CN106128127A - Plane cognition technology is utilized to reduce the method and system of signal lamp control crossroad waiting time - Google Patents

Abstract

The present invention provides a kind of method and system utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time, can effectively reduce motor vehicles and meet the red parking waiting time by crossing.Utilize plane cognition technology can detect the direction of when red in real time, after stop line the motor vehicles number of units of parking waiting add and and every chassis parking waiting green light used by be accurate to time of second add and；Green light clearance direction being detected in real time, a how many motor vehicles will be had if being converted to now red light to be lighted by the green lights such as parking to obtaining green light next time, and the time being accurate to the second needed for accurately calculating whole motor vehicles that the green lights such as parking light adds and；The parking number of units and the waiting time that light according to the whole motor vehicles parking in stop line upstream, crossing wait green light add and the shortest principle, it is judged that current phase signal lamp is to maintain light color state constant or conversion light color state.

Description

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

Technical field

The present invention relates to technical field of intelligent traffic, specifically one utilizes plane cognition technology to reduce Signalized control road The method and system of mouth waiting time.

Background technology

Along with the continuous expansion of city size, vehicles number is continuously increased, in order to ensure the safety of road traffic with smooth Logical, vehicle supervision department is provided with signal lights at many crossings, and people, during taking advantage of Vehicle emission, walk to intersection and meet Wait to red parking and become normality.

At present, the whistle control system detector being located at both at home and abroad on road, all use some detection and transverse section detection mould Formula carrys out the state during testing machine motor-car passes through crossing, as long as detecting that the motor vehicles in clearance direction is continuing through crossing Time, no matter stopping vehicles number and the waiting time length of direction parking waiting green light, clearance direction to be extended to is Big green time then, just can be transformed into other direction green light.

How to shorten the total parking waiting time being met red light by whole motor vehicles at crossing, make total down time sum big Orientation preferentially pass through, improving crossing traffic efficiency has been focus of concern.

Summary of the invention

The invention solves the problems that Signalized control method and system of the prior art, it is impossible to enough motor vehicles that as far as possible shortens are on road Mouth waits the time that red light is total, the crossing affected problem of overall traffic efficiency.

For solving above-mentioned technical problem, the present invention provides following technical scheme:

A kind of method utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time, comprises the steps:

S1: plane perception detector is set on the different directions of crossing, the motor vehicles for each direction of monitoring in real time Instantaneous velocity, each motor vehicles running time required for the current location at its place to stop line；

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

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

S4: judge whether first phase has motor vehicles to pass through crossing, the most then keeping first phase is green light signals, directly Signal lights light color is changed to the maximum green time arrival of first phase；If it is not, then when the current green time of first phase Signal lights light color is changed equal to after minimum green time；Return step S1 afterwards；

S5: judge whether first phase has motor vehicles to pass through crossing, if otherwise entering step S9；If then entering step S6；

S6: motor vehicles number of units I and the waiting time that obtain current time second phase parking waiting green light add and ∑ T_i, its Middle T_iRefer to that i-th motor vehicles stops starting to required time when again running into green light from meeting red light, and 1≤i≤I；And such as The signal lights of first phase is now converted to red light by fruit, then do not pass through motor vehicles number of units J at crossing in first phase with every Platform motor vehicles waits until the summation ∑ T of the time required for first phase green light signals again_j, wherein T_jRefer to jth platform motor vehicles from Meet required time when red light stops starting again to run into green light, and 1≤j≤J；Not by the motor vehicles bag at crossing in first phase Include the whole motor vehicles less than maximum green time of the time needed for the stop line of arrival crossing, current location；

S7: judge ∑ T_jWhether more than or equal to ∑ T_iIf then entering step S8, otherwise entering step S9；

S8: judge whether first phase arrives maximum green time, if then conversion signal lights light color, returns step afterwards S1；Otherwise keeping first phase is green light signals；

S9: judge whether first phase green time arrives minimum green time, if then conversion signal lights light color, afterwards Return step S1；If the most directly returning step S1.

Described step S1 obtains each motor vehicles when traveling required for the current location at its place to stop line Between step include:

S11: by the installation site coordinate data (X of plane perception detector_j,Y_j), the coordinate data (X of stop line_t,Y_t) Mark on electronic chart；

S12: obtain the actual coordinate data (X of motor vehicles current location_dj,Y_dj), and marked on electronic chart；

S13: obtain motor vehicles from current location to distance L of junction ahead stop line_d:

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

S14: obtain the instantaneous velocity V that motor vehicles is current_s=(L_q-L_d)/T_s, wherein L_qRefer to motor vehicles previous detection week Distance between phase and stop line；

S15: judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise entering step S16, if then entering Enter step S17；

S16: the time needed for acquisition motor vehicles arrival stop line:

T_t1=L_d/V_s；

S17: the time needed for acquisition motor vehicles arrival stop line:

T_t2=(L_d-L_dq)/V_s+T_tq；

Wherein L_dqFor the distance between front motor vehicles and the stop line adjacent with this motor vehicles, T_tqFor front motor vehicles Arrive the time required for stop line.

Described detector uses detection radar, also comprises the steps: between step S11 and step S12

SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bit_b, Y_b) mark electronic chart On, and actual instrumentation radar detector is to distance L of calibration mark_lbDistance L with calibration mark position to stop line_jt；

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

SA3: judge current detection error (X_c,Y_c) whether in setting threshold range, if then entering step S12, otherwise Enter step S18；

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

S121: utilize radar detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

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

S18: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

Described detector uses video tracking unit, also comprises the steps: between step S11 and step S12

SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic chart, and each two is adjacent Distance L between separation_fi；

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

Distance L that every one-row pixels between the adjacent separation of each two is corresponding_fi/H_h；

Or distance L that every string pixel between the adjacent separation of each two is corresponding_fi/C_l；

Enter step S12 afterwards；

Described step S13 specifically includes:

S13A: utilize video detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

S13B: according to the coordinate data (X of motor vehicles current location_d,Y_d) judge that motor vehicles current location is drawn at video monitoring Between any two adjacent separations in face, and determine whether that this coordinate data is to should which between adjacent separation Row pixel or which row pixel；

S13C: according to the coordinate data (X of motor vehicles current location_d,Y_d), in conjunction with the phase of each separation in practice Coordinate data (X to position coordinates and motor vehicles current location_d,Y_d) distance corresponding to the every one-row pixels in region or The distance that every string pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current location_dj,Y_dj) reality away from stop line away from From.

Also comprise the steps: between step SB2 and step S22

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

SB4: judge whether to detect the changing coordinates data (X of each calibration mark position_bd, Y_bd), if detecting, According to the actual coordinate data of each calibration mark position changing coordinates data detected He this calibration mark position, obtain and this mark The detection error that will position is corresponding: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), enter step SB5 afterwards；Otherwise enter step S18；

SB5: judge the detection error (X that each flag bit is corresponding_c,Y_c) whether in setting threshold range, if all corrections The detection error that flag bit is corresponding all then enters step S12 in setting threshold range；Otherwise enter step S18；

In step S13B, also comprise the steps: the coordinate data (X according to motor vehicles current location_d,Y_d) obtain with The calibration mark position that motor vehicles is closest, using the detection error of the calibration mark position closest with motor vehicles as motor vehicles Current detection error (X_c,Y_c)；

In step S13C, also comprise the steps: the coordinate data according to motor vehicles current location and current detection by mistake Difference, it is thus achieved that the actual coordinate data of motor vehicles current location: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

In step S16 and step S17, motor vehicles current location and the actual range L of stop line_dEqual to motor vehicles away from From nearest separation, i.e. distance between calibration mark position and stop line is plus motor vehicles current location and this separation i.e. school Number of lines of pixels between positive flag bit or the distance representated by pixel columns；

S18: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

Based on same inventive concept, the present invention also provides for one and utilizes plane cognition technology to reduce signal lamp control crossroad etc. Treat the system of time, including:

Plane perception detector, is arranged on the different directions of crossing, for the motor vehicles in each direction of monitoring in real time；

Data acquisition module, for obtaining the instantaneous velocity of the motor vehicles in each direction, each motor vehicles is from its place Current location to the running time required for stop line；

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

Second judge module, for when the judged result of the first judge module is for being, it is judged that whether second phase has is stopped Car waits the motor vehicles of green light signals or arrives the motor vehicles of stop line in preset time range；

3rd judge module, for when the judged result of the second judge module is no, it is judged that first phase is the most organic Motor-car passes through crossing, the most then keeping first phase is green light signals, until the maximum green time of first phase turns after arriving Change signal lights light color；If it is not, the green time then adjusting first phase is minimum green time；

4th judge module, for when the judged result of the second judge module is for being, it is judged that first phase is the most organic Motor-car passes through crossing；

Processing module, for when the judged result of the 4th judge module is for being, obtains current time second phase and stops Wait that motor vehicles number of units I and the waiting time of green light add and ∑ T_i, wherein T_iRefer to that i-th motor vehicles is from the beginning of meeting red light stopping To required time when again running into green light, and 1≤i≤I；And if now the signal lights of first phase is converted to red light, Needed for so again not waiting until first phase green light signals by motor vehicles number of units J at crossing and every motor vehicles in first phase The summation ∑ T of the time wanted_j, wherein T_jRefer to that jth platform motor vehicles stops being taken when beginning runs into green light again from meeting red light Between, and 1≤j≤J；In first phase not by the motor vehicles at crossing include from needed for the stop line of arrival crossing, current location time Between less than whole motor vehicles of maximum green time；

5th judge module, is used for judging ∑ T_jWhether more than or equal to ∑ T_i；

6th judge module, for when the judged result of the 5th judge module is for being, judges whether first phase arrives Maximum green time, if then conversion signal lights light color；Otherwise keeping first phase is green light signals；

7th judge module, is used for when the judged result of the 4th judge module is no or the judgement knot of the 5th judge module When fruit is no, it is judged that whether first phase green time arrives minimum green time, if then conversion signal lights light color.

Described data acquisition module includes:

Mark unit, for by the installation site coordinate data (X of plane perception detector_j,Y_j), the number of coordinates of stop line According to (X_t,Y_t) mark on electronic chart；

Described mark unit, the actual coordinate data (X of motor vehicles current location that also will get_dj,Y_dj) mark electricity On sub-map；

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

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

Described data capture unit, also obtains the instantaneous velocity V that motor vehicles is current_s=(L_q-L_d)/T_s, wherein L_qRefer to machine Distance between motor-car previous detection cycle and stop line；

Judging unit, is used for judging whether to have between motor vehicles and stop line other motor vehicles；

Described data capture unit, is additionally operable to obtain motor vehicles and arrives the time needed for stop line；When described judging unit Judged result when being no, it is T that motor vehicles arrives the time needed for stop line_t1=L_d/V_s；When the judgement of described judging unit is tied Fruit for being time, motor vehicles arrival stop line needed for time be: T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqFor with this motor vehicles phase The adjacent distance between front motor vehicles and stop line, T_tqThe time required for stop line is arrived for front motor vehicles.

Described plane perception detector uses detection radar, and described data acquisition module also includes:

Described data capture unit, selected calibration mark position, and by the actual coordinate data (X of correction flag bit_b, Y_b) mark Note on electronic chart, and actual instrumentation radar detector is to distance L of calibration mark_lbWith calibration mark position to stop line away from From L_jt；

Described judging unit, it may be judged whether the changing coordinates data (X of calibration mark position can be read_bd, Y_bd), if reading To then obtaining current detection error according to the changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；Judge current detection error (X_c,Y_c) whether in setting threshold range；

In described data capture unit, including:

Radar data obtains subelement, utilizes radar detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

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

Alarm module, judges to read the changing coordinates data (X of calibration mark position at described judging unit_bd, Y_bd) Time, sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

Described plane perception detector uses video tracking unit, and described data acquisition module also includes:

Lines mark unit, executes division diatom, on described lines in the video monitoring range of video tracking unit It is provided with separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic chart, with And distance L between the adjacent separation of each two_fi；

Separation mark unit, obtains the monitoring image of lines in video monitoring picture, and artificial mark is each successively Individual separation F_i, and obtain number of lines of pixels H between the adjacent separation of each two_hOr pixel columns H_l, obtain:

Distance L that every one-row pixels between the adjacent separation of each two is corresponding_fi/H_h；

Or distance L that every string pixel between the adjacent separation of each two is corresponding_fi/C_l；

Video data acquiring unit: utilize video detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

Vehicle position determines unit, according to the coordinate data (X of motor vehicles current location_d,Y_d) judge motor vehicles present bit Put between any two the adjacent separations in video monitoring picture, and determine whether that this coordinate data is to should adjacent point Which pixel between boundary's point or which row pixel；

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

Described data acquisition module also includes:

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

Detection data determining unit, it may be judged whether the changing coordinates data (X of each calibration mark position can be detected_bd, Y_bd), if detecting, according to each calibration mark position changing coordinates data detected and the actual coordinate of this calibration mark position Data, obtain the detection error corresponding with this flag bit: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；

Threshold decision unit, it is judged that the detection error (X that each flag bit is corresponding_c,Y_c) whether in setting threshold range；

Correction error selects unit, according to the coordinate data (X of motor vehicles current location_d,Y_d) obtain with motor vehicles distance Near calibration mark position, using the detection error of the calibration mark position closest with motor vehicles as the current detection of motor vehicles by mistake Difference (X_c,Y_c)；

Described real data obtains subelement according to the coordinate data of motor vehicles current location and current detection error, it is thus achieved that The actual coordinate data of motor vehicles current location: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；Wherein, motor vehicles current location with stop The only actual range L of line_dEqual to and the closest separation of motor vehicles i.e. distance between calibration mark position and stop line add Number of lines of pixels between upper motor vehicles current location and this separation i.e. calibration mark position or the distance representated by pixel columns；

Alarm module, when detecting the judged result of data determining unit and being no or the judged result of threshold decision unit is Time no, sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

The technique scheme of the present invention has the advantage that compared to existing technology

The method and system utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time of the present invention, energy Effectively reduce motor vehicles and meet the red parking waiting time by crossing.Plane cognition technology is utilized each crossing can precisely to be detected The current elaborate position of every motor vehicles of every the road in stop line upstream and instantaneous velocity, and can go out from present bit by accurate calculation It is accurate to second time needed for putting stop line；The direction of when red can be detected in real time, the machine of parking waiting after stop line Motor-car number of units add and and every chassis parking waiting green light used by be accurate to time of second add and；Green light clearance side can be detected in real time To, a how many motor vehicles will be had if being converted to now red light to be lighted by the green lights such as parking to obtaining green light next time, and can be accurate The time being accurate to the second needed for really calculating whole motor vehicles that the green lights such as parking light add and；According to stop line upstream, crossing Parking number of units and waiting time that all motor vehicles parking wait green light lights add and the shortest principle, it is judged that current phase signal Lamp makes to maintain light color state constant or conversion light color state.

Accompanying drawing explanation

In order to make present disclosure be more likely to be clearly understood, below in conjunction with the accompanying drawings, the present invention is made the most in detail Thin explanation, wherein,

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

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

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

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

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

Detailed description of the invention

Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described enforcement Example is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into the scope of protection of the invention. As long as and technical characteristic involved in invention described below difference embodiment does not just constitute conflict each other Can be combined with each other.Before each embodiment is described in detail, it should be noted that the present invention relates to is all Coordinate data each means the coordinate data under same preferred coordinates system.It addition, plane perception of the present invention detection is phase Saying for section detection in prior art, to adopting of the i.e. panel data of continuous detecting of motor vehicles current location track Collection can be described as plane perception detection.

Embodiment 1

The present embodiment provides a kind of method utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time, such as figure Shown in 1, comprise the steps:

S1: plane perception detector is set on the different directions of crossing, the motor vehicles for each direction of monitoring in real time Instantaneous velocity, each motor vehicles running time required for the current location at its place to stop line.Plane perception detects The form that the set-up mode of device can be given such as Fig. 2.

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

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

S4: judge whether first phase has motor vehicles to pass through crossing, the most then keeping first phase is green light signals, directly Signal lights light color is changed to the maximum green time arrival of first phase；During if it is not, then judge the current green light of first phase Between equal to changing signal lights light color after minimum green time；Return step S1 afterwards.If that is second phase does not has machine When motor-car waits, first phase has motor vehicles to pass through the crossing motor vehicles then for first phase provides green light signals until the first phase The maximum green time of position；And if first phase does not has motor vehicles to pass through crossing yet, then when first phase is current When green time is minimum green time, just conversion signal light color state, so while ensureing crossing safety, improves conversion Speed, shortens the motor vehicles waiting time by crossing.

S5: judge whether first phase has motor vehicles to pass through crossing, if otherwise entering step S9；If then entering step S6；If it is to say, second phase has motor vehicles to wait, then determine whether whether first phase has motor vehicles, if First phase has motor vehicles then to judge, and the number of units of both sides motor vehicles and motor vehicles wait the time required for green light, during for waiting Between long phase place provide green light signals, to shorten the waiting time.If first phase does not has motor vehicles, then be second the most as early as possible Phase place provides green light signals.

S6: motor vehicles number of units I and the waiting time that obtain current time second phase parking waiting green light add and ∑ T_i, its Middle T_iRefer to that i-th motor vehicles stops starting to required time when again running into green light from meeting red light, and 1≤i≤I；And such as The signal lights of first phase is now converted to red light by fruit, then do not pass through motor vehicles number of units J at crossing in first phase with every Platform motor vehicles waits until the summation ∑ T of the time required for first phase green light signals again_j, wherein T_jRefer to jth platform motor vehicles from Meet required time when red light stops starting again to run into green light, and 1≤j≤J；Not by the motor vehicles bag at crossing in first phase Include the whole motor vehicles less than maximum green time of the time needed for the stop line of arrival crossing, current location；

In this step, precondition be first phase be green light signals, have motor vehicles to pass through simultaneously second in first phase Phase place has motor vehicles to wait by crossing, now in order to ensure to shorten the motor vehicles waiting time, then needs two phase directionals On the motor vehicles waiting time compare, for the vehicle in first phase, if now green light signals being converted to red light Signal, then J platform motor vehicles time until green light again can be calculated.And for the vehicle in second phase, by In before already at waiting state, therefore have been waiting for a period of time, if continuing to allow it wait, then when the second phase When position becomes green light, how long the motor vehicles that can obtain second phase has waited altogether.Such scheme in the present embodiment, Owing to the current location of motor vehicles and the instantaneous velocity of motor vehicles can be obtained in real time, therefore, it is possible to obtain each motor-driven in real time The car time between current location to stop line.Although it addition, do not describe in detail in the present embodiment, but it must be energy Enough obtain the control cycle of signal lights, therefore, it is possible to obtain red time, green time, in conjunction with motor vehicles arrive stop line time Between, it becomes possible to obtain the waiting time of each motor vehicles.

S7: judge ∑ T_jWhether more than or equal to ∑ T_iIf then entering step S8, otherwise entering step S9.

S8: judge whether first phase arrives maximum green time, if then conversion signal lights light color, returns step afterwards S1；Otherwise keeping first phase is green light signals；When the first phase motor vehicles waiting time is long, provide green light for first phase Signal, but in order to prevent from providing green light for first phase always, cause second phase motor vehicles to wait as long for, so needing Judge whether first phase arrives maximum green time, if first phase arrives maximum green time, the most no matter first phase Whether there is car all should provide green light signals for second phase.

S9: judge whether first phase green time arrives minimum green time, if then conversion signal lights light color, afterwards Return step S1；If the most directly returning step S1.

Such scheme in the present embodiment, can effectively reduce motor vehicles and meet the red parking waiting time by crossing.Utilize Plane cognition technology can precisely detect the current elaborate position of every motor vehicles of every the road in stop line upstream, each crossing And instantaneous velocity, and can accurate calculation go out from current location to stop line needed for be accurate to second time；Can detect red in real time The direction that lamp is bright, after stop line the motor vehicles number of units of parking waiting add and and every chassis parking waiting green light used by be accurate to the second Time add and；Green light clearance direction being detected in real time, will have many if being converted to now red light to obtaining green light next time The green lights such as parking are lighted by few platform motor vehicles, and can accurately calculate needed for whole motor vehicles that the green lights such as parking light accurate Time to the second add and；When the parking number of units lighted according to the whole motor vehicles parking in stop line upstream, crossing wait green light and wait Between add and the shortest principle, it is judged that current phase signal lamp makes to maintain light color state constant or conversion light color state.

Embodiment 2

The present embodiment, on the basis of embodiment 1, does following improvement, and in described step S1, real-time and precise obtains each machine The step of motor-car time needed for current location arrives stop line includes:

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

S12: obtain the actual coordinate data (X of motor vehicles current location_dj,Y_dj), and marked on electronic chart； Motor vehicles itself is to have certain area, then the coordinate data of motor vehicles is the most not a point value, applies in reality Time, the position coordinates position coordinates as motor vehicles of motor vehicles central point foremost can be selected.

S13: obtain motor vehicles from current location to distance L of junction ahead stop line_d:

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

Circular is referred to the practical situation shown in Fig. 3, as can be drawn from Figure 3, motor vehicles and stop line it Between distance be L_d, the coordinate of both motor vehicles and stop line is under the same coordinate system.It practice, distance therebetween, can To obtain according to Pythagorean theorem, it may be assumed that

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

S14: obtain the instantaneous velocity V that motor vehicles is current_s=(L_q-L_d)/T_s, wherein L_qRefer to motor vehicles previous detection week Distance between phase and stop line；

S15: judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise entering step S16, if then entering Enter step S17；

S16: the time needed for acquisition motor vehicles arrival stop line:

T_t1=L_d/V_s；Obviously, if motor vehicle front does not has other motor vehicles, then can be directly according to distance and speed Degree obtains motor vehicles and arrives the time required for the stop line of front.

S17: the time needed for acquisition motor vehicles arrival stop line:

T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqFor between front motor vehicles and the stop line adjacent with this motor vehicles away from From, T_tqThe time required for stop line is arrived for front motor vehicles.If obviously motor vehicle front has other motor vehicles, then when Time required for front motor vehicles arrival stop line certainly will be affected by front motor vehicles.

In this programme, when the distance of acquisition motor vehicles to stop line, by the row of the motor vehicles before this motor vehicles Sail speed together to take into account, compare for individually obtaining according to the travel speed of this motor vehicles of current time, more agree with reality Border, more accurately.

As a kind of specific embodiment, described detector uses detection radar, between step S11 and step S12 Also comprise the steps:

SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bit_b, Y_b) mark electronic chart On, and actual instrumentation radar detector is to distance L of calibration mark_lbDistance L with calibration mark position to stop line_jt；Correcting mark Will position can be the position at the fixed signal thing place arranged on road surface, such as display board, overline bridge bridge, electric pole etc., these Object will not be subjected to displacement easily.

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

SA3: judge current detection error (X_c,Y_c) whether in setting threshold range, if then entering step S12, otherwise Enter step S18；

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

S121: utilize radar detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

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

S18: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

Select calibration mark position on road surface, electronic chart marks the actual position coordinate of calibration mark position, to car When position is detected, the coordinate data obtaining calibration mark position in real time compares with actual coordinate data, when the two it Between deviation when exceeding certain threshold value, send fault alarm information and remind staff.When deviation therebetween is at threshold value model When enclosing interior, according to deviation value, the vehicle location coordinate collected is corrected, therefore, even if detector there occurs shake, Also can guarantee that the final vehicle location coordinate data obtained is accurately.

Embodiment 3

In the present embodiment, described detector use video tracking unit, also include between step S11 and step S12 as Lower step:

SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic chart, and each two is adjacent Distance L between separation_fi；It is illustrated in figure 3 a kind of scheme, on road, executes the end points of the lines drawn as separation. Because lines are dashed line form, all there are regulation, generally solid line for solid line length therein and blank space A length of 2 meters, blank space is 4 meters, if therefore directly using two end points of solid line as separation, being then readily available every The coordinate figure of one separation, the distance between F1 and F2 is 2 meters as shown in FIG., and the distance between F2 and F3 is 4 meters, F3 and Distance between F4 is two meters.

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

Distance L that every one-row pixels between the adjacent separation of each two is corresponding_fi/H_h；

Or distance L that every string pixel between the adjacent separation of each two is corresponding_fi/C_l；

Enter step S22 afterwards；

Fig. 4 gives the testing result schematic diagram in Video Detection picture；The detection in a track it is shown in figure Result schematic diagram.It can be seen that when video detecting unit is when detecting the target of different distance, with one-row pixels and Entirely different with the distance represented by string pixel.The width of road is fixing, but road width takies below picture 43 row pixels, have only taken up 28 row pixels, it is assumed that its width is 3 meters, then for string every below picture above picture The distance that pixel represents is 3/430.07 meter, and the distance that above road, every string pixel represents is 3/280.1 meter.Same road Reason, road surface is executed draw lines, a length of two meters of solid line, below picture 15 row pixels represent between F1 and F2 away from From, above picture, 7 row pixels can represent the distance between F5 and F6, then between F1 and F2, often row pixel represent away from From for 2/150.133 meter, between F5 and F6, the distance that often row pixel represents is 2/70.286 meter.

Described step S13 specifically includes:

S13A: utilize video detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

S13B: according to the coordinate data (X of motor vehicles current location_d,Y_d) judge that motor vehicles current location is drawn at video monitoring Between any two adjacent separations in face, and determine whether that this coordinate data is to should which between adjacent separation Row pixel or which row pixel；The step for implement fairly simple, the just coordinate of the most direct use motor vehicles current location Data (X_d,Y_d) compare with the coordinate data of each separation and just can draw, again it is not described in detail.

S13C: according to the coordinate data (X of motor vehicles current location_d,Y_d), in conjunction with the phase of each separation in practice Coordinate data (X to position coordinates and motor vehicles current location_d,Y_d) distance corresponding to the every one-row pixels in region or The distance that every string pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current location_dj,Y_dj) reality away from stop line away from From.

Motor vehicles current location and the actual range L of stop line_dEqual to the calibration mark position closest with motor vehicles with Distance between stop line is plus the number of lines of pixels between motor vehicles current location and this calibration mark position or pixel columns institute's generation The distance of table.It will be understood that draw on road surface because stop line, lines are all actual executing, therefore it is easy to measure Arrive actual range therebetween.Assuming current time, motor vehicles is between F5 and F6, and two separations of F5 and F6 are to front The distance of side's stop line actual can be measured and obtain, and is distance the most accurately, then if we obtain motor vehicles and F5 or Distance between person F6 can be obtained by the distance of motor vehicles and front stop line.Because we have obtained, F5 and F6 it Between have 7 row pixels, the distance represented by every one-row pixels is 0.286 meter, if now the spacing of motor vehicles and F5 is 4 row Distance between pixel, and F6 is 3 row pixels, then can obtain the distance between motor vehicles and F6 is 0.2863=0.858 Rice, then the distance of motor vehicles and front stop line is exactly that the distance between F6 and stop line adds 0.858 meter.Another kind of feelings Condition, it is assumed that the distance of motor vehicles and F5 closer to, then the distance of motor vehicles to front stop line should be just that F5 stops to front The distance of line deducts the distance between F5 and motor vehicles.

When using video detector, owing to video detector is when detecting the scene of different distance, the most adjacent two The distance represented between row pixel or two row pixels differs.Because, in video pictures, in-plant video image ratio Different from remote video image ratio, therefore, in this application, according to the physical length chi of the lines on road surface Very little, by the artificial separation arranged on video pictures as calibration mark position, no matter when separation is in remote position With when in-plant position, the distance of each separation to stop line is known, and is the most accurately, simply difference Number of lines of pixels between the adjacent separation of scene of distance is different with columns, and the distance of representative is different, by this method, The precision of its detection position can be increased substantially, when the position of motor vehicles is between two separations of arbitrary neighborhood, Just can according to the motor vehicles place separation actual range away from stop line plus the motor vehicles number of lines of pixels away from this separation or Columns obtains the motor vehicles actual range away from stop line accurately.

It is further preferred that also comprise the steps: between step SB2 and step S22

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

SB4: judge whether to detect the changing coordinates data (X of each calibration mark position_bd, Y_bd), if detecting, According to the actual coordinate data of each calibration mark position changing coordinates data detected He this calibration mark position, obtain and this mark The detection error that will position is corresponding: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), enter step SB5 afterwards；Otherwise enter step S18；

SB5: judge the detection error (X that each flag bit is corresponding_c,Y_c) whether in setting threshold range, if all corrections The detection error that flag bit is corresponding all then enters step S22 in setting threshold range；Otherwise enter step S18；

In step S23B, also comprise the steps: the coordinate data (X according to motor vehicles current location_d,Y_d) obtain with The calibration mark position that motor vehicles is closest, using the detection error of the calibration mark position closest with motor vehicles as motor vehicles Current detection error (X_c,Y_c)；

In step S23C, also comprise the steps: the coordinate data according to motor vehicles current location and current detection by mistake Difference, it is thus achieved that the actual coordinate data of motor vehicles current location: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

In step S16 and step S17, motor vehicles current location and the actual range L of stop line_dEqual to motor vehicles away from From nearest separation, i.e. distance between calibration mark position and stop line is plus motor vehicles current location and this separation i.e. school Number of lines of pixels between positive flag bit or the distance representated by pixel columns；

S18: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

The principle of this preferred version is similar with the solution principle in embodiment 2, is substantially made by each separation For calibration mark position, if video detector there occurs that the positional information that shake causes video detector to detect there occurs partially Moving, owing to each separation is calibration mark position, the most no matter which two separation motor vehicles is between, can root The correction error of calibration mark position is obtained according to the separation that longitudinal maneuver car is nearest.In this programme, by the prison of whole video pictures Control distance divide into some sections with separation, and the distance of every section is the most comparatively short, therefore uses the distance between two separations inclined The position of motor vehicles is corrected by difference, can obtain data the most accurately.

Embodiment 4

The present embodiment provides a kind of system utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time, such as figure Shown in 5, including:

Plane perception detector 1, is arranged on the different directions of crossing, for the motor vehicles in each direction of monitoring in real time；

Data acquisition module 2, for obtaining the instantaneous velocity of the motor vehicles in each direction, each motor vehicles is from its place Current location to the running time required for stop line；

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

Second judge module 4, for when the judged result of the first judge module 3 is for being, it is judged that whether second phase has The motor vehicles of parking waiting green light signals or arrive the motor vehicles of stop line in preset time range；

3rd judge module 5, for when the judged result of the second judge module 4 is no, it is judged that whether first phase has Motor vehicles passes through crossing, the most then keeping first phase is green light signals, until after the maximum green time of first phase arrives Conversion signal lights light color；If it is not, the green time then adjusting first phase is minimum green time；

4th judge module 6, for when the judged result of the second judge module 4 is for being, it is judged that whether first phase has Motor vehicles passes through crossing；

Processing module 7, for when the judged result of the 4th judge module 6 is for being, obtains current time second phase and stops Car waits that motor vehicles number of units I of green light and waiting time add and ∑ T_i, wherein T_iRefer to that i-th motor vehicles stops opening from meeting red light Begin to required time when again running into green light, and 1≤i≤I；And if now the signal lights of first phase being converted to red Lamp, then motor vehicles number of units J and every the motor vehicles that do not pass through crossing in first phase wait until first phase green light signals again The summation ∑ T of required time_j, wherein T_jRefer to that jth platform motor vehicles is required from meeting when red light stops starting again to run into green light Time, and 1≤j≤J；Do not included needed for the stop line of arrival crossing, current location by the motor vehicles at crossing in first phase Time is less than whole motor vehicles of maximum green time；

5th judge module 8, is used for judging ∑ T_jWhether more than or equal to ∑ T_i；

6th judge module 9, for when the judged result of the 5th judge module 8 is for being, judges whether first phase arrives Reach maximum green time, if then conversion signal lights light color；Otherwise keeping first phase is green light signals；

7th judge module 10, for when the judged result of the 4th judge module 6 is no or the sentencing of the 5th judge module 7 When disconnected result is no, it is judged that whether first phase green time arrives minimum green time, if then conversion signal lights light color.

Preferably, described data acquisition module 2 includes:

Mark unit, for by the installation site coordinate data (X of plane perception detector_j,Y_j), the number of coordinates of stop line According to (X_t,Y_t) mark on electronic chart；

Described mark unit, the actual coordinate data (X of motor vehicles current location that also will get_dj,Y_dj) mark electricity On sub-map；

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

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

Described data capture unit, also obtains the instantaneous velocity V that motor vehicles is current_s=(L_q-L_d)/T_s, wherein L_qRefer to machine Distance between motor-car previous detection cycle and stop line；

Judging unit, is used for judging whether to have between motor vehicles and stop line other motor vehicles；

Described data capture unit, is additionally operable to obtain motor vehicles and arrives the time needed for stop line；When described judging unit Judged result when being no, it is T that motor vehicles arrives the time needed for stop line_t1=L_d/V_s；When the judgement of described judging unit is tied Fruit for being time, motor vehicles arrival stop line needed for time be: T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqFor with this motor vehicles phase The adjacent distance between front motor vehicles and stop line, T_tqThe time required for stop line is arrived for front motor vehicles.

It is further preferred that described plane perception detector uses detection radar, described data acquisition module also includes:

Described data capture unit, selected calibration mark position, and by the actual coordinate data (X of correction flag bit_b, Y_b) mark Note on electronic chart, and actual instrumentation radar detector is to distance L of calibration mark_lbWith calibration mark position to stop line away from From L_jt；

Described judging unit, it may be judged whether the changing coordinates data (X of calibration mark position can be read_bd, Y_bd), if reading To then obtaining current detection error according to the changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；Judge current detection error (X_c,Y_c) whether in setting threshold range；

In described data capture unit, including:

Radar data obtains subelement, utilizes radar detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

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

Alarm module, judges to read the changing coordinates data (X of calibration mark position at described judging unit_bd, Y_bd) Time, sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

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

Lines mark unit, executes division diatom, on described lines in the video monitoring range of video tracking unit It is provided with separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic chart, with And distance L between the adjacent separation of each two_fi；

Separation mark unit, obtains the monitoring image of lines in video monitoring picture, and artificial mark is each successively Individual separation F_i, and obtain number of lines of pixels H between the adjacent separation of each two_hOr pixel columns H_l, obtain:

Distance L that every one-row pixels between the adjacent separation of each two is corresponding_fi/H_h；

Or distance L that every string pixel between the adjacent separation of each two is corresponding_fi/C_l；

Video data acquiring unit: utilize video detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

Vehicle position determines unit, according to the coordinate data (X of motor vehicles current location_d,Y_d) judge motor vehicles present bit Put between any two the adjacent separations in video monitoring picture, and determine whether that this coordinate data is to should adjacent point Which pixel between boundary's point or which row pixel；

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

Preferably, described data acquisition module also includes:

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

Detection data determining unit, it may be judged whether the changing coordinates data (X of each calibration mark position can be detected_bd, Y_bd), if detecting, according to each calibration mark position changing coordinates data detected and the actual coordinate of this calibration mark position Data, obtain the detection error corresponding with this flag bit: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；

Threshold decision unit, it is judged that the detection error (X that each flag bit is corresponding_c,Y_c) whether in setting threshold range；

Correction error selects unit, according to the coordinate data (X of motor vehicles current location_d,Y_d) obtain with motor vehicles distance Near calibration mark position, using the detection error of the calibration mark position closest with motor vehicles as the current detection of motor vehicles by mistake Difference (X_c,Y_c)；

Described real data obtains subelement according to the coordinate data of motor vehicles current location and current detection error, it is thus achieved that The actual coordinate data of motor vehicles current location: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；Wherein, motor vehicles current location with stop The only actual range L of line_dEqual to and the closest separation of motor vehicles i.e. distance between calibration mark position and stop line add Number of lines of pixels between upper motor vehicles current location and this separation i.e. calibration mark position or the distance representated by pixel columns；

Alarm module, when detecting the judged result of data determining unit and being no or the judged result of threshold decision unit is Time no, sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

The such scheme of the present embodiment, enters upstream, each direction, crossing by the detection of plane perception detector real-time and precise Vehicles number, current position, the instantaneous velocity of every motor vehicles and arrive stop line required time from current location, in real time Real-time traffic change according to two entrances in Zi Qu main line adjusts the phase offset of signal lights.It addition, the such scheme of the present invention Need not to arrange monitoring position, even different motor vehicles, different weather condition speed under, can precisely obtain therewith The corresponding time arriving stop line.Therefore, by the such scheme of the present invention, it is possible to accurately obtain each motor vehicles from upstream The outlet at crossing arrives the exact time of stop line, therefore, it is possible to more accurately for arriving the head of the motor vehicles queue of stop line Green light signals opened by car, thus ensures that motor vehicles reduces stop frequency when by crossing.

Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent Select embodiment and fall into all changes and the amendment of the scope of the invention.

Claims (10)

1. one kind utilize plane cognition technology reduce the signal lamp control crossroad waiting time method, it is characterised in that include as Lower step:

S1: arrange plane perception detector on the different directions of crossing, is used for the instantaneous of the real-time motor vehicles monitoring each direction Speed, each motor vehicles running time required for the current location at its place to stop line；

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

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

S4: judge whether first phase has motor vehicles to pass through crossing, the most then keeping first phase is green light signals, until the The maximum green time of one phase place changes signal lights light color after arriving；If it is not, be then equal to when the current green time of first phase Signal lights light color is changed after minimum green time；Return step S1 afterwards；

S5: judge whether first phase has motor vehicles to pass through crossing, if otherwise entering step S9；If then entering step S6；

S6: motor vehicles number of units I and the waiting time that obtain current time second phase parking waiting green light add and ∑ T_i, wherein T_i Refer to that i-th motor vehicles stops starting to required time when again running into green light from meeting red light, and 1≤i≤I；And if this Time the signal lights of first phase is converted to red light, then not by motor vehicles number of units J at crossing and every machine in first phase Motor-car waits until the summation ∑ T of the time required for first phase green light signals again_j, wherein T_jRefer to that jth platform motor vehicles is red from meeting Required time when lamp stops starting again to run into green light, and 1≤j≤J；In first phase not by the motor vehicles at crossing include from Time needed for the stop line of arrival crossing, current location is less than whole motor vehicles of maximum green time；

S7: judge ∑ T_jWhether more than or equal to ∑ T_iIf then entering step S8, otherwise entering step S9；

S8: judge whether first phase arrives maximum green time, if then conversion signal lights light color, returns step S1 afterwards； Otherwise keeping first phase is green light signals；

S9: judge whether first phase green time arrives minimum green time, if then conversion signal lights light color, returns afterwards Step S1；If the most directly returning step S1.

The method utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time the most according to claim 1, its It is characterised by, described step S1 obtains each motor vehicles when traveling required for the current location at its place to stop line Between step include:

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

S12: obtain the actual coordinate data (X of motor vehicles current location_dj,Y_dj), and marked on electronic chart；

S13: obtain motor vehicles from current location to distance L of junction ahead stop line_d:

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

S14: obtain the instantaneous velocity V that motor vehicles is current_s=(L_q-L_d)/T_s, wherein L_qRefer to the motor vehicles previous detection cycle with Distance between stop line；

S15: judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise entering step S16, if then entering step Rapid S17；

S16: the time needed for acquisition motor vehicles arrival stop line:

T_t1=L_d/V_s；

S17: the time needed for acquisition motor vehicles arrival stop line:

T_t2=(L_d-L_dq)/V_s+T_tq；

Wherein L_dqFor the distance between front motor vehicles and the stop line adjacent with this motor vehicles, T_tqArrive for front motor vehicles and stop The only time required for line.

The method utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time the most according to claim 2, its Being characterised by, described detector uses detection radar, also comprises the steps: between step S11 and step S12

SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bit_b, Y_b) mark on electronic chart, and Actual instrumentation radar detector is to distance L of calibration mark_lbDistance L with calibration mark position to stop line_jt；

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

SA3: judge current detection error (X_c,Y_c) whether in setting threshold range, if then entering step S12, otherwise enter Step S18；

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

S121: utilize radar detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

S122: according to coordinate data and the actual seat of current detection error acquisition motor vehicles current location of motor vehicles current location Mark data: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

S18: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

The method utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time the most according to claim 2, its Being characterised by, described detector uses video tracking unit, also comprises the steps: between step S11 and step S12

SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation F_i, and Obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic chart, and the adjacent separation of each two Between distance L_fi；

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

Distance L that every one-row pixels between the adjacent separation of each two is corresponding_fi/H_h；

Or distance L that every string pixel between the adjacent separation of each two is corresponding_fi/C_l；

Enter step S12 afterwards；

Described step S13 specifically includes:

S13A: utilize video detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

S13B: according to the coordinate data (X of motor vehicles current location_d,Y_d) judge that motor vehicles current location is in video monitoring picture Any two adjacent separations between, and determine whether this coordinate data is to should which picture between adjacent separation Vegetarian refreshments or which row pixel；

S13C: according to the coordinate data (X of motor vehicles current location_d,Y_d), in conjunction with the phase para-position of each separation in practice Put the coordinate data (X of coordinate and motor vehicles current location_d,Y_d) distance corresponding to the every one-row pixels in region or each The distance that row pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current location_dj,Y_dj) actual range away from stop line.

The method utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time the most according to claim 4, its It is characterised by, also comprises the steps: between step SB2 and step S22

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

SB4: judge whether to detect the changing coordinates data (X of each calibration mark position_bd, Y_bd), if detecting, basis The each calibration mark position changing coordinates data detected and the actual coordinate data of this calibration mark position, obtain and this flag bit Corresponding detection error: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b), enter step SB5 afterwards；Otherwise enter step S18；

SB5: judge the detection error (X that each flag bit is corresponding_c,Y_c) whether in setting threshold range, if all calibration marks The detection error of position correspondence all then enters step S12 in setting threshold range；Otherwise enter step S18；

In step S13B, also comprise the steps: the coordinate data (X according to motor vehicles current location_d,Y_d) obtain with motor-driven The calibration mark position that spacing is nearest, using detection error the working as motor vehicles of the calibration mark position closest with motor vehicles Front detection error (X_c,Y_c)；

In step S13C, also comprise the steps: the coordinate data according to motor vehicles current location and current detection error, obtain The actual coordinate data of motor vehicles current location: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；

In step S16 and step S17, motor vehicles current location and the actual range L of stop line_dEqual to motor vehicles distance Near separation i.e. distance between calibration mark position and stop line is plus motor vehicles current location and this separation i.e. correcting mark Number of lines of pixels between will position or the distance representated by pixel columns；

S18: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

6. one kind utilizes the system that plane cognition technology reduces the signal lamp control crossroad waiting time, it is characterised in that including:

Plane perception detector, is arranged on the different directions of crossing, for the motor vehicles in each direction of monitoring in real time；

Data acquisition module, for obtaining the instantaneous velocity of the motor vehicles in each direction, each motor vehicles working as from its place Front position is to the running time required for stop line；

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

Second judge module, for when the judged result of the first judge module is for being, it is judged that whether second phase has parking etc. Treat the motor vehicles of green light signals or in preset time range, arrive the motor vehicles of stop line；

3rd judge module, for when the judged result of the second judge module is no, it is judged that whether first phase has motor vehicles By crossing, the most then keeping first phase is green light signals, until conversion is believed after the maximum green time of first phase arrives Signal lamp light color；If it is not, the green time then adjusting first phase is minimum green time；

4th judge module, for when the judged result of the second judge module is for being, it is judged that whether first phase has motor vehicles Pass through crossing；

Processing module, for when the judged result of the 4th judge module is for being, obtains current time second phase parking waiting Motor vehicles number of units I of green light and waiting time add and ∑ T_i, wherein T_iRefer to that i-th motor vehicles stops starting to again from meeting red light Secondary required time when running into green light, and 1≤i≤I；And if now the signal lights of first phase is converted to red light, then Motor vehicles number of units J and every the motor vehicles that do not pass through crossing in first phase wait until required for first phase green light signals again The summation ∑ T of time_j, wherein T_jRefer to that jth platform motor vehicles stops required time when beginning runs into green light again, and 1 from meeting red light ≤j≤J；Do not include that the time needed for the stop line of arrival crossing, current location is less than by the motor vehicles at crossing in first phase Whole motor vehicles of maximum green time；

5th judge module, is used for judging ∑ T_jWhether more than or equal to ∑ T_i；

6th judge module, for when the judged result of the 5th judge module is for being, judges whether first phase arrives maximum Green time, if then conversion signal lights light color；Otherwise keeping first phase is green light signals；

7th judge module, is used for when the judged result of the 4th judge module is no or the judged result of the 5th judge module is Time no, it is judged that whether first phase green time arrives minimum green time, if then conversion signal lights light color.

The system utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time the most according to claim 6, its It is characterised by:

Described data acquisition module includes:

Mark unit, for by the installation site coordinate data (X of plane perception detector_j,Y_j), the coordinate data of stop line (X_t,Y_t) mark on electronic chart；

Described mark unit, the actual coordinate data (X of motor vehicles current location that also will get_dj,Y_dj) mark electronically On figure；

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

L_d=(X_t,Y_t)-(X_dj,Y_dj)；

Described data capture unit, also obtains the instantaneous velocity V that motor vehicles is current_s=(L_q-L_d)/T_s, wherein L_qRefer to motor vehicles Distance between previous detection cycle and stop line；

Judging unit, is used for judging whether to have between motor vehicles and stop line other motor vehicles；

Described data capture unit, is additionally operable to obtain motor vehicles and arrives the time needed for stop line；When sentencing of described judging unit When disconnected result is no, the time needed for motor vehicles arrival stop line is T_t1=L_d/V_s；When the judged result of described judging unit is When being, motor vehicles arrives the time needed for stop line and is: T_t2=(L_d-L_dq)/V_s+T_tq；Wherein L_dqFor adjacent with this motor vehicles Distance between front motor vehicles and stop line, T_tqThe time required for stop line is arrived for front motor vehicles.

The system utilizing plane cognition technology to reduce the signal lamp control crossroad waiting time the most according to claim 7, its It is characterised by: described plane perception detector uses detection radar, and described data acquisition module also includes:

Described data capture unit, selected calibration mark position, and by the actual coordinate data (X of correction flag bit_b, Y_b) mark and arrive On electronic chart, and actual instrumentation radar detector is to distance L of calibration mark_lbDistance with calibration mark position to stop line L_jt；

Described judging unit, it may be judged whether the changing coordinates data (X of calibration mark position can be read_bd, Y_bd), if reading, root Current detection error is obtained: (X according to the changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position_c,Y_c)= (X_bd, Y_bd)-(X_b, Y_b)；Judge current detection error (X_c,Y_c) whether in setting threshold range；

In described data capture unit, including:

Radar data obtains subelement, utilizes radar detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

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

Alarm module, judges to read the changing coordinates data (X of calibration mark position at described judging unit_bd, Y_bd) time, send out Going out alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.

The system utilizing plane cognition technology to reduce junction machine motor-car stop frequency the most according to claim 6, its feature Being, described plane perception detector uses video tracking unit, and described data acquisition module also includes:

Lines mark unit, executes division diatom in the video monitoring range of video tracking unit, described lines is arranged There is separation F_i, and obtain the actual coordinate data (X of each separation_f, Y_f) and marked on electronic chart, and often Distance L between two adjacent separations_fi；

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

Distance L that every one-row pixels between the adjacent separation of each two is corresponding_fi/H_h；

Or distance L that every string pixel between the adjacent separation of each two is corresponding_fi/C_l；

Video data acquiring unit: utilize video detector to obtain the coordinate data (X of motor vehicles current location_d,Y_d)；

Vehicle position determines unit, according to the coordinate data (X of motor vehicles current location_d,Y_d) judge that motor vehicles current location exists Between any two adjacent separations in video monitoring picture, and determine whether that this coordinate data is to should adjacent separation Between which pixel or which row pixel；

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

The system utilizing plane cognition technology to reduce junction machine motor-car stop frequency the most according to claim 9, its feature Being, described data acquisition module also includes:

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

Detection data determining unit, it may be judged whether the changing coordinates data (X of each calibration mark position can be detected_bd, Y_bd), if Detect, according to each calibration mark position changing coordinates data detected and the actual coordinate data of this calibration mark position, Detection error to corresponding with this flag bit: (X_c,Y_c)=(X_bd, Y_bd)-(X_b, Y_b)；

Threshold decision unit, it is judged that the detection error (X that each flag bit is corresponding_c,Y_c) whether in setting threshold range；

Correction error selects unit, according to the coordinate data (X of motor vehicles current location_d,Y_d) obtain closest with motor vehicles Calibration mark position, using the detection error of the calibration mark position closest with motor vehicles as the current detection error of motor vehicles (X_c,Y_c)；

Described real data obtains subelement according to the coordinate data of motor vehicles current location and current detection error, it is thus achieved that motor-driven The actual coordinate data of car current location: (X_dj,Y_dj)=(X_d,Y_d)-(X_c,Y_c)；Wherein, motor vehicles current location and stop line Actual range L_dEqual to and the closest separation of motor vehicles i.e. distance between calibration mark position and stop line plus machine Number of lines of pixels between motor-car current location and this separation i.e. calibration mark position or the distance representated by pixel columns；

Alarm module, when detecting the judged result of data determining unit and being no or the judged result of threshold decision unit is no Time, sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.