CN109637127B - Method and system for determining approximate duration of signal lamp - Google Patents
Method and system for determining approximate duration of signal lamp Download PDFInfo
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- CN109637127B CN109637127B CN201811490040.3A CN201811490040A CN109637127B CN 109637127 B CN109637127 B CN 109637127B CN 201811490040 A CN201811490040 A CN 201811490040A CN 109637127 B CN109637127 B CN 109637127B
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Abstract
The invention discloses a method and a system for determining approximate duration of a signal lamp, which are used for determining the running track information of each vehicle in a first entering direction of a target intersection; determining a duration set of the vehicle corresponding to a first state according to the running track information; determining the approximate duration of the signal lamp corresponding to the second state by a clustering method according to the duration set of the vehicle corresponding to the first state; and detecting the approximate duration, judging the reliability of the approximate duration, and outputting the calculated approximate duration result. The method uses the data of the existing equipment and software, does not need to install other equipment in the vehicle, does not need to implement monitoring at the intersection, is convenient and quick, and has low implementation cost; the approximate signal lamp duration of the intersection is obtained by calculating the duration set, so that the method is more efficient and high in practicability; the calculated result can provide practical, effective and indispensable parameter data for the schemes of road condition calculation, path planning, street lamp cooperative control and the like.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method and a system for determining approximate duration of a signal lamp.
Background
With the acceleration of the urbanization process, the motor vehicles in each city develop at a high speed, and the problems of traffic jam and the like become more serious. In order to solve the congestion problem, schemes such as path planning and street lamp cooperative control appear, wherein the time length of traffic lights at signal light intersections is an essential parameter in the research of intersection traffic models.
Although the length of the traffic light is an essential important parameter for solving the problem of signal light intersection, at present, no authority issues related accurate information. Although the traffic light duration can be obtained by the intersection monitoring method, the coverage rate is low and the cost is high.
In view of the above, it is desirable to provide a method for determining the approximate time length of a traffic light, which is efficient, practical, and low-cost.
Disclosure of Invention
In order to solve the above problems, the invention provides a method for determining approximate duration of a signal lamp, which comprises the following steps:
determining the running track information of a vehicle in a first entering direction of a target intersection;
determining a duration set corresponding to a first state of the vehicle according to the running track information, wherein the first state comprises a stopping state and/or a running state;
and determining the approximate duration of the signal lamp corresponding to the second state according to the duration set of the vehicle corresponding to the first state, wherein the second state comprises a red lamp state and/or a green lamp state.
Preferably, the determining, according to the travel track information, a set of durations that the vehicle corresponds to a first state includes:
determining a time node for switching the first state according to the speed and time information in the running track information;
determining a set of durations for which the vehicle corresponds to a first state according to the time node.
Preferably, said determining an approximate duration of the signal light corresponding to the second state from the set of durations of time that the vehicle corresponds to the first state comprises:
clustering the duration sets of the first state respectively, and determining each statistical duration of the vehicle corresponding to the first state;
and determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state.
Preferably, the determining of the traveling track information of the vehicle in the first entering direction of the target intersection includes:
determining the driving track information of the vehicle in a first entering direction and a second exiting direction of the target crossing, wherein the second exiting direction comprises a straight exiting direction and/or a left-turn exiting direction.
Preferably, the second state includes a straight-going green light state, a left-turning green light state, a straight-going red light state, and a left-turning red light state.
Preferably, the method further comprises: and checking the approximate duration, and judging the reliability of each approximate duration.
A system for determining approximate duration of a signal lamp comprises the following modules:
an information collection module: the system comprises a vehicle, a control unit and a display unit, wherein the vehicle is used for collecting the running track information of a vehicle in a first entering direction of a target intersection;
a state duration module: the method comprises the steps of determining a duration set corresponding to a first state of the vehicle according to the running track information, wherein the first state comprises a stopping state and/or a running state;
an approximate duration module: and the time duration setting module is used for determining the approximate time duration of the signal lamp corresponding to the second state according to the duration time duration set of the vehicle corresponding to the first state, wherein the second state comprises a red lamp state and/or a green lamp state.
Preferably, the state duration module is configured to:
determining a time node for switching the first state according to the speed and time information in the running track information;
determining a set of durations for which the vehicle corresponds to a first state according to the time node.
Preferably, the approximate duration module is configured to: clustering the duration sets of the first state respectively, and determining each statistical duration of the vehicle corresponding to the first state;
and determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state.
Preferably, the system further includes a detection module, and the detection module is configured to check the approximate duration and determine the reliability of the approximate duration.
The invention has the beneficial effects that: the method does not need to monitor the intersection, can obtain the required information by the driving track information returned by the positioning equipment of the vehicle and combining an electronic map, and is convenient and quick and low in implementation cost; through calculating the duration set, the time length of an approximate signal lamp of the intersection is obtained, and the method is more efficient and high in practicability.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to denote like parts throughout the drawings. In the drawings:
FIG. 1 is a block flow diagram of a method of determining an approximate time duration of a signal lamp in accordance with the present invention;
FIG. 2 is a graph of vehicle speed at an intersection versus time for a method of determining approximate signal duration in accordance with the present invention;
FIG. 3 is a schematic diagram illustrating the steps of a method for determining an approximate duration of a signal lamp according to the present invention
FIG. 4 is a schematic diagram of a left turn at an intersection for a method of determining approximate signal lamp duration according to the present invention;
fig. 5 is a schematic diagram of a system for determining an approximate time duration of a signal lamp according to the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
According to an embodiment of the present application, a method for determining an approximate duration of a signal lamp is provided, as shown in fig. 1, including the following steps:
determining the running track information of a vehicle in a first entering direction of a target intersection;
determining a duration set corresponding to a first state of the vehicle according to the running track information, wherein the first state comprises a stopping state and/or a running state;
and determining the approximate duration of the signal lamp corresponding to the second state according to the duration set of the vehicle corresponding to the first state, wherein the second state comprises a red lamp state and/or a green lamp state.
The determining, according to the travel track information, a set of durations that the vehicle corresponds to a first state includes: determining a time node for switching the first state according to the speed and time information in the running track information; according to the time nodes, a set of duration time corresponding to a first state (a stop state and a travel state) of the vehicle is respectively determined.
The determining the approximate duration of the signal lamp corresponding to the second state according to the duration set of the vehicle corresponding to the first state comprises: clustering the duration sets of the first state respectively, and determining each statistical duration (the stop state statistical duration and the travel state statistical duration) of the vehicle corresponding to the first state; and determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state.
The statistical time duration may include statistical values of a time duration set, such as an average value, a value with the highest occurrence frequency, a maximum value, and other statistical values.
The determining of the travel track information of the vehicle in the first entering direction of the target intersection comprises: and collecting historical positioning information of the vehicle returned by positioning equipment in the vehicle passing by every day on the road section, wherein the positioning information comprises longitude and latitude coordinates, driving speed and other information of the vehicle. And judging the position and the running track of the vehicle according to the information in the positioning information and combining with an electronic map, and determining the running track information of the vehicle in a first entering direction and a second exiting direction of the target intersection, wherein the second exiting direction comprises a straight exiting direction and/or a left-turning exiting direction.
And respectively determining the duration time sets of the vehicle corresponding to the first states (the stop state and the travel state) according to the straight-running-out direction and the left-turning-out direction of the second running-out direction through the switched time nodes of the first states, wherein the duration time sets comprise the stop state duration time set of the straight-running-out direction, the travel state duration time set of the straight-running-out direction, the stop state duration time set of the left-turning-out direction and the travel state duration time set of the left-turning-out direction.
Clustering each duration set of the vehicle corresponding to the first state respectively, determining each statistical duration of the vehicle corresponding to the first state, and determining each statistical duration of the vehicle corresponding to the first state as each approximate duration of the signal lamp corresponding to the second state.
The second state comprises a straight-going light green state, a left-turning light green state, a straight-going light red state and a left-turning light red state.
The running track information includes longitude and latitude coordinates, running speed and other information of the vehicle. The navigation system also comprises information returned by navigation software in electronic equipment such as a mobile phone, a tablet personal computer and the like, wherein the information comprises longitude and latitude coordinates, speed and other information of a user.
The method also comprises the step of checking the approximate duration and judging the credibility of each approximate duration.
The method comprises the steps of taking a certain entering direction of a certain signal lamp intersection as a research object, matching the driving track information returned by a vehicle passing through the intersection with an electronic map, judging the position and the driving track of the vehicle, and determining the driving track information of the vehicle in each exiting direction (a straight exiting direction and a left-turning exiting direction). According to the speed and time information in the running track information of each exiting direction, a speed and time distribution curve of the vehicle of each exiting direction can be obtained. When the number of passing vehicles reaches the saturation of the current road, the passing vehicles need to wait for a plurality of times of green lights to pass through the current road section. The driving process is necessarily stop (red light), go (green light), stop (red light), go (green light) … … until go (green light) passes the current intersection. And determining a stop state duration set and a travel state duration set of each exit direction according to the time nodes.
Fig. 2 shows the speed versus time curve for three stops of a certain vehicle. Wherein, t0、t1、t2、t3、t4、t5Indicating the critical time of the travel state and the stop state (speed of 0).
As shown in fig. 3, taking a straight-driving-out direction as an example, a time node of the switching of the first state is determined by speed and time information in the driving track information; determining, from the time node, a set of durations for which the vehicle corresponds to a first state, a set of stop state time periods, and a set of travel state time periods.
Definition of tstopIndicating a certain complete stopping time for a certain vehicle at the intersection. As shown in FIG. 2, then
The first segment of the stop duration is discarded in view of the randomness of the first stop.
Definition of phistopIndicating a set of time periods of rest, then
Definition of tadvanceIndicating the travel time of a vehicle between stops. As shown in FIG. 2, then
Definition of phiadvanceRepresenting a set of travel state time periods, then
Determining each statistical time length of the vehicle corresponding to the first state (the stop state and the travel state) and the exit direction thereof by clustering the duration sets of the first state and the exit direction thereof respectively; determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state, and obtaining: approximate time t of the stop state (red light state of straight running light)iApproximate duration t with the travel state (green state of straight-running light)j。
For set phistopPerforming Gaussian mixture clustering, but not limited to Gaussian clustering, and other methods such as K-means and LVQ can be used for clusteringSimilarly, the approximate time length t of the stop state (red light) of the driving direction at the intersection can be obtainedi。
For set phiadvanceThe Gaussian mixture clustering is carried out but not limited to the Gaussian clustering, and other methods such as K-means and LVQ can be used for clustering, so that the approximate duration t of the traveling state (green light) of the traveling direction of the intersection can be obtainedj。
And checking the approximate duration, performing error calculation on the approximate duration to be detected and the opposite approximate duration corresponding to the approximate duration by extracting the opposite approximate duration of the same type of running track of the same intersection as the approximate duration to be detected, judging the reliability of the approximate duration and outputting a calculation result.
In view of the fact that urban roads generally have the same duration when facing red lights and green lights, it is necessary to ensure that the error of the bidirectional calculation result is within a controllable range.
Recording the approximate red light time length of the driving direction i at the intersection as tiWith a time period t of approximately red light for ii'Then there is
φred＝{(ti,ti')||ti-ti'|<ε1}
Wherein phi isredSet of approximate red light durations, ε, representing the direction of travel and the direction of travel subtended at the intersection1Is a threshold value for the bi-directional duration error. If tiAnd ti'Is less than epsilon1Then the approximate duration has confidence, and tiAnd ti'The smaller the absolute value of the difference of (c), the higher the confidence of this approximate duration. If tiAnd ti'Is greater than epsilon1Then consider whether there are other influencing factors.
Recording the approximate green light time length of the driving direction j at the intersection as tjWith an approximate green duration t for jj'Then there is
φgreen＝{(tj,tj')||tj-tj'|<ε2}
Wherein phi isgreenIndicating the driving direction of the intersection andset of approximate green time periods, ε, for the direction of travel2Is a threshold value for the bi-directional duration error. If tjAnd tj'Is less than epsilon2Then the approximate duration has confidence, and tjAnd tj'The smaller the absolute value of the difference of (c), the higher the confidence of this approximate duration. If tjAnd tj'Is greater than epsilon2Then consider whether there are other influencing factors.
As shown in fig. 4, taking a left-turn exit direction as an example, the time node of the switching of the first state is determined by the speed and time information in the travel track information; determining, from the time nodes, a set of durations (a set of stop state time periods and a set of travel state time periods) for which the vehicle corresponds to a first state.
Definition of
Indicating a certain complete stop time for a certain vehicle turning left at the intersection. As shown in FIG. 2, then
The first segment of the stop duration is discarded in view of the randomness of the first stop.
Definition of
Indicating a set of time periods of rest, then
Definition of
Indicating the travel time of a vehicle between stops. As shown in FIG. 2, then
Definition of
Representing a set of travel state time periods, then
Determining each statistical duration of the vehicle corresponding to the first state (stopped state and travelling state) and its exit direction by clustering the sets of durations of the first state and its exit directions, respectively; determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state, and obtaining: approximate duration t of the stop state (left turn light red light state)LiApproximate duration t with the travel state (left turn green state)Lj。
To the collection
Gaussian mixture clustering is carried out, but the method is not limited to Gaussian clustering, other methods such as K-means and LVQ can be used for clustering, and the approximate duration t of the stop state (red light) of the driving direction of the intersection can be obtainedLi。
To the collection
The Gaussian mixture clustering is carried out but not limited to the Gaussian clustering, and other methods such as K-means and LVQ can be used for clustering, so that the approximate duration t of the traveling state (green light) of the traveling direction of the intersection can be obtainedLj。
The detection step is realized by the following steps: and extracting the subtend approximate time length of the same type of running track of the same intersection as the approximate time length to be detected, carrying out error calculation on the approximate time length to be detected and the subtend approximate time length corresponding to the approximate time length, judging the reliability of the approximate time length and outputting a calculation result.
In view of the fact that the durations of red light and green light of left turn directions of urban roads are generally consistent, the error of a bidirectional calculation result is required to be ensured to be within a controllable range.
Recording the approximate red light time length of the driving direction i at the intersection as tLiWith a time period t of approximately red light for iLi'Then there is
Wherein the content of the first and second substances,
set of approximate red light durations, ε, representing the direction of travel and the direction of travel subtended at the intersectionL1Is a threshold value for the bi-directional duration error. If tLiAnd tLi'Is less than epsilonL1Then the approximate duration has confidence, and tLiAnd tLi'The smaller the absolute value of the difference of (c), the higher the confidence of this approximate duration. If tLiAnd tLi'Is greater than epsilonL1Then consider whether there are other influencing factors.
Recording the approximate green light time length of the driving direction j at the intersection as tLjWith an approximate green duration t for jLj'Then there is
Wherein the content of the first and second substances,
set of approximate green time periods, ε, representing the direction of travel and the direction of travel subtended at the intersectionL2Is a threshold value for the bi-directional duration error. If tLjAnd tLj'Is less than epsilonL2Then the approximate duration has confidence, and tLjAnd tLj'The smaller the absolute value of the difference of (c), the higher the confidence of this approximate duration. If tLjAnd tLj'Is greater than epsilonL2Then consider whether there are other influencing factors.
The method for calculating the approximate time length of the signal lamp can calculate the approximate time length of the signal lamp in each driving direction of each road junction in a time-sharing way according to early peak, late peak and flat peak classification and other classification modes (such as adopting a half-small time interval).
As shown in fig. 5, a system for calculating the approximate time duration of a signal lamp includes the following modules:
an information collection module: the system comprises a vehicle, a control unit and a display unit, wherein the vehicle is used for collecting the running track information of a vehicle in a first entering direction of a target intersection;
a state duration module: the method comprises the steps of determining a duration set corresponding to a first state of the vehicle according to the running track information, wherein the first state comprises a stopping state and/or a running state;
an approximate duration module: and the time duration setting module is used for determining the approximate time duration of the signal lamp corresponding to the second state according to the duration time duration set of the vehicle corresponding to the first state, wherein the second state comprises a red lamp state and/or a green lamp state.
The information collection module includes: determining travel trajectory information of a vehicle for a first direction of entry and a second direction of exit at a target intersection, the second direction of exit comprising a straight exit direction and/or a left turn exit direction
The state duration module is used for determining a switching time node of the first state according to speed and time information in the running track information; determining a set of durations for which the vehicle corresponds to a first state according to the time node.
The approximate duration module is used for clustering duration sets of the first state respectively and determining each statistical duration of the vehicle corresponding to the first state; and determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state. The second state comprises a straight-going light green state, a left-turning light green state, a straight-going light red state and a left-turning light red state.
The system also comprises a detection module, wherein the detection module is used for checking the approximate duration, judging the reliability of the approximate duration and outputting a result.
The invention provides a method for determining approximate duration of a signal lamp, which comprises the steps of determining the running track information of each vehicle in a first entering direction of a target intersection by collecting the running track information of each vehicle; determining a duration set of the vehicle corresponding to a first state according to the running track information; determining the approximate duration of the signal lamp corresponding to the second state according to the duration set of the vehicle corresponding to the first state; and detecting the approximate duration, judging the reliability of the approximate duration, and outputting the calculated approximate duration result. The method uses the data of the existing equipment and software, the required information can be obtained through the driving track information returned by the positioning equipment of the vehicle and the combination of an electronic map, other equipment does not need to be installed in the vehicle, monitoring is not needed to be implemented at the intersection, and the method is convenient and quick and has low implementation cost; the approximate signal lamp duration of the intersection is obtained by calculating the duration set, so that the method is more efficient and high in practicability; the calculated result can provide practical, effective and indispensable parameter data for the schemes of road condition calculation, path planning, street lamp cooperative control and the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A method for determining approximate duration of a signal lamp is characterized by comprising the following steps:
determining the running track information of a vehicle in a first entering direction of a target intersection;
determining a duration set corresponding to a first state of the vehicle according to the running track information, wherein the first state comprises a stopping state and/or a running state;
determining an approximate duration of a signal lamp corresponding to a second state according to the duration set of the vehicle corresponding to the first state, wherein the second state comprises a red lamp state and/or a green lamp state;
the determining the approximate duration of the signal lamp corresponding to the second state according to the duration set of the vehicle corresponding to the first state comprises: clustering the duration sets of the first state respectively, and determining each statistical duration of the vehicle corresponding to the first state; determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state;
further comprising: checking the approximate duration, and judging the reliability of each approximate duration;
the time length of the red light approximate to the driving direction i at the intersection is recorded as ti, and the time length of the red light approximate to the driving direction i' is recorded as ti
Φred＝{(ti,ti’||ti-ti’|<ε1)}，
Wherein Φ red represents the set of approximate red light time lengths of the driving direction and the opposite driving direction of the intersection, and ε 1 is a threshold value of the bidirectional time length error; if the absolute value of the difference between ti and ti' is less than ε 1, then the approximate duration has confidence;
the approximate green light time length of the driving direction j at the intersection is recorded as tj, and the approximate green light time length of the opposite direction j' is recorded as tj
Φgreen＝{(tj,tj’||tj-tj’|<ε2)}
Phi green represents a set of approximate green light time lengths of the driving direction and the opposite driving direction of the intersection, and epsilon 2 is a threshold value of the bidirectional time length error; this approximate duration has confidence if the absolute value of the difference between tj and tj' is less than ε 2.
2. The method for determining the approximate time duration of the signal lamp as claimed in claim 1, wherein the determining the set of time durations that the vehicle corresponds to the first state according to the traveling track information comprises:
determining a time node for switching the first state according to the speed and time information in the running track information;
determining a set of durations for which the vehicle corresponds to a first state according to the time node.
3. The method for determining the approximate time duration of a signal lamp as claimed in claim 1, wherein the determining the information of the driving track of the vehicle in the first entering direction of the target crossing comprises:
determining the driving track information of the vehicle in a first entering direction and a second exiting direction of the target crossing, wherein the second exiting direction comprises a straight exiting direction and/or a left-turn exiting direction.
4. The method of claim 1, wherein the second state comprises a straight green state, a left turn green state, a straight red state, and a left turn red state.
5. A system for determining approximate duration of a signal lamp is characterized by comprising the following modules:
an information collection module: the system comprises a vehicle, a control unit and a display unit, wherein the vehicle is used for collecting the running track information of a vehicle in a first entering direction of a target intersection;
a state duration module: the method comprises the steps of determining a duration set corresponding to a first state of the vehicle according to the running track information, wherein the first state comprises a stopping state and/or a running state;
an approximate duration module: the time duration setting module is used for determining the approximate time duration of a signal lamp corresponding to a second state according to the duration time duration set of the vehicle corresponding to the first state, wherein the second state comprises a red lamp state and/or a green lamp state; the approximate duration module is to: clustering the duration sets of the first state respectively, and determining each statistical duration of the vehicle corresponding to the first state; determining each statistical time length of the vehicle corresponding to the first state as each approximate time length of the signal lamp corresponding to the second state;
the detection module is used for checking the approximate duration and judging the reliability of the approximate duration;
the time length of the red light approximate to the driving direction i at the intersection is recorded as ti, and the time length of the red light approximate to the driving direction i' is recorded as ti
Φred＝{(ti,ti’||ti-ti’|<ε1)}，
Wherein Φ red represents the set of approximate red light time lengths of the driving direction and the opposite driving direction of the intersection, and ε 1 is a threshold value of the bidirectional time length error; if the absolute value of the difference between ti and ti' is less than ε 1, then the approximate duration has confidence;
the approximate green light time length of the driving direction j at the intersection is recorded as tj, and the approximate green light time length of the opposite direction j' is recorded as tj
Φgreen＝{(tj,tj’||tj-tj’|<ε2)}
Phi green represents a set of approximate green light time lengths of the driving direction and the opposite driving direction of the intersection, and epsilon 2 is a threshold value of the bidirectional time length error; this approximate duration has confidence if the absolute value of the difference between tj and tj' is less than ε 2.
6. The system for determining approximate signal lamp duration of claim 5, wherein the state duration module is configured to:
determining a time node for switching the first state according to the speed and time information in the running track information;
determining a set of durations for which the vehicle corresponds to a first state according to the time node.
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| CN105118308A (en) * | 2015-10-12 | 2015-12-02 | 青岛大学 | Method based on clustering reinforcement learning and used for optimizing traffic signals of urban road intersections |
| CN105551250A (en) * | 2016-01-13 | 2016-05-04 | 东南大学 | Method for discriminating urban road intersection operation state on the basis of interval clustering |
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