CN107123287B - A kind of traffic lights control integrated device based on Self-organizing Coordinated - Google Patents
A kind of traffic lights control integrated device based on Self-organizing Coordinated Download PDFInfo
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- CN107123287B CN107123287B CN201710497427.0A CN201710497427A CN107123287B CN 107123287 B CN107123287 B CN 107123287B CN 201710497427 A CN201710497427 A CN 201710497427A CN 107123287 B CN107123287 B CN 107123287B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/41—Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
Abstract
The invention belongs to urban traffic signal control technology fields, more particularly to a kind of traffic lights control integrated device based on Self-organizing Coordinated, the invention proposes a kind of traffic lights control integrated device based on Self-organizing Coordinated, by detection unit, communication unit, main control unit, power supply unit composition, independent of the traffic signal control for being mounted on intersection trackside, pass through the autonomous collection analysis of road traffic stream information, the interaction of intersection traffic information is shared, the organization design and coordination optimization of intersection traffic signal, the display and prompt of intersection traffic signal, realize the Self-organizing Coordinated to intersection traffic signal and optimal control.
Description
Technical field
The invention belongs to urban traffic signal control technology fields, and in particular to a kind of traffic letter based on Self-organizing Coordinated
Signal lamp control integrated device.
Background technique
Traffic lights are the important components of traffic signal control system, are to reinforce control of traffic and road, reduce and hand over
Interpreter's event improves road efficiency, a kind of important tool that guidance traffic is orderly passed through.However, existing traffic lights
Can not individualism, only traffic signal control system a concrete signal instruction execution unit, need to rely on peace
The light color that traffic signal control mounted in intersection carries out traffic signals is shown, light color is converted.
Currently, traffic lights are generally made of the LED light of one group of display different colours, and the friendship by being mounted on intersection
Messenger controller to the light color state of LED traffic signal lamp, open the bright time, display duration is controlled and is converted.In intelligence
Change in traffic signal control system, the traffic signal control for being mounted on intersection generally requires 32 to 64 group traffic signals of connection
Lamp, while also needing to connect the different types of Traffic flow detecting that 16 to 128 tunnels are mounted on each import/export road in intersection or trackside
Device, the connection of a large amount of traffic signal light groups and Traffic flow detecting device considerably increase traffic signal control carry out information processing,
The complexity and degree of loading of signal optimization, signal control increase the complexity of intersection communication network connection physical connection, to traffic
Signal controller carries out real-time, the stabilization of the operating conditions such as field device failure detection, monitoring running state, traffic information processing
Property, reliability, accuracy generate large effect；On the other hand, it increases traffic signal control system and carries out software and hardware system
Upgrading, system maintenance, network reconfiguration difficulty and cost.
Summary of the invention
The invention proposes a kind of traffic lights control integrated device based on Self-organizing Coordinated, the device are single by detection
Member, communication unit, main control unit, power supply unit composition, as shown in Figure 1 and Figure 2, independent of the friendship for being mounted on intersection trackside
Messenger controller, the shared, intersection by the interaction of the autonomous collection analysis of road traffic stream information, intersection traffic information
The display and prompt of the organization design and coordination optimization, intersection traffic signal of traffic signals, are realized to intersection traffic signal
Self-organizing Coordinated and optimal control.
The technical solution of the invention is as follows urban road intersection export direction traffic lights cantilevered upright bar
Cross bar on a kind of traffic lights control integrated device based on Self-organizing Coordinated proposed by the present invention is installed, as shown in figure 3,
The device reaches situation to the traffic flow of corresponding intersection entrance driveway by detection unit and carries out Image Acquisition, traffic
Flow parameter extraction and traffic flow running rate assessment；By communication unit to Traffic Information, traffic signals coordination information, friendship
Messenger controls information, system running log information and urban transportation command centre, live police handheld terminal device, trackside friendship
The traffic lights control integrated device that logical inducing device, other export directions of intersection are installed carries out information exchange；Pass through master
Control unit to intersection traffic signal phase organizational form, phase phase sequence, phase long green light time, intersection signal cycle duration into
Row tissue, design, coordination, optimization and control；By display unit to the road of corresponding intersection entrance driveway
The passage direction of power, transit time, current duration, by changing the image of traffic signal display screen, animation, color, number
Form carries out direction, time, duration progress Dynamically Announce and the prompt of wayleave；It is traffic signals by power supply unit
Each functional unit of lamp control integrated device provides pressure stabilizing, uninterruptible power supply.
A kind of traffic lights control integrated device based on Self-organizing Coordinated proposed by the present invention, feature are mainly wrapped
It includes:
1) detection unit
Detection unit is embedded with CCD/CMOS sensor, front end SoC (System-on-a-Chip) micro treatment module and rear end
ISP (Image Signal Processing) micro treatment module, CCD/CMOS sensor, front end SoC micro treatment module, rear end
ISP micro treatment module is communicatively coupled by SPI (Serial Peripheral Interface) communication bus.CCD/
Cmos sensor is used to carry out video image acquisition to the traffic flow for entering crossing inlet road；Front end SoC micro treatment module pair
The video image of CCD/CMOS sensor acquisition is pre-processed, and is carried out noise reduction, amendment and enhancing to video image, is improved video
The sensibility of picture quality and feature extraction；The view that rear end ISP micro treatment module completes the pretreatment of front end SoC micro treatment module
Frequency image carries out road traffic flow parameter extraction and traffic flow running rate assessment.
2) communication unit
Communication unit is embedded with dedicated short-range wireless communication module and 4G mobile communication module.Dedicated short-range wireless communication module
Be responsible for place intersection others traffic lights control integrated device, trackside traffic guidance equipment carry out information interaction and
It is shared；4G mobile communication module is responsible for carrying out the interaction of information with urban transportation command centre, live police handheld terminal device
With it is shared.
3) main control unit
Main control unit is embedded with PCB backboard, motherboard bus, embedded microcontroller module.PCB backboard is responsible for traffic lights
The solidification and connection of each functional unit of control integrated device；Motherboard bus is responsible for each function list of traffic lights control integrated device
The data transmission of member；The information that embedded micro treatment module is sent according to detection unit, communication unit, to corresponding intersection
The signal phase of mouth entrance driveway, long green light time, signal period duration are integrated with the others traffic lights control of place intersection
Device carries out organization design and coordination optimization, and controls the traffic signals in corresponding crossing inlet road.
4) display unit
Display unit is embedded with LCD controller, LCD drive control chip module and TFT-LCD liquid crystal display.LCD control
Device, LCD drive control chip module and TFT-LCD liquid crystal display are communicatively coupled by SPI communication bus.LCD control
Device is used to the traffic signal display scheme that main control unit sends over being converted into imaging traffic signal data information, and by image
Data information sends LCD drive control chip module to；LCD drive control chip module is responsible for counting image data information
Mould conversion, lattice design, three primary colours correction and adjusting；LCD drive control chip module is converted shape by TFT-LCD liquid crystal display
At image data information by number, image, animation, colour switching display form show and prompt correspondence crossing inlet
The wayleave information in road.
5) power supply unit
Power supply unit is embedded with miniature transformer, miniature transformation adjuster, solar cell module module, miniature online interaction
Formula UPS controller, wherein solar cell module module is by solar panel, charge controller, miniature high-capacity battery
Composition.Solar cell module module is mainly that each functional unit of traffic lights control integrated device provides solar-electricity
Source；Miniature on-line blackbody cavity controller is mainly that each functional unit of traffic lights control integrated device provides uninterrupted electricity
Source；Miniature transformer, miniature voltage adjuster are mainly that each functional unit of traffic lights control integrated device provides pressure stabilizing
Power supply ensures the stabilization of each component, reliability service in each functional unit of traffic lights control integrated device.
Detailed description of the invention
Fig. 1: traffic lights control integrated device functional unit composition figure；
Fig. 2: traffic lights control integrated device surface structure schematic diagram；
Fig. 3: the scheme of installation of traffic lights control integrated device.
Specific embodiment
A kind of traffic lights control integrated device based on Self-organizing Coordinated of the present invention is mounted on urban road
On the cross bar of intersection exit direction traffic lights cantilevered upright bar, mainly by detection unit, communication unit, main control unit,
Display unit, power supply unit composition, as shown in Figure 1, Figure 2, Figure 3 shows, pass through the autonomous collection analysis of road traffic stream information, intersection
The interaction of mouthful traffic information is shared, the organization design of intersection traffic signal and coordination optimization, intersection traffic signal display
And prompt, realize the Self-organizing Coordinated to intersection traffic signal and optimal control.
A kind of traffic lights control integrated device based on Self-organizing Coordinated proposed by the present invention, the specific stream of work
Journey are as follows:
1) detection unit
Traffic signals are installed according on the cross bar of the traffic lights cantilevered upright bar of urban road intersection export direction
The quantity of lamp control integrated device, the CCD/CMOS sensor in traffic lights control integrated device detection unit can correspond to
One import lane, multiple import lanes, entire import direction, CCD/CMOS sensor is to import each in coverage area lane
Traffic flow carries out video image acquisition；Front end SoC micro treatment module carries out figure to the video image that CCD/CMOS sensor acquires
Image quality amount enhancing pretreatment, to improve the clarity and feature sensitivity of video image；Rear end ISP micro treatment module is to front end
SoC micro treatment module treated video image carries out traffic flow parameter and extracts and traffic flow running rate assessment, specific works
Steps are as follows:
Step1: the video overlay area Ω of CCD/CMOS sensor is divided into N × M side by rear end ISP micro treatment module
Shape region A, A ∈ Ω, M are the import number of track-lines in the Ω of video overlay area, and N is that single import lane can in the Ω of video overlay area
The maximum vehicle number of receiving；The length of square region A is import lane width W_LANE, is highly average traffic length L_VEH；
Step2: defining square region A and be made of n × m pixel, IijFor the gray scale of the i-th row jth column pixel in A
Value, i=1,2,3 ..., n, j=1,2,3 ..., m；For gray scale of the i-th row jth column pixel under background image in t moment A
Value；For the average gray value of t moment square region A background image；Iij(t) it is mentioned for t moment rear end ISP micro treatment module
The gray value of i-th row jth column pixel in the A obtained；The side extracted for t moment rear end ISP micro treatment module
The average gray value of shape region A；
Step3: calculating gray feature running parameter in square region A,
r2=(W_LANE)2+(L_VEH)2
Wherein: λiiFor the gray-value variation rate of the i-th row jth column pixel in square region A；μAFor the picture of square region A
Vegetarian refreshments grey scale change measure value；pAThe singularity exponents changed for pixel gray level in square region A；ε is picture in square region A
The anomalous Diffusion parameter of vegetarian refreshments；CAFor the grey scale change significance of square region A；δ is minute of singular pixels point in square region A
Cloth parameter；R is the maximum distribution radius of pixel in square region A；
Step4: according to the interval value of the grey scale change significance of square region A, there are situations for the vehicle of square shaped region A
Determined,
(1) as θ-τ≤CAWhen≤θ-τ, determining square region A, there are single cars, and wherein θ is single car grey scale change
Scale is divided, τ is that single car grey scale change detects threshold limit value；
(2) as ξ-η η≤CAWhen≤ξ-η η, the front and back square region A is determined occupied by two cars, wherein ξ is two cars ash
Degree variation divides scale, and η is that two cars grey scale change detects threshold limit value；
(3) as alpha-beta≤CAWhen≤alpha-beta, square region A is determined occupied by a cart, wherein α cart grey scale change is drawn
Divide scale, β is that cart grey scale change detects threshold limit value；
Step5: existing according to the vehicle of square region A and determine situation, extracts the friendship of each entrance driveway of video overlay area Ω
Through-flow parameter,
Wherein:It isThe vehicle number of entrance driveway；TheThe queue length of entrance driveway；It is
The grey scale change significance of entrance driveway；VOL () is the flow rate calculation function about grey scale change significance, and QUE () is about ash
The queue length for spending degree of being changed significantly calculates function；It is in the Ω of video overlay areaThe σ square region of entrance driveway
A, σ=1,2 ... N；
Step6: extracting road traffic flow parameter to video overlay area Ω points of current directions,
Wherein: Vstr、Qstr、DstrThe vehicle number of respectively video overlay area Ω straight trip direction calibration, queue length, ash
Spend degree of being changed significantly；Vlef、Qlef、DlefThe respectively vehicle number of video overlay area Ω left-hand rotation direction calibration, queue length, ash
Spend degree of being changed significantly；Respectively video overlay area Ω keep straight on the average traffic number in direction, queue length,
Grey scale change significance；Respectively the average traffic number in video overlay area Ω left-hand rotation direction, queuing length
Degree, grey scale change significance；M ', M " are respectively keep straight in the Ω of video overlay area entrance driveway number and left-hand rotation entrance driveway number；
Step7: assessing the traffic flow running rate in each current direction in the Ω of video overlay area,
Wherein: maxVstr、maxQstr、maxDstrRespectively video overlay area Ω keeps straight under the conditions of the congestion of import direction
Vehicle number, queue length, grey scale change significance；minVstr、minQstr、minDstrRespectively video overlay area Ω keep straight on into
Vehicle number, queue length, grey scale change significance under the conditions of the free flow of mouth direction；maxVlef、maxQlef、maxDlefRespectively
Vehicle number, queue length, grey scale change significance under the conditions of the Ω left-hand rotation import direction congestion of video overlay area；minVlef、
minQlef、minDlefVehicle number, queue length, ash respectively under the conditions of the free flow of video overlay area Ω left-hand rotation import direction
Spend degree of being changed significantly；ω1、ω2、ω3Respectively video overlay area Ω straight trip import direction vehicle number, queue length, gray scale become
The traffic flow for changing significance runs index weight；Respectively video overlay area Ω left-hand rotation import direction vehicle
Number, queue length, the traffic flow of grey scale change significance run index weight；PIstr、PIlefRespectively video overlay area Ω
The traffic flow in straight trip import direction and left-hand rotation import direction runs index；
Step8: rear end ISP micro treatment module transports the traffic flow of the traffic flow parameter information Lo_Par extracted and assessment
Row status information Lo_Sta is respectively transmitted by the motherboard bus of main control unit to communication unit and main control unit, wherein Lo_
Par is Vstr、Qstr、Dstr、Vlef、Qlef、Dlef, the Information Compression packet that is packed into together of position, time, Lo_Sta PIstr、
PIlef, the Information Compression packet that is packed into together of position, time.
2) communication unit
Communication unit is believed by dedicated short-range wireless communication module and trackside traffic guidance equipment, intersection others traffic
Signal lamp control integrated device establishes communication connection and information communication, carries out each current direction traffic flow parameter information in intersection, hands over
Each current direction traffic flow running rate information of prong, the information exchange of trackside guidance information and shared；It is mobile by 4G
Communication module is communicated with urban transportation command centre, live police handheld terminal device foundation communication connection and information, is handed over
Prong traffic flow parameter information, traffic flow running rate information, traffic signal control scheme, traffic signalization intervene information
Information exchange and shared, specific work steps is as follows:
Step1: communication unit obtains the traffic flow parameter information Lo_Par that detection unit is sent by motherboard bus
With traffic flow running rate information Lo_Sta, it is packed into RM_Flow, where sending to by dedicated short-range wireless communication module
Intersection others traffic lights control integrated device；Meanwhile others traffic lights control one in intersection where receiving
The RM_Flow data packet sent is set in makeup, and sends main control unit to by motherboard bus；
Step2: communication unit obtains main control unit by motherboard bus and sends the best of corresponding crossing inlet road
Phase combination scheme Lo_PH, is packed into RM_PH, by dedicated short-range wireless communication module send to where intersection other
Traffic lights control integrated device；Meanwhile others traffic lights control integrated device transmission in intersection where receiving
The RM_PH data packet to come over, and main control unit is sent to by motherboard bus；
Step3: communication unit obtains the intersection phase combination scheme C_ that main control unit is sent by motherboard bus
PH, intersection others traffic lights control integrated device where being sent to by dedicated short-range wireless communication module；Meanwhile
The C_PH that intersection others traffic lights control integrated device where receiving is sent, and sent to by motherboard bus
Main control unit；
Step4: communication unit obtains the intersection phase that main control unit is sent by motherboard bus and executes sequence SQ_
PH, intersection others traffic lights control integrated device where being sent to by dedicated short-range wireless communication module；Meanwhile
The SQ_PH that intersection others traffic lights control integrated device where receiving is sent, and transmitted by motherboard bus
To main control unit；
Step5: communication unit by motherboard bus obtain the detection unit that sends of main control unit correspond to intersection into
Transit time data packet LO_TM needed for each current direction traffic flow dissipation in mouth road, is packaged compression and forms RM_TM data packet, logical
Cross intersection others traffic lights control integrated device where dedicated short-range wireless communication module is sent to；Meanwhile it receiving
The RM_TM data packet that place intersection others traffic lights control integrated device is sent, and passed by motherboard bus
Give main control unit；
Step6: communication unit obtains the integrative design intersection scheme that main control unit is sent by motherboard bus
Signal_Plan, others traffic lights control integration in intersection where being sent to by dedicated short-range wireless communication module
Device；Meanwhile the Signal_Plan that intersection others traffic lights control integrated device where receiving is sent, and
Main control unit is sent to by motherboard bus；
Step7: communication unit receives the traffic signals from urban transportation command centre, ready-made police handheld terminal device
Scheme intervenes information INTER_INFO, and communicates this information to main control unit by motherboard bus；
Step8: communication unit is received by 4G mobile communication module from urban transportation command centre, the police hand in scene
The guidance information GUIDE_INFO of terminal device is held, and road is communicated this information to by dedicated short-range wireless communication module
Top-cross leads to inducing device；
Step9: communication unit will test the traffic flow parameter information of unit, traffic flow running rate information, main control unit
Traffic signal control scheme information by 4G mobile communication module, send urban transportation command centre, live police handheld to
Terminal device.
3) main control unit
Embedded microcontroller module in main control unit is obtained by motherboard bus from detection unit, communication unit
Traffic flow parameter information, traffic flow running rate information, traffic signal control scheme coordination information, traffic signal control scheme are dry
Pre-information to intersection phase organizational form progress organization design and coordination, the optimization of phase green time and coordination, intersects message
The optimization of number cycle duration and coordinate, to realize the optimization and control to intersection traffic signal, specific work steps is as follows:
Step1: traffic information is obtained；Embedded microcontroller module will test unit and send traffic flow parameter information
The traffic flow running rate information Lo_Sta of Lo_Par and assessment, and the RM_Flow number that decompression is sent from communication unit
According to packet, the traffic flow parameter information and traffic flow running rate information in the current direction of each import direction difference in intersection are obtained；
Step2: intersection phase organization design and coordination；
Step2.1: the passage direction R_WAY in main control unit crossing inlet road according to corresponding to detection unit, from friendship
The passage not collided with current direction R_WAY is selected in other corresponding entrance driveway of traffic lights control integrated device of prong
Direction RM_WAY, and the corresponding traffic flow parameter letter of RM_WAY is extracted from the RM_Flow data packet that communication unit is sent
Cease RM_Par；
Step2.2: assuming that the traffic flow parameter in Lo_Par in current direction R_WAY is VR_WAY、QR_WAY、DR_WAY, RM_
The traffic flow parameter of current direction RM_WAY is V in FlowRM_WAY、QRM_WAY、DRM_WAY,
(1) ifThe direction R_WAY and current direction RM_WAY that then passes through can carry out phase
Combination, and this is added in combination current phase-group intersection PH_V；If The direction R_WAY that then passes through is needed
Quadratic phase combination is carried out, phase combination can be carried out with current direction RM_WAY for the first time, and this is added in combination secondary lead to
Row phase-group intersection PH2_V；
(2) ifThe direction R_WAY and current direction RM_WAY that then passes through can carry out phase
Bit combination, and this is added in combination current phase-group intersection PH_Q；If Then pass through direction R_WAY
Need to carry out quadratic phase combination, can carry out phase combination with current direction RM_WAY for the first time, and by this be added in combination it is secondary
Current phase-group intersection PH2_Q；
(3) ifThe direction R_WAY and current direction RM_WAY that then passes through can carry out phase
Bit combination, and this is added in combination current phase-group intersection PH_D；If Then pass through direction R_WAY
Need to carry out quadratic phase combination, can carry out phase combination with current direction RM_WAY for the first time, and by this be added in combination it is secondary
Current phase-group intersection PH2_D；
Wherein: VR_WAY、QR_WAY、DR_WAYRespectively in Current traffic signal lamp control integrated device detection unit it is corresponding into
The vehicle number of current direction R_WAY calibration, queue length, grey scale change significance in mouth road；VRM_WAY、QRM_WAY、DRM_WAYRespectively
Current direction RM_WAY mark in entrance driveway is corresponded to for some device in the others traffic lights control integrated device of intersection
Fixed vehicle number, queue length, grey scale change significance；Respectively it is based on vehicle number, queue length, gray scale
The phase for degree of being changed significantly once combines critical value；φV、φQ、φDIt Wei not be significant based on vehicle number, queue length, grey scale change
The secondary combination critical value of the phase of degree；PH_V, PH_Q, PH_D are respectively to be based on vehicle number, queue length, grey scale change significance
Phase-group intersection；PH2_V, PH2_Q, PH2_D be respectively based on vehicle number, queue length, grey scale change significance it is secondary
Current phase-group intersection；
Step2.3: main control unit embedded microcontroller module repeats Step2.1 to Step2.2, until intersection respectively into
The traffic flow traffic direction that R_WAY does not conflict in mouthful direction all carries out similarity mode calculating with R_WAY, and to can carry out phase
The combinatorial phase of bit combination or quadratic phase combination is separately added into PH_V, PH_Q, PH_D or PH2_V, PH2_Q, PH2_D.
Step2.4: the optimum phase combination of the current direction R_WAY in crossing inlet road corresponding to main control unit are as follows:
PHR_WAY=(PH_V ∩ PH_Q ∩ PH_D) | | (PH2_V ∩ PH2_Q ∩ PH2_D)
Step2.5: main control unit embedded microcontroller module repeats Step2.1 to Step2.4, until master control unit institute
Traffic lights control integrated device corresponding to the intersection that does not conflict with current direction of all current directions other
Traffic lights control integrated device should pair passage direction carry out phase combination calculating.
Step2.6: main control unit will carry out the optimum phase group in the correspondence crossing inlet road that phase combination is calculated
Conjunction scheme Lo_PH is sent to communication unit by motherboard bus, while extracting communication unit from other traffic lights of intersection
The optimum phase assembled scheme RM_PH that control integrated device is sent；
Step2.7: main control unit carries out intersection to Lo_PH and RM_PH and union is handled, and forms the phase combination of intersection
Scheme C_PH, and C_PH is sent to communication unit by motherboard bus, while extracting communication unit from other traffic of intersection
The intersection phase combination scheme that signal lamp control integrated device is sent coordinates the final phase combination for determining intersection
Scheme CF_PH guarantees the consistency of all traffic lights control integrated devices in intersection intersection phase combination scheme.
Step3: the phase sequence for carrying out intersection signal phase determines；
Step3.1: the intersection that main control unit is determined according to all traffic lights control integrated devices in place intersection
Final phase combination scheme CF_PH extracts each phase in intersection from detection unit and traffic element and respectively combines current direction
Traffic flow running rate information Lo_Sta；
Step3.2: assuming that the passage direction that some phase S_PH of intersection includes is R_WAY1 and R_WAY2, it is right
The traffic flow operation index answered is respectively PIR_WAY1And PIR_WAY2, then the phase traffic flow of phase S_PH runs indices P Is_PH=
max(PIR_WAY1, PIR_WAY2)；
Step3.3: the phase traffic flow for calculating each phase in intersection runs indices P Is_PH, and run by phase traffic flow
The size of index sorts, and the continuity for combining phase sequence to execute is arranged, and ultimately forms phase and executes sequence SEQ_PH；
Step3.4: intersection phase execution sequence SQ_PH is sent to communication unit by main control unit, while receiving communication
The phase that unit is determined from other traffic lights control integrated devices of intersection executes sequence SQ_PH, coordinates to determine intersection
Final phase execute sequence C FSQ_PH, guarantee that the phase in all traffic lights control integrated devices in entire intersection is held
The unification of row sequence.
Step4: the determination of phase long green light time and intersection signal cycle duration；
Step4.1: the traffic flow parameter information that main control unit is sent according to detection unit is each current telegoniometer
Calculate the transit time needed for wagon flow dissipates:
Wherein: TMR_WAYGreen light needed for dissipating for R_WAY traffic flow in direction current in entrance driveway corresponding to detection unit
Time；θ is respectively the delay parameter and interest for delinquency parameter of queuing vehicle starting time；Pass through intersection for queuing vehicle
Average speed；SFRR_WAYFor the lane saturation volume rate of current direction R_WAY；ωVEL、ωSFRRespectively based on starting time and base
In the transit time weight of queue clearance；
Step4.2: main control unit calculates each current direction traffic flow in crossing inlet road corresponding to detection unit and dissipates
Required transit time, compression form LO_TM data packet, send communication unit to by motherboard bus, and communication unit is by LO_TM
Data packet packing is compressed into RM_TM, sends intersection others traffic lights control to by wireless dedicated short-range communication module
Integrated apparatus；Other traffic lights control integrated devices of intersection that receiving communication unit is sent simultaneously are sent
RM_TM, decompression obtain each current direction of other entrance driveway of intersection needed for traffic flow dissipate needed for time；
Step4.3: according to the final phase combination scheme CF_PH in intersection, it is assumed that some phase S_PH packet of intersection
The passage direction contained is R_WAY1 and R_WAY2, and the transit time needed for corresponding wagon flow dissipates is respectively TMR_WAY1With
TMR_WAY2, then the required phase long green light time GT of phase S_PHS_PH=max (TMR_WAY1, TMR_WAY2)；
Step4.4: phase green time GTi needed for calculating each phase in intersection, then the signal period duration of intersection
Are as follows:
Wherein: CY_TM is the calculating signal period duration of intersection；PH_N is the number of phases of intersection；LTiFor the i-th phase
The phase green light of position loses the time；I=1,2 ... PH_N；
Step4.5: ifThen the phase long green light time of each phase is adjusted,
(1) if CY_TM < minCY, CY_TM=minCY；
(2) if CY_TM > maxCY, CY_TM=maxCY；
Then, each phase long green light time of each intersection are as follows:
Wherein: GT 'iThe phase long green light time finally determined for the i-th phase；
If CY_TM ∈ [minCY, maxCY], then GT 'i=GTi；
Step4.6: main control unit will calculate the phase composition form completed, phase executes sequence, each phase long green light time
It is packed into Signal_Plan with the intersection signal period, communication unit is sent to by motherboard bus；Meanwhile receiving communication
Other traffic lights control integrated devices of the intersection that unit is sent send Signal_Plan, coordinate to determine and hand over
The final signal control program of prong guarantees the signal controlling party in entire all intersection traffic signal lamp control integrated devices
The consistency of case；And the phase signal control program PHASE_Plan that the machine is responsible for is sent to display list by motherboard bus
Member；
Step4.7: if main control unit receives the friendship from urban transportation command centre, live police handheld terminal device
Messenger control intervene information, then according to intervene information, repeat the process of Step4.1 to 4.6, to traffic signal control scheme into
Row adjustment.
4) display unit
Display unit receives the phase signal control program PHASE_Plan that main control unit is sent, and LCD controller will
Phase signal control program PHASE_Plan is converted into imaging traffic signal data information, and image data information is sent to
LCD drive control chip module, LCD drive control chip module is according to display time of phase information, display duration, passage side
To carrying out digital-to-analogue conversion to image data, lattice design, tristimulus signals are corrected and adjusted, and by phase signal control program
Displaying scheme and display effect be sent to TFT-LCD liquid crystal display carry out wayleave display and prompt, specific work
Steps are as follows for work:
Step1: if the wayleave that place traffic lights control integrated device is only responsible for single current direction refers to
Show, the display area of TFT-LCD liquid crystal display is divided into the third subregion in upper, middle and lower, the respectively region UP-LCD, MD-
LCD area, the region DW-LCD；
Step1.1: if current phase is red signal, it is displayed in red background signal in the region UP-LCD, and use band
State that the current current direction of the 3D animation flag that no through traffic prompt is that no through traffic, while in the red dynamic in the region MD-LCD
Number shows remaining red time；
Step1.2: if current phase is green light signals, green light background signal is shown in the region DW-LCD, and use band
The 3D animation flag prompt arrow direction of current arrow is the current direction of present road, while in the region MD-LCD green light dynamic
Number shows remaining green time；
Step2: if place traffic lights control integrated device is responsible for keep straight on current phase and current phase of turning left simultaneously
When position, the display area of TFT-LCD liquid crystal display is divided into the subregions such as left and right and upper, middle and lower six, respectively LUP-LCD
Region, the region LMD-LCD, the region LDW-LCD, the region RUP-LCD, the region RMD-LCD, the region RDW-LCD；
Current phase of turning left is responsible in the region Step2.1:LUP-LCD, the region LMD-LCD, the region LDW-LCD,
(1) if current phase of turning left is red signal, it is displayed in red background signal in the region LUP-LCD, and use band
State that the current current direction of the 3D animation flag that no through traffic prompt is that no through traffic, while in the region LMD-LCD with red dynamic
State number shows remaining red time；
(2) if current phase of turning left is green light signals, green light background signal is shown in the region LDW-LCD, and use band
The 3D animation flag prompt arrow direction of current arrow is the current direction of present road, while dynamic with green light in the region LMD-LCD
State number shows remaining green time；
Current phase of keeping straight on is responsible in the region Step2.2:RUP-LCD, the region RMD-LCD, the region RDW-LCD,
(1) if current phase of keeping straight on is red signal, it is displayed in red background signal in the region RUP-LCD, and use band
State that the current current direction of the 3D animation flag that no through traffic prompt is that no through traffic, while in the region RMD-LCD with red dynamic
State number shows remaining red time；
(2) if current phase of keeping straight on is green light signals, green light background signal is shown in the region RDW-LCD, and use band
The 3D animation flag prompt arrow direction of current arrow is the current direction of present road, while dynamic with green light in the region RMD-LCD
State number shows remaining green time.
5) power supply unit
Power supply unit passes through the miniature transformer being embedded and miniature voltage adjuster provides constant voltage dc source, ensures
The reliability and stability of traffic lights control integrated device internal wiring and component work.Pass through solar cell module
Solar energy is converted to by module by solar receiving panel, solar cell module, charge controller, miniature high-capacity battery
D.C. regulated power supply is powered for each functional unit of traffic lights control integrated device；Pass through miniature on-line blackbody cavity
Reversible transducer in controller, when solar cell module module for power supply is normal using solar cell module module to friendship
Each functional module of messenger controller is powered, while being filled to the miniature high-capacity battery of solar cell module
Electricity, to hold the cell at fully charged state；It is two-way in UPS controller when solar cell module module for power supply is abnormal
The miniature high-capacity battery of solar cell module module is filled after processing that converter carries out pressure stabilizing to alternating current, filter is made an uproar
Electricity, and be powered by each functional unit of the miniature high-capacity battery to traffic lights control integrated device.
Claims (3)
1. a kind of integrated method of traffic lights control based on Self-organizing Coordinated, it is characterised in that:
According to installation traffic lights control on the cross bar of the traffic lights cantilevered upright bar of urban road intersection export direction
The quantity of integrated apparatus, the CCD/CMOS sensor in traffic lights control integrated device detection unit can correspond to one
Import lane, multiple import lanes, entire import direction, traffic of the CCD/CMOS sensor to import each in coverage area lane
Stream carries out video image acquisition；Front end SoC micro treatment module carries out image matter to the video image that CCD/CMOS sensor acquires
Amount enhancing pretreatment, to improve the clarity and feature sensitivity of video image；Rear end ISP micro treatment module is micro- to front end SoC
Processing module treated video image carries out traffic flow parameter and extracts and traffic flow running rate assessment, and specific work steps is such as
Under:
Step1: the video overlay area Ω of CCD/CMOS sensor is divided into N × M squared region by rear end ISP micro treatment module
Domain A, A ∈ Ω, M are the import number of track-lines in the Ω of video overlay area, and N is that single import lane can accommodate in the Ω of video overlay area
Maximum vehicle number；The length of square region A is import lane width W_LANE, is highly average traffic length L_VEH；
Step2: defining square region A and be made of n × m pixel, IijFor the gray value of the i-th row jth column pixel in A, i=
1,2,3 ..., n, j=1,2,3 ..., m；For gray value of the i-th row jth column pixel under background image in t moment A；For the average gray value of t moment square region A background image；Iij(t) it is extracted for t moment rear end ISP micro treatment module
To A in the i-th row jth column pixel gray value；The squared region extracted for t moment rear end ISP micro treatment module
The average gray value of domain A；
Step3: calculating gray feature running parameter in square region A,
r2=(W_LANE)2+(L_VEH)2
Wherein: λijFor the gray-value variation rate of the i-th row jth column pixel in square region A；μAFor the pixel of square region A
Grey scale change measure value；ρAThe singularity exponents changed for pixel gray level in square region A；ε is pixel in square region A
Anomalous Diffusion parameter；CAFor the grey scale change significance of square region A；δ is the distribution ginseng of singular pixels point in square region A
Number；R is the maximum distribution radius of pixel in square region A；
Step4: according to the interval value of the grey scale change significance of square region A, there are situation progress for the vehicle of square shaped region A
Determine,
(1) as θ-τ≤CAWhen≤θ-τ, determining square region A, there are single cars, and wherein θ is the division of single car grey scale change
Scale, τ are that single car grey scale change detects threshold limit value；
(2) as mono- η η≤C of ξAWhen≤ξ-η η, the front and back square region A is determined occupied by two cars, wherein ξ is the change of two cars gray scale
Change and divide scale, η is that two cars grey scale change detects threshold limit value；
(3) as alpha-beta≤CAWhen≤alpha-beta, square region A is determined occupied by a cart, wherein α cart grey scale change divides ruler
Degree, β are that cart grey scale change detects threshold limit value；
Step5: existing according to the vehicle of square region A and determine situation, extracts the traffic flow of each entrance driveway of video overlay area Ω
Parameter,
Wherein: It isThe vehicle number of entrance driveway；TheThe queue length of entrance driveway；It isImport
The grey scale change significance in road；VOL () is the flow rate calculation function about grey scale change significance, and QUE () is to become about gray scale
The queue length for changing significance calculates function；It is in the Ω of video overlay areaThe σ square region A of entrance driveway, σ=
1,2 ... N；
Step6: extracting road traffic flow parameter to video overlay area Ω points of current directions,
Wherein: Vstr、Qstr、DstrThe vehicle number of respectively video overlay area Ω straight trip direction calibration, queue length, gray scale become
Change significance；Vlef、Qlef、D1efRespectively the vehicle number of video overlay area Ω left-hand rotation direction calibration, queue length, gray scale become
Change significance；The average traffic number in respectively video overlay area Ω straight trip direction, queue length, gray scale
Degree of being changed significantly；Respectively average traffic number, queue length, the ash in video overlay area Ω left-hand rotation direction
Spend degree of being changed significantly；M ', M " are respectively keep straight in the Ω of video overlay area entrance driveway number and left-hand rotation entrance driveway number；
Step7: assessing the traffic flow running rate in each current direction in the Ω of video overlay area,
Wherein: maxVstr、maxQstr、maxDstrVehicle under the conditions of respectively video overlay area Ω straight trip import direction congestion
Number, queue length, grey scale change significance；minVstr、minQstr、minDstrRespectively video overlay area Ω straight trip importer
To vehicle number, queue length, the grey scale change significance under the conditions of free flow；maxVlef、maxQlef、maxDlefRespectively video
Vehicle number, queue length, grey scale change significance under the conditions of the Ω left-hand rotation import direction congestion of overlay area；minVlef、
minQlef、minDlefVehicle number, queue length, ash respectively under the conditions of the free flow of video overlay area Ω left-hand rotation import direction
Spend degree of being changed significantly；ω1、ω2、ω3Respectively video overlay area Ω straight trip import direction vehicle number, queue length, gray scale become
The traffic flow for changing significance runs index weight；Respectively video overlay area Ω left-hand rotation import direction vehicle
Number, queue length, the traffic flow of grey scale change significance run index weight；PIstr、PIlefRespectively video overlay area Ω
The traffic flow in straight trip import direction and left-hand rotation import direction runs index；
Step8: the traffic flow of the traffic flow parameter information Lo_Par extracted and assessment is run shape by rear end ISP micro treatment module
State information Lo_Sta is respectively transmitted by the motherboard bus of main control unit to communication unit and main control unit, and wherein Lo_Par is
Vstr、Qstr、Dstr、Vlef、Qlef、Dlef, the Information Compression packet that is packed into together of position, time, Lo_Sta PIstr、PIlef、
The Information Compression packet that position, time are packed into together.
2. a kind of integrated method of traffic lights control based on Self-organizing Coordinated according to claim 1, feature
It is:
Embedded microcontroller module in main control unit obtains the traffic from detection unit, communication unit by motherboard bus
Flow parameter information, traffic flow running rate information, traffic signal control scheme coordination information, traffic signal control scheme intervention letter
Breath carries out organization design and coordination, the optimization of phase green time and coordination, intersection signal week to intersection phase organizational form
The optimization of phase duration and coordination, to realize the optimization and control to intersection traffic signal, specific work steps is as follows:
Step1: traffic information is obtained；Embedded microcontroller module will test unit and send traffic flow parameter information Lo_
The traffic flow running rate information Lo_Sta of Par and assessment, and the RM_Flow data that decompression is sent from communication unit
Packet obtains the traffic flow parameter information and traffic flow running rate information in the current direction of each import direction difference in intersection；
Step2: intersection phase organization design and coordination；
Step2.1: the passage direction R_WAY in main control unit crossing inlet road according to corresponding to detection unit, from intersection
The passage direction not collided with current direction R_WAY is selected in other corresponding entrance driveway of traffic lights control integrated device
RM_WAY, and the corresponding traffic flow parameter information RM_ of RM_WAY is extracted from the RM_Flow data packet that communication unit is sent
Par；
Step2.2: assuming that the traffic flow parameter in Lo_Par in current direction R_WAY is VR_WAY、QR_WAY、DR_WAY, RM_Flow
The traffic flow parameter of middle current direction RM_WAY is VRM_WAY、QRM_WAY、DRM_WAY,
(1) ifThe direction R_WAY and current direction RM_WAY that then passes through can carry out phase-group
It closes, and this is added in combination current phase-group intersection PH_V；If Then passing through direction R_WAY need to be into
The combination of row quadratic phase can carry out phase combination with current direction RM_WAY for the first time, and this is added in combination secondary passage
Phase-group intersection PH2_V；
(2) ifThe direction R_WAY and current direction RM_WAY that then passes through can carry out phase-group
It closes, and this is added in combination current phase-group intersection PH_Q；If Then passing through direction R_WAY need to be into
The combination of row quadratic phase can carry out phase combination with current direction RM_WAY for the first time, and this is added in combination secondary passage
Phase-group intersection PH2_Q；
(3) ifThe direction R_WAY and current direction RM_WAY that then passes through can carry out phase-group
It closes, and this is added in combination current phase-group intersection PH_D；If Then passing through direction R_WAY need to be into
The combination of row quadratic phase can carry out phase combination with current direction RM_WAY for the first time, and this is added in combination secondary passage
Phase-group intersection PH2_D；
Wherein: VR_WAY、QR_WAY、DR_WAYRespectively detection unit corresponds to entrance driveway in Current traffic signal lamp control integrated device
The vehicle number of middle current direction R_WAY calibration, queue length, grey scale change significance；VRM_WAY、QRM_WAY、DRM_WAYRespectively hand over
Some device corresponds to current direction RM_WAY calibration in entrance driveway in prong others traffic lights control integrated device
Vehicle number, queue length, grey scale change significance；Respectively it is based on vehicle number, queue length, grey scale change
The phase of significance once combines critical value；φV、φQ、φDIt Wei not be based on vehicle number, queue length, grey scale change significance
The secondary combination critical value of phase；PH_V, PH_Q, PH_D be respectively based on vehicle number, queue length, grey scale change significance phase
Hyte intersection；PH2_V, PH2_Q, PH2_D be respectively based on vehicle number, queue length, grey scale change significance secondary passage
Phase-group intersection；
Step2.3: main control unit embedded microcontroller module repeats Step2.1 to Step2.2, until each importer in intersection
The traffic flow traffic direction not conflicted to middle R_WAY all carries out similarity mode calculating with R_WAY, and to can carry out phase-group
It closes or the combinatorial phase of quadratic phase combination is separately added into PH_V, PH_Q, PH_D or PH2_V, PH2_Q, PH2_D；
Step2.4: the optimum phase combination of the current direction R_WAY in crossing inlet road corresponding to main control unit are as follows:
PHR_WAY=(PH_V ∩ PH_Q ∩ PH_D) | | (PH2_V ∩ PH2_Q ∩ PH2_D)
Step2.5: main control unit embedded microcontroller module repeats Step2.1 to Step2.4, until where master control unit
Other traffic of intersection that all current directions corresponding to traffic lights control integrated device do not conflict with current direction
Signal lamp control integrated device should pair passage direction carry out phase combination calculating；
Step2.6: main control unit will carry out the optimum phase combination side in the correspondence crossing inlet road that phase combination is calculated
Case Lo_PH is sent to communication unit by motherboard bus, while extracting communication unit from other traffic lights controls one of intersection
The optimum phase assembled scheme RM_PH sent is set in body makeup；
Step2.7: main control unit carries out intersection to Lo_PH and RM_PH and union is handled, and forms the phase combination scheme of intersection
C_PH, and C_PH is sent to communication unit by motherboard bus, while extracting communication unit from other traffic signals of intersection
The intersection phase combination scheme that lamp control integrated device is sent coordinates the final phase combination scheme for determining intersection
CF_PH guarantees the consistency of all traffic lights control integrated devices in intersection intersection phase combination scheme；
Step3: the phase sequence for carrying out intersection signal phase determines；
Step3.1: main control unit is final according to the intersection that all traffic lights control integrated devices in place intersection determine
Phase combination scheme CF_PH extracts the traffic that each phase in intersection respectively combines current direction from detection unit and traffic element
Flow running state information Lo_Sta；
Step3.2: assuming that the passage direction that some phase S_PH of intersection includes is R_WAY1 and R_WAY2, it is corresponding
It is respectively PI that traffic flow, which runs index,R_WAY1And PIR_WAY2, then the phase traffic flow of phase S_PH runs indices P Is_PH=max
(PIR_WAY1, PIR_WAY2)；
Step3.3: the phase traffic flow for calculating each phase in intersection runs indices P IS_PH, and by phase traffic flow operation index
Size sequence, and the continuity for combining phase sequence to execute is arranged, and is ultimately formed phase and is executed sequence SEQ_PH；
Step3.4: intersection phase execution sequence SQ_PH is sent to communication unit, while receiving communication unit by main control unit
The phase determined from other traffic lights control integrated devices of intersection executes sequence SQ_PH, coordinates to determine intersection most
Last phase position executes sequence C FSQ_PH, guarantees that the phase in all traffic lights control integrated devices in entire intersection executes sequence
The unification of column；
Step4: the determination of phase long green light time and intersection signal cycle duration；
Step4.1: the traffic flow parameter information that main control unit is sent according to detection unit is each current direction calculating vehicle
Transit time needed for stream dissipation:
Wherein: TMR_WAYWhen green light needed for dissipating for R_WAY traffic flow in direction current in entrance driveway corresponding to detection unit
Between；θ is respectively the delay parameter and interest for delinquency parameter of queuing vehicle starting time；Pass through the flat of intersection for queuing vehicle
Equal speed；SFRR_WAYFor the lane saturation volume rate of current direction R_WAY；ωVEL、ωSFRIt is respectively based on the starting time and is based on
The transit time weight of queue clearance；
Step4.2: main control unit calculates needed for each current direction traffic flow dissipation in crossing inlet road corresponding to detection unit
Transit time, compression forms LO_TM data packet, sends communication unit to by motherboard bus, and communication unit is by LO_TM data
Packet is packaged and is compressed into RM_TM, sends intersection others traffic lights control one to by wireless dedicated short-range communication module
Makeup is set；What other traffic lights control integrated devices of intersection that receiving communication unit is sent simultaneously were sent
RM_TM, traffic flow needed for decompression obtains each current direction of other entrance driveway of intersection are dissipated the required time；
Step4.3: according to the final phase combination scheme CF_PH in intersection, it is assumed that some phase S_PH of intersection includes
Current direction is R_WAY1 and R_WAY2, and the transit time needed for corresponding wagon flow dissipates is respectively TMR_WAY1And TMR_WAY2,
The then required phase long green light time GT of phase S_PHS_PH=max (TMR_WAY1, TMR_WAY2)；
Step4.4: phase green time GT needed for calculating each phase in intersectioni, then the signal period duration of intersection are as follows:
Wherein: CY_TM is the calculating signal period duration of intersection；PH_N is the number of phases of intersection；LTiFor the phase of the i-th phase
Position green light loses the time；I=1,2 ... PH_N；
Step4.5: ifThen the phase long green light time of each phase is adjusted,
(1) if CY_TM < minCY, CY_TM=minCY；
(2) if CY_TM > maxCY, CY_TM=maxCY；
Then, each phase long green light time of each intersection are as follows:
Wherein: GT 'iThe phase long green light time finally determined for the i-th phase；
If CY_TM ∈ [minCY, maxCY], then GT 'i=GTi；
Step4.6: main control unit will calculate the phase composition form completed, phase executes sequence, each phase long green light time and friendship
The prong signal period is packed into Signal_Plan, sends communication unit to by motherboard bus；Meanwhile receiving communication unit
Other traffic lights control integrated devices of the intersection sent send Signal_Plan, coordinate to determine intersection
Final signal control program, guarantee the signal timing plan in entire all intersection traffic signal lamp control integrated devices
Consistency；And the phase signal control program PHASE_Plan that the machine is responsible for is sent to display unit by motherboard bus；
Step4.7: if main control unit receives the traffic letter from urban transportation command centre, live police handheld terminal device
Number control intervene information, then according to intervene information, repeat the process of Step4.1 to 4.6, traffic signal control scheme adjusted
It is whole.
3. a kind of integrated method of traffic lights control based on Self-organizing Coordinated according to claim 1, feature
It is:
Display unit receives the phase signal control program PHASE_Plan that sends of main control unit, and LCD controller is by phase
Signal timing plan PHASE_Plan is converted into imaging traffic signal data information, and sends image data information to LCD and drive
Dynamic control chip module, LCD drive control chip module are right according to the display time of phase information, display duration, current direction
Image data carries out digital-to-analogue conversion, lattice design, tristimulus signals correction and adjusts, and by the display of phase signal control program
Scheme and display effect are sent to the display and prompt that TFT-LCD liquid crystal display carries out wayleave, specific work steps
It is as follows:
Step1:, will if place traffic lights control integrated device is only responsible for the wayleave instruction in single current direction
The display area of TFT-LCD liquid crystal display is divided into the third subregion in upper, middle and lower, the respectively region UP-LCD, the area MD-LCD
Domain, the region DW-LCD；
Step1.1: if current phase is red signal, it is displayed in red background signal in the region UP-LCD, and forbidden with band
State that the current current current direction of 3D animation flag prompt is that no through traffic, while in the red dynamic digital in the region MD-LCD
Show remaining red time；
Step1.2: if current phase is green light signals, green light background signal is shown in the region DW-LCD, and current with band
The 3D animation flag prompt arrow direction of arrow is the current direction of present road, while in the region MD-LCD green light dynamic digital
Show remaining green time；
Step2: if place traffic lights control integrated device is responsible for keeping straight on simultaneously current phase and turn left current phase when,
The display area of TFT-LCD liquid crystal display is divided into the equal subregions in left and right and upper, middle and lower six, respectively the region LUP-LCD,
The region LMD-LCD, the region LDW-LCD, the region RUP-LCD, the region RMD-LCD, the region RDW-LCD；
Current phase of turning left is responsible in the region Step2.1:LUP-LCD, the region LMD-LCD, the region LDW-LCD,
(1) if current phase of turning left is red signal, it is displayed in red background signal in the region LUP-LCD, and forbidden with band
State that the current current current direction of 3D animation flag prompt is that no through traffic, while in the red dynamic number in the region LMD-LCD
Word shows remaining red time；
(2) if current phase of turning left is green light signals, green light background signal is shown in the region LDW-LCD, and current with band
The 3D animation flag prompt arrow direction of arrow is the current direction of present road, while in the region LMD-LCD green light dynamic number
Word shows remaining green time；
Current phase of keeping straight on is responsible in the region Step2.2:RUP-LCD, the region RMD-LCD, the region RDW-LCD,
(1) if current phase of keeping straight on is red signal, it is displayed in red background signal in the region RUP-LCD, and forbidden with band
State that the current current current direction of 3D animation flag prompt is that no through traffic, while in the red dynamic number in the region RMD-LCD
Word shows remaining red time；
(2) if current phase of keeping straight on is green light signals, green light background signal is shown in the region RDW-LCD, and current with band
The 3D animation flag prompt arrow direction of arrow is the current direction of present road, while in the region RMD-LCD green light dynamic number
Word shows remaining green time.
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