CN106683433A

CN106683433A - Intersection traffic signal lamp system of intelligent traffic camera system

Info

Publication number: CN106683433A
Application number: CN201610157409.3A
Authority: CN
Inventors: 苏晓峰; 苏以捷; 杨伦; 彭俊; 吴逸凡; 张程
Original assignee: Czech Republic Shenzhen City Creative Technology Ltd
Current assignee: Czech Republic Shenzhen City Creative Technology Ltd
Priority date: 2015-11-06
Filing date: 2016-03-18
Publication date: 2017-05-17
Also published as: EP3370214A4; WO2017157020A1; CN106683434A; EP3370214A1; CN106683430A; WO2017157021A1; WO2017157018A1; CN106683425A; CN106683423A; CN106683424A; CN106683427A; CN106683428A; WO2017157019A1; CN106683429A

Abstract

An embodiment of the invention discloses an intersection traffic signal lamp system. The intersection traffic signal lamp system includes a signal sender, a main controller, an intersection traffic signal lamp array and a first branch controller used for driving the intersection traffic signal lamp array. The intersection traffic signal lamp array is connected with the first branch controller. The signal sender is connected with the main controller. The intersection traffic signal lamp array includes Nxi transverse ground traffic signal lamp units. The Nxi transverse ground traffic signal lamp units includes crosswise ground traffic signal lamp units pxi arranged at intersection safety line positions of entrance lanes xi of a grade intersection. The Nxi transverse ground traffic signal lamp units also include crosswise ground traffic signal lamp units qxi arranged at stop lines positions of the entrance lanes xi. Each crosswise ground traffic signal lamp unit among the Nxi crosswise ground traffic signal lamp units includes at least one signal lamp. The technical scheme provided by the invention is beneficial to improvement of traffic efficiency and safety controllability of the grade interaction.

Description

Intelligent electronic police intersection traffic signal lamp system

Technical Field

The application relates to the technical field of traffic electronics, in particular to a crossing traffic signal lamp system which can be applied to an intelligent electronic police or other related systems.

Background

Currently, with the acceleration of the urbanization process and the improvement of the living standard of people, the number of motor vehicles in a large city tends to increase year by year, and further, the problem of more and more serious traffic jam is caused.

Urban traffic congestion has caused certain influence on daily trips of people, and even restricts economic development to a certain extent. Therefore, how to "cure the blockage" becomes a hot topic to be researched by many engineers. For example, how to improve the vehicle passing efficiency and safety controllability at a plane intersection is a very worthy technical subject.

Disclosure of Invention

The embodiment of the application provides an intersection traffic signal lamp system which can be applied to an intelligent electronic police or other related systems.

The first aspect of the application provides an intersection traffic signal lamp system, which comprises an annunciator, an intersection traffic signal lamp array, a main controller, a second branch controller and a first branch controller for driving the intersection traffic signal lamp array, wherein the intersection traffic signal lamp array is connected with the first branch controller, the annunciator is connected with the main controller, and the main controller is respectively connected with the first branch controller and the second branch controller, wherein the intersection traffic signal lamp array comprises Nxi transverse ground traffic signal lamp groups; the Nxi transverse ground traffic signal lamp groups comprise a transverse ground traffic signal lamp group pxi arranged at an intersection safety line position of an entrance lane xi of the plane intersection, and the Nxi transverse ground traffic signal lamp groups further comprise a transverse ground traffic signal lamp group qxi arranged at a stop line position of the entrance lane xi;

wherein Nxi is an integer greater than 1; wherein each of the Nxi transverse ground traffic signal light groups includes at least 1 signal light; wherein, some or all signal lamps in the transverse ground traffic signal lamp group i are provided with a wireless drive signal input port and/or a wired drive signal input port; the transverse ground traffic signal lamp group i is one transverse ground traffic signal lamp group or any one transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups.

Wherein, the distance between any two adjacent transverse ground traffic signal lamp groups in the Nxi transverse ground traffic signal lamp groups is equal or partially equal or different from each other. For example, the smaller the spacing between two adjacent transverse ground traffic light groups of the Nxi transverse ground traffic light groups, the farther from the transverse ground traffic light group pxi (i.e., the spacing between two adjacent transverse ground traffic light groups of the Nxi transverse ground traffic light groups gradually increases in the direction of travel of the entrance lane xi), or the smaller the spacing between two adjacent transverse ground traffic light groups of the Nxi transverse ground traffic light groups, the farther from the transverse ground traffic light group pxi (i.e., the spacing between two adjacent transverse ground traffic light groups of the Nxi transverse ground traffic light groups gradually decreases in the direction of travel of the entrance lane xi). Of course, the distance between two adjacent transverse ground traffic signal light groups of the Nxi transverse ground traffic signal light groups may also be varied randomly or in other variations, and does not necessarily exhibit the above-mentioned exemplary gradually decreasing or gradually increasing variations in a certain direction.

Nxi transverse ground traffic signal lamp groups in the intersection traffic signal lamp array can be connected with the signal lamp driving control equipment.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the signal lamp ia in the transverse ground traffic signal lamp group i can emit the traffic-prohibition light signal under the driving of the first driving signal, and the signal lamp ia can also emit the traffic-permission light signal under the driving of the second driving signal; or, the signal lamp ia in the transverse ground traffic signal lamp group i can send out the traffic-prohibition light signal under the driving of the first driving signal, and the signal lamp ia can also send out the traffic-permission light signal under the driving of the second driving signal, and the signal lamp ia can also send out the warning traffic light signal under the driving of the third driving signal;

the traffic prohibition optical signal is an optical signal for indicating that vehicles are prohibited from passing through, the traffic permission optical signal is an optical signal for indicating that vehicles are permitted to pass through, and the warning traffic optical signal is an optical signal for indicating that warning vehicles pass through; the signal lamp ia is one of the signal lamps or any one of the signal lamps in the transverse ground traffic signal lamp group i.

With reference to the first aspect, in a second possible implementation manner of the first aspect, i1 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting an enable-passage-prohibited light signal, and i2 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting an enable-passage light signal;

or, i1 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting traffic prohibition light signals, i2 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting traffic permission light signals, and i3 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting warning traffic light signals;

wherein the i1, the i2, and the i3 are integers greater than 1.

With reference to the first aspect or the first possible implementation manner of the first aspect or the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the signal lamps ia of the transverse ground traffic signal lamp group i can emit the traffic-prohibited light signal, and the signal lamps ib in the transverse ground traffic signal lamp group i can emit the traffic-permitted light signal; the signal lamp ia and the signal lamp ib are two adjacent signal lamps in the transverse ground traffic signal lamp group i, or the signal lamp ia and the signal lamp ib are any two adjacent signal lamps in the transverse ground traffic signal lamp group i;

or, the signal lamp ia in the transverse ground traffic signal lamp group i can send out a traffic prohibition light signal, the signal lamp ib in the transverse ground traffic signal lamp group i can send out a traffic permission light signal, and the signal lamp ic in the transverse ground traffic signal lamp group i can send out a warning traffic light signal; the signal lamp ia, the signal lamp ib, and the signal lamp ic are signal lamps adjacent to three of the transverse ground traffic signal lamp group i, or the signal lamp ia, the signal lamp ib, and the signal lamp ic are signal lamps adjacent to any three of the transverse ground traffic signal lamp group i.

Alternatively, the traffic prohibition light signal may be a light signal indicating prohibition of traffic. The passage permission light signal may be a light signal for indicating that a vehicle is permitted to pass. The warning traffic light signal may be a light signal for indicating traffic of a warning vehicle.

With reference to the first possible implementation manner of the first aspect, the second possible implementation manner of the first aspect, or the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the traffic-prohibited optical signal is a red optical signal, the traffic-permitted optical signal is a green optical signal, and/or the warning traffic optical signal is a yellow optical signal.

With reference to the first aspect or any one of the first to the fourth possible implementation manners of the first aspect, in a fifth possible implementation manner of the first aspect, the Nxi transverse ground traffic signal lamp groups further include Nxi-2 transverse ground traffic signal lamp groups disposed between the intersection safety line and the stop line on the entrance lane xi, and the Nxi is an integer greater than 2.

With reference to the first aspect or any one of the first to fifth possible implementation manners of the first aspect, in a sixth possible implementation manner of the first aspect, lamp bodies of some or all of the signal lamps in the transverse ground traffic signal lamp group i are partially or completely buried under the road surface, or lamp bodies of some or all of the signal lamps in the transverse ground traffic signal lamp group i are attached to the road surface.

With reference to the first aspect or any one of the first to sixth possible implementation manners of the first aspect, in a seventh possible implementation manner of the first aspect, part or all of the signal lamps in the transverse ground traffic signal lamp group i are spikes or strips or graphene signal lamps.

With reference to the first aspect or any one of the first to the seventh possible implementation manners of the first aspect, in an eighth possible implementation manner of the first aspect, the signal lamps ia in the transverse ground traffic signal lamp group i include: v lamp pearl, be used for the drive V circuit board that lamp pearl worked with be used for holding V lamp pearl with the casing of circuit board, the circuit board has wired drive signal input port and/or wireless formula drive signal input port. The V lamp beads comprise: the lamp beads comprise v1 lamp beads capable of emitting light signals prohibiting to pass, v2 lamp beads capable of emitting light signals allowing to pass and/or v3 lamp beads capable of emitting light signals of A3 type, wherein v1, v2 and v3 are positive integers larger than 1 or equal to 1.

With reference to the first aspect or any one of the first to the eighth possible implementation manners of the first aspect, in a ninth possible implementation manner of the first aspect, two of the Nxi transverse ground traffic signal light groups can start to emit the traffic prohibition light signal or the traffic permission light signal or the traffic warning light signal at different starting times, or any two of the Nxi transverse ground traffic signal light groups can start to emit the traffic prohibition light signal or the traffic permission light signal or the traffic warning light signal at different starting times; or any two of the Nxi transverse ground traffic signal light groups can start to send out the traffic prohibition light signal or the traffic permission light signal or the traffic warning light signal at the same starting time; or any two of the Nxi transverse traffic signal light groups can start to emit the traffic-forbidden light signal or the traffic-allowed light signal or the traffic-warning light signal at the same starting time.

Optionally, in some possible embodiments of the present application, a starting time of the emission of the no-traffic light signal (or the clear-traffic light signal or the warning-traffic light signal) of the Nxi transverse traffic light groups is earlier the closer the transverse traffic light group is to the transverse traffic light group qxi. The starting time of the transverse ground traffic signal light group pxi for sending the traffic prohibition light signal is later than the starting time of any other transverse ground traffic signal light group in the Nxi transverse ground traffic signal light groups for sending the traffic prohibition light signal (or the traffic permission light signal or the traffic warning light signal).

For example, the Nxi sets of transverse ground traffic signals include set j1, set j2, and set j 3. The set of transverse ground traffic signal lights j1, the set of transverse ground traffic signal lights j2, and the set of transverse ground traffic signal lights j3 are 3 (e.g., 3 or any 3) of the Nxi transverse ground traffic signal light sets that are adjacent in position. Wherein a distance between the transverse ground traffic signal light group j2 and a stop line of the entrance lane xi is greater than a distance between the transverse ground traffic signal light group j1 and a stop line of the entrance lane xi. The distance between the transverse ground traffic signal lamp group j2 and the stop line of the entrance lane xi is smaller than the distance between the transverse ground traffic signal lamp group j3 and the stop line of the entrance lane xi.

It is to be understood that the group of transverse ground traffic signal lights j1 may be the group of transverse ground traffic signal lights qxi, and may also be the group of transverse ground traffic signal lights disposed between the intersection safety line and the stop line on the entrance lane xi. The group of transverse ground traffic signal lamps j3 may be the group of transverse ground traffic signal lamps pxi, and may be the group of transverse ground traffic signal lamps disposed between the intersection safety line and the stop line on the entrance lane xi.

Optionally, in some possible embodiments of the present application, the distance between the group of transversal ground traffic lights j2 and the group of transversal ground traffic lights j1 is divided by the time difference between the starting times of the group of transversal ground traffic lights j2 and the group of transversal ground traffic lights j1 for emitting the clear-to-go light signal (or the clear-to-go light signal or the warning clear-to-go light signal)The obtained quotient V_{j1_j2}For example, the distance between the transverse ground traffic signal light group j2 and the transverse ground traffic signal light group j3 may be less than or equal to a quotient V obtained by dividing a time difference between starting times of the transverse ground traffic signal light group j2 and the transverse ground traffic signal light group j3 for sending the traffic permission light signal (or the traffic prohibition light signal or the traffic warning light signal)_{j2_j3}。

It can be seen that the intersection traffic signal lamp system provided by the embodiment of the present application includes an annunciator, an intersection traffic signal lamp array, a second sub-controller, a main controller, and a first sub-controller for driving the intersection traffic signal lamp array, where the intersection traffic signal lamp array is connected to the first sub-controller, the annunciator is connected to the main controller, and the main controller is respectively connected to the first sub-controller and the second sub-controller, where the intersection traffic signal lamp array may include Nxi transverse ground traffic signal lamp groups; the Nxi transverse ground traffic signal light groups include: a transverse ground traffic signal lamp group pxi arranged at the intersection safety line position of the entrance lane xi of the plane intersection, and a transverse ground traffic signal lamp group qxi arranged at the stop line position of the entrance lane xi. Because the lane section defined between the intersection safety line of the entrance lane xi and the stop line can form an entrance guide area (the entrance guide area can be regarded as a vehicle pre-acceleration area), a certain space basis is provided for the pre-acceleration of the vehicle passing through the intersection, and Nxi transverse ground traffic signal lamp groups provide a certain hardware basis for controlling the speed of the vehicle entering the intersection (the speed of the vehicle entering the intersection can also be regarded as the speed of the vehicle exiting the entrance guide area) and the running state of the vehicle in the entrance guide area, so that the improvement of the vehicle passing efficiency of the plane intersection becomes a certain basis. Specifically, the entrance guide area can be divided into a plurality of entrance lane segments by the Nxi transverse ground traffic signal lamp groups, and the accurate control of the driving state of the vehicle in the entrance guide area and the speed of the vehicle entering the intersection can be realized by using the light signals emitted by the Nxi transverse ground traffic signal lamp groups, so that the safety and controllability of the vehicle passing at the level intersection can be improved, and the ground type traffic signal lamp groups are more convenient for drivers to recognize corresponding traffic control signals, so that the safety and controllability of the vehicle passing at the level intersection can be further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIGS. 1-a-1-b are schematic layout views of two planar intersections provided in the embodiments of the present application;

1-c are schematic views of the driving tracks of the traffic on some lanes at the level intersection provided by the embodiment of the application;

2-a-2-b are schematic diagrams of phase cycles of several entry lanes provided by embodiments of the present application;

FIG. 2-c is a schematic diagram of several ways of forming a controlling-right phase and a non-controlling-right phase according to an embodiment of the present application;

FIG. 3 is a schematic diagram of two inlet duct layouts provided in an embodiment of the present application;

4-a-4-c are schematic layout views of several intersection traffic signal lamp arrays provided by the embodiments of the present application;

5-a-5-d are schematic diagrams of phase cycles of several entry lanes provided by embodiments of the present application;

fig. 6 is a schematic view of an intersection traffic light system according to an embodiment of the present application.

Detailed Description

The embodiment of the application provides an intersection traffic signal lamp array and an intersection traffic signal lamp system, so that the passing efficiency and the safety controllability of vehicles at a plane intersection can be improved, and the intersection traffic signal lamp array and the intersection traffic signal lamp system can be applied to intelligent electronic policemen or other related systems.

The terms "comprising" and "having," and any variations thereof, as appearing in the specification, claims and drawings of this application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used to distinguish between different objects and are not used to describe a particular order.

Some related terms are first explained below by way of example.

Referring to fig. 1-a to 1-b, the relative positions of a stop line and an intersection safety line disposed on an entrance lane of a level intersection according to an embodiment of the present application may be as exemplified in fig. 1-a or 1-b. Wherein, the plane crossing shown in fig. 1-a is also provided with a pedestrian crosswalk, while the plane crossing shown in fig. 1-b is not provided with the pedestrian crosswalk. It is of course also possible to provide crosswalks between some of the lanes of the level crossing and the crossing (this scenario is not shown in fig. 1-a and 1-b). In fig. 1-a to 1-b, a cross-shaped plane intersection is taken as an example, however, the plane intersection may be a T-shaped plane intersection or another plane intersection.

Wherein the entrance lane of the level crossing may also be referred to as an entrance lane. An entry lane of a level crossing may include one or more entry lanes, which may also be referred to as entry lanes. The exit lane of the level crossing may also be referred to as a downstream lane. An exit lane of a level crossing may include one or more exit lanes, which may also be referred to as downstream lanes. In the drawings related to the embodiments of the present application, the inlet lane is mainly located on the right side of the corresponding outlet lane, and the inlet lane of some countries may also be located on the left side of the corresponding outlet lane, and so on.

If an entrance lane includes multiple entrance lanes, the multiple entrance lanes may be oriented the same, partially the same, or different from each other. The guidance of the entrance lane can be divided into left turn, straight running, right turn, head-off and the like. For example, a certain entrance lane X includes 6 entrance lanes, and if 2 of the above 6 entrance lanes are oriented to turn left, these two entrance lanes may be referred to as a left-turn entrance lane of the entrance lane X, and the left-turn entrance lane may be referred to as a left-turn lane for short. Assuming that the other 3 of the above-mentioned 6 entry lanes are directed straight, these 3 entry lanes may be referred to as the straight entry lane of entry lane X, which may be referred to as a straight lane for short. Assuming that the remaining 1 entry lane of the above 6 entry lanes is directed to turn right, the 1 entry lane may be referred to as a right-turn entry lane of entry lane X, the right-turn entry lane may be referred to as a right-turn lane for short, and so on.

For example, a cross-plane intersection (such as shown in fig. 1-a-1-b, for example) may generally include 4 entry lanes and 4 exit lanes, each entry lane may include one or more entry lanes and each exit lane may include one or more exit lanes. A T-plane intersection typically includes 3 entry lanes and 3 exit lanes, each entry lane may include one or more entry lanes and each exit lane may include one or more exit lanes. Of course, the number of the inlet channels and the outlet channels of some plane intersections may not be equal, for example, a cross-shaped plane intersection may only include 3 inlet channels and 4 outlet channels.

In some cases, the guidance of certain entrance lanes may be changeable (i.e., non-fixed), such as during some times a certain entrance lane being a left turn lane and during other times it may be a straight lane, and such lanes may be referred to as a guidance-changeable lane, and the like.

In some cases, the guidance of some entry lanes may be multiple, for example, an entry lane may be both a straight lane and a right-turn lane. Specifically, for example, the rightmost entrance lane of an entrance lane may be a straight lane and a right-turn lane, and such lanes may be referred to as multiple guidance lanes or composite guidance lanes, and so on.

The driving direction of the lane is generally fixed, but in some cases, the driving direction of some lanes may be variable (i.e. non-fixed), for example, a tidal lane is a typical driving direction variable lane, and the driving direction variable lane may also be referred to as a driving direction variable lane. The driving direction of the lane may be, for example, east (i.e., east), west (i.e., west), south (i.e., south), north (i.e., south), and the like. For example, if the driving direction of an entrance lane is east, the left-turn lane in the entrance lane is also referred to as an east-left-turn lane, and in some scenarios, the east-left-turn lane is also referred to as an east-left-turn lane, the straight lane in the entrance lane is also referred to as an east-straight lane, and in some scenarios, the east-straight lane is also referred to as an east-straight lane, and so on.

In the embodiment of the present application, an intersection safety line of a lane (such as an entrance lane and an exit lane) of a plane intersection refers to a lane boundary line adjacent to or intersecting with the intersection, or refers to a lane boundary line adjacent to or intersecting with a pedestrian crossing. Wherein, the stop line of the entrance lane can be arranged at the position of the safety line of the intersection of the entrance lane. Or the stop line of the entrance lane may be disposed behind the intersection safety line of the entrance lane with respect to the traveling direction of the entrance lane. In the conventional technology, a stop line of an entrance lane is generally arranged at an intersection safety line position of the entrance lane, that is, the stop line and the intersection safety line are combined into a whole at a spatial position. In the embodiment of the present application, the parking line of the entrance lane is set behind the intersection safety line of the entrance lane with respect to the driving direction of the entrance lane, which is to say, the embodiment of the present application breaks through the inertial thinking that the parking line is set at the intersection safety line of the entrance lane, separates the parking line of the entrance lane from the intersection safety line at a spatial position, and moves the parking line of the entrance lane backwards with respect to the intersection safety line of the entrance lane, thereby forming a brand new parking line layout manner. The set position of the stop line of the entrance lane may be relatively fixed, that is, the distance between the intersection safety line of the entrance lane and the stop line of the entrance lane may be relatively fixed, and of course, the set position of the stop line of the entrance lane may also be adaptively adjusted based on factors such as environmental factors and scene requirements.

Vehicles on each lane of the plane intersection can be allowed to pass (allowed pass can be simply allowed) or forbidden (forbidden pass can be simply forbidden) or warned to pass (warned pass can be simply warned) under the control of traffic lights, and generally, the traffic light corresponding to a certain entry lane can control the permission, the warning or the forbidden of the vehicles on the entry lane. In the technical solution of the embodiment of the present application, the color of the light signal emitted by the corresponding traffic signal lamp during the passing phase is not limited to green, but can be extended to any single color or combination of colors that can be used for indicating that a vehicle is allowed to pass, and the color of the light signal emitted by the corresponding traffic signal lamp during the passing phase is green, which is only an optional implementation manner in the embodiment of the present application. The phase for controlling the vehicle forbidden on the entrance lane can be referred to as the forbidden phase of the entrance lane, and in the conventional technology, the forbidden phase is also referred to as the red phase in general because the color of the light signal emitted by the corresponding traffic signal lamp is red during the forbidden phase. Similarly, the phase of the vehicle warning on the entrance lane may be referred to as the warning phase (the warning phase may also be referred to as the transition phase), and the color of the light signal emitted by the corresponding traffic signal lamp during the warning phase is yellow in the conventional technology, so the warning phase is also referred to as the yellow phase in the conventional technology.

It should be noted that the "phase" mentioned in some traffic regulations is generally defined as a passing phase (e.g. green light phase) by default, that is, the passing phase (e.g. green light phase) is simply referred to as a phase in some traffic regulations, and these traffic regulations do not even pay special attention to the concepts of the forbidden phase and the transition phase. The scheme of the embodiment of the application mainly aims to implement relatively fine management on each lane, so that three different phase concepts of a passing phase, a forbidden phase and a transition phase are distinguished particularly.

Generally, the successive passing phase, transition phase and forbidden phase of an entry lane may form a single phase cycle of the entry lane, and the total duration of two adjacent phase cycles may be fixed (the total duration of two adjacent phase cycles of the entry lane 01 is 60 seconds as shown in fig. 2-a for example) or not fixed (the total duration of two adjacent phase cycles of the entry lane 02 is not equal as shown in fig. 2-a for example). The phase period settings of two entrance lanes of the same direction of the same entrance lane may be the same (the phase periods of the two left-turn lanes of entrance lane Y as shown in the example of fig. 2-b are the same) or different. The phase period settings of two entrance lanes of different guidance of the same entrance lane may be the same or different. In some scenarios, the transition phase may even be absent, in which case the phase cycle includes only the pass phase and the forbidden phase, and not the transition phase.

The concept of "intersection collision lanes" is proposed below, where intersection collision lanes are relative concepts, and when two entrance lanes are mutual intersection collision lanes, it indicates that there is intersection (or referred to as intersection) between the driving tracks of the traffic flows passing through the intersection on the two entrance lanes, that is, there is intersection between the driving tracks of the traffic flows passing through the intersection on any two entrance lanes that are mutual intersection collision lanes. If the east-west through lane and the south-north through lane are mutually crossing collision lanes, and the traffic flow on the east-west through lane and the south-north through lane crosses the crossing, as shown in fig. 1-c for example, the traffic flow on the west through lane and the south through lane will collide at the crossing if they pass through the crossing at the same time. Fig. 1-c also shows, by way of example, the case where the west-going straight-ahead lane and the north-going straight-ahead lane are also intersection collision lanes, and the other are intersection collision lanes, and so on. The intersection conflict lane in the embodiment of the application can be called as the conflict lane for short.

The concept of intersection conflict traffic phase is presented below, and intersection conflict traffic phase is also a relative concept. In short, the passing phases of the two entrance lanes which are mutually intersection conflict lanes are mutually intersection conflict passing phases. Similarly, the transition phases of the two entrance lanes of the lane conflict with each other are the intersection conflict transition phases. In the embodiment of the application, the intersection conflict traffic phase can be referred to as a conflict traffic phase for short. The intersection conflict transition phase may be referred to as the conflict transition phase for short.

The following proposes the concept of "control right phase" and "non-control right phase", where the control right phase of the entrance lane is used to control the traffic flow on the entrance lane to pass through the intersection, which can indicate that the traffic flow on the entrance lane obtains the right to pass through the intersection. In order to avoid collision between the vehicles driving to the intersection from the collision lane at the end of the transition phase (if existing) or the passing phase, it is usually about 2 seconds that is provided in some traffic regulations to ensure that the vehicles driving to the intersection at the end of the transition phase (if existing) or the passing phase can safely drive to the intersection, and this time for clearing is called as a clear phase in some traffic regulations (where the clear phase is similar to the intersection full red period called in some traffic regulations). Generally, on the time axis, the control right phase + non-control right phase of an entrance lane is the passing phase + forbidden phase + transition phase (if any) of the entrance lane. The forbidden phase may include a clear phase and a non-clear phase. Of course, the clear phase may not be necessary in some special cases, and the forbidden phase may be equal to the non-control phase when the clear phase is not present, that is, the non-control phase of the entrance lane is a part or all of the forbidden phase of the entrance lane. In the case where there are a transit phase and a clear phase, the control authority phase may include a pass phase, a transit phase, and a clear phase. In the case where the transition phase exists and the clear phase does not exist, the control authority phase includes a pass phase and a transition phase. In the case where there is no transition phase but there is a clear phase, the control authority phase includes a pass phase and a clear phase. In the absence of a transition phase and a clear phase, the control authority phase may be equivalent to the pass phase. For example, fig. 2-c illustrates that the control authority phase of a certain entry lane (e.g., entry lane x05) includes a pass phase, a transition phase, and a clear phase; or the right-of-control phase for an entry lane (e.g., entry lane x07) may include a pass phase and a clear phase; or the control authority phase of a certain entry lane (such as the entry lane x06) comprises a passing phase and a transition phase; or the control authority phase of a certain entry lane (e.g., entry lane x08) may be equivalent to the pass phase. Some traffic regulations may default to the control right phase, i.e., the control right phase may be referred to as the phase for short.

The concept of "intersection conflict control right phase" is proposed below, and the intersection conflict control right phase is a relative concept, and in brief, the control right phases of the two entrance lanes of the lane which are mutually intersection conflict lanes are mutually intersection conflict control right phases. The intersection conflict control authority phase can be abbreviated as the conflict control authority phase.

The above description of various concepts (e.g., "phase" concepts) is mainly made with respect to lanes as an example. While certain concepts for lanes (e.g., certain "phase" concepts) may also be applied in scenarios for crosswalks. In a broad sense, crosswalk and lane can be regarded as a passage way, the passage way is a road for passing objects, and the passage way includes crosswalk and lane (such as an entrance lane and an exit lane of a plane intersection). The object passing through the passage is referred to as a passage object (the passage object may be a pedestrian, a vehicle, or the like), and the object flow passing through the passage is referred to as a passage object flow (traffic flow for short). The object passing on the crosswalk may include a pedestrian or the like, and the object flow passing on the crosswalk includes a pedestrian flow or the like. For example, an object passing on a lane may include a vehicle or the like, and a stream of objects passing on a lane includes a flow of traffic or the like.

For the pedestrian crossing scene, concepts such as a passing phase, a transition phase and a forbidden phase of the pedestrian crossing can be also provided, and concepts such as a control right phase and a non-control right phase of the pedestrian crossing can be also provided. The pedestrian crossing and some lanes may also be conflicting lanes because the travel paths of the pedestrian flow on the pedestrian crossing and the traffic flow on a lane may intersect. In a broad sense, when the traveling tracks of the traffic flows of two lanes (which may be both lanes or one of the lanes may be a lane and the other is a crosswalk) intersect, the two lanes may be called as conflict lanes, and the traffic flows on the two lanes which are conflict lanes pass in the same time period, so that the traffic flows on the two lanes may conflict with each other. If a conflict lane of a certain traffic lane (such as a lane or a crosswalk) is a lane, the conflict lane can also be called a conflict lane; if the conflict lane of a certain lane is a crosswalk, the conflict lane can also be called a cross-walk. Lanes and crosswalks may be conflicting lanes, and lanes and crosswalks may be conflicting lanes. Wherein, the conflict lane and the conflict crosswalk can be collectively called as the conflict lane.

For the sake of simplifying the description, in the description of the present embodiment, the optical signal for prohibiting passage may be referred to as an optical signal for prohibiting passage or an optical signal of a1 class, the optical signal for allowing passage may be referred to as an optical signal for allowing passage or an optical signal of a2 class, and the optical signal for warning passage may be referred to as an optical signal for warning or an optical signal of A3 class. Specifically, the traffic prohibition light signal is a light signal for indicating that a traffic object (such as a vehicle or a pedestrian, etc.) of a corresponding traffic lane (such as a lane or a crosswalk, etc.) is prohibited from passing, for example, a traffic signal light of a certain lane prohibits the vehicle of the lane while emitting the traffic prohibition light signal, and a traffic signal light of a crosswalk prohibits the vehicle of the crosswalk while emitting the traffic prohibition light signal. The permission light signal is a light signal for indicating that a passing object (such as a vehicle or a pedestrian, etc.) of a corresponding passing lane (such as a lane or a crosswalk, etc.) is permitted to pass, for example, a traffic signal light of a certain lane allows a vehicle of the lane to pass while a traffic signal light of the certain lane sends out the permission light signal, and a vehicle of the crosswalk allows a vehicle of the crosswalk to pass while a traffic signal light of the certain crosswalk sends out the permission light signal. The warning light signal is a light signal for indicating the passage of a passing object (such as a vehicle or a pedestrian) which warns a corresponding passage (such as a lane or a crosswalk), for example, the vehicle passage of a certain lane is warned during the period when a traffic signal of the lane gives the warning light signal, and the vehicle passage of the crosswalk is warned during the period when the traffic signal of the crosswalk gives the warning light signal. Other situations may be analogized.

The specific presentation forms of the non-permission optical signal, the permission optical signal and the warning optical signal may be flexible and changeable, and may be set according to the specific scene needs.

For example, the disable light signal can be a red light signal, wherein the red light signal can be a flashing red light signal and/or a non-flashing red light signal. The non-flashing red light signal can be referred to as a normal red light signal for short, and the flashing red light signal can be referred to as a red flashing light signal for short. The forbidden light signal is a light signal for indicating that an object (such as a vehicle or a pedestrian) is forbidden to pass, so any light signal capable of indicating that an object (such as a vehicle or a pedestrian) in a corresponding passage is forbidden to pass can be regarded as the forbidden light signal, and the representation form of the forbidden light signal is not limited to the above example, for example, light signals of several colors can be combined according to a certain rule to indicate that the object in the corresponding passage is forbidden to pass, and the light signals in the representation forms can also be regarded as the forbidden light signal.

For another example, the allowed light signal may be a green light signal, and the green light signal may specifically be a flashing green light signal and/or a non-flashing green light signal. The non-flashing green light signal may be referred to as an evergreen light signal for short, and the flashing green light signal may be referred to as a green flash signal for short. The permission optical signal is an optical signal for indicating that a passing object (such as a vehicle or a pedestrian) on the corresponding passage way is permitted to pass through, therefore, any optical signal capable of indicating that a passing object (such as a vehicle or a pedestrian) on the corresponding passage way is permitted to pass through can be regarded as the permission optical signal, and the representation form of the permission optical signal is not limited to the above example, for example, optical signals of several colors can be combined according to a certain rule to indicate that a passing object is permitted to pass through, and then the optical signals of the representation forms can be regarded as the permission optical signal.

For another example, the warning light signal may be a yellow light signal, and the yellow light signal may be a flashing yellow light signal and/or a non-flashing yellow light signal. The non-flashing yellow light signal can be called as the yellow light signal for short, and the flashing yellow light signal can be called as the yellow flashing signal for short. The warning light signal is a light signal for indicating the passage of a passing object (such as a vehicle or a pedestrian) which warns the corresponding passage, therefore, any light signal which can be used for indicating the passage of a passing object (such as a vehicle or a pedestrian) which warns the corresponding passage can be regarded as the warning light signal, and the expression form of the warning light signal is not limited to the above examples, for example, light signals of several colors can be combined according to a certain rule to indicate the passage of the warning passing object, and the light signals of the expression forms can also be regarded as the warning light signal.

In general, the enable optical signal may have one or more representations, the disable optical signal may have one or more representations, and the alarm optical signal may have one or more representations. However, since the indication functions of the permission optical signal, the prohibition optical signal and the warning optical signal are different, the expression forms of the permission optical signal, the prohibition optical signal and the warning optical signal are also different from each other, that is, there is no intersection between the expression form set of the prohibition optical signal, the expression form set of the warning optical signal and the expression form set of the prohibition optical signal.

The warning light signal is used for indicating a light signal for warning a passing object (such as a vehicle or a pedestrian) on a corresponding passing lane, so that from a certain point of view, the warning light signal can be regarded as a transition signal (so the warning light signal can also be called an excessive light signal) for indicating that the passing object is in transition between allowing and forbidding. In some cases, if such a transition is not required, it may not be necessary to alert the optical signal of such a transition.

For simplicity of description, in some embodiments of the present application, a signal lamp capable of emitting a light signal of the a1 type but incapable of emitting light signals of the a2 type and the A3 type may be referred to as a "signal lamp of the a1 type". A signal lamp capable of emitting a type a2 light signal but not capable of emitting a1 light signal and A3 light signal may be referred to as a "type a2 signal lamp". A signal lamp capable of emitting a type A3 light signal but not capable of emitting a1 light signal and a2 light signal may be referred to as a "type A3 signal lamp". A signal lamp capable of emitting a type a1 light signal and a type a2 light signal, but not A3 light signal, may be referred to as a "type a12 signal lamp. A signal lamp capable of emitting a type a1 light signal and a type A3 light signal, but not a2 light signal, may be referred to as a "type a13 signal lamp. A signal lamp capable of emitting a type a2 light signal and a type A3 light signal, but not a type a1 light signal, may be referred to as a "type a23 signal lamp. In particular, a signal light capable of emitting a 1-type light signal and capable of emitting a 2-type light signal and A3-type light signal may be referred to as a "class AA signal light," and so on.

The foregoing has briefly described some of the pertinent concepts that the embodiments of the present application may be directed.

In some technical solutions of the embodiments of the present application, an intersection traffic signal light array may be disposed on part or all of the entrance lanes of a planar intersection. The way of arranging the intersection traffic light array on part or all of the entrance lanes can be the same or similar. A more detailed example of an array of intersection traffic lights is described below.

The embodiment of the application provides an intersection traffic signal lamp array, wherein the intersection traffic signal lamp array can comprise Nxi transverse ground traffic signal lamp groups. The Nxi transverse ground traffic signal lamp groups comprise transverse ground traffic signal lamp groups pxi arranged at intersection safety line positions of an entrance lane xi of the plane intersection. The Nxi transverse ground traffic signal light groups further include a transverse ground traffic signal light group qxi disposed at a stop line position of the entrance lane xi.

The lane section defined between the intersection safety line of the entrance lane and the stop line forms an entrance guide area, and the entrance guide area is also regarded as an entrance guide area. For example, a lane section defined between an intersection safety line of the entrance lane xi and a stop line of the entrance lane xi forms an entrance guide area of the entrance lane xi (entrance guide area of the entrance lane xi).

Wherein, any two ground traffic signal lamp groups in the Nxi transverse ground traffic signal lamp groups can comprise the same or different number of signal lamps. Wherein Nxi is an integer greater than 1. Each of the Nxi transverse ground traffic signal light groups includes at least 1 signal light (e.g., 1 or at least 2 signal lights).

For example, Nxi may be equal to 2, 3, 5, 7, 8, 10, 11, 29, 36, 50, 100, or other values, for example.

Wherein at least 1 (e.g., 1 or at least two) of the sets i of transverse ground traffic signal lamps has a wireless drive signal input port and/or a wired drive signal input port. The transverse ground traffic signal lamp group i is one transverse ground traffic signal lamp group or any one transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups.

Wherein, the distance between any two adjacent transverse ground traffic signal lamp groups in the Nxi transverse ground traffic signal lamp groups is equal or partially equal or different from each other. For example, the spacing between any two adjacent ones of the Nxi transverse ground traffic light groups may each be 1 meter, 1.5 meters, 2 meters, 2.5 meters, 3 meters, or other values. As another example, among the Nxi transverse ground traffic light groups, the farther from the transverse ground traffic light group pxi the smaller the spacing between two adjacent transverse ground traffic light groups (i.e., in the direction of travel of the entrance lane xi, the spacing between two adjacent ones of the Nxi transverse ground traffic light groups gradually increases), or among the Nxi transverse ground traffic light groups, the farther from the transverse ground traffic light group pxi the smaller the spacing between two adjacent ones of the Nxi transverse ground traffic light groups (i.e., in the direction of travel of the entrance lane xi, the gradually decreasing the spacing between two adjacent ones of the Nxi transverse ground traffic light groups). Of course, the spacing between two adjacent sets of the Nxi transverse traffic signal lights may also be varied randomly or in other ways, and does not necessarily exhibit the above-mentioned exemplary gradually decreasing or gradually increasing variation in a certain direction.

For example, not only the distances between two adjacent transverse traffic light groups of the Nxi transverse traffic light groups disposed at the entrance guide area may be equal, but also the intervals of the starting time when the two adjacent transverse traffic light groups of the Nxi transverse traffic light groups emit the enable light signal (or the disable light signal or the warning light signal) may be equal, and this mode may be referred to as "equal-distance isochronous mode". For another example, in some scenarios, the distances between two adjacent transverse ground traffic light groups of the Nxi transverse ground traffic light groups disposed in the entrance guide area may be equal, but the intervals of the starting moments when the two adjacent transverse ground traffic light groups of the Nxi transverse ground traffic light groups emit the enable light signals (or the disable light signals or the warning light signals) are not equal, and this mode may be referred to as an "equal-distance unequal-time mode". For another example, in some scenarios, the intervals between two adjacent transverse traffic light groups in the Nxi transverse traffic light groups disposed in the entrance guide area are not equal, but the intervals between the starting moments when two adjacent transverse traffic light groups in the Nxi transverse traffic light groups emit the enable light signals (or the disable light signals or the warning light signals) are equal, which may be referred to as an "equal-interval pattern", and the equal-interval pattern may be similar.

Specifically, for example, assuming that Nxi is equal to 11 and the length of the entrance guide area of the entrance lane xi is 10 meters, Nxi sets of transverse ground traffic signal lamps may be uniformly distributed between the intersection safety line and the stop line of the entrance lane xi, for example, every 1 meter of the entrance guide area of the entrance lane xi is provided with one transverse ground traffic signal lamp set, Nxi sets of transverse ground traffic signal lamps equally divide the entrance guide area of the entrance lane xi into 10 entrance lane segments, the distance between any two adjacent transverse ground traffic signal lamp sets is 1 meter, and the intervals of the starting time when any two adjacent transverse ground traffic signal lamp sets send the permission light signal (or the prohibition light signal or the warning light signal) may be equal (e.g., 0.2 second, 1 second, 1.5 seconds, 2 seconds, etc.) or different. For another example, assuming that Nxi is equal to 6 and the length of the entrance guide area of the entrance lane xi is 10 meters, Nxi sets of transverse ground traffic signal lamps may be uniformly distributed between the intersection safety line and the stop line of the entrance lane xi, for example, every 2 meters of the entrance guide area of the entrance lane xi are provided with one set of transverse ground traffic signal lamps, Nxi sets of transverse ground traffic signal lamps may equally divide the entrance guide area of the entrance lane xi into 5 entrance lane segments, and the interval between any two adjacent transverse ground traffic signal lamp sets may be 2 meters, and the interval between the starting times of the sending of the permission light signal (or the prohibition light signal or the warning light signal) by any two adjacent transverse ground traffic signal lamp sets may be equal or unequal. Other arrangements in which the distance between two adjacent ones of the Nxi transverse ground traffic signal light groups is equal may be analogized.

Wherein, when the transverse ground traffic signal light group i includes at least two signal lights, at least two signal lights in the transverse ground traffic signal light group i share the same driving signal, or any two signal lights in the transverse ground traffic signal light group i use different driving signals.

It will be appreciated that in general the operating states of several signal lights sharing the same drive signal are changed synchronously, e.g. several signal lights sharing the same drive signal will be lit or turned off simultaneously, since these several signal lights are driven together by the same drive signal. The operating states of the two signal lights may not be changed synchronously, but of course may be changed synchronously, using different drive signals. Generally, the operation states of the traffic lights using the driving signals outputted from the same driving signal output port (the driving signal output port may refer to a driving signal output port of an array driver or a traffic signal), are changed in synchronization, specifically, if the timing or the like of the driving signals outputted from the driving signal output port is not changed in the process of reaching the traffic lights from the driving signal output port. Generally, the operating states of the signal lamps using the driving signals output from the different driving signal output ports may not be changed in synchronization, and of course may be changed in synchronization.

The entrance lane xi may be one of the entrance lanes of the planar intersection, or the entrance lane xi and any one of the entrance lanes of the intersection. That is, some or all of the entrance lanes of the level crossing may be deployed with transverse ground traffic signal light groups or the like in a deployment manner equivalent or similar to the entrance lane xi.

It will be appreciated that since the signal lights of the transverse ground traffic signal light set are disposed on the ground, these signal lights may also be referred to as ground traffic signals (also referred to simply as "ground signal lights"). The signal lamps in the transverse ground traffic signal lamp set mentioned in the embodiments of the present application are ground traffic signal lamps unless otherwise specified. It is understood that since the ground traffic signal is installed on the ground, the ground traffic signal is different from the high traffic signal in installation and product form, and the high traffic signal may include a pillar traffic signal or a cantilever traffic signal, for example.

It will be understood that "lateral" in the set of lateral ground traffic lights is intended to mean that the length direction of the set of lateral ground traffic lights and the direction of travel of the respective lane are perpendicular or substantially perpendicular, at least non-parallel between the length direction of the set of lateral ground traffic lights and the direction of travel of the respective lane, and that the angle between the length direction of the set of lateral ground traffic lights and the direction of travel of the respective lane may range from greater than or equal to 45 ° to less than or equal to 90 °, which may be equal to 90 °, 89 °, 85 °, 80 °, 78 °, 75 °, 60 °, 53 °, or 40 °, for example. Of course, the range of the angle between the length direction of the group of lateral ground traffic lights and the traveling direction of the corresponding lane is not limited to the above-described exemplary range.

Optionally, in some possible embodiments of the present application, when Nxi is an integer greater than 2, the Nxi transverse ground traffic signal light groups further include Nxi-2 transverse ground traffic signal light groups disposed between the intersection safety line and the stop line on the entrance lane xi. It is understood that the Nxi-2 (e.g., Nxi-6, then Nxi-2-6-2-4, and so on) sets of lateral ground traffic lights may include some or all of the sets of lateral ground traffic lights disposed between the intersection safety line and the stop line on the entrance lane xi.

It can be seen that the intersection traffic light array provided by the present embodiment includes Nxi transverse ground traffic light groups; the Nxi transverse ground traffic signal light groups include: a transverse ground traffic signal lamp group pxi arranged at the intersection safety line position of the entrance lane xi of the plane intersection, and a transverse ground traffic signal lamp group qxi arranged at the stop line position of the entrance lane xi. The lane sections defined between the intersection safety line of the entrance lane xi and the stop line can form an entrance guide area, so that a certain space basis is provided for the pre-acceleration of the vehicles passing through the intersection, and a certain basis is provided for controlling the speed of the vehicles entering the intersection (namely the speed of the vehicles exiting the entrance guide area) and the driving state of the vehicles in the entrance guide area, so that the vehicle passing efficiency of the plane intersection is improved to become a certain space basis. For example, Nxi transverse ground traffic signal lamp groups can divide the entrance guide area into a plurality of lane sections, and the light signals emitted by Nxi transverse ground traffic signal lamp groups make it possible to more accurately control the running state of the vehicle in the entrance guide area and the speed of the vehicle running out of the entrance guide area, so that the safety and controllability of the vehicle passing at the plane intersection are improved. Moreover, the ground type traffic signal lamp set is more convenient for a driver to identify a corresponding traffic control signal, thereby being beneficial to further improving the vehicle passing safety controllability of the plane intersection.

Some of the description below refers to the accompanying drawings. Referring to fig. 3, fig. 3 illustrates a road condition of an entrance road before a set of transverse ground traffic signal lamps is installed. The entrance lane (entrance lane X) exemplified in the left part and the entrance lane (entrance lane Y) exemplified in the right part of fig. 3 include 3 entrance lanes, respectively. The case where the entrance lane includes other numbers of entrance lanes, and so on. The right part of fig. 3 shows an example of an entrance way Y with a crosswalk in front of it, and the left part of fig. 3 shows an example of an entrance way X without a crosswalk in front of it.

Referring to fig. 4-a-4-c, fig. 4-a-4-c illustrate several possible road situations after the set of transverse ground traffic lights is placed on an entrance lane without a crosswalk in front. The sets of transverse ground traffic lights at corresponding positions disposed on the respective entrance lanes of the entrance lane in the scene exemplarily shown in fig. 4-a are located substantially on the same straight line. In the scenario illustrated in fig. 4-b, the groups of the lateral ground traffic lights at the corresponding positions disposed on the partial entrance lanes of the same entrance lane are substantially aligned, the groups of the lateral ground traffic lights at the corresponding positions disposed on the other partial entrance lanes are substantially aligned, and even the stop lines of some entrance lanes and the stop lines of other entrance lanes of the same entrance lane may not be aligned.

Wherein Nxi is equal to 4 for each entrance lane (i.e., at least 4 transverse ground traffic light groups are provided on each entrance lane), as illustrated in the left part of fig. 4-a and in fig. 4-b. Wherein Nxi is mainly taken as equal to 2 for each entry lane in the right-hand portion example of fig. 4-a and the right-hand portion example of fig. 4-c. Nxi equal other values and so on.

It will be appreciated that the number of sets of transverse ground traffic lights provided on each entry lane of the same entry lane may be equal or unequal. The number of sets of transverse ground traffic lights arranged on the entrance lanes of different entrance lanes may be equal or different.

In some possible embodiments of the present application, the signal light ia in the group i of transverse ground traffic signal lights can emit the disable light signal under the driving of the first driving signal, and the signal light ia can emit the enable light signal under the driving of the second driving signal, and the signal light ia can be, for example, a signal light of type a 12. Or the signal lamp ia in the group i of transverse ground traffic signal lamps can send out the forbidden light signal under the driving of the first driving signal, and the signal lamp ia can also send out the allowed light signal under the driving of the second driving signal, and the signal lamp ia can also send out the alarming light signal under the driving of the third driving signal, and the signal lamp ia can be an AA class signal lamp, for example. The signal light ia may be one or any one of the signal lights in the transverse ground traffic signal light group i. That is, in some possible embodiments of the present application, a single signal lamp may emit different light signals under the drive of different drive signals. For example, some or all of the signal lamps in the group i of ground traffic signal lamps can emit red light signals under the driving of the first driving signal, some or all of the signal lamps in the group i of ground traffic signal lamps can emit green light signals under the driving of the second driving signal, and some or all of the signal lamps in the group i of ground traffic signal lamps can emit yellow light signals under the driving of the third driving signal.

Optionally, in some possible embodiments of the present application, i1 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting a forbidden light signal, and i2 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting a allowed light signal. Or i1 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting the forbidden light signals, i2 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting the allowed light signals, and i3 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting the alarming light signals.

Wherein the i1, the i2, and the i3 are integers greater than 1.

For example, i1 may be equal to 1, 2, 3, 4, 7, 9, 10, 11, 29, 36, 50, 100, or other values, for example.

For example, i2 may be equal to 1, 2, 3, 5, 7, 8, 10, 11, 29, 36, 50, 100, or other values, for example.

For example, i3 may be equal to 1, 2, 3, 6, 7, 8, 4, 11, 29, 36, 50, 100, or other values, for example.

Specifically, for example, the i1 signal lamps can emit the non-enabled light signal, but the i1 signal lamps cannot emit the enabled light signal and/or the alarming light signal. For example, the i1 signal lights may be dedicated to emitting the forbidden light signal, and the i1 signal lights may be class a1 signal lights, for example. For another example, the i2 traffic lights can emit an enable light signal, but the i2 traffic lights cannot emit a disable light signal and/or a warning light signal. For example, the i2 signal lamps may be dedicated signal lamps for emitting clear light signals, and the i2 signal lamps may be class a2 signal lamps, for example. For another example, the i3 traffic lights can emit warning light signals, but the i3 traffic lights cannot emit permission light signals and/or prohibition light signals. For example, the i3 signal lights may be dedicated signal lights for emitting warning light signals, and the i3 signal lights may be class A3 signal lights, for example.

It will be appreciated that even though a single signal light may only be capable of emitting one type of light signal (e.g., a warning light signal, an allow light signal, or a disable light signal), if a single set of transverse ground traffic signals includes both at least 1 (e.g., 1 or at least two) class a1 signal and at least 1 (e.g., 1 or at least two) class a2 signal lights, or if a single set of transverse ground traffic signals includes both at least 1 (e.g., 1 or at least two) class a1 signal lights and at least 1 (e.g., 1 or at least two) class a2 signal lights and at least 1 (e.g., 1 or at least two) class A3 signal lights. In this case, if the three types of traffic lights (e.g., the class a1 traffic light, the class a2 traffic light, and the class A3 traffic light) in a single transverse ground traffic light group are not illuminated at the same time (i.e., are not in operation at the same time), the transverse ground traffic light group (e.g., the transverse ground traffic light group xi) may still present a uniform light signal as a whole for indicating the permission or prohibition or warning of the passage of passing objects (e.g., vehicles or pedestrians, etc.) on the corresponding lane.

Optionally, in some possible embodiments of the present application, the signal lamps ia of the transverse ground traffic signal lamp group i can emit a non-traffic light signal, and the signal lamps ib in the transverse ground traffic signal lamp group i can emit a traffic light signal; the signal lamps ia and ib are two adjacent signal lamps in the transverse ground traffic signal lamp group i, or the signal lamps ia and ib are any two adjacent signal lamps in the transverse ground traffic signal lamp group i. Or the signal lamps ia in the transverse ground traffic signal lamp group i can send out the non-traffic light signals, the signal lamps ib in the transverse ground traffic signal lamp group i can send out the traffic light signals, and the signal lamps ic in the transverse ground traffic signal lamp group i can send out the warning traffic light signals; the signal lamp ia, the signal lamp ib, and the signal lamp ic are signal lamps adjacent to three of the transverse ground traffic signal lamp group i, or the signal lamp ia, the signal lamp ib, and the signal lamp ic are signal lamps adjacent to any three of the transverse ground traffic signal lamp group i.

For example, signal ia is a signal of type a1, signal ib is a signal of type a2, and signal ic is a signal of type A3. That is, the signal lights included in the transverse ground traffic signal light group that can emit different light signals may be disposed to be interspersed with each other. In particular, for example, the distribution areas of the signal lamps included in the group of transverse ground traffic signal lamps, which are capable of emitting different light signals, may partially or completely overlap. That is, the signal lamps included in the transverse ground traffic signal lamp group that can emit different light signals are distributed relatively uniformly in the distribution area of the transverse ground traffic signal lamp group.

Alternatively, in some possible embodiments of the present application, some or all of the signal lamps in the transverse ground traffic signal lamp group i are partially or completely buried under the road surface, or some or all of the signal lamps in the transverse ground traffic signal lamp group i are attached to the surface of the road surface. That is, some or all of the signal lamps in the transverse ground traffic signal lamp group may or may not protrude above the ground.

Optionally, in some possible embodiments of the present application, part or all of the signal lamps in the transverse ground traffic signal lamp group i are spikes or strips (such as LED strips) or graphene signal lamps. Of course, the product form of the signal lamps in the transverse ground traffic signal lamp group is not limited to the above example. For example, the signal lights ia among the transverse ground traffic signal light group i may include: v lamp pearls, be used for the drive the circuit board of V lamp pearl work with be used for holding V lamp pearl with the casing of circuit board. The circuit board is provided with a wired driving signal input port and/or a wireless driving signal input port, wherein V is an integer greater than or equal to 1. Where V may be equal to 1, 2, 3, 5, 7, 8, 10, 21, 29, 36, 50, 100, or other values, for example. For example, the V lamp beads may include: can send v1 lamp pearls of forbidding optical signal, can send v2 lamp pearls that allow optical signal and/or can send out V3 lamp pearls of police light signal. The v1 and the v2 and the v3 are each integers greater than 1 or equal to 1.

Optionally, in some possible embodiments of the present application, two of the Nxi transverse ground traffic signal light groups may start to emit the no-go light signal or the allow light signal or the warning light signal at different starting times. Or any two of the Nxi transverse traffic signal light groups can start to send out the no-go light signal or the allow light signal or the warning light signal at different starting moments. Or any two of the Nxi transverse traffic signal light groups can start to send out the no-go light signal or the allow light signal or the warning light signal at the same starting time. Or any two of the Nxi transverse traffic signal light groups can start to send out the no-go light signal or the allow light signal or the warning light signal at the same starting time.

Optionally, in some possible embodiments of the present application, a starting time of the transverse traffic light group of the Nxi transverse traffic light groups, which is closer to the transverse traffic light group qxi, emits the no-go light signal (or the go light signal or the warning light signal) is earlier. The starting time of the transverse ground traffic signal lamp group pxi for sending out the non-traveling optical signal is later than the starting time of any other transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups for sending out the non-traveling optical signal (or the traveling allowing optical signal or the traveling warning optical signal). For example, assume that the Nxi transverse ground traffic signal light sets include transverse ground traffic signal light set j1, transverse ground traffic signal light set j2, and transverse ground traffic signal light set j 3. The set of transverse ground traffic signal lights j1, the set of transverse ground traffic signal lights j2, and the set of transverse ground traffic signal lights j3 are 3 (e.g., 3 or any 3) of the Nxi transverse ground traffic signal light sets that are adjacent in position. Wherein a distance between the transverse ground traffic signal light group j2 and a stop line of the entrance lane xi is greater than a distance between the transverse ground traffic signal light group j1 and a stop line of the entrance lane xi. The distance between the transverse ground traffic signal lamp group j2 and the stop line of the entrance lane xi is smaller than the distance between the transverse ground traffic signal lamp group j3 and the stop line of the entrance lane xi.

Optionally, in some possible embodiments of the present application, the distance between the group of transversal ground traffic lights j2 and the group of transversal ground traffic lights j1 is divided by the distance between the group of transversal ground traffic lights j2 and the group of transversal ground traffic lights j1 from which an enable light signal (or a disable light signal or a warning light signal) is emittedTraveling light signal) of the light source and the light source_{j1_j2}For example, the distance between the transverse ground traffic signal light group j2 and the transverse ground traffic signal light group j3 may be less than or equal to a quotient V obtained by dividing a time difference between start times of the transverse ground traffic signal light group j2 and the transverse ground traffic signal light group j3 for sending the permission light signal (or the prohibition light signal or the warning light signal)_{j2_j3}。

It will be understood that when V is as described above_{j1_j2}Is equal to V_{j2_j3}It may mean that the guidance speed exhibited by the transverse traffic signal light group j1, the transverse traffic signal light group j2, and the transverse traffic signal light group j3 by sequentially emitting the enable light signal (or the disable light signal or the warning light signal) is uniform. When the above V is_{j1_j2}Less than the above V_{j2_j3}It may indicate that the guidance speed exhibited by the transverse ground traffic signal light group j1, the transverse ground traffic signal light group j2, and the transverse ground traffic signal light group j3 by sequentially emitting the enable light signal (or the disable light signal or the warning light signal) is uniformly accelerated or non-uniformly accelerated.

It can be understood that the Nxi transverse ground traffic signal lamp sets driven to emit the clear light signals in sequence from the transverse ground traffic signal lamp set qxi can present a uniform guiding speed and can present a variable guiding speed with uniform acceleration or non-uniform acceleration, which is beneficial to safely guiding the driving speed of the vehicle in the entrance guiding area.

For example, when the set of transverse ground traffic signal lights qxi emits the clear light signal indicating that the vehicle on the entrance lane xi is currently allowed to pass through the set of transverse ground traffic signal lights qxi (i.e., the stop line allowing the vehicle on the entrance lane xi to pass through the entrance lane xi), after the vehicle (e.g., the head car parked behind the set of transverse ground traffic signal lights qxi) enters the entrance guidance area, the vehicle gradually passes over the sets of transverse ground traffic signal lights emitting the clear light signal under the guidance of the clear light signal sequentially emitted by the sets of transverse ground traffic signal lights other than the set of transverse ground traffic signal lights pxi among the Nxi sets of transverse ground traffic signal lights, and then the vehicle passes through the set of transverse ground traffic signal lights pxi (i.e., the safety line of the entrance lane xi) under the guidance of the clear light signal emitted by the set of transverse ground traffic signal lights pxi, the vehicle enters the intersection after passing through the lateral ground traffic light group pxi or after crossing the crosswalk, and finally passes through the intersection to enter the corresponding downstream lane. In general, under guidance of Nxi transverse ground traffic signal light groups emitting guidance speeds (guidance speeds may be uniform or non-uniform) exhibited by allowing light signals in sequence from the transverse ground traffic signal light group qxi, a vehicle will travel through the entrance guidance zone at a travel speed less than or equal to the guidance speed. It will be appreciated that if the vehicle is travelling at an entrance guidance area at a speed greater than the corresponding guidance speed before the set of transverse ground traffic lights pxi issues the clear light signal, the vehicle is likely to "run red", i.e. the vehicle is likely to travel through a set of transverse ground traffic lights before it issues the clear light signal (where the set of transverse ground traffic lights may be in an off state or in a state of issuing a no-go light signal before it issues the clear light signal), which is of course very unsafe. Therefore, the utilization of the Nxi transverse ground traffic signal lamp groups is beneficial to safely guiding the running speed of the vehicle in the entrance guide area, and further beneficial to enabling the vehicle to run into the intersection at a safer speed, so that the efficiency of the vehicle running through the intersection is improved, and the safety of the vehicle running through the intersection is also ensured. That is to say, the scheme of the embodiment of the application is beneficial to basically considering both the efficiency and the safety of the vehicle passing through the intersection.

The embodiment of the application also provides a driving control method of the intersection traffic light array, and the intersection traffic light array can be any one of the intersection traffic light arrays provided by the embodiments. Specifically, for example, the intersection traffic light array includes Nxi transverse ground traffic light groups; the Nxi transverse ground traffic signal lamp groups comprise a transverse ground traffic signal lamp group pxi arranged at an intersection safety line position of an entrance lane xi of the plane intersection, and the Nxi transverse ground traffic signal lamp groups further comprise a transverse ground traffic signal lamp group qxi arranged at a stop line position of the entrance lane xi. Each of the Nxi transverse ground traffic signal light groups includes at least 1 (e.g., 1 or at least two) signal light. Some or all of the signal lamps in the transverse ground traffic signal lamp group i have a wireless driving signal input port and/or a wired driving signal input port. The transverse ground traffic signal lamp group i is one transverse ground traffic signal lamp group or any one transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups.

If the transverse ground traffic signal lamp group i includes at least two signal lamps, at least two signal lamps in the transverse ground traffic signal lamp group i may share the same driving signal, or any two signal lamps in the transverse ground traffic signal lamp group i use different driving signals.

The driving control method of the intersection traffic signal lamp array can comprise the following steps: when the control right phase of the entrance lane xi is finished and the previous intersection conflict control right phase is finished, the overlapping duration T is left_{cd_xi}Then, the Nxi transverse ground traffic signal light groups are driven to sequentially emit clear light signals from the transverse ground traffic signal light group qxi. The start time at which the transverse ground traffic signal lamp group of the Nxi transverse ground traffic signal lamp groups that is closer to the transverse ground traffic signal lamp group qxi is driven to emit the clear light signal is earlier, and the start time at which the transverse ground traffic signal lamp group pxi is driven to emit the clear light signal is later than the start time at which any other transverse ground traffic signal lamp group of the Nxi transverse ground traffic signal lamp groups is driven to emit the clear light signal. For example, the schedule of the right-of-control phase collision at the previous intersection of the right-of-control phase of the entrance lane xi can be detected (directly or indirectly detected) to know when the right-of-control phase of the entrance lane xi is the previous intersectionThe conflict control power phase ends with the remaining overlap duration T_{cd_xi}At the same time.

It should be noted that the overlapping time lengths corresponding to entrance lanes with different driving directions at the same plane intersection may be equal, partially equal, or different. The overlap periods corresponding to the same driving direction but leading to different entrance lanes at the same level crossing may be equal or partially equal or different from each other. The overlapping time lengths corresponding to entrance lanes with the same driving direction and guidance at the same plane intersection may be equal or partially equal or different. It can be appreciated that the overlap duration T_{cd_xi}The overlap duration corresponding to the entrance lane xi is the entrance lane or any entrance lane of the plane intersection.

The starting time of the transverse ground traffic signal lamp group pxi sending out the allowed light signal is the end time of the last intersection conflict control right phase. That is, the interval T of the starting time at which the transverse ground traffic signal lamp group pxi and the transverse ground traffic signal lamp group qxi emit the clear light signal_{Δ_pxi_qxi}Equal to the overlap duration T_{cd_xi}. Overlap duration T_{cd_xi}Can be a stored preset value (can update the currently stored T according to an overlapping duration updating instruction from the upper equipment or the man-machine interaction interface_{cd_xi}) Or overlap duration T_{cd_xi}Can be calculated in real time based on a preset algorithm. E.g. overlap duration T_{cd_xi}May be equal to 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8.1 seconds, 10 seconds, or other time period.

For example, assuming that the entry lane xi is an east-going straight-going lane, the last intersection conflict control right phase of the entry lane xi may be, for example, the control right phase of the south-going straight-going lane or the north-going straight-going lane or the west-going left-turn lane or the north-going left-turn lane of the intersection because the east-going straight-going lane of the intersection and the south-going straight-going lane or the north-going straight-going lane or the west-going left-turn lane or the north-going left-turn lane of the intersection are mutually conflict lanes. Further, assuming that the entrance lane xi is a west-going through lane, the previous intersection conflict control right phase of the entrance lane xi may be, for example, the control right phase of a south-going through lane or a north-going through lane or an east-going left-turn lane or a south-going left-turn lane of the planar intersection, because the west-going through lane of the planar intersection and the south-going through lane or the north-going through lane or the east-going left-turn lane or the south-going left-turn lane of the planar intersection are mutually conflict lanes, and so on for other conflict situations.

For example, in the scenario illustrated in fig. 5-a, the control authority phases of the north-south left-turn lane, the east-west left-turn lane, the north-south straight lane, and the east-west straight lane are cycled. The former intersection conflict control right phase of the south-north left-turn lane is the control right phase of the east-west left-turn lane, the former intersection conflict control right phase of the east-west left-turn lane is the control right phase of the south-north straight lane, and the former intersection conflict control right phase of the south-north straight lane is the control right phase of the east-west straight lane. In the scenario illustrated in fig. 5-a, assuming that the entrance lane xi is an entrance lane in a north-south left-turn lane, the previous intersection conflict control right phase of the entrance lane xi is the control right phase of an east-west left-turn lane, assuming that the entrance lane xi is an entrance lane in an east-west left-turn lane, the previous intersection conflict control right phase of the entrance lane xi is the control right phase of a north-south straight lane, and so on.

In the scenario illustrated in FIG. 5-a, the control right phases of the north-south left-turn lane and the east-west left-turn lane overlap for a period of time T_{cd_3}. The overlapping duration of the control right phases of the east-west left-turn lane and the south-north straight lane is T_{cd_2}. The overlapping duration of the control right phases of the south-north straight lane and the east-west straight lane is T_{cd_1}. The overlapping time length of the control right phase of the east-west straight lane and the control right phase of the south-north left-turn lane is T_{cd_4}. Wherein,T_{cd_1}、T_{cd_2}、T_{cd_2}and T_{cd_4}May be all equal or partially equal or different from each other.

It can be seen that, because the lane segment defined between the intersection safety line of the entrance lane xi and the stop line can form the entrance guide area, a certain space basis is provided for the pre-acceleration of the vehicle passing through the intersection, and a certain basis is provided for controlling the speed of the vehicle entering the intersection (i.e. the speed of the vehicle exiting the entrance guide area) and the driving state of the vehicle in the entrance guide area, so that a certain space basis is provided for improving the vehicle passing efficiency of the plane intersection. For example, Nxi transverse ground traffic signal lamp groups can divide the entrance guide area into a plurality of lane sections, and the light signals emitted by Nxi transverse ground traffic signal lamp groups make it possible to more accurately control the running state of the vehicle in the entrance guide area and the speed of the vehicle running out of the entrance guide area, so that the safety and controllability of the vehicle passing at the plane intersection are improved. Moreover, the ground type traffic signal lamp set is more convenient for a driver to identify a corresponding traffic control signal, thereby being beneficial to further improving the vehicle passing safety controllability of the plane intersection. Specifically, by flexibly controlling the starting time of each transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups for sending the permission light signal or the warning light signal or the prohibition light signal, the time and the speed of the vehicle passing through the intersection can be accurately controlled, and the safety and the controllability of the vehicle passing through the plane intersection can be further improved. For example, when the previous intersection conflict control right phase of the entrance lane xi is still long enough to overlap, the Nxi transverse ground traffic signal lamp groups are driven to sequentially emit clear light signals from the transverse ground traffic signal lamp group qxi, wherein the transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups which is closer to the transverse ground traffic signal lamp group qxi starts emitting clear light signals earlier, which can be regarded as that each transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups starts emitting clear light signals sequentially according to a certain sequence, which lays a foundation for reasonably and appropriately guiding the time and speed of the vehicle passing through the entrance guidance area, for example, it is favorable for the vehicle to be guided by the guidance speed exhibited by the light signals emitted by the Nxi transverse ground traffic signal lamp groups, the vehicle can safely, controllably and efficiently exit from the entrance guide area, and the vehicle can conveniently drive through the intersection in a safe, controllable and efficient manner.

It is understood that, in practical applications, the Nxi transverse traffic signal lamp groups driven to emit the clear light signals in sequence from the transverse traffic signal lamp group qxi may exhibit a uniform guiding speed or a variable guiding speed, and the variable guiding speed may be a uniform acceleration guiding speed (where the uniform acceleration guiding speed may be divided into a uniform acceleration guiding speed with an initial speed of zero and a uniform acceleration guiding speed with an initial speed of non-zero) or a non-uniform acceleration guiding speed.

For a specific example, in a case where Nxi driven transverse ground traffic signal lamp groups present a uniform guiding speed by sequentially emitting clear light signals from the transverse ground traffic signal lamp group qxi, then, a starting time of emitting the clear light signals from the transverse ground traffic signal lamp group i of the Nxi transverse ground traffic signal lamp groups is represented as T, and an interval duration with respect to the starting time of emitting the clear light signals from the transverse ground traffic signal lamp group qxi is represented as T_{Δg_i_qxi}Wherein

for another example, in the case where Nxi transverse ground traffic signal lamp groups that are driven exhibit a uniform acceleration guidance speed with an initial speed of 0 by emitting clear light signals in sequence from the transverse ground traffic signal lamp group qxi, the start time of emitting the clear light signal by the transverse ground traffic signal lamp group i of the Nxi transverse ground traffic signal lamp groups is represented by T, the interval duration from the start time of emitting the clear light signal by the transverse ground traffic signal lamp group qxi is represented by T_{Δg_i_qxi}Whereininitial velocity v when the guide velocity is uniformly accelerated₀The general expression for values greater than 0 may be:

wherein, T is_{cd_xi}Indicates the overlap duration, T, corresponding to the entry lane xi_{cd_xi}Also equal to the interval duration of the starting instant of sending the clear light signal between the transverse ground traffic signal light group pxi and the transverse ground traffic signal light group qxi. Said L_{YD_xi}Indicates the distance between the stop line of the entrance lane xi and the intersection safety line (i.e., the entrance guide zone length of the entrance lane xi), L_{YD_xi}Also equal to the spacing between the transverse ground traffic signal light group pxi and the transverse ground traffic signal light group qxi. Said L_{i_qxi}Denotes the spacing between the set of transverse ground traffic lights i and the set of transverse ground traffic lights qxi, L_{i_qxi}Also equal to the spacing between the set of lateral ground traffic lights i and the stop line of the entrance lane xi. The transverse ground traffic signal lamp group i is any one of Nxi transverse ground traffic signal lamp groups.

Wherein L is_{YD_xi}And/or T_{cd_xi}The value of (A) can be fixed and can also be changed along with the change of the environment. Generally, for safety reasons, it is preferable that the speed of the first vehicle entering the intersection after the stop line of the entrance lane xi is in a safe range, for example, 15 km or 20 km per hour is a relatively safe range. If the running speed of the first vehicle is within the safe range, the first vehicle can brake in time when the crossing emergency occurs, and therefore the probability of crossing accidents is favorably reduced. For the safety aspects, the guiding speed presented by the permission light signals emitted by the Nxi transverse ground traffic signal lamp groups is used for guiding the driving speed of the first vehicle entering the intersection to be within the safety range, and then the safety of the intersection is ensuredAnd more guarantee.

For example, the time period required for the ordinary vehicle to accelerate from starting to safe speed is obtainedThe distance required from starting to accelerating the ordinary vehicle to the safe speed is obtainedReference basis for (1).A virtual initial value indicating the overlap period corresponding to the entrance lane xi,a virtual initial value indicating the entrance guide zone length of the entrance lane xi.

Wherein L is_{YD_xi}Can be equal toT_{cd_xi}Can be equal toOr for L_{YD_xi}And/or T_{cd_xi}The value of (a) may vary with environmental changes,

wherein μ 1 is a first safety factor and μ 2 is a second safety factor. That is, the safety factor corresponding to the current environmental factor can be selected according to the change of the current environmental factor, and then the safety factor is based on(or) And the currently selected safety factor to obtain the currently used T_{cd_xi}(or L)_{YD_xi}) The value of (a).

The value of μ 1 (or μ 2) may be equal to 1, and the value of μ 1 (or μ 2) may be greater than 1 or less than 1. The value of μ 1 (or μ 2) may be determined, for example, with reference to environmental factors such as weather, light intensity, grade, and/or intersection complexity. For example, the value of μ 1 (or 1/μ 2) may be equal to 1 or close to 1 (e.g., 1.1, 1.05, or other values) on sunny days, and the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 2, or other values) on rainy days is greater than the value of μ 1 (or μ 2) on sunny days. For another example, when the light intensity is good, the value of μ 1 (or μ 2) may be equal to 1 or close to 1 (e.g., 1.1 or 1.05 or other values), and when the light intensity is poor, the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 2 or other values) is greater than the value of μ 1 when the light intensity is good. For another example, when the gradient is small, the value of μ 1 (or μ 2) may be equal to 1 or close to 1 (e.g., 1.1, 1.06, or other values), and when the gradient is small, the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 1.8, 2, or other values) is greater than the value of μ 1 when the gradient is large. For example, when the intersection complexity is small, the value of μ 1 (or μ 2) is equal to 1 or close to 1 (e.g., 1.1, 1.04, 1.08, or other values), and when the intersection complexity is large, the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 1.7, 1.9, 1.8, 2, or other values) is greater than the value of μ 1 (or μ 2) when the gradient is small.

It will be appreciated that one of the purposes of setting μ 1 (or μ 2) is to improve security, and therefore the value of μ 1 (or μ 2) may also be determined with reference to one or more other security-affecting factors. Specifically, it is referred to which factors affecting safety, and how to determine the value of μ 1 (or μ 2) with reference to each factor affecting safety, which may be selected according to the needs of a specific scenario, and is not particularly limited herein.

For another example, there may be a correspondence between different time periods and parking line positions, i.e., different time periods and the entrance guide zone length L_{YD_xi}May have a correspondence therebetween. For example, the position of the parking line corresponding to the busy period may be set in advance (e.g., such a period L)_{YD_xi}10 meters or other value), a stop corresponding to a semi-busy periodLine location (such as period L)_{YD_xi}8 meters), the position of the parking line corresponding to the idle period (e.g., such period L)_{YD_xi}6 meters), etc. For example, the ratio of 7: 30-9: 30, 17: 30-20: 00 are defined as busy time periods, 0: 00-6: 00 are defined as idle time periods, other time periods are defined as semi-busy time periods, and of course, other time period division modes may be available corresponding to different application scenes, which is not illustrated here.

As another example, there may be a correspondence between traffic flow and stop line position, i.e., different time periods and entry guide zone length L_{YD_xi}May have a correspondence therebetween. For example, L when the traffic flow at the intersection is greater than 100 vehicles per minute_{YD_xi}10 meters or other value, and when the traffic flow at the intersection is 60-100 vehicles per minute, the length L of the entrance guide area_{YD_xi}8 meters or other values. When the traffic flow at the intersection is less than 30 vehicles per minute, the length L of the inlet guide area_{YD_xi}6 meters or other values, and so on.

In addition, the size of the planar intersection may also have a correspondence with the respective overlap time and the entrance guidance zone length, for example, a relatively large planar intersection, the overlap time and the entrance guidance zone length may be relatively large. While relatively smaller planar intersections, the overlap time and the entrance guide area length may be relatively smaller.

For the situation that the control right phase comprises the emptying phase, some current traffic regulations stipulate that the duration of the emptying phase (intersection full red light time period) is fixed to be 2 seconds, considering that the emptying lengths of different lanes at different plane intersections may be different, the emptying lengths of different lanes at the same plane intersection may also be different, and the duration of the emptying phase is a specific value and is not necessarily the most scientific. Therefore, it can be considered that the clear phase duration T corresponding to the clear length of the lane is obtained according to the clear length of the lane_qk. For exampleOr whenGreater than or equal to 2 secondsWhen inLess than 2 seconds time T_{qk_xi}The value is 2 seconds. T is_{qk_xi}Indicating the clear phase duration of the entry lane xi. L is_{qk_xi}Indicates the clear length (L) corresponding to the entrance lane xi_{qk_xi}Equal to the entrance guidance zone length of the entrance lane xi + the intersection length corresponding to the entrance lane xi). V'_{lk_xi}E.g. equal to the lowest speed limit V of the level crossing to which the entry lane xi belongs_{lk_min}Or desired speed V_{lk_q}. Or V'_{lk_xi}Can be equal to V_{lk_min}Mu 3 or V_{lk_q}μ 3, the third safety factor μ 3 may be equal to 1 or greater than 1 or less than 1. Specifically, the value of μ 3 may be determined by referring to environmental factors such as weather, light intensity, gradient, and/or intersection complexity, for example, and the specific value manner of μ 3 may refer to the specific value manner of μ 1.

T obtained by way of example_{qk_xi}May not be of fixed duration 2 seconds, T_{qk_xi}The adaptability can be changed according to different specific intersection conditions, so that the vehicles can be better ensured not to conflict at the intersection, and the passing safety of the intersection can be further improved.

Optionally, in some possible embodiments of the present application, the method further includes: and driving the Nxi transverse ground traffic signal lamp groups to synchronously send out forbidden light signals when the control authority phase of the entrance lane xi is ended. Or when the empty phase time length is left from the end of the control authority phase of the entrance lane xi, the Nxi transverse ground traffic signal lamp groups are driven to synchronously send out the forbidden light signals. Or when the empty phase duration is left after the control right phase of the entrance lane xi, the Nxi transverse ground traffic signal lamp groups are driven to sequentially send out the no-entry light signals from the transverse ground traffic signal lamp group qxi, wherein the starting time of sending out the no-entry light signals by the transverse ground traffic signal lamp group pxi, which is closer to the transverse ground traffic signal lamp group qxi, in the Nxi transverse ground traffic signal lamp groups is earlier than the starting time of sending out the no-entry light signals by any other transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups.

For example, the interval between the group of lateral ground traffic signal lamps pxi and the start time at which the group of lateral ground traffic signal lamps qxi emits the non-travel light signal is equal to the entrance guide area emptying period of the entrance lane xi. Wherein an entrance guide area emptying time period of the entrance lane xi is represented as T_{YD_qk_xi}，Wherein, V'_{YD_qk_xi}Can be equal to V_{lk_max}Or V_{lk_min}Or V_{lk_q}Wherein, the V_{lk_max}Representing the highest speed limit, V, of the grade crossing_{lk_min}Represents the lowest speed limit, V, of the grade crossing_{lk_q}Representing a desired speed of the grade crossing. Wherein the entry guide area is emptied for a time period T_{YD_qk_xi}E.g. less than the overlap duration T_{cd_xi}。V_{lk_min}Less than V_{lk_max}。V_{lk_q}Is greater than or equal to the V_{lk_min}And is less than or equal to V_{lk_max}Any real number of, i.e. V_{lk_q}Is greater than or equal to V_{lk_min}And is less than or equal to V_{lk_max}。

For a specific example, in the case where Nxi transverse ground traffic signal lamp groups that are driven exhibit a uniform guidance speed by sequentially emitting the prohibition light signals from the transverse ground traffic signal lamp group qxi, then, the interval duration from the start time at which the transverse ground traffic signal lamp group i of the Nxi transverse ground traffic signal lamp groups emits the prohibition light signals to the start time at which the transverse ground traffic signal lamp group qxi emits the prohibition light signals is denoted as T_{Δr_i_qxi}WhereinL_{i_qxi}represents the spacing of the set of lateral ground traffic lights i relative to the set of lateral ground traffic lights qxi, the set of lateral ground traffic lights i being any one of the Nxi sets of lateral ground traffic lights.

Optionally, in some possible embodiments of the present application, the method further includes:

when the empty phase duration and the excessive phase duration are left from the end of the control right phase of the entrance lane xi, the Nxi transverse ground traffic signal lamp sets are driven to synchronously send out warning light signals, when the clear phase duration plus the excessive phase duration remains from the end of the control authority phase of the entry lane xi, the Nxi transverse ground traffic signal light groups are driven to emit the warning light signals in turn from the transverse ground traffic signal light group qxi, wherein, among the Nxi transverse ground traffic signal light groups, the transverse ground traffic signal light group which is closer to the transverse ground traffic signal light group qxi has the earlier starting time of sending out the warning light signal, the starting time of the transverse ground traffic signal lamp group pxi for sending out the warning light signal is later than the starting time of any other transverse ground traffic signal lamp group in the Nxi transverse ground traffic signal lamp groups for sending out the warning light signal. For example, the interval between the group of lateral ground traffic light pxi and the start time of the group of lateral ground traffic light qxi for sending out the warning light signal is equal to the entrance guide area emptying time period of the entrance lane xi.

In practical applications, the execution subject of the method can be a signal lamp driving control device such as a signal machine, a driving controller and the like. The signal machine mentioned in the embodiment of the present application may also be referred to as a program controlled switch, a traffic control signal machine, a traffic signal machine, an intersection traffic signal machine, or an intersection traffic control signal machine. Specifically, the signal machine or the driving controller can drive the intersection traffic signal lamp array to work by outputting a driving signal to the intersection traffic signal lamp array. In practical application, each transverse ground traffic signal lamp group can work under the control of a signal machine. Or each transverse ground traffic signal lamp group can work under the control of a driving controller connected with the signal machine.

For example, since the start and stop times of the control right phase of the entrance lane (e.g., the start and stop times of the traffic phase, the start and stop times of the excessive phase, or the start and stop times of the no-go phase, etc.) are determined by the traffic signal, and the start and stop times of these phases are recorded in the phase timing table maintained by the traffic signal, the traffic signal can learn the start and stop times of the control right phase of each entrance lane, that is, the traffic signal can learn what time the control right phase ends with the last intersection of the control right phase of the entrance lane xi and still have the overlapping time period T_{cd_xi}At the same time. The driving controller can directly or indirectly know from the signal or other equipment (or connected with or controlled by the signal) when the last intersection conflict control right phase from the control right phase of the entrance lane xi is ended and the overlapping duration T is left_{cd_xi}At the same time. For example, the drive controller may learn, based on a countdown signal from the signal (or other device connected to or controlled by the signal) for the pass phase or the no-pass phase, when the last intersection conflict control authority phase from the control authority phase of the entry lane xi ends and an overlap period T remains_{cd_xi}At the same time.

As can be seen from the above, in some technical solutions of the embodiments of the present application, by introducing an overlap mechanism of the entrance guide area and the intersection conflict control authority phase, when an overlap time is left until the current control authority phase is over, the next intersection conflict control authority phase of the current control authority phase can be controlled to start releasing. Therefore, the conflict control right phase of the next intersection starts when the current control right phase is not finished, the conflict control right phase of the intersection is overlapped, and further vehicles of an entrance lane corresponding to the conflict control right phase of the next intersection can be accelerated in advance in an entrance guide area.

Moreover, since the time interval between the light signals allowing the vehicles to pass through emitted by the transverse ground traffic signal lamp group pxi and the transverse ground traffic signal lamp group qxi is equal to the overlapping time length, when the vehicles on the entrance lane xi are guided by the Nxi transverse ground traffic signal lamp groups to travel to the intersection, the previous control right phase which is in conflict with the intersection of the control right phase of the entrance lane xi is already finished, so that the vehicles on the entrance lane xi do not conflict with the passing vehicles on other intersections at the intersection, and the safety of the vehicles on the entrance lane xi passing through the intersection is further ensured.

This is illustrated below by a specific example. Assuming that there is a planar intersection crossing the north-south direction and the east-west direction, the total duration of the phase period of the entire planar intersection is assumed to be fixed to 120 seconds. One phase cycle of the whole planar intersection is a cycle of control right phases (such as control right phases of a north-south straight lane, a north-south left-turn lane, a east-west straight lane and a east-west left-turn lane) of all intersection conflict lanes of the planar intersection. The setting mode of the control right phases of each group of intersection conflict lanes in the conventional scheme can be as shown in fig. 5-b by way of example, the control right phases of each group of intersection conflict lanes are not overlapped in time, and when the total duration of the phase period of the whole plane intersection is assumed to be fixed to be 120 seconds, the control right phases of 4 groups of intersection conflict lanes, namely a north-south straight lane, a north-south left-turn lane, an east-west straight lane and an east-west left-turn lane, are generally 30 seconds respectively. Assuming that the duration of the control right phase of the north-south left-turn lane is 30 seconds, fig. 5-b illustrates that the non-control right phase of the north-south left-turn lane is 0-90 seconds, and fig. 5-b illustrates that the control right phase of the north-south left-turn lane is 90-120 seconds. The control right phase of the left turn lane from north to south comprises 25 seconds of passing phase (such as green light phase), 3 seconds of transition phase (such as yellow light phase) and about 2 seconds of emptying phase (crossing full red light period). In this case, the corresponding effective transit time period may be equal to the transit phase 25 seconds-2 seconds (the 2 seconds subtracted here may be considered as driver reaction time + vehicle launch time, etc., which may be referred to as the transit phase loss time period) + the available transit phase time period about 1 second (assuming that the transit phase time period of 3 seconds includes about 1 second for the available transit phase time period + about 2 seconds for the unavailable transit phase time period), for a total of about 24 seconds. The total loss time of a single control weight phase (which may be referred to as the transition loss duration of the control weight phase) is equal to about 2 seconds of the unavailable transition phase duration + 2 seconds of the clear phase + about 2 seconds of the pass phase loss duration, i.e., the total loss time amounts to about 6 seconds.

After the scheme of the application is implemented, the overlapping duration (namely the pre-acceleration duration) of the intersection conflict control authority phase is assumed to be 8 seconds. The distance between the stop line and the safety line of the intersection is adaptive to the overlapping time length, so that the control right phases of the collision lanes of the intersection (such as a north-south straight lane and a east-west straight lane) can be overlapped for 8 seconds. The various phases of the sets of intersection conflict lanes arranged in an overlapping manner can be as shown for example in fig. 5-c and 5-d.

In the example shown in fig. 5-c, the total duration of the phase period of the entire intersection is still fixed to 120 seconds.

In the scenario illustrated in fig. 5-c, since the control right phase of the north-south left-turn lane starts 8 seconds ahead, if the ending time is not changed, the duration of the control right phase can be extended from the original 30 seconds to 38 seconds (fig. 5-c illustrates that the control right phase of the north-south left-turn lane is 0-82 seconds, and fig. 5-c illustrates that the control right phase of the north-south left-turn lane is 82-120 seconds), so that the effective transit duration is equal to 38 seconds — the transition loss duration of the control right phase (the unavailable transition phase duration is about 2 seconds + the clear phase is about 3 seconds (about 2 seconds for clearing the intersection + about 1 second for clearing the entrance guidance area) + about 2 seconds for losing the transit phase, and about 7 seconds for totally about 31 seconds). The case of the north-south through lane, the east-west through lane, and the east-west left turn lane are similar.

It can be seen that in the scenario exemplarily shown in fig. 5-c, under the condition that the total duration (120 seconds) of the phase period of the whole plane intersection is not changed, the effective passing duration of the single control right phase of the south-north left-turn lane is relatively increased by (31-24)/24 ≈ 29%, and the increase of the effective passing duration is necessarily beneficial to improving the vehicle passing efficiency.

In the example shown in fig. 5-d, the time lengths of the control right phases of the 4 sets of intersection conflict lanes, i.e., the north-south through lane, the north-south left-turn lane, the east-west through lane and the east-west left-turn lane, are respectively fixed to 30 seconds, in this case, the total time length of the phase cycle of the whole plane intersection is shortened from 120 seconds to 96 seconds as shown in the example of fig. 5-d by passing through the overlap of the intersection conflict control right phases.

In the scenario illustrated in fig. 5-d, in the case that the total duration of the phase cycle of the entire intersection is greatly shortened (from 120 seconds to 96 seconds), since the durations of the control right phases of the 4 intersection conflict lanes, i.e., the north-south straight lane, the north-south left-turn lane, the east-west straight lane, and the east-west left-turn lane, are not shortened, the effective passing duration of the corresponding control right phase is not shortened. Because the total time of the phase cycles of the whole plane crossroad is shortened, the number of the phase cycles of the whole plane crossroad which can be arranged in the same time range (for example, within 1 hour) can be greatly increased, so that the corresponding effective passing time within the same time range is inevitably increased, and the increase of the effective passing time is inevitably favorable for improving the vehicle passing efficiency. Therefore, according to some technical schemes of the embodiment of the application, on the basis of not shortening the effective passing time of a single control right phase, a small period with relatively shorter total time can be used in a phase period of the planar cross intersection, so that the problem of people about the large period of the planar cross intersection can be solved.

In the examples shown in fig. 5-c and fig. 5-d, the overlapping duration (i.e., the pre-acceleration duration) of the collision control right phases of the temporally adjacent intersections is exemplified as 8 seconds, but the overlapping duration may also be other durations, for example, 1 second, 2 seconds, 3.5 seconds, 5 seconds or 6 seconds, 8 seconds, 9 seconds, 10 seconds or other durations smaller than the duration of the corresponding control right phase, and so on in the corresponding embodiments. The examples shown in fig. 5-c and 5-d are illustrated by taking the control right phase comprising the pass phase, the transit phase and the clear phase as an example, but the control right phase may be other components as shown in fig. 2-c, for example, the control right phase may comprise the pass phase and the clear phase but not the transit phase. Corresponding embodiments with control authority phase in other forms may be analogized.

In summary, by implementing the scheme of the embodiment of the present application, the effective passing time duration can be relatively increased on the premise that the total time duration of the phase period of the whole crossroad is fixed and unchanged, or the total time duration of the phase period of the whole crossroad can be shortened on the premise that the phase duration of a single control right is unchanged. By introducing an overlapping mechanism of crossing conflict control right phases and an entrance guide area, the method is not only beneficial to offsetting the conversion loss time of the control right phases, but also beneficial to greatly improving the speed of vehicles passing through the crossings. As can be seen from the time, distance, and speed, the faster the speed is in the same time, the more vehicles pass, and the higher the traffic efficiency. Compared with some traditional schemes which reduce the conversion loss time length proportion of the control right phase by prolonging the total time length of the phase period, the technical scheme of the embodiment of the application not only can greatly reduce the total time length of the phase period of the whole plane crossroad, but also relatively shortens the red light waiting time, and is favorable for reducing the fuel consumption and the exhaust emission.

For example, if each vehicle passes through 5 crossroads every day, if each crossroad waits 30 seconds less red light and the fuel consumption is calculated to be 1 liter of gasoline per hour on average at idle, then with 100 million vehicles in a certain market, billions of dollars of fuel can be saved each year. For example, (5 × 0.5 min × 1 liter/60 min) × 360 days × 100 × 1500 × ten thousand liters. Assuming 7 yuan per liter of oil, a saving of 10500 ten thousand liters of oil per 7 yuan per year can be achieved. Therefore, the passing efficiency is improved, and social resources are saved.

Furthermore, the engineering reconstruction of the scheme of the embodiment of the application is easy to implement, the original traffic facilities can be basically reserved, and the original facilities such as photographing induction can be basically continuously used. The method mainly adjusts the starting and stopping time of each group of intersection conflict control authority phases, and moves a stop line arranged at an intersection safety line position (such as the arrangement position of a transverse ground traffic signal lamp group pxi) backwards in the prior art, so that the intersection safety line and the stop line (such as the arrangement position of a transverse ground traffic signal lamp group qxi) are separated on a spatial position, and an entrance guide area is formed in an area between the stop line and the intersection safety line. Furthermore, because the stop line is relatively far away from the crosswalk, the vehicle basically does not need to worry about that pedestrians suddenly rush out of the crosswalk when starting, and the pedestrians basically do not need to worry about that the vehicles running the red light bump when crossing the road, so that the separation of the pedestrians and the vehicles is realized without interference to a certain degree.

Further, since the total duration of the phase cycles of the intersection is usually very long in the conventional technique, the waiting time is also very long, and the duration of the phase of the single control right is also long. When the distance between two plane intersections is relatively close, vehicles are easy to be detained in the intersections, and therefore the vehicles passing through the intersections by the corresponding next control right phase can be influenced, so that congestion is caused, and the traffic jam is commonly called as green light running. The reason is that the traffic jam in the rainy and foggy days is also caused in most cases. After some technical schemes of this application are implemented, owing to be favorable to shortening the phase cycle total duration of plane intersection, so just be favorable to reducing and run green light phenomenon. Meanwhile, the total time of the phase period of the plane intersection is greatly shortened, so that the number of buses released in a single phase period is relatively reduced, and the phenomenon of bus formation at a bus stop is favorably reduced.

Referring to fig. 6, an embodiment of the present invention further provides an intersection traffic signal lamp system, which may include: the traffic signal system comprises a signal 650, an intersection traffic signal lamp array 610, a main controller 630, a second sub-controller 640 and a first sub-controller 620 for driving the intersection traffic signal lamp array, wherein the intersection traffic signal lamp array 610 is connected with the first sub-controller 620 (for example, wired connection or wireless connection), the signal 650 is connected with the main controller 630 (for example, wired connection or wireless connection), and the main controller 630 is respectively connected with the first sub-controller 620 and the second sub-controller 640 (for example, wired connection or wireless connection). The intersection traffic light array 620 may be any one of the intersection traffic light arrays provided in the above embodiments, for example. The first sub-controller 620 may be connected to another intersection traffic light array similar to the intersection traffic light array 620, for example, and the first sub-controller 620 may be used to drive the intersection traffic light array connected thereto.

In practical application, each transverse ground traffic signal lamp group can work under the driving control of the sub-controllers. For example, the sub-controller may drive the intersection traffic signal light array to operate by directly or indirectly outputting a control signal or a power supply signal (the control signal or the power supply signal may also be regarded as some concrete expressions of a driving signal) to the intersection traffic signal light array. Generally, the voltage of the control signal is less than the voltage of the supply signal. For example, the semaphore may provide some relevant signal to the master, e.g., the semaphore may provide a countdown signal to the master, e.g., a pass phase or a no-pass phase of a lane, etc., or the semaphore may send a trigger signal to the master, e.g., indicating that the last intersection conflict control authority phase, which is the control authority phase from the entry lane xi at the present time, ends and that there remains an overlapping time period T_{cd_xi}At the same time. The signal machine can also be used as a master controllerSending records the overlap duration T_{cd_xi}The configuration file of (c), etc. The master controller can then send some relevant signals (such as trigger signal or countdown signal, etc.) corresponding to the corresponding lane to the slave controller corresponding to the corresponding lane. The communication protocol between the master and the slaves may be a public protocol or a private protocol. One plane intersection can correspond to one or more main controllers, one main controller can correspond to a plurality of sub controllers, and both the main controller and the sub controllers can be regarded as driving controllers. Different sub-controllers may correspond to different lanes, and one or more entrance lanes in the same driving direction may share the same sub-controller. Sometimes, some single entrance lanes may share a separate controller, and sometimes several entrance lanes may share the same separate controller.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a magnetic disk, an optical disk, a Read-only Memory (ROM), a Random Access Memory (RAM), or other various media capable of storing program codes.

Claims

1. The intersection traffic signal lamp system is characterized by comprising a signal machine, an intersection traffic signal lamp array, a main controller, a second branch controller and a first branch controller for driving the intersection traffic signal lamp array, wherein the intersection traffic signal lamp array is connected with the first branch controller, the signal machine is connected with the main controller, the main controller is respectively connected with the first branch controller and the second branch controller, and the intersection traffic signal lamp array comprises Nxi transverse ground traffic signal lamp groups; the Nxi transverse ground traffic signal lamp groups comprise a transverse ground traffic signal lamp group pxi arranged at an intersection safety line position of an entrance lane xi of the plane intersection, and the Nxi transverse ground traffic signal lamp groups further comprise a transverse ground traffic signal lamp group qxi arranged at a stop line position of the entrance lane xi;

2. The intersection traffic signal system of claim 1, wherein the signal light ia of the group i of transverse ground traffic signal lights is capable of emitting an enable light signal driven by a first drive signal, and the signal light ia is further capable of emitting an enable light signal driven by a second drive signal; or the signal lamp ia in the transverse ground traffic signal lamp group i can send out the light signal for prohibiting the traffic under the driving of the first driving signal, and the signal lamp ia can also send out the light signal for allowing the traffic under the driving of the second driving signal, and the signal lamp ia can also send out the light signal for warning the traffic under the driving of the third driving signal; the signal lamp ia is one of the signal lamps or any one of the signal lamps in the transverse ground traffic signal lamp group i.

3. The intersection traffic signal system of claim 1, wherein i1 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting an inhibit traffic light signal, and i2 signal lamps in the transverse ground traffic signal lamp group i are signal lamps capable of emitting an permit traffic light signal;

wherein the i1, the i2, and the i3 are integers greater than 1.

4. The intersection traffic signal light system of claim 1,

the signal lamps ia of the transverse ground traffic signal lamp group i can send out traffic prohibition light signals, and the signal lamps ib in the transverse ground traffic signal lamp group i can send out traffic permission light signals; the signal lamp ia and the signal lamp ib are two adjacent signal lamps in the transverse ground traffic signal lamp group i, or the signal lamp ia and the signal lamp ib are any two adjacent signal lamps in the transverse ground traffic signal lamp group i;

5. The intersection traffic signal system of any of claims 2-4, wherein the no-traffic light signal is a red light signal, the clear-traffic light signal is a green light signal, and/or the warning-traffic light signal is a yellow light signal.

6. The intersection traffic signal circuit system of any one of claims 1-4, wherein the Nxi transverse ground traffic signal light groups further comprise Nxi-2 transverse ground traffic signal light groups disposed between the intersection safety line and the stop line on the entry lane xi, the Nxi being an integer greater than 2.

7. The intersection traffic signal system of claim 6, wherein the lamp bodies of some or all of the signal lamps in the transverse ground traffic signal lamp group i are partially or completely buried under the road surface, or the lamp bodies of some or all of the signal lamps in the transverse ground traffic signal lamp group i are attached to the surface of the road surface.

8. The intersection traffic signal system of claim 6, wherein some or all of the signal lamps in the transverse ground traffic signal lamp group i are spike or strip or graphene signal lamps.

9. The intersection traffic signal system of claim 6, wherein the signal lights ia of the transverse ground traffic signal light group i comprise: the LED lamp comprises V lamp beads, a circuit board for driving the V lamp beads to work and a shell for accommodating the V lamp beads and the circuit board, wherein the circuit board is provided with a wired driving signal input port and/or a wireless driving signal input port;

wherein, V lamp pearl includes: the lamp beads comprise v1 lamp beads capable of emitting light signals for forbidding passage, v2 lamp beads capable of emitting light signals for permitting passage and v3 lamp beads capable of emitting light signals of A3 type, wherein v1, v2 and v3 are positive integers which are greater than 1 or equal to 1.

10. The intersection traffic signal system of claim 6, wherein any two adjacent ones of said Nxi transverse ground traffic signal light groups are equally spaced,

or the smaller the spacing between two adjacent ones of the Nxi transverse ground traffic signal light groups that are farther from the transverse ground traffic signal light group pxi, or the smaller the spacing between two adjacent ones of the Nxi transverse ground traffic signal light groups that are farther from the transverse ground traffic signal light group pxi.