and determining the timing information of the traffic light corresponding to the first driving direction of the target intersection according to the combined timing information with the shortest third waiting time in the plurality of groups of combined timing information.
Similar to the above concept, as shown in fig. 10, the embodiment of the present application further provides an apparatus 1000 for implementing the function of the first vehicle in the above method. The device may be a software module or a system-on-a-chip, for example. In the embodiment of the present application, the chip system may be composed of a chip, and may also include a chip and other discrete devices. The apparatus 1000 may include: a transmitting unit 1001 and a receiving unit 1002.
Illustratively, when the apparatus 900 implements the function of the first vehicle in the foregoing flow:
a sending unit 1001, configured to send planned path information.
The receiving unit 1002 is configured to receive first indication information, where the first indication information is used to indicate state information of at least one traffic light through which the first vehicle will pass, where the state information includes a state of the traffic light and a remaining time of the traffic light in the state, and the state includes a red light state, a green light state, or a yellow light state.
As shown in fig. 11, which is a device 1100 provided in the embodiment of the present application, the device shown in fig. 11 may be implemented as a hardware circuit of the device shown in fig. 11. The communication device may be applied to the flowcharts shown in fig. 2 and 8b, and performs the functions of the cloud server, the roadside server or the first vehicle in the above method embodiments. For convenience of explanation, fig. 11 shows only the main components of the communication apparatus.
The apparatus 1100 shown in fig. 11 includes at least one processor 1120 for implementing any one of the methods of fig. 2 and 8b provided by the embodiments of the present application.
The apparatus 1100 may also include at least one memory 1130 for storing program instructions and/or data. A memory 1130 is coupled to the processor 1120. The coupling in the embodiments of the present application is an indirect coupling or a communication connection between devices, units or modules, and may be an electrical, mechanical or other form for information interaction between the devices, units or modules. The processor 1120 may operate in conjunction with the memory 1130. Processor 1120 may execute program instructions stored in memory 1130. At least one of the at least one memory may be included in the processor.
In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The steps of the method disclosed in connection with the embodiments of the present application may be embodied as hardware processor, or may be implemented as a combination of hardware and software modules in a processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor may be a general purpose processor, a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied as being performed by a hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM, enhanced SDRAM, SLDRAM, Synchronous Link DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
The apparatus 1100 may also include a communication interface 1111 for communicating with other devices via a transmission medium, such that the apparatus used in the apparatus 1100 may communicate with other devices. In embodiments of the present application, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface. In the embodiment of the present application, when the communication interface is a transceiver, the transceiver may include an independent receiver and an independent transmitter; a transceiver that integrates transceiving functions, or an interface circuit may be used.
The apparatus 1100 may also include communication lines 1140. The communication interface 1111, the processor 1120 and the memory 1130 may be connected to each other through a communication line 1140; the communication line 1140 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication lines 1140 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 11, but this is not intended to represent only one bus or type of bus.
Illustratively, when the apparatus 1000 implements the functions of the cloud server or roadside server in the foregoing flow:
the processor 1120 is used for determining the traffic flow which is about to pass through the target intersection within the preset time according to the path planning information and the speed of at least one vehicle; determining the timing information of the traffic lights corresponding to the first driving direction of the target intersection according to the vehicle flow of the target intersection; and carrying out timing control on the traffic light according to the timing information.
Other methods performed by the processor 1020 and the communication interface 1010 may refer to descriptions in the method flows shown in fig. 2 and fig. 8b, which are not described herein again.
Further illustratively, when the apparatus 1000 implements the function of the first vehicle in the foregoing flow:
the communication interface 1010 is configured to send planned path information and receive first indication information, where the first indication information is used to indicate state information of at least one traffic light through which the first vehicle will pass, where the state information includes a state of the traffic light and a remaining time of the traffic light in the state, and the state includes a red light state, a green light state, or a yellow light state.
It should be noted that, in the embodiments of the present application, the processor may be a general processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.
Those of ordinary skill in the art will understand that: the various numbers of the first, second, etc. mentioned in this application are only used for the convenience of description and are not used to limit the scope of the embodiments of this application, but also to indicate the sequence. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one" means one or more. At least two means two or more. "at least one," "any," or similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one (one ) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple. "plurality" means two or more, and other terms are analogous. Furthermore, for elements (elements) that appear in the singular form "a," an, "and" the, "they are not intended to mean" one or only one "unless the context clearly dictates otherwise, but rather" one or more than one. For example, "a device" means for one or more such devices.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The various illustrative logical units and circuits described in this application may be implemented or operated upon by design of a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in the embodiments herein may be embodied directly in hardware, in a software element executed by a processor, or in a combination of the two. The software cells may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include such modifications and variations.

Claims (26)

1. A traffic management method, comprising:
determining the traffic flow which is going to pass through the target intersection within preset time according to the path planning information and the speed of at least one vehicle;
determining the time distribution information of the traffic lights corresponding to the first driving direction of the target intersection according to the traffic flow of the target intersection;
and carrying out timing control on the traffic light according to the timing information.
2. The method of claim 1, wherein determining the amount of traffic that will pass through the target intersection within the predetermined time further comprises obtaining path planning information for the at least one vehicle:
receiving planning path information sent by the at least one vehicle; or
Receiving planned path information of the at least one vehicle sent by first terminal equipment, wherein the first terminal equipment is road side equipment (RSU), or the first terminal equipment is a third party application server, or the first terminal equipment is a mobile terminal.
3. The method of claim 1 or 2, wherein determining the amount of traffic that will pass through the target intersection within the predetermined time period comprises obtaining a speed of at least one vehicle, comprising:
for each vehicle of the at least one vehicle,
receiving at least two pieces of position information from the vehicle, and determining the speed of the vehicle according to the at least two pieces of position information and the time for respectively receiving the at least two pieces of position information; alternatively, the first and second electrodes may be,
receiving speed information sent from the vehicle; alternatively, the first and second electrodes may be,
and determining the speed of the vehicle according to the path planning information, wherein the path planning information comprises the distance of the planned path and the predicted driving time.
4. The method according to any one of claims 1-3, wherein the determining the traffic flow that will pass through the target intersection within the preset time according to the path planning information and the speed of the at least one vehicle comprises:
aiming at each driving direction of the target intersection, determining a target vehicle of the driving direction according to the path planning information and the speed of the at least one vehicle, wherein the target vehicle is a vehicle which reaches the target intersection within a preset time;
and determining the traffic flow of the driving direction according to the target vehicle.
5. The method of claim 4, wherein the method further comprises:
determining the traffic flow of the driving direction according to the attribute and the reliability of the target vehicle;
wherein the attribute represents a dimensional specification of a target vehicle, and the reliability represents a degree of conformity of an actual travel path of the target vehicle with the planned path.
6. The method of claim 5, further comprising:
and determining whether the target vehicle deviates from a planned path according to the position information of the target vehicle, and adjusting the value of the reliability of the vehicle when the vehicle deviates from the planned path.
7. The method of any one of claims 1-6, when multiple sets of pre-configured first timing information for the target intersection are stored, the first timing information including second timing information for traffic lights corresponding to each driving direction of the target intersection;
the determining of the timing information of the traffic lights corresponding to the first driving direction of the target intersection comprises the following steps:
determining first waiting time of the vehicle in the driving direction according to the traffic flow of each driving direction and second timing information of the traffic lights corresponding to the driving direction;
determining a second waiting time corresponding to the target intersection according to the first waiting time corresponding to each driving direction;
and determining the time distribution information of the traffic lights corresponding to the first driving direction of the target intersection according to the first time distribution information with the shortest second waiting time in the plurality of groups of first time distribution information.
8. The method of any one of claims 1-6, further comprising:
and determining the time distribution information of traffic lights corresponding to the first driving direction of the target intersection according to the traffic flow of the target intersection and the traffic flow of at least one second intersection, wherein the second intersection is other than the target intersection.
9. The method of claim 8, when a plurality of sets of pre-configured joint timing information of a plurality of intersections including the target intersection and the at least one second intersection are stored, the joint timing information including second timing information of traffic lights corresponding to each driving direction of each of the plurality of intersections;
the determining of the timing information of the traffic lights corresponding to the first driving direction of the target intersection comprises the following steps:
for any one group of joint timing information in the multiple groups of joint timing information: determining second waiting time corresponding to each intersection; the second waiting time is determined according to a first waiting time corresponding to each driving direction of the intersection, and the first waiting time is determined according to the traffic flow of the driving direction and second timing information of the traffic lights corresponding to the driving direction; determining third waiting time corresponding to the multiple intersections according to the second waiting time corresponding to each intersection;
and determining the timing information of the traffic light corresponding to the first driving direction of the target intersection according to the combined timing information with the shortest third waiting time in the plurality of groups of combined timing information.
10. The method of any one of claims 1-9, further comprising:
sending first indication information to each vehicle in the at least one vehicle, wherein the first indication information is used for indicating state information of one or more traffic lights which the vehicle will pass through, the state information comprises states of the traffic lights and remaining time of the traffic lights in the states, and the states comprise a red light state, a green light state or a yellow light state.
11. A traffic management method, comprising:
the first vehicle sends planning path information;
the first vehicle receives first indication information, the first indication information is used for indicating state information of at least one traffic light which is about to pass by the first vehicle, and the state information is determined according to planned path information and speed of at least one vehicle.
12. The method of claim 11, wherein the status information includes a status of the traffic light, a time remaining for the traffic light in the status, the status including a red light status, a green light status, or a yellow light status.
13. An apparatus for traffic management, the apparatus comprising:
the processing module is used for determining the traffic flow which is about to pass through the target intersection within the preset time according to the path planning information and the speed of at least one vehicle; determining the time distribution information of the traffic lights corresponding to the first driving direction of the target intersection according to the traffic flow of the target intersection;
and the control module is used for carrying out timing control on the traffic light according to the timing information.
14. The apparatus of claim 13, further comprising a communication module;
the communication module is used for receiving the planning path information sent by the at least one vehicle; or receiving planned path information of the at least one vehicle sent by a first terminal device, wherein the first terminal device is a road side device (RSU), or the first terminal device is a third party application server, or the first terminal device is a mobile terminal.
15. The apparatus according to claim 13 or 14, wherein for each vehicle of the at least one vehicle,
the communication module is used for receiving at least two pieces of position information from the vehicle and determining the speed of the vehicle according to the at least two pieces of position information and the time for respectively receiving the at least two pieces of position information; or receiving speed information sent by the vehicle; alternatively, the first and second electrodes may be,
and the processing module is used for determining the speed of the vehicle according to the path planning information, and the path planning information comprises the distance of the planned path and the predicted driving time.
16. The apparatus according to any one of claims 13 to 15, wherein the processing module is specifically configured to, for each driving direction of the target intersection, determine a target vehicle of the driving direction according to the path planning information and the speed of the at least one vehicle, where the target vehicle is a vehicle that arrives at the target intersection within a preset time and is in the driving direction; and determining the traffic flow of the driving direction according to the target vehicle.
17. The apparatus of claim 16, wherein the processing module is further configured to determine a traffic flow of the driving direction according to the attribute and the reliability of the target vehicle; wherein the attribute represents a dimensional specification of a target vehicle, and the reliability represents a degree of conformity of an actual travel path of the target vehicle with the planned path.
18. The apparatus according to any one of claims 13-17, when the apparatus stores a plurality of sets of pre-configured first timing information of the target intersection, the first timing information including second timing information of traffic lights corresponding to each driving direction of the target intersection;
the processing module is specifically used for determining first waiting time of the vehicle in the driving direction according to the traffic flow of each driving direction and the second timing information of the traffic light corresponding to the driving direction; determining a second waiting time corresponding to the target intersection according to the first waiting time corresponding to each driving direction; and determining the time distribution information of the traffic lights corresponding to the first driving direction of the target intersection according to the first time distribution information with the shortest second waiting time in the plurality of groups of first time distribution information.
19. The apparatus according to any one of claims 13-17, wherein the processing module is configured to determine the timing information of the traffic lights corresponding to the first driving direction of the target intersection according to the traffic flow of the target intersection and the traffic flow of the at least one second intersection, and the second intersection is an intersection other than the target intersection.
20. The apparatus of claim 19, when the apparatus stores a plurality of sets of pre-configured joint timing information for a plurality of intersections, the plurality of intersections including the target intersection and the at least one second intersection, the joint timing information including second timing information for traffic lights corresponding to each driving direction of each of the plurality of intersections;
the processing module is specifically configured to, for any one group of joint timing information in the multiple groups of joint timing information: determining second waiting time corresponding to each intersection; the second waiting time is determined according to a first waiting time corresponding to each driving direction of the intersection, and the first waiting time is determined according to the traffic flow of the driving direction and second timing information of the traffic lights corresponding to the driving direction; determining third waiting time corresponding to the multiple intersections according to the second waiting time corresponding to each intersection; and determining the timing information of the traffic light corresponding to the first driving direction of the target intersection according to the combined timing information with the shortest third waiting time in the plurality of groups of combined timing information.
21. The apparatus of any one of claims 13-20, wherein the communication module is further configured to send a first indication message to each of the at least one vehicle, the first indication message indicating status information of one or more traffic lights that the vehicle will pass through, the status information including a status of the traffic light, a remaining time period of the traffic light in the status, the status including a red light status, a green light status, or a yellow light status.
22. A communications apparatus, the apparatus comprising:
the communication module is used for sending the planning path information; receiving first indication information, wherein the first indication information is used for indicating state information of at least one traffic light which is about to pass by the first vehicle, and the state information is determined according to planned path information of at least one vehicle.
23. The apparatus of claim 22, wherein the status information comprises a status of the traffic light, a remaining time period of the traffic light in the status, and wherein the status comprises a red light status, a green light status, or a yellow light status.
24. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a computer, causes the computer to perform the method of any of claims 1-10, or causes the computer to perform the method of any of claims 11-12.
25. A communication apparatus, characterized in that the communication apparatus comprises:
a memory to store instructions;
at least one processor configured to retrieve and execute the instructions from the memory, to cause the communication device to implement the method of any one of claims 1 to 10, or to cause the communication device to implement the method of any one of claims 11 to 12.
26. A computer program product, characterized in that it comprises a computer program which, when run on a computer, causes the computer to carry out the method according to any one of claims 1 to 10, or causes the computer to carry out the method according to any one of claims 11 to 12.
CN202010857294.5A 2020-08-24 2020-08-24 Traffic management method and device Pending CN114093158A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114639253A (en) * 2022-02-28 2022-06-17 阿波罗智联(北京)科技有限公司 Traffic signal control method, edge computing device, storage medium and product
CN115862320A (en) * 2022-11-08 2023-03-28 济南澎湃信息技术有限公司 Traffic dynamic monitoring management system
CN116504079A (en) * 2023-06-30 2023-07-28 中国水利水电第七工程局有限公司 Construction tunnel passing control method, device and system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114639253A (en) * 2022-02-28 2022-06-17 阿波罗智联(北京)科技有限公司 Traffic signal control method, edge computing device, storage medium and product
CN115862320A (en) * 2022-11-08 2023-03-28 济南澎湃信息技术有限公司 Traffic dynamic monitoring management system
CN116504079A (en) * 2023-06-30 2023-07-28 中国水利水电第七工程局有限公司 Construction tunnel passing control method, device and system
CN116504079B (en) * 2023-06-30 2023-09-22 中国水利水电第七工程局有限公司 Construction tunnel passing control method, device and system

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