CN106297330A - Reduce the method and system that plane perceptual signal control efficiency is affected by pedestrian's street crossing - Google Patents
Reduce the method and system that plane perceptual signal control efficiency is affected by pedestrian's street crossing Download PDFInfo
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Abstract
The method and system that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing of the present invention, first direction can be obtained and red parking number of times met by second direction motor vehicles, wait that number of times adjusts the control program of signal lights according to the red light of meeting in both direction.When ebb situation, in both direction, motor vehicles is met red parking and is waited that number of times is zero, then in the case of first direction signal lights is green light, and first direction crossing has pedestrian to pass through, extend the scintillation time of crossing green light；First direction signal lights is green light, first direction crossing does not has pedestrian to pass through, and in the case of having pedestrian in the Accreditation Waiting Area, street excessively at first direction crossing or waiting that the pedestrian in street exceeded setting threshold value, open the green light signals of crossing or extend the green light signals of crossing；Otherwise, then it is maintained red light or to put pedestrian crossing lamp is red light, so can reduce the pedestrian's street crossing impact on signal lights traffic efficiency.
Description
Technical field
The present invention relates to technical field of intelligent traffic, specifically a kind of pedestrian's street crossing that reduces controls effect to plane perceptual signal
The system of rate impact.
Background technology
Improve intersection signal control system efficiency, reduce green light lost time, reduce motor vehicles parking number of times, shorten and stop
Time, can ensure that again pedestrains safety is convenient has become problem of concern by crossing simultaneously, causes expert both domestic and external,
Person puts into great effort and studies, and limits owing to being now subjected to the detector technologies level of motor vehicles and pedestrian, makes minimizing row
People is current encounters bottleneck to the impact of plane perceptual signal control efficiency.
Reducing pedestrian's street crossing on one of system core problem that plane perceptual signal control efficiency affects is: how in ebb
Under control model state, when pedestrian's street crossing demand having been detected, can ensure that pedestrains safety is convenient by crossing required time, when
When detecting without pedestrian's street crossing demand, walker signal lamp red light can be maintained constant, when reducing the green light loss of motor vehicle signal lamp
Between.
Reducing pedestrian's street crossing on the two of the system core that plane perceptual signal control efficiency affects is: precisely determine current friendship
Logical state is belonging to ebb, Ping Feng or peak, and domestic and international current commonly used set time section determines it is currently that employing is low
Peak, Ping Feng or peak control strategy, the greatest problem that this mode exists is, the control strategy determined and actual traffic situation
Variant, thus cause Signalized control weak effect.
Summary of the invention
For solving above-mentioned technical problem, the present invention provides a kind of pedestrian's street crossing that reduces to plane perceptual signal control efficiency shadow
Ring system, can not only according to current automobile by crossing meet red light number of times determine current crossing whether be in peak,
Flat peak, ebb state, moreover it is possible to according to different road conditions, call corresponding control strategy, according to different control strategies, constantly
Adjusting and specifically control parameter, by detection real-time to pedestrian, reducing pedestrian's street crossing affects plane perceptual signal control efficiency, makes
The green light lost time of motor vehicles, motor vehicles meet red parking number of times minimize, traffic efficiency maximize.
The technical scheme that the present invention provides is as follows:
A kind of reduce the method that plane perceptual signal control efficiency is affected by pedestrian's street crossing, comprise the steps:
S1: the motor vehicles on direction each for crossing carries out plane to be followed the tracks of the most continuously, obtains each direction in real time
The quantity of motor vehicles, the instantaneous velocity of each motor vehicles, elaborate position, then judge when motor vehicles instantaneous velocity is continuously zero
Motor vehicles is in halted state；Tracing detection Accreditation Waiting Area pedestrian's quantity and crossing pedestrian's state；
S2: obtain to meet on first direction and meet the highest of red light in the highest parking waiting number of times K1 of red light and second direction and stop
Car waits number of times K2；
S3: judge the highest parking waiting number of times meeting red light of first direction and the highest parking meeting red light of second direction
Wait that number of times is the most equal, if equal, enter step S4, otherwise enter step S5；
S4: judge whether the highest stop frequency meeting red light is zero, if zero, then enter step S6；If it is not, then by signal
Cycle stretch-out；
S5: judge whether the highest parking waiting number of times of first direction chance red light is met the highest of red light more than second direction and stopped
Car waits number of times, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal lights in second direction
The split in cycle；
S6: call and reduce the control program that plane perception signal efficiency is controlled to affect by pedestrian's street crossing, specifically include:
First direction signal lights is green light, without pedestrian in Guo Jie Accreditation Waiting Area, first direction crossing, and first direction crossing
Lamp green light flashes, and in the case of first direction crossing has pedestrian to pass through, extends the flicker of crossing green light
Time passes through the rearmounted red light in crossing to pedestrian；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
Pedestrian is had to wait street in Accreditation Waiting Area, Kou Guo street, the green light signals opening crossing or the green light letter extending crossing
Number；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
In Accreditation Waiting Area, Kou Guo street in the case of N-free diet method street pedestrian, maintain or open crossing red light.
Specifically include in step s 2:
S21: set up transport condition table, records the transport condition of each motor vehicles, and described transport condition includes each
The parking waiting number of times of red light met before crossing stop line by motor vehicles；The most a certain motor vehicles writes described transport condition first
During table, the initial value of the parking waiting number of times meeting red light is zero；
S22: judge whether first direction is red light phase, if then entering step S23, otherwise enters step S24；
S23: revise described transport condition table:
For first direction, the stop frequency of existing motor vehicles is added 1, and obtain on first direction meet the highest of red light stop
Car waits number of times K1；
For second direction, the motor vehicles that will extend over stop line is removed from list；
S24: revise described transport condition table:
For first direction, the motor vehicles that will extend over stop line is removed from list；
For second direction, the parking waiting number of times meeting red light of existing motor vehicles is added 1, and obtain chance in second direction
The highest parking waiting number of times K2 of red light.
Plane described in described step S1 is followed the tracks of the most continuously and is comprised the steps:
S11: if arranging area detector on the different directions of crossing, described area detector is for carrying out motor vehicles even
Continuous tracking；By the detection range of described area detector, the position coordinate data (X of area detectorj,Yj) mark with warp
On the electronic chart of latitude；
S12: obtain the current detection error (X of area detectorc,Yc), it is judged that current detection error (Xc,Yc) whether exist
In setting threshold range, if then entering step S13, otherwise sending alarm signal, prompting cannot accurately obtain calibration mark position
Coordinate data；
S13: obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S14: according to coordinate data and the reality of current detection error acquisition motor vehicles current location of motor vehicles current location
Border coordinate data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Described area detector uses detection radar, obtains current detection error (X in described step S12c,Yc) step
Including:
SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark electronic chart
On, and actual instrumentation radar detector is to distance L of calibration marklbDistance with calibration mark position to signal lights position
Ljt；
SA2: judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), 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: (Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb)。
Described area detector uses video tracking unit, obtains current detection error (X in described step S12c,Yc)
Step includes:
SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation
Fi, it is thus achieved that the actual coordinate data (X of each separationf, Yf) and marked on electronic chart；
SB2: with the actual coordinate data (X of each separationf, Yf) as the actual coordinate data (X of calibration mark positionb,
Yb)；
SB3: judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), 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: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Also comprise the steps: between described step S13 and described step S14
Coordinate data (X according to motor vehicles current locationd,Yd) obtain the calibration mark position closest with motor vehicles, with
The detection error of the calibration mark position closest with motor vehicles is as the current detection error (X of motor vehiclesc,Yc)。
Described area detector is video tracking unit, and the plane described in step S1 is followed the tracks of the most continuously and included walking as follows
Rapid:
SC1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation
Fi, it is thus achieved that the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and adjacent point of each two
Distance L between boundary's pointfi；
SC2: obtain the monitoring image of lines in video monitoring picture, the most manually marks each separation Fi,
And obtain number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
SC3: obtain the coordinate data (X of motor vehicles current locationd,Yd)；
SC4: according to the coordinate data (X of motor vehicles current locationd,Yd) 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；
SC5: according to the coordinate data (X of motor vehicles current locationd,Yd), relative in conjunction with each separation in practice
Coordinate data (the X of position coordinates and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or every
The distance that string pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj)。
Based on same inventive concept, the present invention also provides for a kind of pedestrian's street crossing that reduces to plane perceptual signal control efficiency shadow
The system rung, including:
Tracking cell, the motor vehicles on direction each for crossing carries out plane to be followed the tracks of the most continuously, obtains each in real time
The quantity of the motor vehicles in direction, the instantaneous velocity of each motor vehicles, elaborate position, when motor vehicles instantaneous velocity is continuously zero
Then deteminate machine motor-car is in halted state；Tracing detection Accreditation Waiting Area pedestrian's quantity and crossing pedestrian's state；
Stop frequency acquiring unit, obtains in the highest parking waiting number of times K1 and the second direction of meeting red light on first direction
Meet the highest parking waiting number of times K2 of red light；
First judging unit, it is judged that the highest parking waiting number of times meeting red light of first direction and the chance red light of second direction
The highest parking waiting number of times the most equal；
Second judging unit, when the judged result of the first judging unit is for being, it is judged that meet the highest stop frequency of red light
Whether it is zero, if not zero, then will extend the signal period；
3rd judging unit, for when the judged result of the second judging unit is, it is judged that first direction meets red light
Whether high parking waiting number of times is more than second direction is met the highest parking waiting number of times of red light, believes if then increasing on first direction
The split in signal lamp cycle；If otherwise increasing the split of signal lamp cycle in second direction；
Signalized control unit, reduces, for calling, the controlling party that plane perception signal efficiency is controlled to affect by pedestrian's street crossing
Case, specifically includes:
First direction signal lights is green light, without pedestrian in Guo Jie Accreditation Waiting Area, first direction crossing, and first direction crossing
Lamp green light flashes, and in the case of first direction crossing has pedestrian to pass through, extends the flicker of crossing green light
Time passes through the rearmounted red light in crossing to pedestrian；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
Pedestrian is had to wait street in Accreditation Waiting Area, Kou Guo street, the green light signals opening crossing or the green light letter extending crossing
Number；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
In Accreditation Waiting Area, Kou Guo street in the case of N-free diet method street pedestrian, maintain or open crossing red light.
Stop frequency acquiring unit includes:
Transport condition logging modle, sets up transport condition table, records the transport condition of each motor vehicles, described traveling shape
State includes that the parking waiting number of times of red light met before crossing stop line by each motor vehicles；The most a certain motor vehicles writes first
During described transport condition table, the initial value of the parking waiting number of times meeting red light is zero；
Judge module, it is judged that whether first direction is red light phase；
Revision module, revises described transport condition table time in a first direction for red light:
For first direction, the stop frequency of existing motor vehicles is added 1, and obtain on first direction meet the highest of red light stop
Car waits number of times K1；
For second direction, the motor vehicles that will extend over stop line is removed from list；
Described transport condition table is revised when second direction is red light:
For first direction, the motor vehicles that will extend over stop line is removed from list；
For second direction, the parking waiting number of times meeting red light of existing motor vehicles is added 1, and obtain chance in second direction
The highest parking waiting number of times K2 of red light.
Tracking cell includes:
Area detector, is arranged on the different directions of crossing, for following the tracks of motor vehicles continuously；By described plane
The detection range of detector, the position coordinate data (X of area detectorj,Yj) mark on the electronic chart with longitude and latitude；
First processing unit, obtains the current detection error (X of area detectorc,Yc), it is judged that current detection error (Xc,
Yc) whether in setting threshold range, if then obtaining the coordinate data (X of motor vehicles current locationd,Yd), otherwise send warning
Signal, prompting cannot accurately obtain calibration mark position coordinate data；
Error acquiring unit, coordinate data and current detection error acquisition motor vehicles according to motor vehicles current location are current
The actual coordinate data of position: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Described area detector uses detection radar, and error acquiring unit includes:
It is designated selected subelement, selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark
Note on electronic chart, and actual instrumentation radar detector is to distance L of calibration marklbWith calibration mark position to signal lights place
Distance L of positionjt；
First processes subelement, it may be judged whether can read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading
Get, obtain current detection error according to the changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position:
(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)。
The technique scheme of the present invention compared with prior art, at least has the following technical effect that
(1) method and system that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing of the present invention, energy
Enough obtain first direction and red parking number of times met by second direction motor vehicles, wait number of times according to the chance red light in both direction
Adjust the control program of signal lights.Conventionally, pedestrian crosswalk signal lamp and car lane signal lights are same time-varying
Change, then the motor vehicles in section in rush hour, i.e. both direction is a lot, and the green light cycle all can not make motor vehicles ninety-nine times out of a hundred
All by crossing, at this moment pedestrian can be along with passing through in the red light cycle in motor vehicles track by crossing.If but low
Peak period, i.e. vehicles number in both direction is the most little, then if now according further to fixing periodic transformation signal lights
Will certainly bring the waste of green light signals, being likely to result in a direction does not has motor vehicles green light really, and another is the most organic
Motor-car red light to be waited, so ought to carry out the control of signal lights period in ebb according to the reality state of passing through of motor vehicles.
The solution of the present invention seeks to reduce pedestrian's impact on Signalized control efficiency in this case.When motor-driven in both direction
Car is met red parking and is waited that number of times is zero, i.e. during ebb situation, then first direction signal lights is green light, first direction crossing
Flashing without pedestrian, first direction pedestrian crossing lamp green light in crossing Accreditation Waiting Area, street, first direction crossing has pedestrian
In the case of Tong Hang, the scintillation time extending crossing green light passes through the rearmounted red light in crossing to pedestrian；First direction signal lights
For green light, first direction crossing does not has pedestrian to pass through, and has pedestrian in the Accreditation Waiting Area, street excessively at first direction crossing
Waited street, or in the case of wait number exceedes setting threshold value, and opened the green light signals of crossing or to extend People's Bank of China horizontal
The green light signals in road；First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first party
In the Accreditation Waiting Area, street excessively at crossing in the case of N-free diet method street pedestrian, maintain or open crossing red light.Such scheme
Core concept is, if in slack hours section, does not has pedestrian, also do not have the feelings of pedestrian on crossing in crossing Accreditation Waiting Area, street
Under condition, then just pedestrian crosswalk signal lamp is set to red light, because once first direction pedestrian crosswalk signal lamp becomes green light,
So no matter either with or without people by crossing, at least it is required for the pedestrian green light scintillation time by the minimum needed for crossing,
Following situation may will be there is: first direction: crossing does not has pedestrian, crosses Accreditation Waiting Area and do not have pedestrian, machine in this time
Motor-car road does not has motor vehicles yet, but but has motor vehicles to wait red light in second direction.The solution of the present invention, can be prevented effectively from this
The appearance of the situation of kind.
(2) method and system that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing of the present invention, when
When using radar detector, selecting calibration mark position on road surface, the physical location marking calibration mark position on electronic chart is sat
Mark, when detecting vehicle location, the coordinate data obtaining calibration mark position in real time compares with actual coordinate data,
When deviation when therebetween exceedes certain threshold value, send fault alarm information: one is to remind staff's on-call maintenance；Two are
It is Traditional control pattern by system degradation.When deviation therebetween is in threshold range, according to deviation value to collecting
Vehicle location coordinate is corrected, and therefore, even if detector there occurs shake, also can guarantee that the vehicle location of final acquisition is sat
Mark data and speed are accurately.
(3) method and system that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing of the present invention, when
Use video detector time, due to video detector detect different distance scene time, two the most adjacent row pixels or
The distance represented between two row pixels differs.Because in video pictures, in-plant video image ratio is with remote
Video image ratio is different, therefore, in this application, according to the physical length size of the lines on road surface, by manually
The separation arranged on video pictures is as calibration mark position, no matter when separation is in remote position with in-plant
During position, the distance of each separation to stop line is known, and is the most accurately, simply the scene phase of different distance
Number of lines of pixels between adjacent separation is different with columns, and the distance of representative is different, by this method, can significantly carry
The precision of its detection position high, obtains motor vehicles currently accurate instantaneous velocity accurately.
(4) method and system that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing of the present invention, when
When detector uses video detector, if video detector there occurs the positional information that shake causes video detector to detect
There occurs skew, owing to each separation is calibration mark position, the most no matter which two separation motor vehicles is between,
The correction error of calibration mark position can be obtained according to the separation that longitudinal maneuver car is nearest.In this programme, by whole video
The monitoring distance of picture divide into some sections with separation, and the distance of every section is the most comparatively short, therefore uses between two separations
Range deviation the position of motor vehicles is corrected, speed data the most accurately can be obtained.
Accompanying drawing explanation
Fig. 1 is that described in one embodiment of the invention, plane perceptual signal control efficiency is affected by a kind of pedestrian's street crossing that reduces
System flow chart；
Fig. 2 is the schematic diagram at the crossing of Signalized control described in one embodiment of the invention；
Fig. 3 is to reduce the flow chart that the control program of red light number of times met by motor vehicles described in one embodiment of the invention；
Fig. 4 is the end points executing the lines drawn on road described in the one embodiment of the invention schematic diagram as separation；
Fig. 5 is the testing result schematic diagram in Video Detection picture described in one embodiment of the invention；
Fig. 6 is to reduce the system that plane perceptual signal control efficiency is affected by pedestrian's street crossing described in one embodiment of the invention
Theory diagram.
Detailed description of the invention
Embodiment 1
The present embodiment provides a kind of and reduces the method that plane perceptual signal control efficiency is affected by pedestrian's street crossing, such as Fig. 1 institute
Show, comprise the steps:
S1: the motor vehicles on direction each for crossing carries out plane to be followed the tracks of the most continuously, obtains each direction in real time
The quantity of motor vehicles, the instantaneous velocity of each motor vehicles, elaborate position, then judge when motor vehicles instantaneous velocity is continuously zero
Motor vehicles is in halted state；Tracing detection Accreditation Waiting Area pedestrian's quantity and crossing pedestrian's state；
S2: obtain to meet on first direction and meet the highest of red light in the highest parking waiting number of times K1 of red light and second direction and stop
Car waits number of times K2；
S3: judge the highest parking waiting number of times meeting red light of first direction and the highest parking meeting red light of second direction
Wait that number of times is the most equal, if equal, enter step S4, otherwise enter step S5；
S4: judge whether the highest stop frequency meeting red light is zero, if zero, then enter step S6；If it is not, then by signal
Cycle stretch-out；The described prolongation signal period, refer to all extend the signal lamp cycle of first direction and second direction, the most former
In the case of Laiing, the first direction signal lights reddish yellow green whole cycle is 20 seconds, and the second all-clear lamp reddish yellow green whole cycle was
20 seconds, then both direction signal lamp cycle can all be extended to 30 seconds by this step, certainly when extending, be to have a limit
Value, it is impossible to indefinite extension, the longest situation single directional signal light cycle is less than 120 seconds.
S5: judge whether the highest parking waiting number of times of first direction chance red light is met the highest of red light more than second direction and stopped
Car waits number of times, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal lights in second direction
The split in cycle；
S6: call and reduce the control program that plane perception signal efficiency is controlled to affect by pedestrian's street crossing, specifically include:
First direction signal lights is green light, without pedestrian in Guo Jie Accreditation Waiting Area, first direction crossing, and first direction crossing
Lamp green light flashes, and in the case of first direction crossing has pedestrian to pass through, extends the flicker of crossing green light
Time passes through the rearmounted red light in crossing to pedestrian；First direction signal lights is green light, and first direction crossing does not has pedestrian
Current, and first direction crossing cross Accreditation Waiting Area, street in have pedestrian to wait street, open crossing green light signals or
Extend the green light signals of crossing；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
In Accreditation Waiting Area, Kou Guo street in the case of N-free diet method street pedestrian, maintain or open crossing red light.
It should be noted that whether prior art has pedestrian, in Accreditation Waiting Area, street excessively for how to detect on crossing
Whether there is pedestrian to wait street, be possible to, and if to control pedestrian crosswalk signal lamp be green light, red light, motor-driven
Car lane signal lamp is green light and red light, and prior art all can be used to realize, because being not that present invention is wanted
Point, is therefore not described in detail.
In such scheme, when in both direction, motor vehicles chance red parking waits that number of times is zero i.e. ebb situation, that
In the case of first direction signal lights is green light, and first direction crossing has pedestrian to pass through, extend People's Bank of China horizontal
The scintillation time of road green light；First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and the
In the case of waiting that the pedestrian in street exceeded setting threshold value in the Accreditation Waiting Area, street excessively in one crossing, direction, open the green light of crossing
Signal or the green light signals of prolongation crossing；First direction signal lights is green light, and first direction crossing does not has pedestrian
Pass through, and first direction crossing cross in Accreditation Waiting Area, street the pedestrian waiting street less than setting threshold value in the case of,
Open crossing red light.The core concept of such scheme is, if in slack hours section, does not go in crossing Accreditation Waiting Area, street
People, in the case of not having pedestrian on crossing yet, then just pedestrian crosswalk signal lamp is set to red light, because once
One direction pedestrian crosswalk signal lamp becomes green light, then no matter either with or without people by crossing, be at least required for one minimum green
In the modulating signal cycle, may will there is following situation in this cycle: first direction: crossing does not has pedestrian, crosses Accreditation Waiting Area
Do not have pedestrian, car lane there is no motor vehicles, but in second direction, but have motor vehicles to wait red light.The solution of the present invention, can
It is prevented effectively from the appearance of this situation.
Further, as it is shown on figure 3, specifically include in step s 2:
S21: set up transport condition table, records the transport condition of each motor vehicles, and described transport condition includes each
The parking waiting number of times of red light met before crossing stop line by motor vehicles；The most a certain motor vehicles writes described transport condition first
During table, the initial value of the parking waiting number of times meeting red light is zero；
S22: judge whether first direction is red light phase, if then entering step S23, otherwise enters step S24；
S23: revise described transport condition table:
For first direction, the stop frequency of existing motor vehicles is added 1, and obtain on first direction meet the highest of red light stop
Car waits number of times K1；
For second direction, the motor vehicles that will extend over stop line is removed from list；
S24: revise described transport condition table:
For first direction, the motor vehicles that will extend over stop line is removed from list；
For second direction, the parking waiting number of times meeting red light of existing motor vehicles is added 1, and obtain chance in second direction
The highest parking waiting number of times K2 of red light.
In the present embodiment, described transport condition table can enter shown in table 1:
Table 1-transport condition table
Motor vehicles on two of which direction can write in same form, uses the form of 1-n to represent first party
N-th motor vehicles upwards；The form using 2-m represents the m motor vehicles of second direction.Two forms can also be arranged divide
Ji Lu motor vehicles in both direction.And the numbering of motor vehicles can be drafted voluntarily according to practical situation, it is therefore an objective to by motor-driven
Car vehicle makes a distinction.And, it is clear that the motor vehicles most for wait red light number of times must be to pass through crossing at first
Motor vehicles, therefore waits that number of times can't unconfined be incremented by down, after a certain motor vehicles passes through crossing under green light phase
Just can remove from above table, and while removing, the numbering that this motor vehicles is corresponding also discharges can be for newly entering
Motor vehicles in form uses.Due in the present embodiment, it is possible to use plane to follow the tracks of each motor vehicles continuously, therefore, it is possible to accurate
Really obtain the transport condition of each motor vehicles, and whether signal lights is that red light can directly be obtained by traffic signal control
, whether therefore can directly obtain at motor vehicles because waiting that red light stops, owing to precisely obtaining the position of motor vehicles
Putting, it is possible to obtain whether motor vehicles meets red parking wait after stop line, therefore the such scheme of the present embodiment can be accurate
Obtain the number of times that each motor vehicles stops after stop line because meeting red light.
And meet red parking number of times according to motor vehicles and be adjusted being in prior art to cycle and the split of signal lights
Existing scheme, is not described in detail in the present embodiment.
Embodiment 2
The present embodiment, on the basis of embodiment 1, improves as follows, and the plane described in step S1 is followed the tracks of the most continuously
Comprise the steps:
S11: some area detectors are set on crossing, described area detector for motor vehicles carried out continuously with
Track；The detection range of described detector, the section, upstream of signal lights, the downstream road section of signal lights are marked with longitude and latitude
On electronic chart, and by the position coordinate data (X of detectorj,Yj), the position coordinate data (X of signal lightsx,Yx) mark and arrive
On electronic chart；
S12: obtain the current detection error (X of detectorc,Yc), it is judged that current detection error (Xc,Yc) whether setting
In threshold range, if then entering step S13, otherwise sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate
Data, return step S1 after signal lights is set to green light afterwards；
S13: obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S14: according to coordinate data and the reality of current detection error acquisition motor vehicles current location of motor vehicles current location
Border coordinate data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Specifically include situations below:
In the case of described detector uses detection radar, described step S12 obtains current detection error (Xc,Yc)
Step includes:
SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark electronic chart
On, and actual instrumentation radar detector is to distance L of calibration marklbDistance with calibration mark position to signal lights position
Ljt；Calibration mark position can be the position at the fixed signal thing place arranged on road surface, such as display board, overline bridge bridge, electric wire
Bars etc., these objects will not be subjected to displacement easily.
SA2: judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), 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: (Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb)。
Electronic chart marks the actual position coordinate of calibration mark position, when vehicle location is detected, in real time
The coordinate data obtaining calibration mark position compares with actual coordinate data, and the deviation when therebetween exceedes certain threshold value
Time, send fault alarm information and remind staff.When deviation therebetween is in threshold range, according to deviation value to adopting
Collect to vehicle location coordinate be corrected, therefore, even if detector there occurs shake, also can guarantee that the vehicle of final acquisition
Position coordinate data is accurately.
When described detector uses the situation of video tracking unit, described step S12 obtains current detection error (Xc,
Yc) step include:
SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation
Fi, it is thus achieved that the actual coordinate data (X of each separationf, Yf) and marked on electronic chart；It is illustrated in figure 3 one side
Case, executes the end points of the lines drawn as separation on road.Because lines are dashed line form, long for solid line therein
Degree and blank space all have regulation, generally a length of 2 meters of solid line, and blank space is 4 meters, if therefore directly with
Two end points of solid line as separation, are then readily available the coordinate figure of each separation, as shown in FIG. F1 and F2 it
Between distance be 2 meters, the distance between F2 and F3 is 4 meters, and the distance between F3 and F4 is two meters.
SB2: with the actual coordinate data (X of each separationf, Yf) as the actual coordinate data (X of calibration mark positionb,
Yb)。
SB3: judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), 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: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Also comprise the steps: between described step S13 and described step S14
Coordinate data (X according to motor vehicles current locationd,Yd) obtain the calibration mark position closest with motor vehicles, with
The detection error of the calibration mark position closest with motor vehicles is as the current detection error (X of motor vehiclesc,Yc)。
In the present embodiment, using each separation as calibration mark position, no matter motor vehicles current location is at which, all
It can be determined immediately that the calibration mark position closest with motor vehicles, utilize the detection error of this calibration mark position to motor vehicles
Position be corrected so as to get the actual position coordinate of motor vehicles more accurate, thus wink that the motor vehicles that accurately obtains is current
Shi Sudu.
Described detector is that the situation of video tracking unit also includes, the plane described in step S1 follows the tracks of bag the most continuously
Include following steps:
SC1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation
Fi, it is thus achieved that the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and adjacent point of each two
Distance L between boundary's pointfi；
SC2: obtain the monitoring image of lines in video monitoring picture, the most manually marks each separation Fi,
And obtain number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
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.
SC3: obtain the coordinate data (X of motor vehicles current locationd,Yd)；
SC4: according to the coordinate data (X of motor vehicles current locationd,Yd) 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；
SC5: according to the coordinate data (X of motor vehicles current locationd,Yd), relative in conjunction with each separation in practice
Coordinate data (the X of position coordinates and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or every
The distance that string pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj)。
Assuming current time, motor vehicles is between F5 and F6, and the actual coordinate of two separations of F5 and F6 can be surveyed
Measure, be position coordinates the most accurately, then as long as to obtain the distance between motor vehicles and F5 or F6 the most permissible for we
Obtain the position coordinates that motor vehicles is currently practical.Because we have obtained, between F5 and F6, have 7 row pixels, every a line picture
Distance represented by element is 0.286 meter, if now motor vehicles is 4 row pixels with the spacing of F5, and the distance between F6 is 3
Row pixel, then can obtain the distance between motor vehicles and F6 is 0.2863=0.858 rice, then the position that motor vehicles is actual is sat
Distance between mark and F6 is 0.858 meter, by calculating the actual position coordinate that i.e. can get motor vehicles.
Embodiment 3
The present embodiment provides a kind of can reduce the system that plane perceptual signal control efficiency is affected by pedestrian's street crossing, such as Fig. 6
Shown in, including:
Tracking cell 1, the motor vehicles on direction each for crossing carries out plane to be followed the tracks of the most continuously, obtains each in real time
The quantity of the motor vehicles in direction, the instantaneous velocity of each motor vehicles, elaborate position, when motor vehicles instantaneous velocity is continuously zero
Then deteminate machine motor-car is in halted state；Tracing detection Accreditation Waiting Area pedestrian's quantity and crossing pedestrian's state；
Stop frequency acquiring unit 2, obtains the highest parking waiting number of times K1 and the second direction meeting red light on first direction
The highest parking waiting number of times K2 of upper chance red light；
First judging unit 3, it is judged that the highest parking waiting number of times meeting red light of first direction is red with the chance of second direction
The highest parking waiting number of times of lamp is the most equal；
Second judging unit 4, when the judged result of the first judging unit 3 is for being, it is judged that meet the highest parking time of red light
Whether number is zero, if not zero, then will extend the signal period；
3rd judging unit 5, for when the judged result of the second judging unit 4 is, it is judged that first direction meets red light
Whether the highest parking waiting number of times is more than second direction is met the highest parking waiting number of times of red light, if then increasing on first direction
The split of signal lamp cycle；If otherwise increasing the split of signal lamp cycle in second direction；
Signalized control unit 6, reduces, for calling, the control that plane perception signal efficiency is controlled to affect by pedestrian's street crossing
Scheme, specifically includes:
First direction signal lights is green light, without pedestrian in Guo Jie Accreditation Waiting Area, first direction crossing, and first direction crossing
Lamp green light flashes, and in the case of first direction crossing has pedestrian to pass through, extends the flicker of crossing green light
Time passes through the rearmounted red light in crossing to pedestrian；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
Pedestrian is had to wait street in Accreditation Waiting Area, Kou Guo street, the green light signals opening crossing or the green light letter extending crossing
Number；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction road
In Accreditation Waiting Area, Kou Guo street in the case of N-free diet method street pedestrian, maintain or open crossing red light.
In such scheme, when ebb situation, in both direction, motor vehicles is met red parking and is waited that number of times is zero, then
In the case of first direction signal lights is green light, and first direction crossing has pedestrian to pass through, extend crossing
The scintillation time of green light；First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first
In the case of waiting that the pedestrian in street exceeded setting threshold value in the Accreditation Waiting Area, street excessively at crossing, direction, open the green light letter of crossing
Number or extend crossing green light signals；First direction signal lights is green light, and first direction crossing does not has pedestrian just
Current, and first direction crossing cross Accreditation Waiting Area, street in waited that the pedestrian in street was less than setting threshold value in the case of, open
Open crossing red light.The core concept of such scheme is, if in slack hours section, does not has pedestrian in crossing Accreditation Waiting Area, street,
In the case of crossing does not has pedestrian yet, then just pedestrian crosswalk signal lamp is set to red light, because once first
Direction pedestrian crosswalk signal lamp becomes green light, then no matter passes through crossing either with or without people, is at least required for a minimum green light
Signal period, may will there is following situation in this cycle: first direction: crossing does not has pedestrian, crosses Accreditation Waiting Area and do not have
There are pedestrian, car lane there is no motor vehicles, but in second direction, but have motor vehicles to wait red light.The solution of the present invention, can have
Effect avoids the appearance of this situation.
Preferably, transport condition logging modle, set up transport condition table, record the transport condition of each motor vehicles, institute
State transport condition and include that the parking waiting number of times of red light met before crossing stop line by each motor vehicles；The most a certain motor vehicles
When writing described transport condition table first, the initial value of the parking waiting number of times meeting red light is zero；
Judge module, it is judged that whether first direction is red light phase；
Revision module, revises described transport condition table time in a first direction for red light:
For first direction, the stop frequency of existing motor vehicles is added 1, and obtain on first direction meet the highest of red light stop
Car waits number of times K1；
For second direction, the motor vehicles that will extend over stop line is removed from list；
Described transport condition table is revised when second direction is red light:
For first direction, the motor vehicles that will extend over stop line is removed from list；
For second direction, the parking waiting number of times meeting red light of existing motor vehicles is added 1, and obtain chance in second direction
The highest parking waiting number of times K2 of red light.
It is further preferred that the first processing unit, obtain the current detection error (X of area detectorc,Yc), it is judged that current
Detection error (Xc,Yc) whether in setting threshold range, if then obtaining the coordinate data (X of motor vehicles current locationd,Yd),
Otherwise sending alarm signal, prompting cannot accurately obtain calibration mark position coordinate data；
Error acquiring unit, coordinate data and current detection error acquisition motor vehicles according to motor vehicles current location are current
The actual coordinate data of position: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
As a kind of attainable mode, described area detector uses detection radar, and error acquiring unit includes:
It is designated selected subelement, selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark
Note on electronic chart, and actual instrumentation radar detector is to distance L of calibration marklbWith calibration mark position to signal lights place
Distance L of positionjt；
First processes subelement, it may be judged whether can read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading
Get, obtain current detection error according to the changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position:
(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)。
As another kind of attainable mode, described area detector uses video tracking unit, error acquiring unit bag
Include:
Lines obtain subelement, execute division diatom, described lines in the video monitoring range of video tracking unit
On be provided with separation Fi, it is thus achieved that the actual coordinate data (X of each separationf, Yf) and marked on electronic chart；
Second processes subelement, with the actual coordinate data (X of each separationf, Yf) as the actual seat of calibration mark position
Mark data (Xb, Yb)；Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting
Then according to each calibration mark position changing coordinates data detected and the actual coordinate data of this calibration mark position, obtain and be somebody's turn to do
The detection error that flag bit is corresponding: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；Coordinate data (X according to motor vehicles current locationd,
Yd) obtain the calibration mark position closest with motor vehicles, with the detection error of the calibration mark position closest with motor vehicles
Current detection error (X as motor vehiclesc,Yc)。
When the another kind of implementation that described area detector is video tracking unit, described detection module includes:
Separation obtains subelement, executes division diatom, described lines in the video monitoring range of video tracking unit
On be provided with separation Fi, it is thus achieved that the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, with
And distance L between the adjacent separation of each twofi；
Pel spacing subelement, obtains the monitoring image of lines in video monitoring picture, and artificial mark is each successively
Individual separation Fi, and obtain number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
3rd processes subelement, obtains the coordinate data (X of motor vehicles current locationd,Yd)；According to motor vehicles current location
Coordinate data (Xd,Yd) judge between which two the adjacent separation in video monitoring picture of motor vehicles current location, and
Determine whether that this coordinate data is to should which pixel between adjacent separation or which row pixel；According to motor-driven
Coordinate data (the X of car current locationd,Yd), in conjunction with relative position coordinates and the motor vehicles of each separation in practice
Coordinate data (the X of current locationd,Yd) distance corresponding to the every one-row pixels in region or distance corresponding to every string pixel,
Obtain the actual coordinate data (X of motor vehicles current locationdj,Ydj)。
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 is reduced the method that plane perceptual signal control efficiency is affected by pedestrian's street crossing, it is characterised in that include walking as follows
Rapid:
S1: the motor vehicles on direction each for crossing carries out plane to be followed the tracks of the most continuously, obtains the motor-driven of each direction in real time
The quantity of car, the instantaneous velocity of each motor vehicles, elaborate position, then judge motor-driven when motor vehicles instantaneous velocity is continuously zero
Car is in halted state；Tracing detection Accreditation Waiting Area pedestrian's quantity and crossing pedestrian's state；
S2: the highest parking waiting number of times K1 of chance red light and the highest parking etc. of chance red light in second direction on acquisition first direction
Treat number of times K2；
S3: judge the highest parking waiting number of times meeting red light of first direction and the highest parking waiting meeting red light of second direction
Number of times is the most equal, if equal, enter step S4, otherwise enters step S5；
S4: judge whether the highest stop frequency meeting red light is zero, if zero, then enter step S6；If it is not, then by the signal period
Extend；
S5: judge whether the highest parking waiting number of times of first direction chance red light is more than second direction and meets the highest parking etc. of red light
Treat number of times, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal lamp cycle in second direction
Split；
S6: call and reduce the control program that plane perception signal efficiency is controlled to affect by pedestrian's street crossing, specifically include:
First direction signal lights is green light, and without pedestrian in Guo Jie Accreditation Waiting Area, first direction crossing, first direction pedestrian crossing lamp is green
Lamp flashes, and in the case of first direction crossing has pedestrian to pass through, extends the scintillation time of crossing green light
To pedestrian by the rearmounted red light in crossing；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction crossing
There is pedestrian to wait street in crossing Accreditation Waiting Area, street, open the green light signals of crossing or extend the green light signals of crossing；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction crossing
Cross in Accreditation Waiting Area, street in the case of N-free diet method street pedestrian, maintain or open crossing red light.
The method that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 1, its feature
It is, specifically includes in step s 2:
S21: set up transport condition table, records the transport condition of each motor vehicles, described transport condition include each motor-driven
The parking waiting number of times of red light met before crossing stop line by car；The most a certain motor vehicles writes described transport condition table first
Time, the initial value of the parking waiting number of times meeting red light is zero；
S22: judge whether first direction is red light phase, if then entering step S23, otherwise enters step S24；
S23: revise described transport condition table:
For first direction, the stop frequency of existing motor vehicles is added 1, and obtain the highest parking etc. meeting red light on first direction
Treat number of times K1；
For second direction, the motor vehicles that will extend over stop line is removed from list；
S24: revise described transport condition table:
For first direction, the motor vehicles that will extend over stop line is removed from list；
For second direction, the parking waiting number of times meeting red light of existing motor vehicles is added 1, and obtain chance red light in second direction
The highest parking waiting number of times K2.
The method that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 1 and 2, it is special
Levy and be,
Plane described in described step S1 is followed the tracks of the most continuously and is comprised the steps:
S11: if arranging area detector on the different directions of crossing, described area detector for motor vehicles carried out continuously with
Track；By the detection range of described area detector, the position coordinate data (X of area detectorj,Yj) mark with longitude and latitude
Electronic chart on；
S12: obtain the current detection error (X of area detectorc,Yc), it is judged that current detection error (Xc,Yc) whether setting threshold
In the range of value, if then entering step S13, otherwise sending alarm signal, prompting cannot accurately obtain calibration mark position number of coordinates
According to；
S13: obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S14: according to coordinate data and the actual seat of current detection error acquisition motor vehicles current location of motor vehicles current location
Mark data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
The method that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 3, its feature
Being, described area detector uses detection radar, obtains current detection error (X in described step S12c,Yc) step bag
Include:
SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark on electronic chart, and
Actual instrumentation radar detector is to distance L of calibration marklbDistance L with calibration mark position to signal lights positionjt；
SA2: judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), 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: (Xc,Yc)=(Xbd,
Ybd)-(Xb, Yb)。
The method that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 3, its feature
Being, described area detector uses video tracking unit, obtains current detection error (X in described step S12c,Yc) step
Including:
SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation Fi, obtain
Obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart；
SB2: with the actual coordinate data (X of each separationf, Yf) as the actual coordinate data (X of calibration mark positionb, Yb)；
SB3: judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), 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: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Also comprise the steps: between described step S13 and described step S14
Coordinate data (X according to motor vehicles current locationd,Yd) obtain the calibration mark position closest with motor vehicles, with machine
The detection error of the calibration mark position that motor-car is closest is as the current detection error (X of motor vehiclesc,Yc)。
The method that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 3, its feature
Being, described area detector is video tracking unit, and the plane described in step S1 is followed the tracks of the most continuously and comprised the steps:
SC1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation Fi, obtain
Obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and the adjacent separation of each two it
Between distance Lfi；
SC2: obtain the monitoring image of lines in video monitoring picture, the most manually marks each separation Fi, and obtain
Number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
SC3: obtain the coordinate data (X of motor vehicles current locationd,Yd)；
SC4: according to the coordinate data (X of motor vehicles current locationd,Yd) 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；
SC5: according to the coordinate data (X of motor vehicles current locationd,Yd), in conjunction with the relative position of each separation in practice
Coordinate data (the X of coordinate and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or every string
The distance that pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj)。
7. one kind is reduced the system that plane perceptual signal control efficiency is affected by pedestrian's street crossing, it is characterised in that including:
Tracking cell, the motor vehicles on direction each for crossing carries out plane to be followed the tracks of the most continuously, obtains each direction in real time
The quantity of motor vehicles, the instantaneous velocity of each motor vehicles, elaborate position, then sentence when motor vehicles instantaneous velocity is continuously zero
Determine motor vehicles and be in halted state；Tracing detection Accreditation Waiting Area pedestrian's quantity and crossing pedestrian's state；
Stop frequency acquiring unit, obtain meet on first direction meet in the highest parking waiting number of times K1 of red light and second direction red
The highest parking waiting number of times K2 of lamp；
First judging unit, it is judged that the highest parking waiting number of times and the second direction of meeting red light of first direction meet red light
High parking waiting number of times is the most equal；
Second judging unit, when the judged result of the first judging unit is for being, it is judged that whether the highest stop frequency of chance red light
It is zero, if not zero, then will extend the signal period；
3rd judging unit, for when the judged result of the second judging unit is, it is judged that first direction is met the highest of red light and stopped
Car waits whether number of times is more than second direction and meets the highest parking waiting number of times of red light, if then increasing signal lights on first direction
The split in cycle；If otherwise increasing the split of signal lamp cycle in second direction；
Signalized control unit, reduces, for calling, the control program that plane perception signal efficiency is controlled to affect by pedestrian's street crossing,
Specifically include:
First direction signal lights is green light, and without pedestrian in Guo Jie Accreditation Waiting Area, first direction crossing, first direction pedestrian crossing lamp is green
Lamp flashes, and in the case of first direction crossing has pedestrian to pass through, extends the scintillation time of crossing green light
To pedestrian by the rearmounted red light in crossing；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction crossing
There is pedestrian to wait street in crossing Accreditation Waiting Area, street, open the green light signals of crossing or extend the green light signals of crossing；
First direction signal lights is green light, and first direction crossing does not has pedestrian to pass through, and first direction crossing
Cross in Accreditation Waiting Area, street in the case of N-free diet method street pedestrian, maintain or open crossing red light.
The system that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 7, its feature
Being, stop frequency acquiring unit includes:
Transport condition logging modle, sets up transport condition table, records the transport condition of each motor vehicles, described transport condition bag
Include each motor vehicles before crossing stop line, meet the parking waiting number of times of red light；The most a certain motor vehicles writes described first
During transport condition table, the initial value of the parking waiting number of times meeting red light is zero；
Judge module, it is judged that whether first direction is red light phase；
Revision module, revises described transport condition table time in a first direction for red light:
For first direction, the stop frequency of existing motor vehicles is added 1, and obtain the highest parking etc. meeting red light on first direction
Treat number of times K1；
For second direction, the motor vehicles that will extend over stop line is removed from list；
Described transport condition table is revised when second direction is red light:
For first direction, the motor vehicles that will extend over stop line is removed from list；
For second direction, the parking waiting number of times meeting red light of existing motor vehicles is added 1, and obtain chance red light in second direction
The highest parking waiting number of times K2.
9. the system affected plane perceptual signal control efficiency according to the minimizing pedestrian's street crossing described in claim 7 or 8, it is special
Levying and be, tracking cell includes:
Area detector, is arranged on the different directions of crossing, for following the tracks of motor vehicles continuously；By described plane monitoring-network
The detection range of device, the position coordinate data (X of area detectorj,Yj) mark on the electronic chart with longitude and latitude；
First processing unit, obtains the current detection error (X of area detectorc,Yc), it is judged that current detection error (Xc,Yc) be
No in setting threshold range, if then obtaining the coordinate data (X of motor vehicles current locationd,Yd), otherwise send alarm signal,
Prompting cannot accurately obtain calibration mark position coordinate data；
Error acquiring unit, coordinate data and current detection error according to motor vehicles current location obtain motor vehicles current location
Actual coordinate data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
The method that plane perceptual signal control efficiency is affected by minimizing pedestrian's street crossing the most according to claim 9, its feature
Being, described area detector uses detection radar, and error acquiring unit includes:
It is designated selected subelement, selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark and arrive
On electronic chart, and actual instrumentation radar detector is to distance L of calibration marklbWith calibration mark position to signal lights position
Distance Ljt；
First processes subelement, it may be judged whether can read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading,
Changing coordinates data according to calibration mark position and the actual coordinate data of calibration mark position obtain current detection error: (Xc,Yc)
=(Xbd, Ybd)-(Xb, Yb)。
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| CN112907991A (en) * | 2021-02-03 | 2021-06-04 | 长安大学 | Traffic light signal time delay method, device, equipment and medium for courtesy pedestrians |
| CN113239725A (en) * | 2021-04-04 | 2021-08-10 | 北方工业大学 | Method and system for identifying pedestrians waiting for crossing and crossing direction |
| CN113239725B (en) * | 2021-04-04 | 2023-07-21 | 北方工业大学 | Pedestrian waiting for crossing and crossing direction recognition method and system |
| CN113963556A (en) * | 2021-12-02 | 2022-01-21 | 安徽达尔智能控制系统股份有限公司 | Urban intersection pedestrian safety guide system and method based on 5G V2X signal machine |
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