CN108806288A - Urban road intersection self-adaptive control method and device based on single video - Google Patents
Urban road intersection self-adaptive control method and device based on single video Download PDFInfo
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- CN108806288A CN108806288A CN201810775473.7A CN201810775473A CN108806288A CN 108806288 A CN108806288 A CN 108806288A CN 201810775473 A CN201810775473 A CN 201810775473A CN 108806288 A CN108806288 A CN 108806288A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention discloses a single-video-based urban road intersection self-adaptive control method, which comprises the steps of setting vehicle flow direction detection point positions in a collision area in an intersection according to the intersection environment and the actual installation position of video detection equipment, wherein the point positions comprise vehicle running tracks in all releasing directions; the video acquisition equipment detects the outline and the motion state of the vehicle in the detection area and counts the traffic flow; and designing a phase release mode, a maximum green light, a minimum green light and a phase switching speed according to the field condition, and controlling the traffic signals according to the vehicle motion condition of the area inside the intersection detected by the video detection equipment. The method can effectively reduce the construction cost of the intersection, improve the traffic efficiency of the urban intersection and achieve the purpose of relieving congestion.
Description
Technical field
The present invention relates to municipal intelligent traffic control field, especially a kind of urban road intersection based on single video is certainly
Adaptive control method and device.
Background technology
It includes timing controlled, induction control and self adaptive control to be currently being widely used Single Intersection control mainly.Wherein
Induction control and self adaptive control, dependent on being laid in induction coil, earth magnetism or video detecting device after intersection parking line.
Its construction cost and maintenance cost are high, and installations and facilities installation and deployment and algorithm operation are complicated, in current urban traffic control
There are many deficiencies in.Therefore, construction and maintenance cost are reduced, the stability and ease for use of equipment and algorithm are improved,
It is the important measure for alleviating urban traffic blocking.
Invention content
The object of the present invention is to provide a kind of installation and easy to maintain, and can be logical according to intersection intramural conflict region vehicle
Row demand have a try adjustment clearance sequence and let pass the time method and apparatus.
According to an aspect of the present invention, a kind of urban intersection adaptive controller of single video is provided, which includes：
An one video detecting device V and traffic signal control C, wherein：
The video detecting device be mounted on arbitrary semi-girder or column bar tool certain altitude towards intersection inside
Vehicle's contour and movement feelings in the intramural conflict region of intersection are detected in the position of conflict area in real time for passing through video image
Condition；
The traffic signal control C is mounted near intersection, passes through the video analysis mould inside signal controller
Block is communicated by coaxial cable or Ethernet with equipment V, for according to intersection intramural conflict region vehicle movement
Situation adjusts the clearance sequence of signal lamp and lets pass the time in real time.
According to a further aspect of the invention, it proposes a kind of adaptive to traffic signals progress using the traffic-control unit
The method that should be controlled, the described method comprises the following steps：
Step 1, according to intersection environment and video detecting device V actual installations position, intersection intramural conflict area is set
Domain vehicle flows to test point position, which should include the vehicle running orbit in each clearance direction as possible；
Step 2, in detection zone described in the video capture device V examinations vehicle profile, motion and standstill, and
Statistical vehicle flowrate；
Step 3, designed phase release manner, maximum green light, minimum green light and Phase-switching speed according to field condition；
Step 4, the intersection interior zone that traffic signal control C is detected according to the video detecting device V
Vehicle movement situation, controls traffic signals；
Step 5, in traffic signalization, phase clearance need to meet maximum green light and minimum green time constrains, and to protect
Barrier safety, phase clearance sequence are set by engineer according to field condition, do not change phase clearance sequence in self adaptive control.
The present invention a kind of urban road intersection self-adaptation control method and device based on single video have following beneficial
Technique effect：
(1) installation operation is convenient, builds and O&M cost is low, be advantageously implemented large-scale application；
(2) adaptive control algorithm is advanced, any self adaptive control mode different from the past, is examined using single video
Measured data can be realized lets pass the time according to the traffic flow demand dynamic adjustment in intersection intramural conflict region, and can be according to detection
Situation realizes the function of taking precautions against intersection overflow；
Description of the drawings
Fig. 1 is the traffic-control unit scheme of installation that the present invention is implemented.
Fig. 2 is the hardware structure diagram of the video capture device of the present invention.
Fig. 3 is a typical crossroad topological diagram.
Fig. 4 is traffic-control unit and video capture device device installation signal according to an embodiment of the invention
Figure.
Fig. 5 is the flow chart of crossing self-adapting control method of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention be more clearly understood, below in conjunction with specific embodiment, and join
According to attached drawing, the present invention is described in more detail.
According to an aspect of the present invention, a kind of urban traffic signal self-adaptation control method and dress based on single video are provided
It sets, as shown in Figure 1, the traffic-control unit includes an a video capture device V and traffic signal control C,
Wherein：The video capture device V can be mounted on any position in intersection, it is required that for setting intersection intramural conflict region vehicle
Flow detection point, the point should include the vehicle running orbit in each clearance direction, detect intersection in real time by video as possible
Vehicle movement situation in mouth intramural conflict region.Video detecting device is mounted on arbitrary semi-girder or column bar has certain altitude
Vehicle in the intramural conflict region of intersection is detected in position towards intersection intramural conflict region in real time for passing through video image
Profile and motion conditions；The traffic signal control C is mounted near intersection, passes through the video inside signal controller
Analysis module is communicated by coaxial cable or Ethernet with equipment V, for according to intersection intramural conflict region vehicle
Motion conditions adjust the clearance time of signal lamp in real time.
Video detecting device V further comprises video lens module, processing module, ethernet communication module and power supply mould
Block, wherein：Video lens module uses optional camera lens (SD camera lens or high definition camera lens), is used for the acquisition of vehicle image；
Processing module is connected by bus with ethernet communication module and power module；
Ethernet communication module, for the communication between the video detecting device V and the traffic signal control C；
Power module uses 220v AC adapters, is used for the power supply of the processing module.
Processing module includes video processing unit, image analyzing unit, data processing unit and storage unit, wherein：Depending on
Vehicle movement situation of the frequency collecting unit for detecting intersection intramural conflict region in real time；Image analyzing unit by bus with
Video acquisition unit links, and is mainly used for analyzing the image of video acquisition, including state of motion of vehicle in video flowing,
3 kinds of vehicle's contour, vehicle count information；Mainly to treated, image information extracts simultaneously numerical value to data processing unit
Change, gray proces are carried out to image first：
[Rb,Gb,Bb]=[Ra,Ga,Ba]/3
Secondly binary conversion treatment is carried out to image：
M=[B, W]=[0,255]
Again to parameter setting threshold value：
(1) median 127 that binaryzation is used for the threshold value of vehicle's contour, is 0 (becoming black) less than 127, greatly
It is 255 (becoming white) in 127.
(2) it is for the threshold design of motion state：N=Mj-Mj+1, N>0 two frame pictures of expression change, and indicate vehicle
Fortune；Otherwise vehicle does not move.
(3)N>Vehicle technology increases when 0, and wherein N is the variation of two-value.
3 kinds of parameters are packaged, traffic signal control C to is sent encapsulation of data by ethernet communication module；
Storage unit is connect by bus with data processing unit using Micro SD Card, for preserving data processing
Data after unit encapsulation are used as backup for extraction.
Image processing unit is background modeling, outline identification, Marker Identity, figure to the processing that video detection signal carries out
As denoising, background denoising and vehicle movement analysis.
As shown in Fig. 2, the hardware structure diagram of the video capture device designed according to the present invention, the video capture device packet
Video processing unit, image analyzing unit, data processing unit and storage unit are included, wherein：The video acquisition unit is used for
The vehicle movement situation in detection intersection intramural conflict region in real time；The image processing unit passes through bus and video acquisition
Unit links, and is mainly used for analyzing the image of video acquisition, including state of motion of vehicle, vehicle wheel in video flowing
Wide, 3 kinds of information of vehicle count；Mainly to treated, image information extracts simultaneously numerical value to the data processing unit
Change, 3 kinds of parameters are packaged, traffic signal control C to is sent encapsulation of data by ethernet communication module；It is described to deposit
Storage unit is connect by bus with data processing unit using Micro SD Card, after preserving data processing unit encapsulation
Data, as backup for extraction use.
In embodiments of the present invention, for a typical cross junction shown in Fig. 3, the video capture device
The mounting means of V as shown in figure 4, video capture device is mounted on Traffic signal post, lighting lamp lever or other bars that can be borrowed tools,
Height is high as possible so that it can cover the conflict area inside intersection, and the traffic signal control C is typically mounted at
Near intersection, communicated with the video capture device V by co-axial cable module built in it or ethernet module,
For profile, motion and standstill situation and the statistical vehicle flowrate according to the vehicle in the intersection intramural conflict region detected
The clearance time of adjustment intersection traffic lights in real time.
Control for traffic signals is a process constantly recycled, as shown in figure 5, each cyclic process include with
Under several steps：
Step 1, according to intersection environment and video detecting device V actual installations position, intersection intramural conflict area is set
Domain vehicle flows to test point position, which should include the vehicle running orbit in each clearance direction as possible；
Step 2, in detection zone described in the video capture device V examinations vehicle profile, motion and standstill, and
Statistical vehicle flowrate；
Step 3, designed phase release manner, maximum green light, minimum green light and Phase-switching speed according to field condition；Phase
Position clearance needs to be arranged according to live intersection actual conditions, and principle drives habit for that need to ensure traffic safety, follow driver
Used, guarantee traffic efficiency, can be used phase other side, phase folk prescription, Phase Stacking etc.；Minimum green light is set as ensureing vehicle pass-through
Safety, refers to the shortest time that vehicle is sailed out of battleground by stop line, when maximum green light is set as ensureing that each phase obtains current
Between fairness；Phase-switching speed is determined by intersection intramural conflict region vehicle movement situation, ensures out of phase conversion
Vehicle movement demand is met in the process；
Step 4, the intersection interior zone that traffic signal control C is detected according to the video detecting device V
Vehicle movement situation, to traffic signalization, the time of letting pass is selected specifically to：The traffic signal control C passes through built-in
Ethernet pass through and module active request or passively receive the provided state of motion of vehicle of the video detecting device V, vehicle wheel
Wide, 3 kinds of data of vehicle count calculate the time for needing to let pass, and wherein vehicle's contour is for determining whether vehicle：
Tp=Tmin+q/n*(∑w/∑N)*Tm
s.t.
Wherein, TminFor minimum green time；Q is vehicle count；N is the test point position data laid；N is total vehicle
Status number, w are the status number of vehicle movement；TmPass through the time needed for all detection points for vehicle；SProfileFor actually detected area
Domain occupies contour area；SDetectionFor the detection zone area of setting, it is calculated as the sum of detection image two-value.
In traffic signalization, phase clearance need to meet maximum green light and minimum green time constrains, and to ensure safety,
Phase clearance sequence is set by engineer according to field condition, does not change phase clearance sequence in self adaptive control.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the present invention
Within the scope of shield.
Claims (2)
1. a kind of urban traffic signal self-adaptation control method based on single video, which is characterized in that the method includes following
Step：
Step 1, according to intersection environment and video detecting device actual installation position, intersection intramural conflict region vehicle is set
Flow detection point, the point include the vehicle running orbit in each clearance direction；
Step 2, the video capture device detects the profile and motion state of vehicle in the detection zone, and counts wagon flow
Amount；
Step 3, designed phase release manner, maximum green light, minimum green light and Phase-switching speed according to field condition；
Phase release manner uses multi-phase organization form, and orthogonal cross junction release manner is：Thing straight trip, thing are left
Turn, north and south is kept straight on, north and south is turned left；Orthogonal left T-shaped intersection release manner is：North and south straight trip, north are turned left, west is turned left；Just hand in
T-shaped intersection release manner is：Thing straight trip, west are turned left, north is turned left；
Maximum green light is：
gi,max≤n·gi,min
Minimum green light is：
Wherein, gi,maxFor the maximum green time of phase i；gi,minFor the minimum green time of phase i；N is number of phases；LiFor
The distance of phase i stop lines extremely outlet；Start from stop line to the average speed by outlet for vehicle；λ is correction factor,
L indicates outlet distance,Indicate pedestrian's speed；
Step 4, the intersection interior zone vehicle movement feelings that traffic signal control is detected according to the video detecting device
Condition controls traffic signals.
2. according to the method described in claim 1, it is characterized in that, being to the concrete mode of traffic signalization in step 4：
Calculate the time for needing to let pass：
Tp=Tmin+q/n*(∑w/∑N)*Tm
s.t.
Wherein, TpTo need the time let pass, TminFor minimum green time；Q is vehicle count；N is the test point digit laid
According to；N is total vehicle-state number, and w is the status number of vehicle movement；TmPass through the time needed for all detection points for vehicle；
SProfileContour area is occupied for actually detected region；SDetectionFor the detection zone area of setting.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108961786A (en) * | 2018-07-31 | 2018-12-07 | 公安部交通管理科学研究所 | A kind of traffic organization method of the intersection with wide central partition |
| CN110738861A (en) * | 2019-10-16 | 2020-01-31 | 江苏航天大为科技股份有限公司 | Real-time dynamic intelligent traffic self-adaption method based on microwave radar detection |
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| CN106128128A (en) * | 2016-07-21 | 2016-11-16 | 哈尔滨工业大学 | The traffic signal control system of self adaptation intersection traffic stream random fluctuation and method |
| CN106920403A (en) * | 2017-03-12 | 2017-07-04 | 浙江大学 | A kind of single-point self-adaptation control method based on array radar |
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Patent Citations (4)
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| CN101976510A (en) * | 2010-10-26 | 2011-02-16 | 隋亚刚 | Method for optimally controlling crossing vehicle signal under high definition video detection condition |
| CN104282161A (en) * | 2014-09-29 | 2015-01-14 | 同济大学 | Signalized intersection dilemma region control method based on real-time vehicle track |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108961786A (en) * | 2018-07-31 | 2018-12-07 | 公安部交通管理科学研究所 | A kind of traffic organization method of the intersection with wide central partition |
| CN110738861A (en) * | 2019-10-16 | 2020-01-31 | 江苏航天大为科技股份有限公司 | Real-time dynamic intelligent traffic self-adaption method based on microwave radar detection |
| CN110738861B (en) * | 2019-10-16 | 2021-06-11 | 江苏航天大为科技股份有限公司 | Real-time dynamic intelligent traffic self-adaption method based on microwave radar detection |
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