CN107705586A

CN107705586A - The wagon flow control method and device of intersection

Info

Publication number: CN107705586A
Application number: CN201610644132.7A
Authority: CN
Inventors: 华先胜; 黄建强; 周昌; 邓兵; 张旭; 金志勇; 任沛然; 申晨; 储文青; 刘垚
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2016-08-08
Filing date: 2016-08-08
Publication date: 2018-02-16
Anticipated expiration: 2036-08-08
Also published as: CN107705586B

Abstract

A kind of wagon flow control method of intersection of disclosure, including：The picture frame included in the road video data in each wagon flow direction of intersection is detected, obtains the car flow information in each wagon flow direction of the intersection；The car flow information is substituted into the wagon flow course changing control model being pre-configured with to be calculated, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control.The wagon flow control method of the intersection, is calculated more efficient using the wagon flow course changing control model, in addition, more comprehensive to the control of the wagon flow of the intersection, and intelligence degree is higher.

Description

The wagon flow control method and device of intersection

Technical field

The application is related to intelligent transportation field, and in particular to a kind of wagon flow control method of intersection.The application is same When be related to the wagon flow control device of intersection a kind of, the wagon flow control method and device of another intersection, with And two kinds of electronic equipments.

Background technology

With rapid development of economy and the continuous improvement of living standard, the recoverable amount of motor vehicle increases sharply, wherein especially Limited urban road network is constantly poured in based on private car, huge pressure is brought to urban road network, especially It is to bring many problems to the intersection (level-crossing) in urban road network.Intersection as two or The road intersection of more than two, it is the only way which must be passed that vehicle collects, turns to and evacuated with pedestrian, is the pharynx of urban road network Larynx, therefore, it is to lift the important means of urban road network to reduce the congestion of intersection and conflict.With intelligent transportation Rise, by the control to the vehicle flowrate in urban road network, (car is come to each wagon flow direction of intersection so as to realize Direction) vehicle flowrate control, for example implement in intersection to prohibit left management, can effectively improve vehicle in intersection The congestion of mouth, the wagon flow that can also reduce intersection all directions left-hand rotation traveling conflict with the traveling of reverse straight traffic, Reduce the generation of traffic accident.

Controlled currently for the wagon flow of intersection in urban road network, according to the practical situation of intersection, The wagon flow that intersection all directions are calculated by way of software modeling or manually counting in conventional certain time period is believed Breath, the wagon flow of intersection one or more direction running is carried out prohibiting left optimization according to the car flow information of acquisition, it is common Intersection the left optimization of taboo have for the less direction of intersection left turn traffic prohibit it is left, or for turning left The both direction that wagon flow is less and direction is relative carries out prohibiting a left side.

Prior art is directed to the left optimization of taboo that intersection is carried out, and obtains the mode of the data such as intersection vehicle flowrate It is very traditional, obtained by the way of software modeling or use manually count, it is less efficient；In addition, it is directed to intersection The left optimization of taboo that carries out of wagon flow, it is necessary to the decision-making of the artificial participation left optimization of intersection lockjaw, can not be according to intersection Traffic state carries out prohibiting left optimization mouthful in real time, more single to the control of the wagon flow of intersection, and intelligence degree compared with It is low.

The content of the invention

The application provides a kind of wagon flow control method of intersection, to solve to control wagon flow existing for prior art More single, the problem of intelligence degree is low low with efficiency.

The application is related to a kind of wagon flow control device of intersection, the wagon flow control of another intersection simultaneously Method and device, and two kinds of electronic equipments.

The application provides a kind of wagon flow control method of intersection, including：

The picture frame included in the road video data in each wagon flow direction of intersection is detected, described in acquisition The car flow information in each wagon flow direction of intersection；

The car flow information is substituted into the wagon flow course changing control model being pre-configured with to be calculated, selected according to result of calculation Meet that the wagon flow direction of preparatory condition performs course changing control.

Optionally, the picture frame included in the road video data to each wagon flow direction of intersection is examined Survey, obtain the car flow information step in each wagon flow direction of the intersection, the road video detection mould based on training in advance Type is realized；

Wherein, the road video detection model is instructed offline according to the conventional road video data of the intersection Practice what is obtained.

Optionally, the picture frame included in the road video data to each wagon flow direction of intersection is examined Survey, obtain the car flow information in each wagon flow direction of the intersection, realize in the following way：

Using the convolutional neural networks that the road video detection model uses to including in the road video data Picture frame is detected, and obtains the information of vehicles of vehicle in the road video data；

The track algorithm used using the road video detection model is with reference to the figure included in the road video data As frame is calculated, the driving trace information of the vehicle is obtained；

The clustering algorithm used using the road video detection model is with reference to the information of vehicles and the driving trace Information carries out analysis calculating, obtains the car flow information in each wagon flow direction of the intersection.

The Recognition Algorithm of License Plate used using the road video detection model, with reference to being included in the road video data Picture frame detected, obtain the license board information of the vehicle, and the tracking based on the license board information obtains the vehicle Driving trace information；

Optionally, the car flow information includes：

Straight traffic flow, left turn traffic amount and right-hand rotation vehicle flowrate.

Optionally, the wagon flow course changing control model includes：

One direction wagon flow course changing control model, single intersection wagon flow course changing control model, region wagon flow course changing control model or Person's OD course changing control models.

Optionally, the one direction wagon flow course changing control model is performed for the intersection of four phase signals control and turned To control.

Optionally, the one direction wagon flow course changing control model, is calculated in the following way：

Obtain the control duration of each phase signal of the intersection；

The straight traffic flow in each wagon flow direction of the intersection and the vehicle flowrate ratio of left turn traffic amount are calculated, with And the control of straight trip phase signal corresponding to each wagon flow direction of intersection and the control duration of left turn phase signal Duration ratio；

Calculate the difference of the vehicle flowrate ratio and the control duration ratio in each wagon flow direction of the intersection Value.

Optionally, it is described to meet that the wagon flow direction of preparatory condition performs course changing control according to result of calculation selection, using such as Under type is realized：

Select the difference more than the wagon flow direction of predetermined threshold value as course changing control wagon flow direction, and be directed to the steering Wagon flow direction is controlled to perform course changing control.

Optionally, the picture frame that the control duration is included by analyzing in the road video data obtains；

Or the control duration is obtained by the phase signal timing scheme being pre-configured with.

Optionally, the single intersection wagon flow course changing control model, is calculated in the following way：

Obtain each wagon flow direction of the intersection and perform the bypass route each used after course changing control；

For each course changing control plan of the intersection, following operation is performed：

With reference to the car flow information and the bypass route, total vehicle flowrate in the wagon flow direction is calculated；

According to total vehicle flowrate in the wagon flow direction, each benchmark being pre-configured with reference to the wagon flow direction is delayed duration Parameter, calculate the mean delay duration parameters in the wagon flow direction；

According to the mean delay duration parameters, the crossing mean delay duration parameters of the intersection are calculated.

Optionally, each wagon flow direction of the intersection is ranked up according to particular sorted order, according to the car The clooating sequence in direction is flowed, corresponding phase is combined respectively according to whether performing course changing control in the wagon flow direction, is obtained Phase combination number it is equal with the number of the course changing control plan, the course changing control plan and the wagon flow direction Phase combination has one-to-one relationship.

Optionally, for each wagon flow direction of the intersection, total vehicle flowrate in the wagon flow direction is using such as Under type calculates：

Total vehicle flowrate in the wagon flow direction, equal to straight traffic flow, left turn traffic amount, right-hand rotation car corresponding to the wagon flow direction Flow and the vehicle flowrate sum that detours.

Optionally, detour vehicle flowrate corresponding to the wagon flow direction, refers to that each wagon flow direction of the intersection performs Used after course changing control in row line, with the wagon flow direction overlap around the corresponding vehicle flowrate of row line.

Optionally, the mean delay duration parameters, equal to the straight traffic flow, the left turn traffic amount and the right side The sum of products for flow and each self-corresponding benchmark delay duration parameters of changing trains or buses, the ratio with total vehicle flowrate in the wagon flow direction Value.

Optionally, the crossing mean delay duration parameters, equal to the wagon flow direction and each self-corresponding delay duration The sum of products of parameter, the ratio with the total vehicle flowrate in crossing of the intersection；

Wherein, the total vehicle flowrate in the crossing of the intersection is equal to corresponding to each wagon flow direction of the intersection Total vehicle flowrate sum.

The minimum course changing control plan of the crossing mean delay duration parameters of the intersection is selected, according to the steering Control plan performs course changing control to each wagon flow direction of the intersection.

Optionally, the region wagon flow course changing control model, is calculated in the following way：

Obtain each intersection in region to be controlled each wagon flow direction perform course changing control after each use around Walking along the street line；

For each region course changing control plan in the region to be controlled, following operation is performed：

With reference to the car flow information and the bypass route, second total vehicle flowrate in the wagon flow direction is calculated；

According to second total vehicle flowrate in the wagon flow direction, each benchmark delay being pre-configured with reference to the wagon flow direction Duration parameters, calculate the second mean delay duration parameters in the wagon flow direction；

According to the second mean delay duration parameters, the second crossing mean delay duration of the intersection is calculated Parameter；

According to the second crossing mean delay duration parameters, the zone leveling for calculating the region to be controlled is delayed duration Parameter.

Optionally, each wagon flow direction of each intersection is entered according to particular sorted order in the region to be controlled Row sequence, according to the clooating sequence in the wagon flow direction, the wagon flow direction is according to whether perform corresponding to course changing control difference Phase is combined, and the number of the region phase combination of acquisition is equal with the number of the region course changing control plan, the area Domain course changing control plan and the region phase combination in the wagon flow direction have one-to-one relationship.

Optionally, for each wagon flow direction of each intersection in the region to be controlled, the wagon flow direction Second total vehicle flowrate calculate in the following way：

Second total vehicle flowrate in the wagon flow direction, equal to straight traffic flow, left turn traffic amount, the right side corresponding to the wagon flow direction Flow and second of changing trains or buses detours vehicle flowrate sum.

Optionally, second detoured vehicle flowrate corresponding to the wagon flow direction, refer to intersection corresponding to the wagon flow direction Each wagon flow direction perform use after course changing control around row line, and belonging to intersection corresponding to the wagon flow direction Each wagon flow direction of neighborhood intersection perform use after course changing control in row line, overlapped with the wagon flow direction Around vehicle flowrate corresponding to row line.

Optionally, the neighborhood intersection includes：

In the region to be controlled it is adjacent with the intersection and between the intersection it is not spaced other The intersection of intersection.

Optionally, the second mean delay duration parameters, equal to the straight traffic flow, the left turn traffic amount and institute State right-hand rotation vehicle flowrate and the sum of products of each self-corresponding benchmark delay duration parameters, second total wagon flow with the wagon flow direction The ratio of amount.

Optionally, the second crossing mean delay duration parameters, equal to the wagon flow direction and each self-corresponding delay The sum of products of duration parameters, the ratio with the total vehicle flowrate in the second crossing of the intersection；

Wherein, the total vehicle flowrate in the second crossing of the intersection is equal to each wagon flow direction pair of the intersection The second total vehicle flowrate sum answered.

Optionally, zone leveling delay duration parameters, equal to each intersection in the region to be controlled with The sum of products of each self-corresponding second crossing mean delay duration parameters, with the total vehicle flowrate in region in the region to be controlled Ratio；

Wherein, the total vehicle flowrate in region in the region to be controlled is equal to each intersection in the region to be controlled The corresponding total vehicle flowrate sum in second crossing.

The zone leveling in the region to be controlled is selected to be delayed the minimum region course changing control plan of duration parameters, according to this Region course changing control plan performs course changing control to each wagon flow direction of each intersection in the region to be controlled.

Optionally, the OD course changing controls model, is calculated in the following way：

Obtain the OD flow datas of vehicle conventional in the second region to be controlled；

OD flow datas road traffic road network with reference to corresponding to the described second region to be controlled is subjected to analysis calculating, obtained Obtain the car flow information in each wagon flow direction of each intersection in second region to be controlled；

For each second area course changing control plan in the described second region to be controlled, following operation is performed：

With reference to the car flow information and the bypass route, the 3rd total vehicle flowrate in the wagon flow direction is calculated；

According to the 3rd total vehicle flowrate in the wagon flow direction, each benchmark delay being pre-configured with reference to the wagon flow direction Duration parameters, calculate the 3rd mean delay duration parameters in the wagon flow direction；

According to the 3rd mean delay duration parameters, the 3rd crossing mean delay duration of the intersection is calculated Parameter；

According to the 3rd crossing mean delay duration parameters, the second area for calculating second region to be controlled is averaged It is delayed duration parameters.

Optionally, each wagon flow direction of each intersection is suitable according to particular sorted in the described second region to be controlled Sequence is ranked up, and according to the clooating sequence in the wagon flow direction, the wagon flow direction is according to whether execution course changing control is right respectively The phase answered is combined, the number of the second area phase combination of acquisition and the number of the second area course changing control plan Equal, the second area phase combination in the second area course changing control plan and the wagon flow direction, which has to correspond, closes System.

Optionally, the 3rd total vehicle flowrate in the wagon flow direction, equal to straight traffic flow, a left side corresponding to the wagon flow direction Change trains or buses flow and right-hand rotation vehicle flowrate sum.

Optionally, the 3rd mean delay duration parameters, equal to the straight traffic flow, the left turn traffic amount and institute State right-hand rotation vehicle flowrate and the sum of products of each self-corresponding benchmark delay duration parameters, the 3rd total wagon flow with the wagon flow direction The ratio of amount.

Optionally, the 3rd crossing mean delay duration parameters, equal to the wagon flow direction and each self-corresponding delay The sum of products of duration parameters, the ratio with the 3rd total vehicle flowrate in crossing of the intersection；

Wherein, the 3rd total vehicle flowrate in crossing of the intersection is equal to each wagon flow direction pair of the intersection The 3rd total vehicle flowrate sum answered.

Optionally, the second area mean delay duration parameters, equal to each road in the described second region to be controlled Intersection and the sum of products of each self-corresponding 3rd crossing mean delay duration parameters, the area with the described second region to be controlled The ratio of the total vehicle flowrate in domain；

Wherein, the total vehicle flowrate of second area in the described second region to be controlled is equal to each in the described second region to be controlled The total vehicle flowrate sum in 3rd crossing corresponding to intersection.

The second area for selecting the second area mean delay duration parameters in the described second region to be controlled minimum turns to control System plan, each car according to the second area course changing control plan to each intersection in the described second region to be controlled Flow direction and perform course changing control.

The application also provides a kind of wagon flow control device of intersection, including：

Road video data detection unit, for being included in the road video data to each wagon flow direction of intersection Picture frame detected, obtain the car flow information in each wagon flow direction of the intersection；

Model computing unit is substituted into, is carried out for the car flow information to be substituted into the wagon flow course changing control model being pre-configured with Calculate, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control.

Optionally, the wagon flow course changing control model includes：

Optionally, the one direction wagon flow course changing control model, including：

Duration is controlled to obtain subelement, for obtaining the control duration of each phase signal of the intersection；

Ratio calculation subelement, for calculating the straight traffic flow and left-hand rotation car in each wagon flow direction of the intersection The vehicle flowrate ratio of flow, and straight trip phase signal corresponding to each wagon flow direction of the intersection are believed with left turn phase Number control duration control duration ratio；

Mathematic interpolation subelement, for calculating the vehicle flowrate ratio and the institute in each wagon flow direction of the intersection State the difference of control duration ratio.

Optionally, the single intersection wagon flow course changing control model, including：

Bypass route obtains subelement, for obtain each wagon flow direction of the intersection perform it is each after course changing control From the bypass route of use；

For each course changing control plan of the intersection, run total vehicle flowrate computation subunit, averagely prolong Mistake long parameter computation unit and crossing mean delay duration parameters subelement；

Total vehicle flowrate computation subunit, for reference to the car flow information and the bypass route, calculating the car Flow total vehicle flowrate in direction；

The mean delay duration parameters computation subunit, for total vehicle flowrate according to the wagon flow direction, with reference to institute Each benchmark delay duration parameters that wagon flow direction is pre-configured with are stated, calculate the mean delay duration parameters in the wagon flow direction；

The crossing mean delay duration parameters subelement, for according to the mean delay duration parameters, described in calculating The crossing mean delay duration parameters of intersection.

Optionally, the region wagon flow course changing control model, including：

Second bypass route obtains subelement, for obtaining each wagon flow direction of each intersection in region to be controlled Perform the bypass route each used after course changing control；

For each region course changing control plan in the region to be controlled, it is single that second total vehicle flowrate of operation calculates son Member, the second mean delay duration parameters computation subunit, the second crossing mean delay duration parameters computation subunit and region are put down It is delayed duration parameters computation subunit；

Second total vehicle flowrate computation subunit, for reference to the car flow information and the bypass route, calculating institute State second total vehicle flowrate in wagon flow direction；

The second mean delay duration parameters computation subunit, for second total wagon flow according to the wagon flow direction Amount, each benchmark being pre-configured with reference to the wagon flow direction are delayed duration parameters, and calculate the wagon flow direction second is average It is delayed duration parameters；

The second crossing mean delay duration parameters computation subunit, for being joined according to the second mean delay duration Number, calculate the second crossing mean delay duration parameters of the intersection；

The zone leveling is delayed duration parameters computation subunit, for being joined according to the second crossing mean delay duration Number, calculate the zone leveling delay duration parameters in the region to be controlled.

Optionally, the OD course changing controls model, including：

OD flow datas obtain subelement, for obtaining the OD flow datas of vehicle conventional in the second region to be controlled；

Car flow information computation subunit, for by the OD flow datas with reference to corresponding to the described second region to be controlled road Traffic network carries out analysis calculating, obtains the car in each wagon flow direction of each intersection in second region to be controlled Stream information；

For each second area course changing control plan in the described second region to be controlled, the 3rd total wagon flow gauge is run Operator unit, the 3rd mean delay duration parameters computation subunit, the 3rd crossing mean delay duration parameters computation subunit and Second area mean delay duration parameters computation subunit；

3rd total vehicle flowrate computation subunit, for reference to the car flow information and the bypass route, calculating institute State the 3rd total vehicle flowrate in wagon flow direction；

The 3rd mean delay duration parameters computation subunit, for the 3rd total wagon flow according to the wagon flow direction Amount, each benchmark being pre-configured with reference to the wagon flow direction are delayed duration parameters, and calculate the wagon flow direction the 3rd is average It is delayed duration parameters；

The 3rd crossing mean delay duration parameters computation subunit, for being joined according to the 3rd mean delay duration Number, calculate the 3rd crossing mean delay duration parameters of the intersection；

The second area mean delay duration parameters computation subunit, during for according to the 3rd crossing mean delay Long parameter, calculate the second area mean delay duration parameters in second region to be controlled.

The application also provides the wagon flow control method of another intersection, including：

The camera installed by each wagon flow direction of intersection gathers each wagon flow direction of intersection Road video data；

The picture frame included in the video data is detected, obtains each wagon flow direction of the intersection Car flow information；

The car flow information is substituted into the wagon flow course changing control model being pre-configured with to be calculated, selected according to result of calculation Meet that the wagon flow direction of preparatory condition performs course changing control；

Phase signal corresponding to the wagon flow direction of course changing control will be performed from the phase signal timing scheme being pre-configured with Delete, the control duration of each phase signal in the phase signal timing scheme is modified, and in the intersection Using the revised phase signal timing scheme.

The application also provides the wagon flow control device of another intersection, including：

Road video data acquiring unit, the camera for being installed by each wagon flow direction of intersection gather institute State the road video data in each wagon flow direction of intersection；

Road video data detection unit, for being detected to the picture frame included in the video data, obtain institute State the car flow information in each wagon flow direction of intersection；

Model computing unit is substituted into, is carried out for the car flow information to be substituted into the wagon flow course changing control model being pre-configured with Calculate, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control；

Phase signal amendment and applying unit, for will perform course changing control wagon flow direction corresponding to phase signal from Deleted in the phase signal timing scheme being pre-configured with, to the control duration of each phase signal in the phase signal timing scheme It is modified, and the revised phase signal timing scheme is applied in the intersection.

The application also provides a kind of electronic equipment, including：

Processor and memory；

Wherein, the processor, for the figure included in the road video data to each wagon flow direction of intersection As frame is detected, the car flow information in each wagon flow direction of the intersection is obtained, and the car flow information is substituted into pre- The wagon flow course changing control model first configured is calculated, and meeting that the wagon flow direction of preparatory condition performs according to result of calculation selection turns To control；

The memory, the car flow information is obtained for storing the road video data and calculating.

The application also provides another electronic equipment, including：

Processor and memory；

Wherein, the processor, the camera for being installed by each wagon flow direction of intersection gather the road The road video data in each wagon flow direction in road intersection；The picture frame included in the video data is detected, obtained The car flow information in each wagon flow direction of intersection；The car flow information is substituted into the wagon flow course changing control being pre-configured with Model is calculated, and the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control；Control is turned to by performing Phase signal corresponding to the wagon flow direction of system is deleted from the phase signal timing scheme being pre-configured with, and the phase signal is matched somebody with somebody When scheme in the control duration of each phase signal be modified, and in the intersection using the revised phase letter Number timing scheme；

The memory, for store the road video data collected, calculate obtain the car flow information and The phase signal timing scheme.

Compared with prior art, the application has advantages below：

The wagon flow control method for the intersection that the application provides, including：To each wagon flow direction of intersection The picture frame included in road video data is detected, and obtains the car flow information in each wagon flow direction of the intersection； The car flow information is substituted into the wagon flow course changing control model being pre-configured with to be calculated, met according to result of calculation selection default The wagon flow direction of condition performs course changing control.

The wagon flow control method for the intersection that the application provides, by each wagon flow direction of intersection Road video data in the picture frame that includes detected, obtain each real-time wagon flow in wagon flow direction of the intersection Information, and car flow information is substituted into the wagon flow course changing control model being pre-configured with and calculated, according to the wagon flow course changing control The result of calculation of model output meets that the wagon flow direction of preparatory condition performs course changing control to the intersection, using described Wagon flow course changing control model is calculated more efficient；In addition, the wagon flow control method of the intersection passes through to road Road intersection is detected in real time, and the car flow information that detection is obtained substitutes into wagon flow course changing control model and calculated, root Course changing control is performed to the wagon flow of the intersection according to the result of calculation of wagon flow course changing control model output, to the road The wagon flow control of intersection is more comprehensive, and intelligence degree is higher.

Brief description of the drawings

Accompanying drawing 1 is a kind of process chart of the wagon flow control method embodiment for intersection that the application provides；

Accompanying drawing 2 is a kind of schematic diagram in intersection wagon flow direction that the application provides；

Accompanying drawing 3 is a kind of schematic diagram of the intersection for two phase signal control that the application provides；

Accompanying drawing 4 is a kind of schematic diagram of the intersection for four phase signal control that the application provides；

Accompanying drawing 5 is the schematic diagram around line mode that the application provides；

Accompanying drawing 6 is the schematic diagram of intersection in a kind of region to be controlled of the application offer；

Accompanying drawing 7 is a kind of schematic diagram of the wagon flow control device embodiment for intersection that the application provides；

Accompanying drawing 8 is the process chart of the wagon flow control method embodiment for another intersection that the application provides；

Accompanying drawing 9 is the schematic diagram of the wagon flow control device embodiment for another intersection that the application provides；

Accompanying drawing 10 is the schematic diagram for a kind of electronic equipment embodiment that the application provides；

Accompanying drawing 11 is the schematic diagram for another electronic equipment embodiment that the application provides.

Embodiment

Many details are elaborated in the following description in order to fully understand the application.But the application can be with Much it is different from other modes described here to implement, those skilled in the art can be in the situation without prejudice to the application intension Under do similar popularization, therefore the application is not limited by following public specific implementation.

The application provides a kind of wagon flow control method of intersection, and the application also provides a kind of car of intersection Flow control device, the wagon flow control method and device of another intersection, and two kinds of electronic equipments.Tie individually below The accompanying drawing for closing the embodiment that the application provides is described in detail one by one, and each step of method is illustrated.

A kind of wagon flow control method embodiment for intersection that the application provides is as follows：

Referring to the drawings 1, a kind of place of the wagon flow control method embodiment of the intersection provided it illustrates the application Manage flow chart；Referring to the drawings 2, a kind of schematic diagram in the intersection wagon flow direction provided it illustrates the application；With reference to attached Fig. 3, a kind of schematic diagram of the intersection of the two phase signal control provided it illustrates the application；Referring to the drawings 4, it shows A kind of schematic diagram of the intersection of four phase signal control of the application offer has been provided；Referring to the drawings 5, it illustrates this Shen The schematic diagram around line mode that please be provide；Referring to the drawings 6, it illustrates road in a kind of region to be controlled of the application offer to hand over The schematic diagram of prong.

In addition, the relation between each step of the wagon flow control method embodiment of the intersection, please according to attached Fig. 1 is determined.

Step S101, the picture frame included in the road video data in each wagon flow direction of intersection is examined Survey, obtain the car flow information in each wagon flow direction of the intersection.

Intersection described in the embodiment of the present application, refers to two or the road of more than two intersects at grade The intersection of formation.For example, the crossroad that two road common among reality are crossed to form, or three roads intersect shape Into the junction of three roads.

The wagon flow direction refers to the direction to the car on each bar road of the intersection.Cross as shown in Figure 2 The wagon flow direction of four, crossing road is respectively：East, south, west, north.

The road video data, for characterizing by the intersection or the intersection will be passed through Vehicle-related information, and the wagon flow relevant information that vehicle is collectively forming.In actual applications, the road video data leads to The camera collection crossed installed in the intersection obtains.

In the specific implementation, the road based on training in advance is detected to the picture frame included in the road video data Road video detection model realization.

The road video detection model is to be trained to obtain according to historical data, i.e., conventional according to the intersection Road video data off-line training obtain, training sample is conventional road video data, and its picture frame included is when acceptance of the bid The information such as vehicle-related information and lane line have been noted, according to conventional road video data, have utilized the model in deep learning Training method training obtains the road video detection model, for example chooses any one or multiple intersections conventional one Road video data in individual month utilizes state-of-the-art in deep learning (optimal) model training as training sample Method off-line training obtains the road video detection model.The road video detection model obtained is trained, available for reality When detect the road video data in each wagon flow direction of the intersection, in detection, the road video detection model Input for each wagon flow direction of the intersection road video data, export as each wagon flow of the intersection The car flow information in direction.

In the specific implementation, detection of the road video detection model to the road video data, including following inspection Survey operation：

1) convolutional neural networks used using the road video detection model in the road video data to including Picture frame detected, obtain the information of vehicles of vehicle in the road video data；

2) using the track algorithm that the road video detection model uses with reference to including in the road video data Picture frame is calculated, and obtains the driving trace information of the vehicle；

3) clustering algorithm used using the road video detection model is with reference to the information of vehicles and the traveling rail Mark information carries out analysis calculating, obtains the car flow information in each wagon flow direction of the intersection.

The car flow information includes：Straight traffic flow, left turn traffic amount and right-hand rotation vehicle flowrate.Wherein, the straight traffic Amount refers to when by the intersection, keeps the vehicle flowrate of straight trip moving traffic.The left turn traffic amount refers to logical When crossing the intersection, the vehicle flowrate of moving traffic is turned to the left.The right-hand rotation vehicle flowrate refers to by the road During intersection, the vehicle flowrate of moving traffic is turned to the right.For common in practice two-way six-lane and two-way eight tracks, in road Road intersection, towards in the three lanes and Four-Lane Road of intersection traveling side, the track adjacent with opposite side is left-hand rotation Track, the flow of vehicle is the left turn traffic amount on left turn lane, and the track adjacent with roadside is right-turn lane, right-hand rotation car The flow of vehicle is the right-hand rotation vehicle flowrate on road, and one or two tracks between left turn lane and right-turn lane are straight Runway, the flow of vehicle is the straight traffic flow on Through Lane.

In addition, in the specific implementation, the road video detection model can also be operated by following detections, to the road Road video data is detected：

2) Recognition Algorithm of License Plate used using the road video detection model, with reference to being wrapped in the road video data The picture frame contained is detected, and obtains the license board information of the vehicle, and the tracking based on the license board information obtains the car Driving trace information；

Step S102, the car flow information is substituted into the wagon flow course changing control model being pre-configured with and calculated, according to meter Calculate result selection and meet that the wagon flow direction of preparatory condition performs course changing control.

In this step, the car flow information that above-mentioned steps S101 is obtained is substituted into the wagon flow course changing control mould being pre-configured with Calculated among type, the result of calculation selection exported according to the wagon flow course changing control model meets the wagon flow side of preparatory condition To performing course changing control, so as to improve the wagon flow congestion of the intersection, reduce wagon flow and pass through the intersection Traveling conflict, reduce the generation of traffic accident.

The present embodiment provides following four kinds of wagon flows course changing control models：One direction wagon flow course changing control model, single intersection car Stream turns to Controlling model, region wagon flow course changing control model and OD course changing control models, is described in detail one by one below.

(1) one direction wagon flow course changing control model

In actual applications, the traffic signals generally use two phase and four phases of the intersection.Two phase is Referring to traffic signals has two kinds of combinations, and the intersection of two phase signal control is as shown in Figure 3；Four phases refer to traffic signals There are four kinds of combinations, the intersection of four phase signals control is as shown in Figure 4.The one direction wagon flow that the present embodiment provides Course changing control model, suitable for the intersection of four phase signals control.

It is well known that the driving mode that our times is got on the car on road is divided into two kinds：Keep to the right and keep to the left, The country to keep to the right is with China, the U.S., Russia, Germany, France, Brazil, Canada, Cuba, Brazil, Germany, Greece, ink Western brothers etc. are representative, and the country to keep to the left is big with Britain, Japan, India, Indonesia, Pakistan, Sri Lanka, Australia Leah, New Zealand etc. are representative.It is different in the steering of intersection for different driving modes, accordingly, in road Control of the road intersection to wagon flow steering direction is also different, but in the reality of control of the intersection to wagon flow steering direction Matter is identical, and specific calculating process is similar, and the present embodiment is illustrated exemplified by keeping to the right, and keeps to the left and refers to Keep to the right realization.

In the specific implementation, the one direction wagon flow course changing control model, is calculated in the following way：

1) the control duration of each phase signal of intersection is obtained；

For example, the picture frame included by analyzing in road video data obtains the control duration of four phase signals, or Person, the control duration of four phase signals is obtained by the phase signal timing scheme being pre-configured with.

2) the vehicle flowrate ratio of the straight traffic flow with left turn traffic amount in each wagon flow direction of intersection is calculated, And the control of straight trip phase signal corresponding to each wagon flow direction of intersection and the control duration of left turn phase signal Duration ratio processed；

For example, for the country to be kept to the right among reality, the wagon flow direction of east, south, west, north four of crossroad is calculated Straight traffic flow and left turn traffic amount vehicle flowrate ratio, and the wagon flow direction pair of east, south, west, north four of crossroad The control duration ratio of the straight trip phase signal answered and the control duration of left turn phase signal.

3) the vehicle flowrate ratio in each wagon flow direction of intersection and the control duration ratio are calculated Difference.

For example, calculate the vehicle flowrate ratio and control duration ratio in the wagon flow direction of east, south, west, north four of crossroad Difference.

The result of calculation exported according to the one direction wagon flow course changing control model, selects the difference to be more than predetermined threshold value Wagon flow direction as course changing control wagon flow direction, and for the course changing control wagon flow direction perform course changing control, above-mentioned meter What is calculated is the vehicle flowrate ratio of the straight traffic flow with left turn traffic amount in each wagon flow direction of the intersection, i.e., actual to work as In mode of keeping to the right, therefore, the course changing control refer to for course changing control wagon flow direction perform prohibit left lateral sail, i.e.,：Pin Turning travel to the left is forbidden to the wagon flow among course changing control wagon flow direction.

It is similar therewith, mode of keeping to the left can also be directed to, the wagon flow among the course changing control wagon flow direction is held Row prohibits right travel, is implemented as follows：

Obtain the control duration of each phase signal of the intersection；

The straight traffic flow in each wagon flow direction of the intersection and the vehicle flowrate ratio by flow of changing trains or buses are calculated, with And the control of straight trip phase signal corresponding to each wagon flow direction of intersection and the control duration of right-hand rotation phase signal Duration ratio；

Calculate the difference of the vehicle flowrate ratio and the control duration ratio in each wagon flow direction of the intersection Value；

Select the difference more than the wagon flow direction of predetermined threshold value as course changing control wagon flow direction, and be directed to the steering Control wagon flow direction to perform and prohibit right travel.

Keep to the left mode and the respective implementation of mode of keeping to the right of above-mentioned offer are provided, it can be seen that the two It is achieved in that similar, the data being simply related in specific calculating process there may be difference, below not for keeping left Driving mode and mode of keeping to the right are illustrated one by one respectively, in a manner of keeping to the right exemplified by illustrate, mode of keeping to the left please Realized with reference to the mode of keeping to the right.

In the specific implementation, after one of the intersection or wagon flow direction perform course changing control, for example, road One of intersection or wagon flow direction it is banned it is left after, wagon flow corresponding to the left turn traffic amount in banned left wagon flow direction can not The intersection is driven through using turning to the left, it is therefore necessary to takes the mode to detour to come by the intersection Mouthful.Here, the present embodiment provides following three kinds around line mode：

1) street lane is around line, as shown in Figure 5, left turn traffic on banned left wagon flow direction can not Turning travel to the left, The intersection is looped back to by way of street lane of detouring, after the intersection is looped back to, the left-hand rotation car Flow is changed into straight traffic flow or right-hand rotation vehicle flowrate, so as to drive into target track after by the intersection.

2) keep straight on wrap around type, as shown in Figure 5, left turn traffic on banned left wagon flow direction can not Turning travel to the left, Using straight manner by the intersection after, target carriage is driven into using right-hand rotation mode after intersection described in wraparound Road.

3) right-hand rotation wrap around type, as shown in Figure 5, left turn traffic on banned left wagon flow direction can not Turning travel to the left, Using right-hand rotation mode by the intersection after, target carriage is driven into using straight manner after intersection described in wraparound Road.

In addition, one of the intersection or wagon flow direction it is banned it is left after, the present embodiment can be selected Any one or various ways of above-mentioned three kinds provided among line mode are detoured.It is but in actual applications, described Each wagon flow direction of intersection use around line mode, be to determine and known, by the intersection Actual conditions determine.For example the intersection is closer apart from junction ahead in current wagon flow direction, it is preferred to use straight Row wrap around type is detoured around line mode, most short around row line；If the intersection is nearer apart from the crossing on right side, It is preferred that being detoured around line mode using right-hand rotation wrap around type, most short around row line；If the intersection is in current vehicle The construction cost that stream direction is detoured is smaller, then being detoured around line mode for straight trip wrap around type is preferably used, in current vehicle Stream side, which is set up, turns around a little.

In the specific implementation, counted if each wagon flow direction of the intersection added around line mode as variable Calculate, the computation complexity of the one direction wagon flow course changing control model can be caused to increase.Certainly, the premise allowed in computing capability Under, each wagon flow direction of the intersection can be added the one direction wagon flow as variable around line mode and turn to control The calculating of simulation.In the present embodiment, in order to reduce the computation complexity of the wagon flow course changing control model, when saving calculating Between, according to the actual conditions of the intersection, after each wagon flow direction execution course changing control of the intersection What is used is to determine around line mode, and should be guaranteed that determination is optimal around line mode, for example, around row line it is most short or Person's construction Least-cost.

In actual applications, each wagon flow direction of the intersection is not limited to above-mentioned three kinds around line mode and detoured Mode, in addition to this it is possible to according to the actual conditions of the intersection and/or the intersection junction perimeter, Above-mentioned three kinds other outside line mode are selected to be detoured around line mode, such as the crossing or road that selection vehicle flowrate is minimum Road intersection is detoured, so that the time of detouring is most short.The various forms of changes around line mode, all simply implement The change of mode, all without departing from the core of the application, therefore all within the protection domain of the application.

(2) single intersection wagon flow course changing control model

As described above, after the wagon flow direction of the intersection performs course changing control, such as the intersection Wagon flow direction is banned left back, wagon flow corresponding to the left turn traffic amount in banned left wagon flow direction, can not be led to using Turning travel to the left Cross the intersection, it is therefore necessary to take the mode to detour to come by the intersection, still, detouring may be right The vehicle flowrate in other wagon flow directions of the intersection has an impact, and causes the vehicle flowrate in other wagon flow directions to become Change, using different around line mode, the influence to each wagon flow direction vehicle flowrate of the intersection may also be different. For example, the southern banned left side in wagon flow direction in crossroad direction, as shown in Figure 5, if detoured using street lane around line, The vehicle flowrate in the eastern wagon flow direction of crossroad can be caused to increase；If detoured using straight trip wrap around type, crossroad Northern wagon flow direction vehicle flowrate increase；If detoured using right-hand rotation wrap around type, the eastern wagon flow direction of crossroad Vehicle flowrate increase.

Based on this, the single intersection wagon flow course changing control model of the present embodiment offer, it is contemplated that the intersection Influencing each other between each wagon flow direction, will perform course changing control after detour caused by vehicle flowrate as one calculate variable add Enter to calculate.

Specifically, the single intersection wagon flow course changing control model, is calculated in the following way：

1) obtain each wagon flow direction of the intersection and perform the bypass route each used after course changing control；

For example, each the wagon flow direction for obtaining the intersection respectively it is banned it is left back each use around walking along the street Line.

2) with reference to the car flow information and the bypass route, total vehicle flowrate in the wagon flow direction is calculated；

After the wagon flow direction of the intersection performs course changing control, such as the wagon flow direction quilt of the intersection Prohibit left back, the vehicle flowrate in other not banned left wagon flow directions of present road intersection may be had an impact；Also, institute After each wagon flow direction execution course changing control for stating intersection, to the wagon flow in other wagon flow directions for being not carried out course changing control Being influenceed caused by amount may be different, therefore, it is necessary to all possible for each wagon flow direction of the intersection Course changing control plan carries out analysis calculating respectively.

Preferably, each wagon flow direction of the intersection is ranked up according to particular sorted order, according to the car The clooating sequence in direction is flowed, corresponding phase is combined respectively according to whether performing course changing control in the wagon flow direction, is obtained Phase combination number it is equal with the number of the course changing control plan, the course changing control plan and the wagon flow direction Phase combination has one-to-one relationship.For example, the wagon flow direction of the east, south, west, north of crossroad four, each wagon flow side Prohibit left and can't help left two kinds of phases, therefore a total of 16 kinds of the taboo left case in four wagon flow directions of crossroad, phase to existing Answer, the course changing control plan of crossroad there are 16.

As described above, the car flow information includes the straight traffic flow, the left turn traffic amount and the right-hand rotation wagon flow Amount, therefore, in the case where not considering that each wagon flow direction of the intersection influences between each other, handed over for the road Each wagon flow direction of prong, total vehicle flowrate in the wagon flow direction are equal to straight traffic flow corresponding to the wagon flow direction, turned left Vehicle flowrate and right-hand rotation vehicle flowrate sum, i.e.,：

Q_cross=Q_forward+Q_left+Q_right；

Wherein, Q_crossFor total vehicle flowrate, Q_forwardFor straight traffic flow, Q_leftFor left turn traffic amount, Q_rightFor right-hand rotation car Flow.

The single intersection wagon flow course changing control model that the present embodiment provides, in view of each car of the intersection On the basis of influencing each other between stream direction, for each wagon flow direction of the intersection, the wagon flow direction Total vehicle flowrate is equal to straight traffic flow corresponding to the wagon flow direction, left turn traffic amount, right-hand rotation vehicle flowrate and the vehicle flowrate sum that detours. Wherein, detour vehicle flowrate corresponding to the wagon flow direction, after referring to that each wagon flow direction of the intersection performs course changing control Use in row line, with the wagon flow direction overlap around the corresponding vehicle flowrate of row line.I.e.：

Q_cross=Q_forward+Q_left+Q_right+Q_around

Wherein, Q_crossFor total vehicle flowrate, Q_forwardFor straight traffic flow, Q_leftFor left turn traffic amount, Q_rightFor right-hand rotation car Flow, Q_aroundFor the vehicle flowrate that detours.

For example, it is assumed that under current course changing control plan, the southern banned left side in wagon flow direction of crossroad, and prohibit left back use Street lane is detoured around line, then the vehicle flowrate that detours in the wagon flow direction of east, south, west, north four is followed successively by：Q_{east_around}= Q_{south_left}, Q_{south_around}=0, Q_{west_around}=0, Q_{north_around}=0；

Based on this, the vehicle flowrate in the four wagon flow directions in east, south, west, north of crossroad is followed successively by：

Q_east=Q_{east_forward}+Q_{east_left}+Q_{east_right}+Q_{east_around}=Q_{east_forward}+Q_{east_left}+Q_{east_right}+ Q_{south_left}；

Q_south=Q_{south_forward}+Q_{south_left}+Q_{south_right}+Q_{south_around}=Q_{south_forward}+Q_{south_left}+ Q_{south_right}；

Q_west=Q_{west_forward}+Q_{west_left}+Q_{west_right}+Q_{west_around}=Q_{west_forward}+Q_{west_left}+Q_{west_right}；

Q_×orth=Q_{north_forward}+Q_{north_left}+Q_{north_right}+Q_{north_around}=Q_{north_forward}+Q_{north_left}+ Q_{north_right}。

3) according to total vehicle flowrate in the wagon flow direction, during each benchmark delay being pre-configured with reference to the wagon flow direction Long parameter, calculate the mean delay duration parameters in the wagon flow direction；

The mean delay duration parameters in the wagon flow direction, the intersection can be characterized on the wagon flow direction Congestion level, or the vehicle in the wagon flow direction pass through duration by the intersection.Specifically, the wagon flow direction Mean delay duration parameters, equal to the straight traffic flow, the left turn traffic amount and the right-hand rotation vehicle flowrate with each it is right The sum of products for the benchmark delay duration parameters answered, the ratio with total vehicle flowrate in the wagon flow direction.I.e.：

Wherein, d_crossFor the mean delay duration parameters in wagon flow direction, d_iFor straight traffic flow, left turn traffic amount and right-hand rotation Vehicle flowrate and each self-corresponding benchmark delay duration parameters.

For example, the mean delay duration parameters in the wagon flow direction of the east, south, west, north of crossroad four are followed successively by：

4) according to the mean delay duration parameters, the crossing mean delay duration parameters of the intersection are calculated.

The crossing mean delay duration parameters of the intersection, can characterize each wagon flow side of the intersection Duration is passed through by the intersection to the vehicle of the congestion level of ensemble average, or the intersection.Tool Body, the crossing mean delay duration parameters of the intersection, equal to the wagon flow direction and during each self-corresponding delay The sum of products of long parameter, the ratio with the total vehicle flowrate in crossing of the intersection；Wherein, the road of the intersection The total vehicle flowrate of mouth is equal to total vehicle flowrate sum corresponding to each wagon flow direction of the intersection.I.e.：

Wherein, d_intersectionFor the crossing mean delay duration parameters of intersection.

For example, the crossing mean delay duration parameters of crossroad are：

Averagely prolong at the crossing that the intersection under each the course changing control plan obtained is calculated according to aforesaid operations Duration parameters by mistake, i.e., according to the crossing under each course changing control plan of single intersection wagon flow course changing control model output Mean delay duration parameters, the minimum course changing control plan of the crossing mean delay duration parameters of the intersection is selected, Course changing control is carried out to each wagon flow direction of the intersection according to the course changing control plan, for example, according to the steering control System plan, perform taboo left lateral for each wagon flow direction of the intersection and sail.

Prior art is directed to the left optimization of taboo that intersection is carried out, simply according to the practical situation of intersection, pin Train flow analysis is carried out to a certain specific intersection and carries out prohibiting left optimization, but the left turn traffic in banned left wagon flow direction Vehicle corresponding to amount, Turning travel to the left can not carried out by the intersection, it is therefore necessary to take the mode to detour Come by the intersection, it is banned left wagon flow direction more congestion that may cause intersection, is not accounted for The relation that influences each other between each wagon flow direction of intersection, practicality is relatively low, has some limitations.The application is led to The crossing mean delay duration parameters that the single intersection wagon flow course changing control model calculates output are crossed, select optimal one to turn to Control plan, course changing control is performed to each wagon flow direction of the intersection according to the course changing control plan, to the road The course changing control of road intersection is more comprehensive, the practical situation of itself and the intersection is more coincide, practicality is stronger.

(3) region wagon flow course changing control model

The region wagon flow course changing control model that the present embodiment provides, it is suitable for inclusion in the region of multiple intersections (region to be controlled), i.e., the result of calculation exported according to the region wagon flow course changing control model can be entered to the region to be controlled The overall course changing control of row.The region wagon flow course changing control model is on the basis of above-mentioned single intersection wagon flow course changing control model Realize, not only consider influencing each other between each wagon flow direction of the intersection when calculating, it is also contemplated that described to treat Influencing each other between each intersection in control area.

Specifically, the region wagon flow course changing control model, is calculated in the following way：

1) each used after each wagon flow direction execution course changing control of each intersection in acquisition region to be controlled Bypass route；

2) with reference to the car flow information and the bypass route, second total vehicle flowrate in the wagon flow direction is calculated；

As described above, after each wagon flow direction of the intersection performs course changing control, such as the intersection Each wagon flow direction of mouth is banned left back, may be on influence caused by the vehicle flowrate in other not banned left wagon flow directions It is different.On this basis, may be to described to be controlled after each intersection in the region to be controlled performs course changing control The vehicle flowrate of other each wagon flow sides of intersection for being not carried out course changing control has an impact in region processed；It is also, described to treat After each intersection of control area performs course changing control, other are not carried out with each car of intersection of course changing control Being influenceed caused by the vehicle flowrate of stream side may be different, it is therefore desirable to for each intersection in the region to be controlled The all possible region course changing control plan in each wagon flow direction of mouth carries out analysis calculating.

Preferably, each wagon flow direction of each intersection is entered according to particular sorted order in the region to be controlled Row sequence, according to the clooating sequence in the wagon flow direction, the wagon flow direction is according to whether perform corresponding to course changing control difference Phase is combined, and the number of the region phase combination of acquisition is equal with the number of the region course changing control plan, the area Domain course changing control plan and the region phase combination in the wagon flow direction have one-to-one relationship.For example, in region to be controlled There are 20 crossroads, four wagon flow directions of each crossroad perform respectively prohibits left a total of 16 kinds of possibility, then 20 ten Word crossing arrange in sequence after combination a total of 16²⁰Kind is possible, accordingly, the region course changing control plan in region to be controlled Have 16²⁰It is individual.

In the specific implementation, in order to avoid the amount of calculation of the region wagon flow course changing control model is excessive, such as calculate more Up to 16²⁰The data of level, can use algorithm Reduction Computation amount, for example, subtracting by the way of greedy algorithm calculates locally optimal solution The amount of calculation of few region wagon flow course changing control model.Further, it is also possible to reference to each intersection in the region to be controlled Practical situation, just for congestion intersection perform course changing control, from 16²⁰Individual region course changing control rejects pin in the works The region course changing control plan of course changing control is performed to the intersection of non-congestion, control is turned to so as to reduce the region wagon flow The amount of calculation of simulation, reduce computation complexity.

It is total for each wagon flow direction of each intersection in the region to be controlled, the second of the wagon flow direction Vehicle flowrate, equal to straight traffic flow, left turn traffic amount, right-hand rotation vehicle flowrate and second corresponding to the wagon flow direction detour vehicle flowrate it With.

Second detours vehicle flowrate corresponding to the wagon flow direction, refers to each wagon flow of intersection corresponding to the wagon flow direction Direction perform use after course changing control around row line, and the neighborhood road corresponding to the wagon flow direction belonging to intersection Each wagon flow direction of intersection perform use after course changing control in row line, overlapped with the wagon flow direction around row line Corresponding vehicle flowrate.

Wherein, the neighborhood intersection includes：In the region to be controlled it is adjacent with the intersection and with The intersection of other not spaced intersections between the intersection.

For example, in region to be controlled as shown in Figure 6, the neighborhood intersection of c5 intersections is：C1 roads Intersection, c2 intersections, c3 intersections, c4 intersections, c6 intersections, c7 intersections, c8 roads Road intersection and c9 intersections；

Assuming that under current region course changing control plan, the southern banned left side in wagon flow direction of c5 intersections, and prohibit left back adopt Detoured with street lane around line, pass through c2 intersections, c3 intersections and c6 intersections successively around row line, Last wraparound c5 intersections；

Specifically, around row line successively by the southern wagon flow direction of c2 intersections, the western wagon flow of c3 intersections Direction, the northern wagon flow direction of c6 intersections, and the eastern wagon flow direction of c5 intersections；

Second detours vehicle flowrate as the left turn traffic amount on the southern wagon flow direction of c5 intersections, i.e.,：

Q ＇_around=c5_Q_{south_left}；

Wherein, Q ＇_aroundDetoured vehicle flowrate for second, c5_Q_{south_left}For on the southern wagon flow direction of c5 intersections Left turn traffic amount.

After being detoured around row line, the vehicle flowrate in the southern wagon flow direction of c2 intersections is：

c2_Q_south=c2_Q_{south_forward}+c2_Q_{south_left}+c2_Q_{south_right}+ Q ＇_around；

The vehicle flowrate in the western wagon flow direction of c3 intersections is：

c3_Q_west=c3_Q_{west_forward}+c3_Q_{west_left}+c3_Q_{west_right}+ Q ＇_around；

The vehicle flowrate in the northern wagon flow direction of c6 intersections is：

c6_Q_north=c6_Q_{north_forward}+c6_Q_{north_left}+c6_Q_{north_right}+ Q ＇_around；

The vehicle flowrate in the eastern wagon flow direction of c5 intersections is：

c5_Q_east=c5_Q_{east_forward}+c5_Q_{east_left}+c5_Q_{east_right}+ Q ＇_around。

3) according to second total vehicle flowrate in the wagon flow direction, prolong with reference to each benchmark that the wagon flow direction is pre-configured with Duration parameters by mistake, calculate the second mean delay duration parameters in the wagon flow direction；

The second mean delay duration parameters, equal to the straight traffic flow, the left turn traffic amount and the right-hand rotation Vehicle flowrate and the sum of products of each self-corresponding benchmark delay duration parameters, the ratio with second total vehicle flowrate in the wagon flow direction Value.

4) according to the second mean delay duration parameters, when calculating the second crossing mean delay of the intersection Long parameter；

The second crossing mean delay duration parameters, equal to the wagon flow direction and each self-corresponding delay duration parameters The sum of products, the ratio with the total vehicle flowrate in the second crossing of the intersection；

5) according to the second crossing mean delay duration parameters, when calculating the zone leveling delay in the region to be controlled Long parameter.

The zone leveling is delayed duration parameters, equal to each intersection in the region to be controlled with it is respective corresponding The second crossing mean delay duration parameters the sum of products, the ratio with the total vehicle flowrate in region in the region to be controlled；

Wherein, the total vehicle flowrate in region in the region to be controlled is equal to each intersection in the region to be controlled The corresponding total vehicle flowrate sum in second crossing.I.e.：

Q_intersection=Σ_jQ_{cross_j}, j ∈ { east, south, west, north }；

Wherein, d_regionIt is delayed duration parameters for the zone leveling in region to be controlled, n is road in the region to be controlled The number of intersection, Q_intersectionFor the total vehicle flowrate in crossing of intersection.

For example, have 20 crossroads in region to be controlled shown in accompanying drawing 8, then the zone leveling delay in region to be controlled Duration parameters are：

Q_intersection=Σ_jQ_{cross_j}, j ∈ { east, south, west, north }.

Put down in the region that the region to be controlled under each the region course changing control plan obtained is calculated according to aforesaid operations It is delayed duration parameters, i.e., the zone leveling exported according to the region wagon flow course changing control model is delayed duration parameters, selection The region course changing control plan of the zone leveling delay duration parameters minimum in the region to be controlled, according to the region course changing control Plan to perform course changing control to each wagon flow direction of each intersection in the region to be controlled, for example, according to the area Domain course changing control plan, each wagon flow direction execution to each intersection in the region to be controlled are prohibited left lateral and sailed.

The zone leveling that the application calculates output by the region wagon flow course changing control model is delayed duration parameters, selection An optimal region course changing control plan, each intersection in control area is treated according to the region course changing control plan Each wagon flow direction perform course changing control, with reference to the region to be controlled to intersection therein perform course changing control, More comprehensively, it further enhancing practicality.

(4) OD course changing controls model

The OD course changing controls model that the present embodiment provides, it is equally applicable to include the region of multiple intersections (the second region to be controlled), i.e., the result of calculation exported according to the OD course changing controls model can be to the described second region to be controlled Carry out overall course changing control.The calculating process of the OD course changing controls model and above-mentioned zone wagon flow course changing control model class Seemingly, the difference of the two is：In above-mentioned zone wagon flow course changing control model calculating process, the vehicle flowrate in the wagon flow direction is root The car flow information obtained according to above-mentioned steps S102 steps calculates what is obtained；In the OD course changing controls model calculating process, The calculating of the vehicle flowrate in the wagon flow direction is to be simulated to calculate what is obtained according to the OD flow datas of the vehicle of acquisition.

Specifically, the OD course changing controls model, is calculated in the following way：

1) the OD flow datas of vehicle conventional in the second region to be controlled are obtained；

OD flows (Origin-Destination flow), wherein " O " derives from English Origin, it is indicated that hair ground；D sources In English Destination, refer to destination.The OD flow datas refer to the data of route information from origin to destination Stream.In actual applications, OD flow datas can be obtained by map location navigation service provider, for example, obtaining map position OD flow data of certain city of navigation Service offer in a certain historical time section is provided.

2) OD flow datas road traffic road network with reference to corresponding to the described second region to be controlled is subjected to analysis calculating, Obtain the car flow information in each wagon flow direction of each intersection in the described second region to be controlled；

3) with reference to the car flow information and the bypass route, the 3rd total vehicle flowrate in the wagon flow direction is calculated；

Each wagon flow direction of each intersection is carried out according to particular sorted order in second region to be controlled Sequence, according to the clooating sequence in the wagon flow direction, the wagon flow direction is according to whether perform phase corresponding to course changing control difference Position is combined, and the number of the second area phase combination of acquisition is equal with the number of the second area course changing control plan, The second area course changing control plan and the second area phase combination in the wagon flow direction have one-to-one relationship.

For example, there is 50 crossroads in the second region to be controlled, four wagon flow directions of each crossroad are held respectively Row prohibits left a total of 16 kinds of possibility, the then combination a total of 16 after 50 crossroads arrange in sequence⁵⁰Kind is possible, accordingly , the second area course changing control plan in the second region to be controlled has 16⁵⁰It is individual.

In the specific implementation, in order to avoid the amount of calculation of OD course changing control models is excessive, such as up to 16 are calculated⁵⁰The number of level According to the amounts of calculation of OD course changing control models can be reduced by algorithm, for example, calculating the side of locally optimal solution using greedy algorithm Formula reduces the amount of calculation of OD course changing control models.Further, it is also possible to handed over reference to each road in the described second region to be controlled The practical situation of prong, course changing control is performed just for the intersection of congestion, from 16⁵⁰Individual second area course changing control plan The middle second area course changing control plan for rejecting the intersection execution course changing control for non-congestion, is turned to so as to reduce OD The amount of calculation of Controlling model, reduce computation complexity；Furthermore it is also possible to computation complexity is reduced by subregional mode, Described second region to be controlled is split as several less subregions, overall steering control is carried out for each sub-regions System, so as to come reduce OD course changing controls model calculating data the order of magnitude, reduce computation complexity.

3rd total vehicle flowrate in the wagon flow direction, equal to straight traffic flow, left turn traffic corresponding to the wagon flow direction Amount and right-hand rotation vehicle flowrate sum.

4) according to the 3rd total vehicle flowrate in the wagon flow direction, prolong with reference to each benchmark that the wagon flow direction is pre-configured with Duration parameters by mistake, calculate the 3rd mean delay duration parameters in the wagon flow direction；

The 3rd mean delay duration parameters, equal to the straight traffic flow, the left turn traffic amount and the right-hand rotation Vehicle flowrate and the sum of products of each self-corresponding benchmark delay duration parameters, the ratio with the 3rd total vehicle flowrate in the wagon flow direction Value.

5) according to the 3rd mean delay duration parameters, when calculating the 3rd crossing mean delay of the intersection Long parameter；

3rd crossing mean delay duration parameters, equal to the wagon flow direction and each self-corresponding delay duration parameters The sum of products, the ratio with the 3rd total vehicle flowrate in crossing of the intersection；

6) according to the 3rd crossing mean delay duration parameters, the second area for calculating second region to be controlled is put down It is delayed duration parameters.

The second area mean delay duration parameters, equal to each intersection in the described second region to be controlled with The sum of products of each self-corresponding 3rd crossing mean delay duration parameters, the total wagon flow in region with the described second region to be controlled The ratio of amount；

Second region to be controlled under each the second area course changing control plan obtained is calculated according to aforesaid operations Second area mean delay duration parameters, i.e., according to the OD course changing controls model export second area mean delay duration Parameter, select the minimum second area course changing control meter of the second area mean delay duration parameters in second region to be controlled Draw, each wagon flow side according to the second area course changing control plan to each intersection in the described second region to be controlled To course changing control is performed, for example, according to the second area course changing control plan, to each intersection in the second region to be controlled Each wagon flow direction of mouth performs taboo left lateral and sailed.

In actual applications, can combine actual conditions selects a kind of wagon flow course changing control model of above-mentioned offer to be fitted With, for example the road video data in a certain wagon flow direction of single intersection can only be obtained in actual conditions, then using upper State one direction wagon flow course changing control model；It is excellent if the road video data in each wagon flow direction of intersection can be obtained Choosing uses above-mentioned single intersection wagon flow course changing control model；If the road video of each intersection in a certain region can be obtained Data, then preferably use above-mentioned zone wagon flow course changing control model；If the road of all intersections in certain city can be obtained Road video data, then preferably use above-mentioned OD course changing controls model.

In summary, the wagon flow control method for the intersection that the application provides, by each to intersection The picture frame included in the road video data in individual wagon flow direction is detected, and obtains each wagon flow direction of the intersection Real-time car flow information, and car flow information is substituted into the wagon flow course changing control model being pre-configured with and calculated, according to the car The result of calculation that stream turns to Controlling model output meets that the wagon flow direction of preparatory condition performs steering control to the intersection System, is calculated more efficient using the wagon flow course changing control model；In addition, the wagon flow controlling party of the intersection Method by being detected in real time to intersection, and the car flow information that detection is obtained substitutes into wagon flow course changing control model and entered Row is calculated, and course changing control is performed to the wagon flow of the intersection according to the result of calculation that wagon flow course changing control model exports, Wagon flow control to the intersection is more comprehensive, and intelligence degree is higher.

The wagon flow control device embodiment for the intersection that the application provides is as follows：

In the above-described embodiment, there is provided a kind of wagon flow control method of intersection, corresponding, this Shen A kind of wagon flow control device of intersection please be additionally provide, is illustrated below in conjunction with the accompanying drawings.

Referring to the drawings 7, a kind of wagon flow control device embodiment of the intersection provided it illustrates the application is shown It is intended to.

Because device embodiment is substantially similar to embodiment of the method, so describing fairly simple, related part please join The corresponding explanation of the embodiment of the method for above-mentioned offer is provided.Device embodiment described below is only schematical.

The application provides a kind of wagon flow control device of intersection, including：

Road video data detection unit 701, in the road video data to each wagon flow direction of intersection Comprising picture frame detected, obtain the car flow information in each wagon flow direction of the intersection；

Model computing unit 702 is substituted into, for the car flow information to be substituted into the wagon flow course changing control model being pre-configured with Calculated, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control.

Optionally, road video detection model realization of the road video data detection unit 701 based on training in advance；

Optionally, the road video data detection unit 701 includes：

Picture frame detection sub-unit, for the convolutional neural networks using road video detection model use to described The picture frame included in road video data is detected, and obtains the information of vehicles of vehicle in the road video data；

First driving track mark information computation subunit, for the track algorithm used using the road video detection model Calculated with reference to the picture frame included in the road video data, obtain the driving trace information of the vehicle；

Car flow information analyzes subelement, for the clustering algorithm using road video detection model use with reference to described Information of vehicles and the driving trace information carry out analysis calculating, obtain the wagon flow letter in each wagon flow direction of the intersection Breath.

Optionally, the road video data detection unit 701 includes：

Second driving trace information computation subunit, for the Car license recognition used using the road video detection model Algorithm, detected with reference to the picture frame included in the road video data, obtain the license board information of the vehicle, and be based on The tracking of the license board information obtains the driving trace information of the vehicle.

Optionally, the car flow information includes：

Optionally, the wagon flow course changing control model includes：

Optionally, the substitution model computing unit 702, including：

First course changing control subelement, for selecting the difference to be more than the wagon flow direction of predetermined threshold value as course changing control Wagon flow direction, and perform course changing control for the course changing control wagon flow direction.

Optionally, the substitution model computing unit 702, including：

Second course changing control subelement, for selecting the crossing mean delay duration parameters of the intersection minimum Course changing control plan, course changing control is performed to each wagon flow direction of the intersection according to the course changing control plan.

Optionally, the region wagon flow course changing control model, including：

Optionally, the neighborhood intersection includes：

Optionally, the substitution model computing unit 702, including：

3rd course changing control subelement, the zone leveling for selecting the region to be controlled are delayed duration parameters minimum Region course changing control plan, according to the region course changing control plan in the region to be controlled each intersection it is each Wagon flow direction performs course changing control.

Optionally, the OD course changing controls model, including：

Optionally, the substitution model computing unit 702, including：

4th course changing control subelement, for selecting the second area mean delay duration in the described second region to be controlled to join The minimum second area course changing control plan of number, according to the second area course changing control plan in the described second region to be controlled Each wagon flow direction of each intersection performs course changing control.

The wagon flow control method embodiment for another intersection that the application provides is as follows：

In the above-described embodiment, there is provided a kind of wagon flow control method of intersection, on this basis, the application The wagon flow control method of another intersection is additionally provided, is illustrated below in conjunction with the accompanying drawings.

Referring to the drawings 8, the wagon flow control method embodiment of another intersection provided it illustrates the application Process chart.

Because the present embodiment is realized on the basis of the wagon flow control method embodiment of above-mentioned intersection, so Describe fairly simple, related part refers to the wagon flow control method embodiment of the above-mentioned intersection of the application offer Corresponding explanation.Embodiment of the method described below is only schematical.

The wagon flow control method for another intersection that the application provides, including：

Step S801, it is each that the camera installed by each wagon flow direction of intersection gathers the intersection The road video data in wagon flow direction；

Step S802, the picture frame included in the video data is detected, it is each to obtain the intersection The car flow information in wagon flow direction；

Step S803, the car flow information is substituted into the wagon flow course changing control model being pre-configured with and calculated, according to meter Calculate result selection and meet that the wagon flow direction of preparatory condition performs course changing control；

Step S804, phase signal corresponding to the wagon flow direction that will perform course changing control are matched somebody with somebody from the phase signal being pre-configured with When scheme in delete, the control duration of each phase signal in the phase signal timing scheme is modified, and in the road Apply the revised phase signal timing scheme in road intersection.

Optionally, the picture frame to being included in the video data detects, and it is each to obtain the intersection The car flow information step in individual wagon flow direction, the road video detection model realization based on training in advance；

Optionally, the picture frame to being included in the video data detects, and it is each to obtain the intersection The car flow information in individual wagon flow direction, is realized in the following way：

Optionally, the car flow information includes：

Optionally, the wagon flow course changing control model includes：

Obtain the control duration of each phase signal of the intersection；

Optionally, the neighborhood intersection includes：

The wagon flow control device embodiment for another intersection that the application provides is as follows：

In the above-described embodiment, there is provided the wagon flow control method of another intersection, it is corresponding, this Application also provides the wagon flow control device of another intersection, illustrates below in conjunction with the accompanying drawings.

Referring to the drawings 9, the wagon flow control device embodiment of another intersection provided it illustrates the application Schematic diagram.

The wagon flow control device for another intersection that the application provides, including：

Road video data acquiring unit 901, the camera for being installed by each wagon flow direction of intersection are adopted Collect the road video data in each wagon flow direction of the intersection；

Road video data detection unit 902, for being detected to the picture frame included in the video data, obtain The car flow information in each wagon flow direction of intersection；

Model computing unit 903 is substituted into, for the car flow information to be substituted into the wagon flow course changing control model being pre-configured with Calculated, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control；

Phase signal amendment and applying unit 904, believe for phase corresponding to the wagon flow direction of course changing control will to be performed Number deleted from the phase signal timing scheme being pre-configured with, the control to each phase signal in the phase signal timing scheme Duration is modified, and applies the revised phase signal timing scheme in the intersection.

Optionally, road video detection model realization of the road video data detection unit 902 based on training in advance；

Optionally, the road video data detection unit 902 includes：

Optionally, the car flow information includes：

Optionally, the wagon flow course changing control model includes：

Optionally, the substitution model computing unit 903, including：

Optionally, the region wagon flow course changing control model, including：

Optionally, the neighborhood intersection includes：

Optionally, the substitution model computing unit 903, including：

Optionally, the OD course changing controls model, including：

Optionally, the substitution model computing unit 903, including：

The a kind of electronic equipment device embodiment that the application provides is as follows：

In the above-described embodiment, there is provided a kind of wagon flow control method of intersection, in addition, the application also provides A kind of electronic equipment for being used to implement the wagon flow control method of the intersection, is illustrated below in conjunction with the accompanying drawings.

Referring to the drawings 10, the schematic diagram of a kind of electronic equipment provided it illustrates the application.

Because the wagon flow control method of the intersection is realized based on the electronic equipment, therefore the electronic equipment Embodiment be substantially similar to embodiment of the method, so describing fairly simple, related part refers to the side of above-mentioned offer The corresponding explanation of method embodiment.The electronic equipment embodiment described below is only schematical.

The a kind of electronic equipment that the application provides, including：

Processor 10-01 and memory 10-02；

Wherein, the processor 10-01, for being included in the road video data to each wagon flow direction of intersection Picture frame detected, obtain the car flow information in each wagon flow direction of the intersection, and by the car flow information generation Enter the wagon flow course changing control model being pre-configured with to be calculated, meet that the wagon flow direction of preparatory condition is held according to result of calculation selection Row course changing control；

The memory 10-02, the car flow information is obtained for storing the road video data and calculating.

Optionally, the car flow information includes：

Optionally, the wagon flow course changing control model includes：

Obtain the control duration of each phase signal of the intersection；

Optionally, the neighborhood intersection includes：

Another electronic apparatus embodiment that the application provides is as follows：

In the above-described embodiment, there is provided the wagon flow control method of another intersection, in addition, the application also carries For another electronic equipment, for implementing the wagon flow control method of above-mentioned another intersection, carry out below in conjunction with the accompanying drawings Explanation.

Referring to the drawings 11, the schematic diagram of another electronic equipment provided it illustrates the application.

Because the wagon flow control method of above-mentioned another intersection is realized based on the electronic equipment, therefore the electricity The embodiment of sub- equipment is substantially similar to embodiment of the method, so describing fairly simple, related part refers to above-mentioned carry The corresponding explanation of the embodiment of the method for confession.The electronic equipment embodiment described below is only schematical.

Another electronic equipment that the application provides, including：

Processor 11-01 and memory 11-02；

Wherein, the processor 11-01, the camera for being installed by each wagon flow direction of intersection gather institute State the road video data in each wagon flow direction of intersection；The picture frame included in the video data is detected, Obtain the car flow information in each wagon flow direction of the intersection；The car flow information is substituted into the wagon flow being pre-configured with to turn to Controlling model is calculated, and the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control；Turn performing Deleted to phase signal corresponding to the wagon flow direction of control from the phase signal timing scheme being pre-configured with, the phase is believed The control duration of each phase signal is modified in number timing scheme, and applies the revised phase in the intersection Position signal time distributing conception；

The memory 11-02, the car flow information is obtained for storing the road video data collected, calculating And the phase signal timing scheme.

Optionally, the car flow information includes：

Optionally, the wagon flow course changing control model includes：

Obtain the control duration of each phase signal of the intersection；

Optionally, the neighborhood intersection includes：

Although the application is disclosed as above with preferred embodiment, it is not for limiting the application, any this area skill Art personnel are not being departed from spirit and scope, can make possible variation and modification, therefore the guarantor of the application Shield scope should be defined by the scope that the application claim is defined.

In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net Network interface and internal memory.

Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium Example.

1st, computer-readable medium can be by any side including permanent and non-permanent, removable and non-removable media Method or technology realize that information stores.Information can be computer-readable instruction, data structure, the module of program or other numbers According to.The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), Electrically Erasable Read Only Memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc are read-only Memory (CD-ROM), digital versatile disc (DVD) or other optical storages, magnetic cassette tape, tape magnetic rigid disk storage or Other magnetic storage apparatus or any other non-transmission medium, the information that can be accessed by a computing device available for storage.According to Herein defines, and computer-readable medium does not include non-temporary computer readable media (transitory media), such as modulates Data-signal and carrier wave.

2nd, it will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program production Product.Therefore, the application can use the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware Form.Moreover, the application can use the computer for wherein including computer usable program code in one or more can use The computer program product that storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) Form.

Claims

A kind of 1. wagon flow control method of intersection, it is characterised in that including：

The picture frame included in the road video data in each wagon flow direction of intersection is detected, obtains the road The car flow information in each wagon flow direction in intersection；

The car flow information is substituted into the wagon flow course changing control model being pre-configured with to be calculated, selects to meet according to result of calculation The wagon flow direction of preparatory condition performs course changing control.
2. the wagon flow control method of intersection according to claim 1, it is characterised in that described to intersection The picture frame included in the road video data in each wagon flow direction is detected, and obtains each wagon flow side of the intersection To car flow information step, the road video detection model realization based on training in advance；

Wherein, the road video detection model is obtained according to the conventional road video data off-line training of the intersection .
3. the wagon flow control method of intersection according to claim 2, it is characterised in that described to intersection The picture frame included in the road video data in each wagon flow direction is detected, and obtains each wagon flow side of the intersection To car flow information, realize in the following way：

Using the convolutional neural networks that the road video detection model uses to the image that is included in the road video data Frame is detected, and obtains the information of vehicles of vehicle in the road video data；

The track algorithm used using the road video detection model is with reference to the picture frame included in the road video data Calculated, obtain the driving trace information of the vehicle；

The clustering algorithm used using the road video detection model is with reference to the information of vehicles and the driving trace information Analysis calculating is carried out, obtains the car flow information in each wagon flow direction of the intersection.
4. the wagon flow control method of intersection according to claim 2, it is characterised in that described to intersection The picture frame included in the road video data in each wagon flow direction is detected, and obtains each wagon flow side of the intersection To car flow information, realize in the following way：

Using the convolutional neural networks that the road video detection model uses to the image that is included in the road video data Frame is detected, and obtains the information of vehicles of vehicle in the road video data；

The Recognition Algorithm of License Plate used using the road video detection model, with reference to the figure included in the road video data As frame is detected, the license board information of the vehicle is obtained, and the tracking based on the license board information obtains the row of the vehicle Sail trace information；

The clustering algorithm used using the road video detection model is with reference to the information of vehicles and the driving trace information Analysis calculating is carried out, obtains the car flow information in each wagon flow direction of the intersection.
5. the wagon flow control method of intersection according to claim 1, it is characterised in that the car flow information bag Include：

Straight traffic flow, left turn traffic amount and right-hand rotation vehicle flowrate.
6. the wagon flow control method of intersection according to claim 5, it is characterised in that the wagon flow course changing control Model includes：

One direction wagon flow course changing control model, single intersection wagon flow course changing control model, region wagon flow course changing control model or OD Course changing control model.
7. the wagon flow control method of intersection according to claim 6, it is characterised in that the one direction wagon flow turns Intersection to Controlling model for the control of four phase signals performs course changing control.
8. the wagon flow control method of intersection according to claim 7, it is characterised in that the one direction wagon flow turns To Controlling model, calculated in the following way：

Obtain the control duration of each phase signal of the intersection；

Calculate the straight traffic flow in each wagon flow direction of the intersection and the vehicle flowrate ratio of left turn traffic amount, Yi Jisuo State the control duration of straight trip phase signal corresponding to each wagon flow direction of intersection and the control duration of left turn phase signal Ratio；

Calculate the difference of the vehicle flowrate ratio and the control duration ratio in each wagon flow direction of the intersection.
9. the wagon flow control method of intersection according to claim 8, it is characterised in that described according to result of calculation Selection meets that the wagon flow direction of preparatory condition performs course changing control, realizes in the following way：

Select the difference more than the wagon flow direction of predetermined threshold value as course changing control wagon flow direction, and be directed to the course changing control Wagon flow direction performs course changing control.
10. the wagon flow control method of intersection according to claim 8, it is characterised in that the control duration leads to Cross the picture frame acquisition analyzed and included in the road video data；

Or the control duration is obtained by the phase signal timing scheme being pre-configured with.
11. the wagon flow control method of intersection according to claim 6, it is characterised in that the single intersection wagon flow Course changing control model, is calculated in the following way：

Obtain each wagon flow direction of the intersection and perform the bypass route each used after course changing control；

For each course changing control plan of the intersection, following operation is performed：

With reference to the car flow information and the bypass route, total vehicle flowrate in the wagon flow direction is calculated；

According to total vehicle flowrate in the wagon flow direction, each benchmark delay duration ginseng being pre-configured with reference to the wagon flow direction Number, calculate the mean delay duration parameters in the wagon flow direction；

According to the mean delay duration parameters, the crossing mean delay duration parameters of the intersection are calculated.
12. the wagon flow control method of intersection according to claim 11, it is characterised in that the intersection Each wagon flow direction is ranked up according to particular sorted order, according to the clooating sequence in the wagon flow direction, the wagon flow direction According to whether performing course changing control, corresponding phase is combined respectively, the number of the phase combination of acquisition and the course changing control The number of plan is equal, and the course changing control plan and the phase combination in the wagon flow direction have one-to-one relationship.
13. the wagon flow control method of intersection according to claim 11, it is characterised in that handed over for the road Each wagon flow direction of prong, total vehicle flowrate in the wagon flow direction calculate in the following way：

Total vehicle flowrate in the wagon flow direction, equal to straight traffic flow, left turn traffic amount, right-hand rotation vehicle flowrate corresponding to the wagon flow direction With the vehicle flowrate sum that detours.
14. the wagon flow control method of intersection according to claim 13, it is characterised in that the wagon flow direction is corresponding The vehicle flowrate that detours, refer to each wagon flow direction of the intersection perform use after course changing control in row line, with The wagon flow direction overlap around vehicle flowrate corresponding to row line.
15. the wagon flow control method of intersection according to claim 11, it is characterised in that during the mean delay Long parameter, it is delayed equal to the straight traffic flow, the left turn traffic amount and the right-hand rotation vehicle flowrate and each self-corresponding benchmark The sum of products of duration parameters, the ratio with total vehicle flowrate in the wagon flow direction.
16. the wagon flow control method of intersection according to claim 11, it is characterised in that averagely prolong at the crossing Duration parameters by mistake, equal to the wagon flow direction and the sum of products of each self-corresponding delay duration parameters, with the intersection The ratio of the total vehicle flowrate in crossing of mouth；

Wherein, the total vehicle flowrate in the crossing of the intersection is equal to total car corresponding to each wagon flow direction of the intersection Flow sum.
17. the wagon flow control method of intersection according to claim 11, it is characterised in that described to be tied according to calculating Fruit selection meets that the wagon flow direction of preparatory condition performs course changing control, realizes in the following way：

The minimum course changing control plan of the crossing mean delay duration parameters of the intersection is selected, according to the course changing control Plan performs course changing control to each wagon flow direction of the intersection.
18. the wagon flow control method of intersection according to claim 6, it is characterised in that the region wagon flow turns To Controlling model, calculated in the following way：

Obtain each intersection in region to be controlled each wagon flow direction perform course changing control after each use around walking along the street Line；

For each region course changing control plan in the region to be controlled, following operation is performed：

With reference to the car flow information and the bypass route, second total vehicle flowrate in the wagon flow direction is calculated；

According to second total vehicle flowrate in the wagon flow direction, each benchmark being pre-configured with reference to the wagon flow direction is delayed duration Parameter, calculate the second mean delay duration parameters in the wagon flow direction；

According to the second mean delay duration parameters, the second crossing mean delay duration for calculating the intersection is joined Number；

According to the second crossing mean delay duration parameters, the zone leveling delay duration for calculating the region to be controlled is joined Number.
19. the wagon flow control method of intersection according to claim 18, it is characterised in that the region to be controlled Each wagon flow direction of interior each intersection is ranked up according to particular sorted order, according to the sequence in the wagon flow direction Sequentially, according to whether performing course changing control, corresponding phase is combined respectively in the wagon flow direction, the region phase-group of acquisition The number of conjunction is equal with the number of the region course changing control plan, the region course changing control plan and the wagon flow direction Region phase combination has one-to-one relationship.
20. the wagon flow control method of intersection according to claim 18, it is characterised in that for described to be controlled Each wagon flow direction of each intersection in region, second total vehicle flowrate in the wagon flow direction are counted in the following way Calculate：

Second total vehicle flowrate in the wagon flow direction, equal to straight traffic flow, left turn traffic amount, right-hand rotation car corresponding to the wagon flow direction Flow and second detours vehicle flowrate sum.
21. the wagon flow control method of intersection according to claim 20, it is characterised in that the wagon flow direction is corresponding Second detour vehicle flowrate, refer to that each wagon flow direction of intersection corresponding to the wagon flow direction uses after performing course changing control Around row line, and each wagon flow direction of the neighborhood intersection corresponding to the wagon flow direction belonging to intersection is held Used after row course changing control in row line, with the wagon flow direction overlap around the corresponding vehicle flowrate of row line.
22. the wagon flow control method of intersection according to claim 21, it is characterised in that the neighborhood road is handed over Prong includes：

In the region to be controlled it is adjacent with the intersection and between the intersection other not spaced roads The intersection of intersection.
23. the wagon flow control method of intersection according to claim 18, it is characterised in that described second averagely prolongs Duration parameters by mistake, equal to the straight traffic flow, the left turn traffic amount and the right-hand rotation vehicle flowrate and each self-corresponding benchmark It is delayed the sum of products of duration parameters, the ratio with second total vehicle flowrate in the wagon flow direction.
24. the wagon flow control method of intersection according to claim 18, it is characterised in that put down at second crossing It is delayed duration parameters, equal to the wagon flow direction and the sum of products of each self-corresponding delay duration parameters, with the road The ratio of the total vehicle flowrate in the second crossing of intersection；

Wherein, the total vehicle flowrate in the second crossing of the intersection is equal to corresponding to each wagon flow direction of the intersection Second total vehicle flowrate sum.
25. the wagon flow control method of intersection according to claim 24, it is characterised in that the zone leveling prolongs Duration parameters by mistake, equal to each intersection in the region to be controlled and each self-corresponding second crossing mean delay duration The ratio of the total vehicle flowrate in region in the sum of products of parameter, with the region to be controlled；

Wherein, it is corresponding to be equal to each intersection in the region to be controlled for the total vehicle flowrate in region in the region to be controlled The total vehicle flowrate sum in the second crossing.
26. the wagon flow control method of intersection according to claim 18, it is characterised in that described to be tied according to calculating Fruit selection meets that the wagon flow direction of preparatory condition performs course changing control, realizes in the following way：

The zone leveling in the region to be controlled is selected to be delayed the minimum region course changing control plan of duration parameters, according to the region Course changing control plan performs course changing control to each wagon flow direction of each intersection in the region to be controlled.
27. the wagon flow control method of intersection according to claim 6, it is characterised in that the OD course changing controls Model, calculated in the following way：

Obtain the OD flow datas of vehicle conventional in the second region to be controlled；

OD flow datas road traffic road network with reference to corresponding to the described second region to be controlled is subjected to analysis calculating, obtains institute State the car flow information in each wagon flow direction of each intersection in the second region to be controlled；

For each second area course changing control plan in the described second region to be controlled, following operation is performed：

With reference to the car flow information and the bypass route, the 3rd total vehicle flowrate in the wagon flow direction is calculated；

According to the 3rd total vehicle flowrate in the wagon flow direction, each benchmark being pre-configured with reference to the wagon flow direction is delayed duration Parameter, calculate the 3rd mean delay duration parameters in the wagon flow direction；

According to the 3rd mean delay duration parameters, the 3rd crossing mean delay duration for calculating the intersection is joined Number；

According to the 3rd crossing mean delay duration parameters, the second area mean delay in calculating second region to be controlled Duration parameters.
28. the wagon flow control method of intersection according to claim 27, it is characterised in that described second is to be controlled Each wagon flow direction of each intersection is ranked up according to particular sorted order in region, according to the wagon flow direction Clooating sequence, according to whether performing course changing control, corresponding phase is combined respectively in the wagon flow direction, the secondth area of acquisition The number of domain phase combination is equal with the number of the second area course changing control plan, the second area course changing control plan There is one-to-one relationship with the second area phase combination in the wagon flow direction.
29. the wagon flow control method of intersection according to claim 27, it is characterised in that the wagon flow direction 3rd total vehicle flowrate, equal to straight traffic flow, left turn traffic amount and right-hand rotation vehicle flowrate sum corresponding to the wagon flow direction.
30. the wagon flow control method of intersection according to claim 27, it is characterised in that the described 3rd averagely prolongs Duration parameters by mistake, equal to the straight traffic flow, the left turn traffic amount and the right-hand rotation vehicle flowrate and each self-corresponding benchmark It is delayed the sum of products of duration parameters, the ratio with the 3rd total vehicle flowrate in the wagon flow direction.
31. the wagon flow control method of intersection according to claim 27, it is characterised in that put down at the 3rd crossing It is delayed duration parameters, equal to the wagon flow direction and the sum of products of each self-corresponding delay duration parameters, with the road The ratio of the 3rd total vehicle flowrate in crossing of intersection；

Wherein, the 3rd total vehicle flowrate in crossing of the intersection is equal to corresponding to each wagon flow direction of the intersection 3rd total vehicle flowrate sum.
32. the wagon flow control method of intersection according to claim 31, it is characterised in that the second area is put down It is delayed duration parameters, is averaged equal to each intersection in the described second region to be controlled and each self-corresponding 3rd crossing It is delayed the sum of products of duration parameters, the ratio with the total vehicle flowrate in region in the described second region to be controlled；

Wherein, the total vehicle flowrate of second area in the described second region to be controlled is equal to each road in the described second region to be controlled The total vehicle flowrate sum in 3rd crossing corresponding to intersection.
33. the wagon flow control method of intersection according to claim 27, it is characterised in that described to be tied according to calculating Fruit selection meets that the wagon flow direction of preparatory condition performs course changing control, realizes in the following way：

Select the minimum second area course changing control meter of the second area mean delay duration parameters in the described second region to be controlled Draw, each wagon flow side according to the second area course changing control plan to each intersection in the described second region to be controlled To execution course changing control.
A kind of 34. wagon flow control device of intersection, it is characterised in that including：

Road video data detection unit, for the figure included in the road video data to each wagon flow direction of intersection As frame is detected, the car flow information in each wagon flow direction of the intersection is obtained；

Model computing unit is substituted into, by the car flow information being substituted into based on the wagon flow course changing control model that is pre-configured with carries out Calculate, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control.
35. the wagon flow control device of intersection according to claim 34, it is characterised in that the wagon flow turns to control Simulation includes：

One direction wagon flow course changing control model, single intersection wagon flow course changing control model, region wagon flow course changing control model or OD Course changing control model.
36. the wagon flow control device of intersection according to claim 35, it is characterised in that the one direction wagon flow Course changing control model performs course changing control for the intersection of four phase signals control.
37. the wagon flow control device of intersection according to claim 36, it is characterised in that the one direction wagon flow Course changing control model, including：

Duration is controlled to obtain subelement, for obtaining the control duration of each phase signal of the intersection；

Ratio calculation subelement, for calculating the straight traffic flow and left turn traffic amount in each wagon flow direction of the intersection Vehicle flowrate ratio, and straight trip phase signal and left turn phase signal corresponding to each wagon flow direction of the intersection Control the control duration ratio of duration；

Mathematic interpolation subelement, for the vehicle flowrate ratio for calculating each wagon flow direction of the intersection and the control The difference of duration ratio processed.
38. the wagon flow control device of intersection according to claim 35, it is characterised in that the single intersection wagon flow Course changing control model, including：

Bypass route obtains subelement, is each adopted for obtaining after each wagon flow direction of the intersection performs course changing control Bypass route；

For each course changing control plan of the intersection, when running total vehicle flowrate computation subunit, mean delay Long parameter computation unit and crossing mean delay duration parameters subelement；

Total vehicle flowrate computation subunit, for reference to the car flow information and the bypass route, calculating the wagon flow side To total vehicle flowrate；

The mean delay duration parameters computation subunit, for total vehicle flowrate according to the wagon flow direction, with reference to the car Each benchmark delay duration parameters that stream direction is pre-configured with, calculate the mean delay duration parameters in the wagon flow direction；

The crossing mean delay duration parameters subelement, for according to the mean delay duration parameters, calculating the road The crossing mean delay duration parameters of intersection.
39. the wagon flow control device of intersection according to claim 35, it is characterised in that the region wagon flow turns To Controlling model, including：

Second bypass route obtains subelement, and each wagon flow direction for obtaining each intersection in region to be controlled performs The bypass route each used after course changing control；

For each region course changing control plan in the region to be controlled, second total vehicle flowrate computation subunit of operation, the Two mean delay duration parameters computation subunits, the second crossing mean delay duration parameters computation subunit and zone leveling delay Duration parameters computation subunit；

Second total vehicle flowrate computation subunit, for reference to the car flow information and the bypass route, calculating the car Flow second total vehicle flowrate in direction；

The second mean delay duration parameters computation subunit, for second total vehicle flowrate according to the wagon flow direction, knot Each benchmark delay duration parameters that the wagon flow direction is pre-configured with are closed, when calculating second mean delay in the wagon flow direction Long parameter；

The second crossing mean delay duration parameters computation subunit, for according to the second mean delay duration parameters, Calculate the second crossing mean delay duration parameters of the intersection；

The zone leveling is delayed duration parameters computation subunit, for according to the second crossing mean delay duration parameters, Calculate the zone leveling delay duration parameters in the region to be controlled.
40. the wagon flow control device of intersection according to claim 35, it is characterised in that the OD course changing controls Model, including：

OD flow datas obtain subelement, for obtaining the OD flow datas of vehicle conventional in the second region to be controlled；

Car flow information computation subunit, for by the OD flow datas with reference to corresponding to the described second region to be controlled road traffic Road network carries out analysis calculating, obtains the wagon flow letter in each wagon flow direction of each intersection in second region to be controlled Breath；

For each second area course changing control plan in the described second region to be controlled, the 3rd total vehicle flowrate of operation calculates son Unit, the 3rd mean delay duration parameters computation subunit, the 3rd crossing mean delay duration parameters computation subunit and second Zone leveling is delayed duration parameters computation subunit；

3rd total vehicle flowrate computation subunit, for reference to the car flow information and the bypass route, calculating the car Flow the 3rd total vehicle flowrate in direction；

The 3rd mean delay duration parameters computation subunit, for the 3rd total vehicle flowrate according to the wagon flow direction, knot Each benchmark delay duration parameters that the wagon flow direction is pre-configured with are closed, when calculating three mean delay in the wagon flow direction Long parameter；

The 3rd crossing mean delay duration parameters computation subunit, for according to the 3rd mean delay duration parameters, Calculate the 3rd crossing mean delay duration parameters of the intersection；

The second area mean delay duration parameters computation subunit, for being joined according to the 3rd crossing mean delay duration Number, calculate the second area mean delay duration parameters in second region to be controlled.
A kind of 41. wagon flow control method of intersection, it is characterised in that including：

The camera installed by each wagon flow direction of intersection gathers the road in each wagon flow direction of intersection Road video data；

The picture frame included in the video data is detected, obtains the wagon flow in each wagon flow direction of the intersection Information；

The car flow information is substituted into the wagon flow course changing control model being pre-configured with to be calculated, selects to meet according to result of calculation The wagon flow direction of preparatory condition performs course changing control；

Phase signal corresponding to the wagon flow direction that course changing control will be performed is deleted from the phase signal timing scheme being pre-configured with, The control duration of each phase signal in the phase signal timing scheme is modified, and repaiied in the intersection application The phase signal timing scheme after just.
A kind of 42. wagon flow control device of intersection, it is characterised in that including：

Road video data acquiring unit, the camera for being installed by each wagon flow direction of intersection gather the road The road video data in each wagon flow direction in road intersection；

Road video data detection unit, for being detected to the picture frame included in the video data, obtain the road The car flow information in each wagon flow direction in road intersection；

Model computing unit is substituted into, by the car flow information being substituted into based on the wagon flow course changing control model that is pre-configured with carries out Calculate, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control；

Phase signal amendment and applying unit, for phase signal corresponding to the wagon flow direction of course changing control will to be performed from advance Deleted in the phase signal timing scheme of configuration, the control duration of each phase signal in the phase signal timing scheme is carried out Amendment, and apply the revised phase signal timing scheme in the intersection.
43. a kind of electronic equipment, it is characterised in that including：

Processor and memory；

Wherein, the processor, for the picture frame included in the road video data to each wagon flow direction of intersection Detected, obtain the car flow information in each wagon flow direction of the intersection, and the car flow information is substituted into and matched somebody with somebody in advance The wagon flow course changing control model put is calculated, and meeting that the wagon flow direction of preparatory condition performs according to result of calculation selection turns to control System；

The memory, the car flow information is obtained for storing the road video data and calculating.
44. a kind of electronic equipment, it is characterised in that including：

Processor and memory；

Wherein, the processor, the camera for being installed by each wagon flow direction of intersection gather the road and handed over The road video data in each wagon flow direction of prong；The picture frame included in the video data is detected, described in acquisition The car flow information in each wagon flow direction of intersection；The car flow information is substituted into the wagon flow course changing control model being pre-configured with Calculated, the wagon flow direction for meeting preparatory condition according to result of calculation selection performs course changing control；Course changing control will be performed Phase signal corresponding to wagon flow direction is deleted from the phase signal timing scheme being pre-configured with, to the phase signal timing side The control duration of each phase signal is modified in case, and is matched somebody with somebody in the intersection using the revised phase signal When scheme；

The memory, for storing the road video data collected, calculating obtains the car flow information and described Phase signal timing scheme.