CN109326129A - Traffic lamp control method, device, traffic lights gateway and storage medium - Google Patents
Traffic lamp control method, device, traffic lights gateway and storage medium Download PDFInfo
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- CN109326129A CN109326129A CN201811242873.8A CN201811242873A CN109326129A CN 109326129 A CN109326129 A CN 109326129A CN 201811242873 A CN201811242873 A CN 201811242873A CN 109326129 A CN109326129 A CN 109326129A
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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Abstract
The embodiment of the present invention provides a kind of traffic lamp control method, device, traffic lights gateway and storage medium.The method of the embodiment of the present invention, by determining whether controlled road gets congestion according to the traffic image of captured in real-time according to the traffic lights gateway in crossing；If it is determined that the road controlled, which gets congestion, then sends regulation application to other traffic lights gateways at place crossing；If in preset time period before sending regulation application and later, the traffic lights gateway does not receive the regulation application of other traffic lights gateways transmission, the road that then other traffic lights gateways are controlled in crossing does not get congestion, the traffic lights gateway that congestion has occurred in the road uniquely controlled in crossing obtains the traffic light control power at the crossing, and according to the traffic lights of traffic image and signal lamp rule control crossing, it realizes automatically, quickly respond traffic congestion, the case where alleviating traffic congestion in time, improve the efficiency that congestion solves, reduce traffic police's workload.
Description
Technical field
The present embodiments relate to field of intelligent transportation technology more particularly to a kind of traffic lamp control method, device, traffic
Lamp gateway and storage medium.
Background technique
In recent years, with economic sustained and rapid development, the vehicle guaranteeding organic quantity rapid development in each city.But city
The speed of road construction does not catch up with the speed of motor vehicle growth much, and urban traffic pressure sharply increases, and some areas are often sent out
Raw traffic congestion brings huge challenge for the unimpeded operational support of urban transportation.
Currently, the control duration equalization setting of the traffic lights at the different crossings in urban road, the control of traffic lights are inadequate
Flexibly, this is the main reason for leading to urban road congestion.For example, congested link green time is too short, non-congested link green light
Time is too long, and left-turning traffic lamp is too short, and peak period on and off duty can not dynamically adjust, certain direction occurs during accident leads to green light
Can be tailed off congestion etc. by vehicle.Once traffic congestion occurs, need traffic police that intersection is gone to carry out field control, to gathering around
Stifled processing is not in time.
Summary of the invention
The embodiment of the present invention provides a kind of traffic lamp control method, device, traffic lights gateway and storage medium, to solve
The control of traffic lights is inflexible, once traffic congestion occurs, needs traffic police that intersection is gone to carry out field control, expends a large amount of
Manpower, and to the processing of congestion not in time the problem of.
The first aspect of the embodiment of the present invention is to provide a kind of traffic lamp control method, comprising:
According to the traffic image of captured in real-time, determine whether controlled road gets congestion；
If it is determined that the road controlled gets congestion, then regulation application is sent to other traffic lights gateways at place crossing；
If not received in preset time period in the preset time period before sending the regulation application and later
The regulation application sent to other described traffic lights gateways then obtains the traffic light control power at the crossing, and according to the friendship
The traffic lights at crossing described in access condition image and signal lamp rule control.
Further, after sending regulation application to other traffic lights gateways at place crossing, further includes:
If receiving other traffic in preset time period in the preset time period before sending regulation application or later
The regulation application that lamp gateway is sent then sends traffic light control to ruling gateway and weighs ruling information, and the traffic light control power is cut out
Certainly information includes the traffic image, so that the ruling gateway determines each traffic lights according to the traffic image
Gateway obtains the priority level of the traffic light control power；
The priority level for the traffic light control power that the ruling gateway is sent is received, and according to the traffic light control
The priority level of power obtains the traffic light control power.
Further, after obtaining the traffic light control power, according to the traffic image and signal lamp rule control
Make the traffic lights at the crossing, comprising:
In preset control duration, according to the traffic at crossing described in the traffic image and signal lamp rule control
Lamp；
After the preset control duration, the traffic light control power is discharged.
Further, the traffic image according to captured in real-time, determines whether controlled road gets congestion,
Include:
The traffic image is pre-processed；
Pretreated traffic image is inputted into preset neural network model, controlled road is calculated
Congestion score, the higher expression congestion of congestion score are more serious；
Compare the size of the congestion score and preset threshold；
If the congestion score is less than the preset threshold, it is determined that the road controlled does not get congestion；
If the congestion score is more than or equal to the preset threshold, it is determined that the road controlled gets congestion.
The second aspect of the embodiment of the present invention is to provide a kind of traffic lamp control method, comprising:
The traffic light control power ruling information that multiple traffic lights gateways at crossing are sent is received, the traffic light control power is cut out
Certainly information includes the traffic image of captured in real-time；
According to the traffic image, determine that each traffic lights gateway obtains the priority level of the traffic light control power；
The priority level that each traffic lights gateway obtains the traffic light control power is sent to corresponding traffic lights gateway.
Further, described according to the traffic image, determine that each traffic lights gateway obtains the traffic light control
The priority level of power, comprising:
According to the traffic image and preset neural network model, each traffic lights gateway pair is calculated separately
The congestion score answered；
According to the corresponding congestion score of each traffic lights gateway, determine that each traffic lights gateway obtains the traffic lights control
Make the priority level of power.
It is to provide a kind of traffic light control device in terms of the third of the embodiment of the present invention, comprising:
Congestion determining module determines whether controlled road occurs for the traffic image according to captured in real-time
Congestion；
Communication module, for if it is determined that the road controlled gets congestion, then to other traffic lights gateways at place crossing
Send regulation application；
Processing module is controlled, if in the preset time period before sending the regulation application and later pre-
If in the period, not receiving the regulation application that other described traffic lights gateways are sent, then obtaining the traffic lights control at the crossing
System power, and the traffic lights at the crossing according to the traffic image and signal lamp rule control.
Further, the communication module is also used to:
If receiving other traffic in preset time period in the preset time period before sending regulation application or later
The regulation application that lamp gateway is sent then sends traffic light control to ruling gateway and weighs ruling information, and the traffic light control power is cut out
Certainly information includes the traffic image, so that the ruling gateway determines each traffic lights according to the traffic image
Gateway obtains the priority level of the traffic light control power；
The priority level for the traffic light control power that the ruling gateway is sent is received, and according to the traffic light control
The priority level of power obtains the traffic light control power.
4th aspect of the embodiment of the present invention is to provide a kind of traffic light control device, comprising:
Communication module, the traffic light control that multiple traffic lights gateways for receiving crossing are sent weighs ruling information, described
Traffic light control power ruling information includes the traffic image of captured in real-time；
Rank determination module, for determining that each traffic lights gateway obtains the traffic lights according to the traffic image
The priority level of control；
The priority level that the communication module is also used to obtain each traffic lights gateway the traffic light control power is sent to
Corresponding traffic lights gateway.
5th aspect of the embodiment of the present invention is to provide a kind of traffic lights gateway, comprising:
Memory, processor, and it is stored in the computer journey that can be run on the memory and on the processor
Sequence,
The processor realizes method described in above-mentioned first aspect when running the computer program.
6th aspect of the embodiment of the present invention is to provide a kind of traffic lights gateway, comprising:
Memory, processor, and it is stored in the computer journey that can be run on the memory and on the processor
Sequence,
The processor realizes method described in above-mentioned the second aspect when running the computer program.
7th aspect of the embodiment of the present invention is to provide a kind of computer readable storage medium, is stored with computer journey
Sequence, the computer program realize method described in above-mentioned first aspect when being executed by processor.
8th aspect of the embodiment of the present invention is to provide a kind of computer readable storage medium, is stored with computer journey
Sequence, the computer program realize method described in above-mentioned the second aspect when being executed by processor.
Traffic lamp control method, device, traffic lights gateway and storage medium provided in an embodiment of the present invention, by according to road
Traffic lights gateway in mouthful determines whether controlled road gets congestion according to the traffic image of captured in real-time；If really
Fixed controlled road gets congestion, then sends regulation application to other traffic lights gateways at place crossing so that in crossing its
Congestion has occurred in the road that his traffic lights gateway can know that the traffic lights gateway is controlled；If sending the regulation application
In preceding preset time period and in preset time period later, which does not receive other described traffic lights nets
The regulation application sent is closed, then the road for illustrating that other traffic lights gateways are controlled in the crossing does not get congestion, the crossing
The traffic lights gateway that congestion has occurred in the road inside uniquely controlled obtains the traffic light control power at the crossing, and according to institute
The traffic lights for stating crossing described in traffic image and signal lamp rule control realizes the traffic lights net to get congestion in crossing
Close automatically, the case where quickly responding traffic congestion, traffic congestion can be alleviated in time, greatly improve the effect of congestion solution
Rate reduces traffic police's workload.
Detailed description of the invention
Fig. 1 is the traffic lamp control method flow chart that the embodiment of the present invention one provides；
Fig. 2 is traffic lamp control method flow chart provided by Embodiment 2 of the present invention；
Fig. 3 is the traffic lamp control method flow chart that the embodiment of the present invention three provides；
Fig. 4 is the traffic lamp control method flow chart that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram for the traffic light control device that the embodiment of the present invention five provides；
Fig. 6 is the structural schematic diagram for the traffic light control device that the embodiment of the present invention seven provides；
Fig. 7 is the structural schematic diagram for the traffic lights gateway that the embodiment of the present invention eight provides；
Fig. 8 is the structural schematic diagram for the traffic lights gateway that the embodiment of the present invention eight provides.
Through the above attached drawings, it has been shown that the specific embodiment of the present invention will be hereinafter described in more detail.These attached drawings
It is not intended to limit the range of design of the embodiment of the present invention in any manner with verbal description, but by reference to specific reality
Applying example is that those skilled in the art illustrate idea of the invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the embodiment of the present invention.On the contrary, they be only with
The example of the consistent device and method of as detailed in the attached claim, the embodiment of the present invention some aspects.
Term " first " involved in the embodiment of the present invention, " second " etc. are used for description purposes only, and should not be understood as referring to
Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.In the description of following embodiment,
The meaning of " plurality " is two or more, unless otherwise specifically defined.
These specific embodiments can be combined with each other below, may be at certain for the same or similar concept or process
It is repeated no more in a little embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Embodiment one
Fig. 1 is the traffic lamp control method flow chart that the embodiment of the present invention one provides.The embodiment of the present invention is directed to existing skill
The control of traffic lights is inflexible in art, once traffic congestion occurs, needs traffic police that intersection is gone to carry out field control, expends
A large amount of manpowers, and to the processing of congestion not in time the problem of, provide traffic lamp control method.
Method in the present embodiment is applied to distributed traffic lights multi-agent systems, which includes: to be set to road
Multiple traffic lights of mouth, each traffic lights are correspondingly arranged on signal controller, traffic lights gateway and image capture device.The present invention
The executing subject of embodiment is traffic lights gateway.
Wherein, signal controller and traffic lights correspond, and traffic lights and traffic lights gateway correspond.Image Acquisition is set
Standby to can be set on corresponding traffic lights or near traffic lights, image capture device is corresponding for acquiring the traffic lights
Traffic intersection image on direction that is to say for acquiring the traffic image on the road that the traffic lights is controlled, traffic
The friendship on road that the corresponding traffic lights gateway of traffic image i.e. traffic lights on the road that lamp is controlled is controlled
Access condition image.Optionally, image capture device can be multiplexed the camera device of crossing setting, and the present embodiment is not done herein to be had
Body limits.
Signal controller for controlling corresponding traffic lights according to the control information.
Traffic lights gateway can be a kind of edge calculations gateway, i.e., a kind of small-sized calculation server equipment, have communication energy
Power and certain computing capability.Traffic lights gateway can be deployed near traffic lights, can be carried out with corresponding signal controller
Communication.For example, can be deployed in the lamp stand or control cabinet of corresponding traffic lights.
The system can be applied to the control of the traffic lights at all crossings, in the present embodiment by taking any one crossing as an example into
Row is described in detail.
As shown in Figure 1, specific step is as follows for this method:
Step S101, traffic lights gateway determines whether controlled road is sent out according to the traffic image of captured in real-time
Raw congestion.
In the present embodiment, traffic lights gateway can receive the traffic that corresponding image collecting device is acquired and sent in real time
Road conditions image, the traffic image on the road that traffic image is controlled by traffic lights gateway, that is to say traffic lights net
Close the traffic image on the road that corresponding traffic lights gateway is controlled.
Specifically, traffic lights gateway according to traffic image and preset neural network model, can calculate pair
The congestion score answered can determine whether the road that traffic lights gateway is controlled gets congestion according to congestion score.Wherein, it presets
Neural network model can be chosen according to actual needs by technical staff, the present embodiment is not specifically limited herein.
Congestion score can indicate the traffic congestion degree for the road that the corresponding traffic lights gateway of traffic lights gateway is controlled,
Congestion score is higher, and expression congestion is more serious.
Optionally, traffic lights gateway can also carry out image recognition processing to traffic image, at image recognition
The result of reason determines whether the road that traffic lights gateway is controlled gets congestion.
Step S102, if it is determined that the road controlled gets congestion, then other traffic of traffic lights gateway to place crossing
Lamp gateway sends regulation application.
In the present embodiment, other friendships of traffic lights gateway when determining that controlled road gets congestion, to place crossing
Other friendships at crossing where the case where logical lamp gateway sends regulation application, and congestion has occurred in the road that oneself is controlled is informed
Logical lamp gateway.
In addition, traffic lights gateway can also receive the regulation Shen that other traffic lights gateways at place crossing are sent in real time
Please, the case where being got congestion with the road for knowing that other traffic lights gateways are controlled in time.
It should be noted that each traffic lights gateway at crossing is performed both by the process of above-mentioned steps S101-S102, true
When fixed controlled road gets congestion, regulation application can be sent to other traffic lights gateways at place crossing, by oneself
The case where road controlled gets congestion informs other traffic lights gateways at same crossing；Also, each traffic at crossing
Lamp gateway can receive the regulation application of other traffic lights gateways transmission in real time, to know other traffic lights at same crossing
The case where road that gateway is controlled gets congestion, in this way, any one traffic lights gateway at crossing can be known in time
The case where road that all traffic lights gateways are controlled in the crossing gets congestion.
Optionally, positioned at the having the same group of mark of traffic lights gateway at same crossing, for example, group ID.In the step, hand over
When logical lamp gateway sends regulation application to other traffic lights gateways at place crossing, it can be identified, will be regulated and controled according to the group of oneself
Application is sent to other traffic lights gateways with identical group of mark.
Optionally, traffic lights gateway can also be identified according to the group of oneself, receive its with identical group of mark in real time
The regulation application that his traffic lights gateway is sent.
If step S103, in the preset time period in the preset time period before sending regulation application and later, not
The regulation application of other traffic lights gateways transmission is received, then traffic lights gateway obtains the traffic light control power at crossing.
In the present embodiment, after sending regulation application to other traffic lights gateways, if before sending regulation application
In preset time period and in preset time period later, the regulation application of other traffic lights gateways transmission is not received, that
, traffic lights gateway, which can determine, to be sent in the preset time period regulated and controled in the preset time period before applying and later,
The traffic lights gateway of congestion has occurred in the road that only one is controlled in crossing where oneself being, other friendships in the crossing of place
The road that logical lamp gateway is controlled does not get congestion, at this point, the traffic lights gateway that the road uniquely controlled gets congestion obtains
The traffic light control at crossing is taken to weigh, by the traffic lights gateway according to the traffic of traffic image and signal lamp rule control crossing
Lamp.
Wherein, preset duration can be set according to actual needs by technical staff, for example, the first preset duration can be with
It is 30 seconds etc., the present embodiment is not specifically limited herein.
After the traffic light control power for getting crossing, traffic lights gateway executes step S104, executes the traffic at crossing
Lamp control controls the traffic lights at crossing.
Optionally, when the regulation application that other traffic lights gateways at traffic lights gateway crossing where receiving are sent, note
The receiving time of record regulation application.
Step S104, traffic lights gateway is according to the traffic lights of traffic image and signal lamp rule control crossing.
Optionally, traffic lights gateway specifically may be used according to the traffic lights of traffic image and signal lamp rule control crossing
To realize in the following way:
The congestion severity that controlled road is calculated according to traffic image, according to the acquisition pair of congestion severity
The control signal adjustment rule answered controls the traffic lights at crossing according to control signal adjustment rule and signal lamp rule.
Wherein, control signal adjustment rule refers to the duration of the adjustment of the control signal to traffic lights, for example, long green light time
Extended amplitude (such as postponing 5 seconds), the amplitude etc. that red light duration shortens.
Signal lamp rule includes the related information in crossing between each traffic lights, for example, for associated first traffic
The long green light time of lamp and the second traffic lights, the first traffic lights extends, and need to accordingly postpone the red light duration of the second traffic lights；Deng
Deng.
In addition, the effective time that the traffic light control power of traffic lights gateway acquisition can be set in the present embodiment is preset
Control duration.It is obtaining in the preset control duration after traffic light control power, traffic lights gateway can be according to traffic
The traffic lights of image and signal lamp rule control crossing.
After obtaining the preset control duration after traffic light control power, the traffic light control that traffic lights gateway obtains is weighed
Failure, traffic lights gateway discharge traffic light control power, and traffic lights gateway will be unable to control in addition to itself corresponding traffic lights
Other traffic lights.
Wherein, preset control duration can be set according to actual needs by technical staff, for example, preset control
Duration can be 5 minutes etc., and the present embodiment is not specifically limited herein.
The embodiment of the present invention, according to the traffic image of captured in real-time, determines institute by the traffic lights gateway in the crossing
Whether the road of control gets congestion；If it is determined that the road controlled gets congestion, then to other traffic lights nets at place crossing
It closes and sends regulation application, so that the road that other traffic lights gateways at crossing can know that the traffic lights gateway is controlled has occurred
Congestion；If the traffic lights gateway is not in preset time period in the preset time period before sending regulation application and later
The regulation application of other traffic lights gateways transmission is received, then the road for illustrating that other traffic lights gateways are controlled in the crossing is equal
It does not get congestion, the traffic lights gateway that congestion has occurred in the road uniquely controlled in the crossing obtains the traffic lights at crossing
Control, and according to the traffic lights of traffic image and signal lamp rule control crossing is realized and is got congestion in crossing
Traffic lights gateway automatically, the case where quickly responding traffic congestion, traffic congestion can be alleviated in time, greatly improve congestion
The efficiency of solution reduces traffic police's workload.
Embodiment two
Fig. 2 is traffic lamp control method flow chart provided by Embodiment 2 of the present invention.On the basis of the above embodiment 1,
Traffic lights gateway determines controlled road according to traffic image and preset neural network model in the present embodiment
Whether get congestion.As shown in Fig. 2, above-mentioned steps S101 can specifically be realized using following steps:
Step S201, traffic lights gateway pre-processes traffic image.
In the present embodiment, traffic lights gateway can be any one traffic lights gateway in crossing.
Traffic lights gateway pre-processes traffic image, can specifically realize in the following way:
Traffic lights gateway is cut out processing to traffic image, obtains the image of pre-set dimension；Traffic lights gateway pair
The image of pre-set dimension is standardized, and obtains pretreated traffic image.
Wherein, pre-set dimension can be set according to actual needs by technical staff, for example, pre-set dimension can be
The image of 16*16 pixel.The present embodiment is not specifically limited herein.
The image of pre-set dimension is standardized, is specifically included: calculating all pixels point in the image first
Then the mean value and variance of pixel value subtract the pixel value of each pixel after the mean value again divided by the variance.By the standard
After change processing, the mean value of the pixel value of all pixels point of the image should be 0, variance 1.
Step S202, pretreated traffic image is inputted preset neural network model, meter by traffic lights gateway
Calculation obtains the congestion score for the road that traffic lights gateway is controlled.
Wherein, the higher expression congestion of congestion score is more serious.
In the present embodiment, neural network model includes at least one combination layer, and local acknowledgement normalizes layer, full articulamentum and
Linear layer, combination layer include convolutional layer and pond layer.
Pretreated traffic image is successively passed through at least one combination layer, local acknowledgement's normalizing by traffic lights gateway
Change layer, the processing of full articulamentum and linear layer finally obtains the congestion score for the road that traffic lights gateway is controlled.
Specifically, pretreated traffic image is inputted preset neural network model by traffic lights gateway, calculate
Obtain the congestion score for the road that traffic lights gateway is controlled, comprising:
Traffic lights gateway carries out the volume of at least one wheel by least one combination layer to pretreated traffic image
Product calculates and feature Reduction Computation, obtains multiple eigenmatrixes；Layer is normalized by local acknowledgement to carry out multiple eigenmatrixes
Normalized；Regularization is carried out to multiple eigenmatrixes after normalized by full articulamentum, to prevent from intending
It closes；Linear transformation is carried out finally by linear layer to export the final congestion score of controlled road.
Optionally, the convolution kernel length of convolutional layer, step-length, the parameters such as input channel number and output channel number can be by technology
Personnel set according to actual needs, and the present embodiment is not specifically limited herein.For example, the convolution kernel length of convolutional layer can be with
It is 5, step-length can be 1, and input channel number is 1, and output channel number is 16.
Optionally, pond layer is realized using max-pooling.The image of input is compressed, is on the one hand extracted
On the other hand main feature makes image become smaller, reduce the computation complexity of neural network model.
Step S203, traffic lights gateway compares the size of congestion score and preset threshold.
Wherein, preset threshold can be set by technical staff according to the experimental data and experience of neural network model,
The present embodiment is not specifically limited herein.
For example, according to experimental data, when the congestion score that neural network model is calculated is 80 or more, actual road conditions hair
Raw slight congestion, can set preset threshold as 80.
In addition, the range of congestion score can be determined according to the experimental data of neural network model in the present embodiment, it will
The range of congestion score is divided into multiple and different score sections, and the congestion score of different score sections corresponds to different jam levels.
If step S204, congestion score is less than preset threshold, traffic lights gateway determines that controlled road is not gathered around
It is stifled.
If step S205, congestion score is more than or equal to preset threshold, traffic lights gateway determines controlled road
It gets congestion.
Gathering around for controlled road is calculated according to traffic image and neural network model in the embodiment of the present invention
Stifled score, and determine whether controlled road gets congestion according to congestion score, the congestion feelings of road can be automatically identified
Condition, the congestion for processing road in time provide the foundation.
Embodiment three
Fig. 3 is the traffic lamp control method flow chart that the embodiment of the present invention three provides.On the basis of above-described embodiment two,
In the present embodiment, traffic lights gateway is after sending regulation application to other traffic lights gateways at place crossing, if adjusting sending
In preset time period before control application or in preset time period later, the regulation Shen of other traffic lights gateways transmission is received
Please, then traffic light control is sent to ruling gateway and weigh ruling information, determine that each traffic lights gateway obtains traffic lights by ruling gateway
The priority level of control.As shown in Fig. 2, further including following steps before step S104 after above-mentioned steps S102:
If step S105, being received in the preset time period in the preset time period before sending regulation application or later
The regulation application that other traffic lights gateways are sent, then traffic lights gateway sends traffic light control to ruling gateway and weighs ruling information,
It includes traffic image that traffic light control, which weighs ruling information, so that ruling gateway determines each traffic according to traffic image
Lamp gateway obtains the priority level of traffic light control power.
In the present embodiment, after sending regulation application to other traffic lights gateways, if before sending regulation application
In preset time period and in preset time period later, traffic lights gateway receives the regulation of other traffic lights gateways transmission
Application, then, traffic lights gateway can determine in the preset time period before sending regulation application and when later default
Between in section, other than oneself, congestion is had occurred in the road controlled there are also other traffic lights gateways, that is to say, current crossing
Congestion has occurred in the road that interior multiple traffic lights gateways are controlled, at this point, traffic lights gateway cannot directly acquire crossing
Traffic light control power, multiple traffic lights gateways that the road controlled gets congestion send traffic light control power to ruling gateway and cut out
Certainly information determines that each traffic lights gateway obtains the priority level of traffic light control power by ruling gateway.
Wherein, traffic light control power ruling information includes traffic image.
The traffic image that ruling gateway is sent according to each traffic lights gateway received, analyzes each traffic lights net
The congestion severity for closing controlled road, determines that each traffic lights gateway obtains according to the congestion severity of the road controlled
The priority level for taking traffic light control to weigh.The congestion severity of the road controlled is higher, and traffic lights gateway obtains traffic lights
The priority level of control is higher.
Specifically, ruling gateway receive traffic light control power ruling information that traffic lights gateway in the crossing is sent it
Afterwards, the traffic image in ruling information can be weighed according to traffic light control, used using the method provided in embodiment two
Preset neural network model calculates separately out the corresponding traffic lights gateway of traffic image that each traffic lights gateway is sent
The congestion score of the road controlled；According to the difference of congestion score, congestion level is set for each traffic lights gateway.
Optionally, ruling gateway can be the strongest friendship of processing capacity in the predeterminable area where the preset crossing
Logical lamp gateway.Optionally, ruling gateway can also be that any one traffic lights gateway at other crossings, the present embodiment are not done herein
It is specific to limit.For example, it may be a traffic lights gateway in another crossing nearest with crossing distance.
Ruling gateway is after determining the priority level that each traffic lights gateway obtains traffic light control power, by traffic light control
The priority level of power is sent to corresponding traffic lights gateway.
Step S106, traffic lights gateway receives the priority level for the traffic light control power that ruling gateway is sent, and according to friendship
The priority level of logical lamp control obtains traffic light control power.
Specifically, traffic lights gateway obtains traffic lights if the priority level of traffic light control power is that highest priority is other
Control；If the priority level of traffic light control power is not that highest priority is other, traffic lights gateway cannot obtain traffic lights control
System power, by obtaining traffic light control power with other other traffic lights gateways of highest priority.
After the traffic light control power for getting crossing, traffic lights gateway executes step S104, executes the traffic at crossing
Lamp control controls the traffic lights at crossing.
Optionally, according to the difference of the congestion severity of the road controlled, can be arranged for each traffic lights gateway
Different congestion levels.The friendship that the congestion level of traffic lights gateway can be weighed by getting traffic light control in the crossing in crossing
Logical lamp gateway setting, or can be set by ruling gateway.
Wherein, congestion level includes at least first level and second level.First level is highest congestion level, the second level
Not Di Yu first level, congestion level is higher, and expression congestion is more serious.
Optionally, according to preset rules, congestion level can also be including three congestion levels or four congestion levels, this
Embodiment is not specifically limited the quantity of congestion level herein.
After the congestion level of each traffic lights gateway determines in crossing, the traffic lights gateway for obtaining traffic light control power can
Different control letters is arranged for the traffic lights gateway of different congestion levels according to the congestion level of each traffic lights gateway at crossing
Breath, may be implemented the practical congestion level of the road controlled according to traffic lights gateway, dynamically adjust the control letter of traffic lights
Breath, the case where so as to alleviate traffic congestion in time.
Optionally, the control information being arranged for itself can be sent to pair by the traffic lights gateway for obtaining traffic light control power
The signal controller answered, so that signal controller controls corresponding traffic lights according to the control information received.
Optionally, corresponding control can will be arranged for other traffic lights gateways in the traffic lights gateway for obtaining traffic light control power
Information processed is sent to corresponding traffic lights gateway so that other traffic lights gateways according to the control information to corresponding traffic lights into
Row control.
For example, the congestion level that itself can be set in the traffic lights gateway for obtaining traffic light control power is first level,
The congestion level of his traffic lights gateway is second level, and it is corresponding can to extend the traffic lights gateway that congestion level is first level
The long green light time (for example extending 5 seconds) of traffic lights, shortens the corresponding traffic lights of traffic lights gateway that congestion level is second level
Long green light time, etc..
When the embodiment of the present invention is got congestion by the road for there are multiple traffic lights gateways to be controlled in crossing, controlled
The traffic lights gateway that gets congestion of road traffic image is occurred to give ruling gateway, by ruling gateway according to traffic
Image determines that each each traffic lights gateway obtains the priority level that traffic light control is weighed, the highest traffic lights of priority level in crossing
Gateway obtains the traffic light control power at the crossing, and according to the traffic lights of traffic image and signal lamp rule control crossing,
When realizing that multiple roads get congestion in crossing, the traffic lights that the crossing traffic lamp control is belonged to can be quickly determined
Gateway, and the traffic lights gateway by obtaining the crossing traffic lamp control quickly responds traffic congestion in time, it can be timely
The case where traffic congestion, is alleviated on ground, greatly improves the efficiency of congestion solution, reduces traffic police's workload.
Example IV
Fig. 4 is the traffic lamp control method flow chart that the embodiment of the present invention four provides.The embodiment of the present invention is directed to existing skill
The control of traffic lights is inflexible in art, once traffic congestion occurs, needs traffic police that intersection is gone to carry out field control, expends
A large amount of manpowers, and to the processing of congestion not in time the problem of, provide traffic lamp control method.
Method in the present embodiment is applied to distributed traffic lights multi-agent systems, which includes: to be set to road
Multiple traffic lights of mouth, each traffic lights are correspondingly arranged on signal controller, traffic lights gateway and image capture device.The present invention
The executing subject of embodiment is preassigned ruling gateway.
As shown in figure 4, specific step is as follows for this method:
Step S401, the traffic light control that multiple traffic lights gateways that ruling gateway receives crossing are sent weighs ruling information,
Traffic light control power ruling information includes the traffic image of captured in real-time.
In the present embodiment, when the road for having multiple traffic lights gateways to be controlled in crossing gets congestion, the road that is controlled
Traffic image occurs to give ruling gateway for the traffic lights gateway that road gets congestion.Ruling gateway is true according to traffic image
Determine the priority level that each traffic lights gateway in crossing obtains traffic light control power.
Optionally, ruling gateway can be the strongest friendship of processing capacity in the predeterminable area where the preset crossing
Logical lamp gateway.Optionally, ruling gateway can also be that any one traffic lights gateway at other crossings, the present embodiment are not done herein
It is specific to limit.For example, it may be a traffic lights gateway in another crossing nearest with crossing distance.
Step S402, ruling gateway determines that each traffic lights gateway obtains traffic light control power according to traffic image
Priority level.
The traffic image that ruling gateway is sent according to each traffic lights gateway received, analyzes each traffic lights net
The congestion severity for closing controlled road, determines that each traffic lights gateway obtains according to the congestion severity of the road controlled
The priority level for taking traffic light control to weigh.The congestion severity of the road controlled is higher, and traffic lights gateway obtains traffic lights
The priority level of control is higher.
Specifically, ruling gateway receive traffic light control power ruling information that traffic lights gateway in the crossing is sent it
Afterwards, the traffic image in ruling information can be weighed according to traffic light control, used using the method provided in embodiment two
Preset neural network model calculates separately out the corresponding traffic lights gateway of traffic image that each traffic lights gateway is sent
The congestion score of the road controlled；According to the difference of congestion score, congestion level is set for each traffic lights gateway；And it will be each
The congestion level of a traffic lights gateway is sent to the highest traffic lights gateway of priority level, by the highest traffic lights net of priority level
It closes after obtaining the traffic light control power at crossing, is the traffic of different congestion levels according to the congestion level of each traffic lights gateway
Different control information is arranged in lamp gateway, and the practical congestion level of the road controlled according to traffic lights gateway may be implemented, and moves
The control information of traffic lights is adjusted to state, the case where so as to alleviate traffic congestion in time.
Wherein, congestion level includes at least first level and second level.First level is highest congestion level, the second level
Not Di Yu first level, congestion level is higher, and expression congestion is more serious.
Optionally, according to preset rules, congestion level can also be including three congestion levels or four congestion levels, this
Embodiment is not specifically limited the quantity of congestion level herein.
Step S403, the priority level that each traffic lights gateway obtains traffic light control power is sent to corresponding by ruling gateway
Traffic lights gateway.
Optionally, positioned at the having the same group of mark of traffic lights gateway at same crossing, for example, group ID.Ruling gateway can
The congestion level of each traffic lights gateway to be sent to all traffic lights gateways of corresponding group of crossing ID.
When the embodiment of the present invention is got congestion by the road for there are multiple traffic lights gateways to be controlled in crossing, controlled
The traffic lights gateway that gets congestion of road traffic image is occurred to give ruling gateway, by ruling gateway according to traffic
Image determines that each each traffic lights gateway obtains the priority level that traffic light control is weighed, the highest traffic lights of priority level in crossing
Gateway obtains the traffic light control power at the crossing, and according to the traffic lights of traffic image and signal lamp rule control crossing,
When realizing that multiple roads get congestion in crossing, the traffic lights that the crossing traffic lamp control is belonged to can be quickly determined
Gateway, and the traffic lights gateway by obtaining the crossing traffic lamp control quickly responds traffic congestion in time, it can be timely
The case where traffic congestion, is alleviated on ground, greatly improves the efficiency of congestion solution, reduces traffic police's workload.
Embodiment five
Fig. 5 is the structural schematic diagram for the traffic light control device that the embodiment of the present invention five provides.The embodiment of the present invention provides
Traffic light control device can execute traffic lamp control method embodiment offer process flow.As shown in figure 5, the device 50
It include: congestion determining module 501, communication module 502 and control processing module 503.
Specifically, congestion determining module 501 is used for the traffic image according to captured in real-time, determines controlled road
Whether get congestion.
Communication module 502 is used for if it is determined that the road controlled gets congestion, then to other traffic lights nets at place crossing
It closes and sends regulation application.
If controlling processing module 503 is used in the preset time period before sending regulation application and later default
In period, not receiving the regulation application of other traffic lights gateways transmission, then the traffic light control for obtaining crossing is weighed, and according to
The traffic lights of traffic image and signal lamp rule control crossing.
Device provided in an embodiment of the present invention can be specifically used for executing embodiment of the method provided by above-described embodiment one,
Details are not described herein again for concrete function.
The embodiment of the present invention, according to the traffic image of captured in real-time, determines institute by the traffic lights gateway in the crossing
Whether the road of control gets congestion；If it is determined that the road controlled gets congestion, then to other traffic lights nets at place crossing
It closes and sends regulation application, so that the road that other traffic lights gateways at crossing can know that the traffic lights gateway is controlled has occurred
Congestion；If the traffic lights gateway is not in preset time period in the preset time period before sending regulation application and later
The regulation application of other traffic lights gateways transmission is received, then the road for illustrating that other traffic lights gateways are controlled in the crossing is equal
It does not get congestion, the traffic lights gateway that congestion has occurred in the road uniquely controlled in the crossing obtains the traffic lights at crossing
Control, and according to the traffic lights of traffic image and signal lamp rule control crossing is realized and is got congestion in crossing
Traffic lights gateway automatically, the case where quickly responding traffic congestion, traffic congestion can be alleviated in time, greatly improve congestion
The efficiency of solution reduces traffic police's workload.
Embodiment six
On the basis of above-described embodiment five, in the present embodiment, communication module is also used to:
If receiving other traffic in preset time period in the preset time period before sending regulation application or later
The regulation application that lamp gateway is sent then sends traffic light control to ruling gateway and weighs ruling information, and traffic light control weighs ruling letter
Breath includes traffic image, so that ruling gateway according to traffic image, determines that each traffic lights gateway obtains traffic lights control
Make the priority level of power；The priority level for the traffic light control power that ruling gateway is sent is received, and according to traffic light control power
Priority level obtains traffic light control power.Traffic light control device can also include communication module.
Optionally, control processing module is also used to:
In preset control duration, according to the traffic lights of traffic image and signal lamp rule control crossing；Pre-
If control duration after, release traffic light control power.
Optionally, congestion determining module is also used to:
Traffic image is pre-processed；Pretreated traffic image is inputted into preset neural network mould
The congestion score of controlled road is calculated in type, and congestion score is higher, and expression congestion is more serious；Compare congestion score and pre-
If the size of threshold value；If congestion score is less than preset threshold, it is determined that the road controlled does not get congestion；If congestion score is big
In or equal to preset threshold, it is determined that the road controlled gets congestion.
Device provided in an embodiment of the present invention can be specifically used for executing provided by above-described embodiment two and embodiment three
Embodiment of the method, details are not described herein again for concrete function.
When the embodiment of the present invention is got congestion by the road for there are multiple traffic lights gateways to be controlled in crossing, controlled
The traffic lights gateway that gets congestion of road traffic image is occurred to give ruling gateway, by ruling gateway according to traffic
Image determines that each each traffic lights gateway obtains the priority level that traffic light control is weighed, the highest traffic lights of priority level in crossing
Gateway obtains the traffic light control power at the crossing, and according to the traffic lights of traffic image and signal lamp rule control crossing,
When realizing that multiple roads get congestion in crossing, the traffic lights that the crossing traffic lamp control is belonged to can be quickly determined
Gateway, and the traffic lights gateway by obtaining the crossing traffic lamp control quickly responds traffic congestion in time, it can be timely
The case where traffic congestion, is alleviated on ground, greatly improves the efficiency of congestion solution, reduces traffic police's workload.
Embodiment seven
Fig. 6 is the structural schematic diagram for the traffic light control device that the embodiment of the present invention seven provides.The embodiment of the present invention provides
Traffic light control device can execute traffic lamp control method embodiment offer process flow.As shown in fig. 6, the device 60
It include: communication module 601 and rank determination module 602.
Specifically, the traffic light control power ruling that multiple traffic lights gateways that communication module 601 is used to receive crossing are sent
Information, traffic light control power ruling information include the traffic image of captured in real-time.
Rank determination module 602 is used to determine that each traffic lights gateway obtains traffic light control power according to traffic image
Priority level.
The priority level that communication module 601 is also used to obtain each traffic lights gateway traffic light control power is sent to corresponding
Traffic lights gateway.
Optionally, rank determination module 602 is also used to:
According to traffic image and preset neural network model, it is corresponding to calculate separately each traffic lights gateway
Congestion score；According to the corresponding congestion score of each traffic lights gateway, determine that each traffic lights gateway obtains traffic light control power
Priority level.
Device provided in an embodiment of the present invention can be specifically used for executing embodiment of the method provided by above-described embodiment four,
Details are not described herein again for concrete function.
When the embodiment of the present invention is got congestion by the road for there are multiple traffic lights gateways to be controlled in crossing, controlled
The traffic lights gateway that gets congestion of road traffic image is occurred to give ruling gateway, by ruling gateway according to traffic
Image determines that each each traffic lights gateway obtains the priority level that traffic light control is weighed, the highest traffic lights of priority level in crossing
Gateway obtains the traffic light control power at the crossing, and according to the traffic lights of traffic image and signal lamp rule control crossing,
When realizing that multiple roads get congestion in crossing, the traffic lights that the crossing traffic lamp control is belonged to can be quickly determined
Gateway, and the traffic lights gateway by obtaining the crossing traffic lamp control quickly responds traffic congestion in time, it can be timely
The case where traffic congestion, is alleviated on ground, greatly improves the efficiency of congestion solution, reduces traffic police's workload.
Embodiment eight
Fig. 7 is the structural schematic diagram for the traffic lights gateway that the embodiment of the present invention eight provides.As shown in fig. 7, the traffic lights net
Closing 70 includes: processor 701, memory 702, and is stored in the computer that can be executed on memory 702 and by processor 701
Program.
Processor 701 realizes above-described embodiment one, embodiment when executing and storing in the computer program on memory 702
Two or embodiment three provide traffic lamp control method.
The embodiment of the present invention, according to the traffic image of captured in real-time, determines institute by the traffic lights gateway in the crossing
Whether the road of control gets congestion；If it is determined that the road controlled gets congestion, then to other traffic lights nets at place crossing
It closes and sends regulation application, so that the road that other traffic lights gateways at crossing can know that the traffic lights gateway is controlled has occurred
Congestion；If the traffic lights gateway is not in preset time period in the preset time period before sending regulation application and later
The regulation application of other traffic lights gateways transmission is received, then the road for illustrating that other traffic lights gateways are controlled in the crossing is equal
It does not get congestion, the traffic lights gateway that congestion has occurred in the road uniquely controlled in the crossing obtains the traffic lights at crossing
Control, and according to the traffic lights of traffic image and signal lamp rule control crossing is realized and is got congestion in crossing
Traffic lights gateway automatically, the case where quickly responding traffic congestion, traffic congestion can be alleviated in time, greatly improve congestion
The efficiency of solution reduces traffic police's workload.
Embodiment nine
Fig. 8 is the structural schematic diagram for the traffic lights gateway that the embodiment of the present invention eight provides.As shown in figure 8, the traffic lights net
Closing 80 includes: processor 801, memory 802, and is stored in the computer that can be executed on memory 802 and by processor 801
Program.
Processor 801 realizes what above-described embodiment four provided when executing and storing in the computer program on memory 802
Traffic lamp control method.
When the embodiment of the present invention is got congestion by the road for there are multiple traffic lights gateways to be controlled in crossing, controlled
The traffic lights gateway that gets congestion of road traffic image is occurred to give ruling gateway, by ruling gateway according to traffic
Image determines that each each traffic lights gateway obtains the priority level that traffic light control is weighed, the highest traffic lights of priority level in crossing
Gateway obtains the traffic light control power at the crossing, and according to the traffic lights of traffic image and signal lamp rule control crossing,
When realizing that multiple roads get congestion in crossing, the traffic lights that the crossing traffic lamp control is belonged to can be quickly determined
Gateway, and the traffic lights gateway by obtaining the crossing traffic lamp control quickly responds traffic congestion in time, it can be timely
The case where traffic congestion, is alleviated on ground, greatly improves the efficiency of congestion solution, reduces traffic police's workload.
In addition, the embodiment of the present invention also provides a kind of computer readable storage medium, it is stored with computer program, computer
Above-described embodiment one, the traffic lamp control method that embodiment two or embodiment three provide are realized when program is executed by processor.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored with computer program, the computer
The traffic lamp control method that above-described embodiment four provides is realized when program is executed by processor.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claims are pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is only limited by appended claims
System.
Claims (10)
1. a kind of traffic lamp control method is applied to traffic lights gateway characterized by comprising
According to the traffic image of captured in real-time, determine whether controlled road gets congestion；
If it is determined that the road controlled gets congestion, then regulation application is sent to other traffic lights gateways at place crossing；
If not receiving institute in preset time period in the preset time period before sending the regulation application and later
The regulation application for stating the transmission of other traffic lights gateways then obtains the traffic light control power at the crossing, and according to the traffic road
The traffic lights at crossing described in condition image and signal lamp rule control.
2. the method according to claim 1, wherein sending to other traffic lights gateways at place crossing
After application, further includes:
If receiving other traffic lights nets in preset time period in the preset time period before sending regulation application or later
The regulation application sent is closed, then sends traffic light control to ruling gateway and weighs ruling information, the traffic light control power ruling letter
Breath includes the traffic image, so that the ruling gateway determines each traffic lights gateway according to the traffic image
Obtain the priority level of the traffic light control power；
The priority level for the traffic light control power that the ruling gateway is sent is received, and according to traffic light control power
Priority level obtains the traffic light control power.
3. a kind of traffic lamp control method is applied to ruling gateway characterized by comprising
Receive the traffic light control power ruling information that multiple traffic lights gateways at crossing are sent, the traffic light control power ruling letter
Breath includes the traffic image of captured in real-time；
According to the traffic image, determine that each traffic lights gateway obtains the priority level of the traffic light control power；
The priority level that each traffic lights gateway obtains the traffic light control power is sent to corresponding traffic lights gateway.
4. according to the method described in claim 3, determining each traffic it is characterized in that, described according to the traffic image
Lamp gateway obtains the priority level of the traffic light control power, comprising:
According to the traffic image and preset neural network model, it is corresponding to calculate separately each traffic lights gateway
Congestion score；
According to the corresponding congestion score of each traffic lights gateway, determine that each traffic lights gateway obtains the traffic light control power
Priority level.
5. a kind of traffic light control device is applied to traffic lights gateway characterized by comprising
Congestion determining module determines whether controlled road gets congestion for the traffic image according to captured in real-time；
Communication module, for if it is determined that the road controlled gets congestion, then to the transmission of other traffic lights gateways at place crossing
Regulation application；
Processing module is controlled, if in the preset time period before sending the regulation application and when later default
Between in section, do not receive the regulation application that other described traffic lights gateways are sent, then obtain the traffic light control power at the crossing,
And the traffic lights at the crossing according to the traffic image and signal lamp rule control.
6. a kind of traffic light control device is applied to ruling gateway characterized by comprising
Communication module, the traffic light control that multiple traffic lights gateways for receiving crossing are sent weigh ruling information, the traffic
Lamp control ruling information includes the traffic image of captured in real-time；
Rank determination module, for determining that each traffic lights gateway obtains the traffic light control according to the traffic image
The priority level of power；
The priority level that the communication module is also used to obtain each traffic lights gateway the traffic light control power is sent to correspondence
Traffic lights gateway.
7. a kind of traffic lights gateway characterized by comprising
Memory, processor, and it is stored in the computer program that can be run on the memory and on the processor,
The processor realizes such as method of any of claims 1-2 when running the computer program.
8. a kind of traffic lights gateway characterized by comprising
Memory, processor, and it is stored in the computer program that can be run on the memory and on the processor,
The processor realizes the method as described in any one of claim 3-4 when running the computer program.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the computer program is processed
Such as method of any of claims 1-2 is realized when device executes.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the computer program is located
Manage the method realized as described in any one of claim 3-4 when device executes.
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