CN109979191B - Traffic signal control method, traffic signal control device, electronic equipment and computer-readable storage medium - Google Patents
Traffic signal control method, traffic signal control device, electronic equipment and computer-readable storage medium Download PDFInfo
- Publication number
- CN109979191B CN109979191B CN201810222366.1A CN201810222366A CN109979191B CN 109979191 B CN109979191 B CN 109979191B CN 201810222366 A CN201810222366 A CN 201810222366A CN 109979191 B CN109979191 B CN 109979191B
- Authority
- CN
- China
- Prior art keywords
- phase
- weight
- calculating
- queuing
- signal control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000003068 static effect Effects 0.000 claims abstract description 47
- 238000004364 calculation method Methods 0.000 claims description 56
- 230000006870 function Effects 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a traffic signal control method, a traffic signal control device, electronic equipment and a computer readable storage medium, relates to the intelligent traffic technology, and can improve the control precision of traffic signals. The traffic signal control method includes: extracting traffic parameters contained in video stream data of an intersection road, and calculating phase dynamic weight of each phase of the intersection road according to the traffic parameters; calculating the comprehensive weight of the phase corresponding to each phase according to the dynamic weight of each phase and the obtained static weight of the phase; and calculating the green time of the corresponding phase according to the acquired cycle duration and the phase comprehensive weight of each phase. The invention is suitable for traffic signal control.
Description
Technical Field
The present invention relates to intelligent traffic technologies, and in particular, to a method and an apparatus for controlling traffic signals, an electronic device, and a computer-readable storage medium.
Background
Urban road intersections are main objects of urban road traffic management and control, and control of traffic signals of the urban road intersections plays an important role in distribution of traffic flow and optimization of road traffic, wherein traffic lights are important components of traffic signal control in an urban traffic system, and play an irreplaceable role in ensuring traffic safety and standardizing vehicle behaviors.
At present, a traffic signal control mainly adopts a single-point adaptive traffic signal control method, control parameters of the method mainly come from non-video data sources, such as coils, geomagnetism, microwaves and the like, traffic parameters (traffic flow data) are obtained through the control parameters, traffic signal control is performed according to the obtained traffic parameters, for example, a model is built according to the obtained traffic parameters and theories such as 'evanescent waves' and 'queuing theory' in the traditional traffic flow theory, and the traffic signals are driven and controlled through the built model. Among them, traffic parameters include, but are not limited to: total number of passing cars and occupancy.
In the process of implementing the invention, the inventor finds that the traffic signal control precision is lower due to the time-varying property and diversity of the intersection state, the traffic flow density is higher and higher along with the rapid increase of the number of vehicles owned by urban population and the continuous expansion of urban scale, and the influence of the intersection characteristics on the signal control is not considered in the conventional traffic signal control method.
Disclosure of Invention
In view of this, embodiments of the present invention provide a traffic signal control method, a traffic signal control device, an electronic device, and a computer-readable storage medium, which can improve the control accuracy of a traffic signal.
In a first aspect, an embodiment of the present invention provides a traffic signal control method, including: extracting traffic parameters contained in video stream data of an intersection road, and calculating phase dynamic weight of each phase of the intersection road according to the traffic parameters; calculating the comprehensive weight of the phase corresponding to each phase according to the dynamic weight of each phase and the obtained static weight of the phase; and calculating the green time of the corresponding phase according to the acquired cycle duration and the phase comprehensive weight of each phase.
With reference to the first aspect, in a first implementation manner of the first aspect, the extracting traffic parameters included in intersection road video stream data, and calculating a phase dynamic weight of each phase of the intersection road according to the traffic parameters includes: extracting a steering flow parameter from intersection road video stream data, and calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain the flow of the first phase; calculating the sum of the phase flow of all phases in the intersection road to obtain the total phase flow; and calculating the quotient of the first phase flow and the total phase flow to obtain the first phase dynamic weight.
With reference to the first aspect, in a second implementation manner of the first aspect, the extracting traffic parameters included in intersection road video stream data, and calculating a phase dynamic weight of each phase of an intersection road according to the traffic parameters includes: extracting queuing parameters from the video stream data of the road at the intersection, and determining the actual queuing length of the first phase and the observable maximum queuing length according to the queuing parameters; calculating the first phase queuing weight according to the actual queuing length and the observable maximum queuing length; calculating the sum of the phase queuing weights of all phases in the intersection road to obtain a total phase queuing weight; and calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain the first phase dynamic weight.
With reference to the first aspect, in a third implementation manner of the first aspect, the extracting traffic parameters included in intersection road video stream data, and calculating a phase dynamic weight of each phase of the intersection road according to the traffic parameters includes: extracting a steering flow parameter from intersection road video stream data, calculating a sum of the flow of each lane in a first phase according to the steering flow parameter to obtain the flow of the first phase, calculating the sum of the phase flow of all phases in the intersection road to obtain total phase flow, and calculating a quotient of the first phase flow and the total phase flow to obtain dynamic weight of the first phase flow; extracting queuing parameters from video stream data of an intersection road, determining the actual queuing length and the observable maximum queuing length of a first phase according to the queuing parameters, calculating the queuing weight of the first phase according to the actual queuing length and the observable maximum queuing length, calculating the sum of the queuing weights of all phases in the intersection road to obtain a total phase queuing weight, and calculating the quotient of the queuing weight of the first phase and the total phase queuing weight to obtain a dynamic queuing weight of the first phase; and carrying out weighted summation on the first phase flow dynamic weight and the first phase queuing dynamic weight to obtain the first phase dynamic weight.
With reference to the first aspect, in a fourth implementation manner of the first aspect, the calculating a green time of a corresponding phase according to the acquired cycle duration and the phase integrated weight of each phase includes: calculating the sum of the comprehensive phase weights of all phases in the intersection road to obtain the comprehensive total phase weight; and calculating a quotient of the first phase comprehensive weight and the total phase comprehensive weight, and multiplying the quotient by the period duration to obtain the green light time of the first phase.
With reference to the first aspect or any one of the first to fourth implementation manners of the first aspect, in a fifth implementation manner of the first aspect, the method further includes: and acquiring the phase static weight of each phase of the intersection road according to the preset functional weight of the lane in the intersection road and the preset weight of the road where the lane is located.
With reference to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the obtaining a static phase weight of each phase of the intersection road according to a preset road weight where the lane in the intersection road is located and a preset lane function weight includes: calculating and summing the product of the road weight of each lane in the first phase and the lane function weight to obtain first phase weight; calculating and summing the product of the road weight of each lane in all phases of the intersection road and the lane function weight to obtain total phase weight; and calculating the quotient of the first phase weighting and the total phase weighting to obtain the first phase static weighting.
In a second aspect, an embodiment of the present invention provides a traffic signal control apparatus, including: the system comprises a phase dynamic weight calculation module, a phase comprehensive weight calculation module and a signal control module, wherein the phase dynamic weight calculation module is used for extracting traffic parameters contained in video stream data of an intersection road and calculating phase dynamic weights of all phases of the intersection road according to the traffic parameters; the phase comprehensive weight calculation module is used for calculating the phase comprehensive weight of the corresponding phase according to the dynamic weight of each phase and the obtained phase static weight; and the signal control module is used for calculating the green light time of the corresponding phase according to the acquired cycle duration and the phase comprehensive weight of each phase.
With reference to the second aspect, in a first implementation manner of the second aspect, the phase dynamics weight calculation module includes: the system comprises a phase flow calculation unit, a total phase flow calculation unit and a first phase dynamic weight calculation unit, wherein the phase flow calculation unit is used for extracting a steering flow parameter from intersection road video stream data, and calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain the first phase flow; the total phase flow calculation unit is used for calculating the sum of the phase flow of all the phases in the intersection road to obtain the total phase flow; and the phase dynamic weight first calculation unit is used for calculating the quotient of the first phase flow and the total phase flow to obtain the first phase dynamic weight.
With reference to the second aspect, in a second implementation manner of the second aspect, the phase dynamics weight calculation module includes: the system comprises a queuing parameter acquisition unit, a phase queuing weight calculation unit, a total phase queuing weight calculation unit and a phase dynamic weight second calculation unit, wherein the queuing parameter acquisition unit is used for extracting queuing parameters from intersection road video stream data and determining the actual queuing length of a first phase and the observable maximum queuing length according to the queuing parameters; a phase queuing weight calculation unit, configured to calculate the first phase queuing weight according to the actual queuing length and an observable maximum queuing length; the total phase queuing weight calculation unit is used for calculating the sum of the phase queuing weights of all the phases in the intersection road to obtain a total phase queuing weight; and the second phase dynamic weight calculating unit is used for calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain the first phase dynamic weight.
With reference to the second aspect, in a third implementation manner of the second aspect, the phase dynamics weight calculation module includes: the system comprises a phase flow dynamic weight calculation unit, a phase queuing dynamic weight calculation unit and a phase dynamic weight third calculation unit, wherein the phase flow dynamic weight calculation unit is used for extracting a steering flow parameter from intersection road video stream data, calculating a sum value of the flow of each lane in a first phase according to the steering flow parameter to obtain a first phase flow, calculating the sum of the phase flows of all the phases in an intersection road to obtain a total phase flow, and calculating the quotient of the first phase flow and the total phase flow to obtain a first phase flow dynamic weight; the phase queuing dynamic weight calculation unit is used for extracting queuing parameters from intersection road video stream data, determining the actual queuing length and the observable maximum queuing length of a first phase according to the queuing parameters, calculating the first phase queuing weight according to the actual queuing length and the observable maximum queuing length, calculating the sum of the phase queuing weights of all phases in an intersection road to obtain a total phase queuing weight, and calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain the first phase queuing dynamic weight; and the third phase dynamic weight calculating unit is used for performing weighted summation on the first phase flow dynamic weight and the first phase queuing dynamic weight to obtain the first phase dynamic weight.
With reference to the second aspect, in a fourth implementation manner of the second aspect, the signal control module includes: the system comprises a total phase comprehensive weight calculation unit and a signal control unit, wherein the total phase comprehensive weight calculation unit is used for calculating the sum of phase comprehensive weights of all phases in an intersection road to obtain a total phase comprehensive weight;
and the signal control unit is used for calculating a quotient of the first phase comprehensive weight and the total phase comprehensive weight, and multiplying the quotient by the cycle time to obtain the green light time of the first phase.
With reference to the second aspect or any one of the first to fourth embodiments of the second aspect, in a fifth embodiment of the second aspect, the apparatus further comprises: and the phase static weight acquisition module is used for acquiring the phase static weight of each phase of the intersection road according to the preset functional weight of the lane in the intersection road and the preset weight of the road where the lane is located.
With reference to the fifth implementation manner of the second aspect, in a sixth implementation manner of the second aspect, the phase static weight obtaining module includes: the system comprises a phase weighting unit, a total phase weighting unit and a phase static weight acquiring unit, wherein the phase weighting unit is used for calculating and summing products of road weights of lanes in a first phase and lane function weights to obtain a first phase weighting; the total phase weighting unit is used for calculating and summing the product of the road weight of each lane in all phases of the intersection road and the lane function weight to obtain total phase weighting; and the phase static weight acquisition unit is used for calculating the quotient of the first phase weight and the total phase weight to obtain the first phase static weight.
In a third aspect, an embodiment of the present invention provides an electronic device, where the electronic device includes: the device comprises a shell, a processor, a memory, a circuit board and a power circuit, wherein the circuit board is arranged in a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; a power supply circuit for supplying power to each circuit or device of the electronic apparatus; the memory is used for storing executable program codes; the processor reads the executable program code stored in the memory to run the program corresponding to the executable program code, so as to execute the traffic signal control method according to any one of the foregoing embodiments.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the traffic signal control method according to any of the foregoing embodiments.
According to the traffic signal control method, the traffic signal control device, the electronic equipment and the computer-readable storage medium, the dynamic phase weight of each phase of an intersection road is calculated according to traffic parameters by acquiring the traffic parameters contained in intersection road video stream data; calculating the comprehensive weight of the phase corresponding to each phase according to the dynamic weight of each phase and the obtained static weight of the phase; according to the acquired cycle time and the phase comprehensive weight of each phase, the green time of the corresponding phase is calculated, so that the green time of the traffic signal can be adjusted according to the real-time change of the road at the intersection, and the control precision of the traffic signal can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a traffic signal control method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a traffic signal control device according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a traffic signal control method according to an embodiment of the present invention, and as shown in fig. 1, the method according to the embodiment may include:
step 101, extracting traffic parameters contained in intersection road video stream data, and calculating phase dynamic weights of all phases of the intersection road according to the traffic parameters.
In this embodiment, each phase corresponds to a dynamic phase weight. As an optional embodiment, extracting traffic parameters included in intersection road video stream data, and calculating a phase dynamic weight of each phase in the detection source scene according to the traffic parameters includes:
a11, extracting a steering flow parameter from intersection road video stream data, and calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain the flow of the first phase;
a12, calculating the sum of the phase flow of all the phases in the intersection road to obtain the total phase flow;
and A13, calculating the quotient of the first phase flow and the total phase flow to obtain the first phase dynamic weight.
In this embodiment, the first phase is a general finger. Wherein the steering flow parameters include, but are not limited to: the number of left-turn passing cars, the number of straight-going passing cars, and the number of right-turn passing cars.
In this embodiment, as an optional embodiment, the dynamic weight of the phase is calculated by using the following formula:
in the formula,
fpjis the jth lane flow in the pth phase;
fkjis the jth lane flow in the kth phase;
In this embodiment, as another optional embodiment, extracting traffic parameters included in intersection road video stream data, and calculating a phase dynamic weight of each phase of the intersection road according to the traffic parameters includes:
a21, extracting queuing parameters from the video stream data of the road at the intersection, and determining the actual queuing length of the first phase and the observable maximum queuing length according to the queuing parameters;
a22, calculating the first phase queuing weight according to the actual queuing length and the observable maximum queuing length;
a23, calculating the sum of the phase queuing weights of all the phases in the intersection road to obtain a total phase queuing weight;
a24, calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain the first phase dynamic weight.
In this embodiment, the phase dynamic weight of each phase may be calculated according to lane function division and the queuing length of each lane. As an alternative embodiment, the phase dynamics weights are calculated using the following equation:
in the formula,
hpjqueuing weights for the jth lane in the pth phase;
hkjqueuing weights for the jth lane in the kth phase;
Wherein,
hpj＝1-e-θx/L
in the formula,
x is the actual queuing length of the jth lane in the pth phase;
l is the observable maximum queue length in the p-th phase;
theta is an adjustment factor.
In this embodiment, as a further optional embodiment, extracting traffic parameters included in intersection road video stream data, and calculating a phase dynamic weight of each phase of the intersection road according to the traffic parameters includes:
a31, extracting a steering flow parameter from intersection road video stream data, calculating a sum of the flow of each lane in a first phase according to the steering flow parameter to obtain a first phase flow, calculating the sum of the phase flows of all phases in an intersection road to obtain a total phase flow, and calculating the quotient of the first phase flow and the total phase flow to obtain a first phase flow dynamic weight;
a32, extracting queuing parameters from intersection road video stream data, determining the actual queuing length and the observable maximum queuing length of a first phase according to the queuing parameters, calculating the first phase queuing weight according to the actual queuing length and the observable maximum queuing length, calculating the sum of the phase queuing weights of all phases in an intersection road to obtain a total phase queuing weight, and calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain a first phase queuing dynamic weight;
a33, carrying out weighted summation on the first phase flow dynamic weight and the first phase queuing dynamic weight to obtain the first phase dynamic weight.
In this embodiment, the method for calculating the first phase traffic dynamic weight is the same as the method for calculating the first phase dynamic weight in steps a21 to a23, and the method for calculating the first phase queuing dynamic weight is the same as the method for calculating the first phase dynamic weight in steps a31 to a 34.
In this embodiment, as an optional embodiment, the first phase dynamic weight is calculated by using the following formula:
in the formula,
λ is a dynamic weight weighting factor.
In this embodiment, as an alternative embodiment, λ may be set to 0.5, and the specific value may be determined according to the data analysis situation.
And 102, calculating a phase comprehensive weight corresponding to the phase according to the dynamic weight of each phase and the obtained phase static weight.
In this embodiment, as an optional embodiment, the method further includes: and acquiring the phase static weight of each phase of the intersection road according to the preset functional weight of the lane in the intersection road and the preset weight of the road where the lane is located.
In this embodiment, since different roads have different grades, for example, national roads, provincial roads, and the like, and the traffic signal control corresponding to different roads should be different, as an optional embodiment, in the case that the phase sequence is not changed, based on the preset intersection road grade and lane function division, the phase static weight of the intersection road is calculated according to the preset road weight and lane function weight of each lane included in each phase and the road weight and lane function weight of each lane.
In this embodiment, as an optional embodiment, the obtaining the phase static weight of each phase of the intersection road according to the preset road weight where the lane in the intersection road is located and the lane function weight includes:
a41, calculating and summing the product of the road weight of each lane in the first phase and the lane function weight to obtain first phase weight;
a42, calculating and summing the product of the road weight of each lane in all phases of the intersection road and the lane function weight to obtain total phase weight;
a43, calculating the quotient of the first phase weighting and the total phase weighting to obtain the first phase static weighting.
In this embodiment, as an optional embodiment, the phase static weight is calculated by using the following formula:
in the formula,
n is the number of lanes contained in the phase;
and q is the number of phases contained in the intersection road.
In this embodiment, as an optional embodiment, the phase integration weight is calculated based on the weighted average:
in the formula,
Wpthe p phase is integrated with the weight;
sigma is a phase synthesis weight weighting factor.
In this embodiment, as an optional embodiment, the phase integration weight weighting factor may be determined by the following two methods:
(1) the fixed value is that the value of sigma is determined to be used as the parameter input of all time periods according to the conditions of the road flow and the phase at the intersection;
(2) and the dynamic value gives specific parameter values of the phase comprehensive weight weighting factors according to different time periods, and dynamically reflects different game results between the phase weight and the flow weight in the peak time period and the flat time period.
And 103, calculating the green time of the corresponding phase according to the acquired cycle duration and the phase comprehensive weight of each phase.
In this embodiment, as an optional embodiment, the period duration is calculated according to a Webster formula, and then the green time of each phase is assigned according to the period duration and the phase integrated weight.
In this embodiment, as an optional embodiment, calculating the green time of the corresponding phase according to the pre-obtained cycle duration and the phase comprehensive weight of each phase includes:
a51, calculating the sum of the phase comprehensive weights of all phases in the intersection road to obtain a total phase comprehensive weight;
a52, calculating a quotient of the first phase comprehensive weight and the total phase comprehensive weight, and multiplying the quotient by the cycle time length to obtain the green light time of the first phase.
In this embodiment, as an alternative embodiment, the green time of the phase is calculated by using the following formula:
in the formula,
and C is the period duration, namely the intersection road signal control period, which is the sum of all phase periods.
In this embodiment, as a further optional embodiment, the method may further include: and generating a traffic signal control scheme according to the obtained green light time of each phase, and sending the traffic signal control scheme to a signal controller arranged on the intersection road so that the signal controller controls traffic signals according to the traffic signal control scheme.
In the embodiment, the extracted green light time of each phase in the fixed period or the green light time of each phase calculated in the previous period is packaged into a traffic signal control scheme; or packaging the calculated green light time of each phase as a traffic signal control scheme, generating a traffic signal real-time control scheme of the intersection road and issuing the traffic signal real-time control scheme to control the traffic signal.
In this embodiment, as an optional embodiment, the method further includes: the extracted traffic parameters and the generated traffic signal control scheme are stored.
In this embodiment, the background stores the traffic parameters and the traffic signal control scheme, so as to facilitate subsequent analysis. As an alternative embodiment, the storage is performed by the background of the background control center platform.
The traffic signal control method of the embodiment performs control based on the video data driving and weight balancing principles, and dynamically adjusts the signal control period duration and the green light duration in real time.
In this embodiment, the weight balancing means that a phase integrated weight of the phase is calculated according to the phase static weight and the phase dynamic weight, wherein the phase static weight may be evaluated according to road grade and lane function division, and the phase dynamic weight may be evaluated according to real-time traffic parameters (steering flow parameters and/or queuing parameters), so that the phase integrated weight of the phase at the intersection is evaluated in a weighting manner by combining the phase static weight and the phase dynamic weight, and the green light duration of the phase is calculated based on the phase integrated weight.
In the embodiment, when calculating the comprehensive weight of each phase, the intersection design attributes such as the road grade of the intersected road, the design vehicle speed, the lane function division, the longitudinal and transverse section attributes and the like are fully considered, the static weight of each phase in the traffic signal control is evaluated according to the intersection design attributes, the static weight is the basic weight which does not depend on the real-time flow change, meanwhile, the dynamic weight of the phase is combined with the dynamic weight of the phase represented by the traffic flow attribute, because the dynamic weight change of each phase is reflected by the traffic flow attribute (and the queuing condition) of the real-time phase, the larger the traffic flow (or the worse the queuing condition), the larger the dynamic weight of the phase is, therefore, the larger the comprehensive weight of the phase is, the longer the green light time which needs to be given is, so that the total period time and the green signal ratio which needs to be given can be calculated according to the comprehensive weight of each phase, therefore, the time length of the traffic signal green light is adjusted according to the real-time change of the road at the intersection, the control precision of the traffic signal can be effectively improved, the traffic efficiency is improved, and the balance idea of the whole intersection road traffic signal control is achieved. The traffic signal control method of the embodiment generates the traffic signal control strategy based on real-time data weight balance, can fully consider the diversity of the geometric states of the roads at the intersection and the dynamic property of traffic parameters, dynamically adjusts the duration of each period and the duration of green light in real time, better adapts to the complex situation of changeable traffic flow, and can avoid complex modeling.
Fig. 2 is a schematic structural diagram of a second traffic signal control device according to an embodiment of the present invention, and as shown in fig. 2, the device according to this embodiment may include: a phase dynamic weight calculation module 22, a phase synthesis weight calculation module 23, and a signal control module 24, wherein,
and the phase dynamic weight calculation module 22 is configured to extract traffic parameters included in the intersection road video stream data, and calculate a phase dynamic weight of each phase of the intersection road according to the traffic parameters.
In this embodiment, as an optional embodiment, the phase dynamic weight calculating module 22 includes: a phase flow calculation unit, a total phase flow calculation unit, and a phase dynamics weight first calculation unit (not shown in the figure), wherein,
the phase flow calculation unit is used for extracting a steering flow parameter from the video stream data of the road at the intersection, and calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain the first phase flow;
the total phase flow calculation unit is used for calculating the sum of the phase flow of all the phases in the intersection road to obtain the total phase flow;
and the phase dynamic weight first calculation unit is used for calculating the quotient of the first phase flow and the total phase flow to obtain the first phase dynamic weight.
In this embodiment, as an optional embodiment, the dynamic weight of the phase is calculated by using the following formula:
in the formula,
fpjis the jth lane flow in the pth phase;
fkjis the jth lane flow in the kth phase;
In this embodiment, as another optional embodiment, the phase dynamics weight calculation module 22 includes: a queuing parameter obtaining unit, a phase queuing weight calculating unit, a total phase queuing weight calculating unit and a phase dynamic weight second calculating unit, wherein,
the queuing parameter acquiring unit is used for extracting queuing parameters from the video stream data of the road at the intersection and determining the actual queuing length of the first phase and the observable maximum queuing length according to the queuing parameters;
a phase queuing weight calculation unit, configured to calculate the first phase queuing weight according to the actual queuing length and an observable maximum queuing length;
the total phase queuing weight calculation unit is used for calculating the sum of the phase queuing weights of all the phases in the intersection road to obtain a total phase queuing weight;
and the second phase dynamic weight calculating unit is used for calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain the first phase dynamic weight.
As an alternative embodiment, the phase dynamics weights are calculated using the following equation:
in the formula,
hpjqueuing weights for the jth lane in the pth phase;
hkjqueuing weights for the jth lane in the kth phase;
Wherein,
hpj＝1-e-θx/L
in the formula,
x is the actual queuing length of the jth lane in the pth phase;
l is the observable maximum queue length in the p-th phase;
theta is an adjustment factor.
In this embodiment, as a further alternative embodiment, the phase dynamic weight calculating module 22 includes: a phase flow dynamic weight calculation unit, a phase queuing dynamic weight calculation unit and a phase dynamic weight third calculation unit, wherein,
the phase flow dynamic weight calculation unit is used for extracting a steering flow parameter from intersection road video stream data, calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain the first phase flow, calculating the sum of the phase flows of all the phases in the intersection road to obtain the total phase flow, and calculating the quotient of the first phase flow and the total phase flow to obtain the first phase flow dynamic weight;
the phase queuing dynamic weight calculation unit is used for extracting queuing parameters from intersection road video stream data, determining the actual queuing length and the observable maximum queuing length of a first phase according to the queuing parameters, calculating the first phase queuing weight according to the actual queuing length and the observable maximum queuing length, calculating the sum of the phase queuing weights of all phases in an intersection road to obtain a total phase queuing weight, and calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain the first phase queuing dynamic weight;
and the third phase dynamic weight calculating unit is used for performing weighted summation on the first phase flow dynamic weight and the first phase queuing dynamic weight to obtain the first phase dynamic weight.
In this embodiment, as an optional embodiment, the first phase dynamic weight is calculated by using the following formula:
in the formula,
λ is a dynamic weight weighting factor.
The phase comprehensive weight calculation module 23 is configured to calculate a phase comprehensive weight of a corresponding phase according to the dynamic weight of each phase and the obtained phase static weight;
in this embodiment, as an optional embodiment, the phase integration weight is calculated based on the weighted average:
in the formula,
Wpthe p phase is integrated with the weight;
sigma is a phase synthesis weight weighting factor.
And the signal control module 24 is configured to calculate the green time of the corresponding phase according to the pre-obtained cycle duration and the phase comprehensive weight of each phase.
In this embodiment, as an optional embodiment, the signal control module 24 includes: the system comprises a total phase comprehensive weight calculation unit and a signal control unit (not shown in the figure), wherein the total phase comprehensive weight calculation unit is used for calculating the sum of phase comprehensive weights of all phases in an intersection road to obtain a total phase comprehensive weight; and the signal control unit is used for calculating a quotient of the first phase comprehensive weight and the total phase comprehensive weight, and multiplying the quotient by the cycle time to obtain the green light time of the first phase.
In this embodiment, as an alternative embodiment, the green time of the phase is calculated by using the following formula:
in the formula,
and C is the period duration, namely the intersection road signal control period, which is the sum of all phase periods.
In this embodiment, as an optional embodiment, the apparatus further includes: and a phase static weight obtaining module (not shown in the figure) for obtaining a phase static weight of each phase of the intersection road according to a preset lane function weight in the intersection road and a preset road weight where the lane is located.
In this embodiment, as an optional embodiment, the phase static weight obtaining module includes: the system comprises a phase weighting unit, a total phase weighting unit and a phase static weight acquiring unit, wherein the phase weighting unit is used for calculating and summing products of road weights of lanes in a first phase and lane function weights to obtain a first phase weighting; the total phase weighting unit is used for calculating and summing the product of the road weight of each lane in all phases of the intersection road and the lane function weight to obtain total phase weighting; and the phase static weight acquisition unit is used for calculating the quotient of the first phase weight and the total phase weight to obtain the first phase static weight.
In this embodiment, as an optional embodiment, the phase static weight is calculated by using the following formula:
in the formula,
n is the number of lanes contained in the phase;
and q is the number of phases contained in the intersection road.
In this embodiment, as a further optional embodiment, the apparatus may further include: and a control scheme issuing module (not shown in the figure) for generating a traffic signal control scheme according to the obtained green light time of each phase, and issuing the traffic signal control scheme to a signal controller arranged on the intersection road, so that the signal controller controls traffic signals according to the traffic signal control scheme.
In the embodiment, the extracted green light time of each phase in the fixed period or the green light time of each phase calculated in the previous period is packaged into a traffic signal control scheme; or packaging the calculated green light time of each phase as a traffic signal control scheme, generating a traffic signal real-time control scheme of the intersection road and issuing the traffic signal real-time control scheme to control the traffic signal.
In this embodiment, as a further optional embodiment, the apparatus may further include: and the storage module is used for storing the extracted traffic parameters and the generated traffic signal control scheme.
The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
The embodiment of the invention also provides electronic equipment, which can realize the process of the embodiment shown in fig. 1. Fig. 3 is a schematic structural diagram of a third electronic device according to an embodiment of the present invention, and as shown in fig. 3, the electronic device may include: the device comprises a shell 31, a processor 32, a memory 33, a circuit board 34 and a power circuit 35, wherein the circuit board 34 is arranged inside a space enclosed by the shell 31, and the processor 32 and the memory 33 are arranged on the circuit board 34; a power supply circuit 35 for supplying power to each circuit or device of the electronic apparatus; the memory 33 is used for storing executable program codes; the processor 32 reads the executable program code stored in the memory 33 to run the program corresponding to the executable program code, so as to execute the traffic signal control method according to any of the foregoing embodiments, which has similar implementation principles and technical effects, and is not described herein again.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the live broadcast method according to any of the foregoing embodiments is implemented, and the implementation principle and the technical effect of the live broadcast method are similar, and are not described herein again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof.
In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
For convenience of description, the above devices are described separately in terms of functional division into various units/modules. Of course, the functionality of the units/modules may be implemented in one or more software and/or hardware implementations of the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The above description is only for the specific 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 claims.
Claims (10)
1. A traffic signal control method, comprising:
extracting traffic parameters contained in video stream data of an intersection road, and calculating phase dynamic weight of each phase of the intersection road according to the traffic parameters;
calculating the comprehensive weight of the phase corresponding to each phase according to the dynamic weight of each phase and the obtained static weight of the phase; wherein the phase static weight is a weight that exists independent of real-time traffic variation;
calculating the green light time of the corresponding phase according to the acquired cycle duration and the phase comprehensive weight of each phase;
the extracting of the traffic parameters contained in the video stream data of the intersection road, and the calculating of the dynamic phase weight of each phase of the intersection road according to the traffic parameters comprises the following steps:
extracting a steering flow parameter from intersection road video stream data, calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain a first phase flow, calculating the sum of the phase flows of all phases in an intersection road to obtain a total phase flow, and calculating the quotient of the first phase flow and the total phase flow to obtain a first phase flow dynamic weight;
extracting queuing parameters from video stream data of an intersection road, determining the actual queuing length and the observable maximum queuing length of a first phase according to the queuing parameters, calculating a first phase queuing weight according to the actual queuing length and the observable maximum queuing length, calculating the sum of the phase queuing weights of all phases in the intersection road to obtain a total phase queuing weight, and calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain a first phase queuing dynamic weight;
and carrying out weighted summation on the first phase flow dynamic weight and the first phase queuing dynamic weight to obtain a first phase dynamic weight.
2. The traffic signal control method of claim 1, wherein the calculating the green time of the corresponding phase according to the obtained cycle duration and the phase integrated weight of each phase comprises:
calculating the sum of the comprehensive phase weights of all phases in the intersection road to obtain the comprehensive total phase weight;
and calculating a quotient of the first phase comprehensive weight and the total phase comprehensive weight, and multiplying the quotient by the period duration to obtain the green light time of the first phase.
3. The traffic signal control method according to any one of claims 1 to 2, characterized in that the method further comprises:
and acquiring the phase static weight of each phase of the intersection road according to the preset functional weight of the lane in the intersection road and the preset weight of the road where the lane is located.
4. The traffic signal control method according to claim 3, wherein the obtaining of the phase static weight of each phase of the intersection road according to the preset road weight of the lane in the intersection road and the preset lane function weight comprises:
calculating and summing the product of the road weight of each lane in the first phase and the lane function weight to obtain first phase weight;
calculating and summing the product of the road weight of each lane in all phases of the intersection road and the lane function weight to obtain total phase weight;
and calculating the quotient of the first phase weighting and the total phase weighting to obtain a first phase static weighting.
5. A traffic signal control apparatus, comprising: a phase dynamic weight calculation module, a phase comprehensive weight calculation module and a signal control module, wherein,
the phase dynamic weight calculation module is used for extracting traffic parameters contained in intersection road video stream data and calculating the phase dynamic weight of each phase of the intersection road according to the traffic parameters;
the phase comprehensive weight calculation module is used for calculating the phase comprehensive weight of the corresponding phase according to the dynamic weight of each phase and the obtained phase static weight; wherein the phase static weight is a weight that exists independent of real-time traffic variation;
the signal control module is used for calculating the green light time of the corresponding phase according to the acquired cycle duration and the phase comprehensive weight of each phase;
the phase dynamics weight calculation module comprises: a phase flow dynamic weight calculation unit, a phase queuing dynamic weight calculation unit and a phase dynamic weight third calculation unit, wherein,
the phase flow dynamic weight calculation unit is used for extracting a steering flow parameter from intersection road video stream data, calculating the sum of the flow of each lane in a first phase according to the steering flow parameter to obtain a first phase flow, calculating the sum of the phase flows of all the phases in the intersection road to obtain a total phase flow, and calculating the quotient of the first phase flow and the total phase flow to obtain a first phase flow dynamic weight;
the phase queuing dynamic weight calculation unit is used for extracting queuing parameters from intersection road video stream data, determining the actual queuing length and the observable maximum queuing length of a first phase according to the queuing parameters, calculating a first phase queuing weight according to the actual queuing length and the observable maximum queuing length, calculating the sum of the phase queuing weights of all phases in an intersection road to obtain a total phase queuing weight, and calculating the quotient of the first phase queuing weight and the total phase queuing weight to obtain a first phase queuing dynamic weight;
and the third phase dynamic weight calculating unit is used for performing weighted summation on the first phase flow dynamic weight and the first phase queuing dynamic weight to obtain a first phase dynamic weight.
6. The traffic signal control device of claim 5, wherein the signal control module comprises: a total phase integrated weight calculation unit and a signal control unit, wherein,
the total phase comprehensive weight calculating unit is used for calculating the sum of the phase comprehensive weights of all the phases in the intersection road to obtain the total phase comprehensive weight;
and the signal control unit is used for calculating a quotient of the first phase comprehensive weight and the total phase comprehensive weight, and multiplying the quotient by the cycle time to obtain the green light time of the first phase.
7. The traffic-signal control apparatus of any one of claims 5 to 6, further comprising:
and the phase static weight acquisition module is used for acquiring the phase static weight of each phase of the intersection road according to the preset functional weight of the lane in the intersection road and the preset weight of the road where the lane is located.
8. The traffic signal control device of claim 7, wherein the phase static weight obtaining module comprises: a phase weighting unit, a total phase weighting unit, and a phase static weight acquisition unit, wherein,
the phase weighting unit is used for calculating and summing the product of the road weight of each lane in the first phase and the lane function weight to obtain first phase weighting;
the total phase weighting unit is used for calculating and summing the product of the road weight of each lane in all phases of the intersection road and the lane function weight to obtain total phase weighting;
and the phase static weight acquisition unit is used for calculating the quotient of the first phase weight and the total phase weight to obtain a first phase static weight.
9. An electronic device, characterized in that the electronic device comprises: the device comprises a shell, a processor, a memory, a circuit board and a power circuit, wherein the circuit board is arranged in a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; a power supply circuit for supplying power to each circuit or device of the electronic apparatus; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the traffic signal control method of any one of the preceding claims 1 to 4.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the traffic signal control method according to any one of the preceding claims 1 to 4.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470653 | 2017-12-28 | ||
| CN2017114706536 | 2017-12-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109979191A CN109979191A (en) | 2019-07-05 |
| CN109979191B true CN109979191B (en) | 2022-02-11 |
Family
ID=67075881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810222366.1A Active CN109979191B (en) | 2017-12-28 | 2018-03-16 | Traffic signal control method, traffic signal control device, electronic equipment and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109979191B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111275975B (en) * | 2020-02-28 | 2021-04-02 | 清华大学 | Method and device for acquiring intersection turning flow data and storage medium |
| CN112017449B (en) * | 2020-08-06 | 2021-12-07 | 华东师范大学 | Traffic light intelligent control system and method based on Internet of things and letter fusion cloud platform |
| CN113487884B (en) * | 2021-06-15 | 2023-11-24 | 阿波罗智联(北京)科技有限公司 | Traffic volume acquisition method and device and electronic equipment |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103280113A (en) * | 2013-05-08 | 2013-09-04 | 长安大学 | Self-adaptive intersection signal control method |
| CN103646556A (en) * | 2013-12-16 | 2014-03-19 | 江苏大学 | Control system and control method for dynamic adjusting of traffic light time |
| CN103778791A (en) * | 2012-10-26 | 2014-05-07 | 中兴通讯股份有限公司 | Traffic adaptive control method and traffic adaptive control device |
| CN104123848A (en) * | 2014-07-14 | 2014-10-29 | 昆明理工大学 | Single intersection oversaturation signal timing method in consideration of widening segment length |
| CN104318790A (en) * | 2014-10-20 | 2015-01-28 | 青岛海信网络科技股份有限公司 | Traffic signal lamp configuration method and device |
| CN104332058A (en) * | 2013-07-31 | 2015-02-04 | 南通大学 | Intelligent traffic light controlling method and system |
| CN105046987A (en) * | 2015-06-17 | 2015-11-11 | 苏州大学 | Road traffic signal lamp coordination control method based on reinforcement learning |
| CN105185130A (en) * | 2015-09-30 | 2015-12-23 | 公安部交通管理科学研究所 | Varying-period signal coordinating and controlling method of road intersections |
| CN106408958A (en) * | 2015-07-31 | 2017-02-15 | 富士通株式会社 | Control apparatus and method of crossing signal lamps |
| CN106558226A (en) * | 2016-11-23 | 2017-04-05 | 中兴软创科技股份有限公司 | Traffic signal timing is assessed and method of real-time adjustment |
| CN106875699A (en) * | 2017-03-21 | 2017-06-20 | 陆化普 | A kind of traffic control optimization method and device |
| CN107025792A (en) * | 2017-05-05 | 2017-08-08 | 深圳市哈工大交通电子技术有限公司 | The method of adjustment and device in track and signal lamp cycle based on vehicle queue length |
-
2018
- 2018-03-16 CN CN201810222366.1A patent/CN109979191B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103778791A (en) * | 2012-10-26 | 2014-05-07 | 中兴通讯股份有限公司 | Traffic adaptive control method and traffic adaptive control device |
| CN103280113A (en) * | 2013-05-08 | 2013-09-04 | 长安大学 | Self-adaptive intersection signal control method |
| CN104332058A (en) * | 2013-07-31 | 2015-02-04 | 南通大学 | Intelligent traffic light controlling method and system |
| CN103646556A (en) * | 2013-12-16 | 2014-03-19 | 江苏大学 | Control system and control method for dynamic adjusting of traffic light time |
| CN104123848A (en) * | 2014-07-14 | 2014-10-29 | 昆明理工大学 | Single intersection oversaturation signal timing method in consideration of widening segment length |
| CN104318790A (en) * | 2014-10-20 | 2015-01-28 | 青岛海信网络科技股份有限公司 | Traffic signal lamp configuration method and device |
| CN105046987A (en) * | 2015-06-17 | 2015-11-11 | 苏州大学 | Road traffic signal lamp coordination control method based on reinforcement learning |
| CN106408958A (en) * | 2015-07-31 | 2017-02-15 | 富士通株式会社 | Control apparatus and method of crossing signal lamps |
| CN105185130A (en) * | 2015-09-30 | 2015-12-23 | 公安部交通管理科学研究所 | Varying-period signal coordinating and controlling method of road intersections |
| CN106558226A (en) * | 2016-11-23 | 2017-04-05 | 中兴软创科技股份有限公司 | Traffic signal timing is assessed and method of real-time adjustment |
| CN106875699A (en) * | 2017-03-21 | 2017-06-20 | 陆化普 | A kind of traffic control optimization method and device |
| CN107025792A (en) * | 2017-05-05 | 2017-08-08 | 深圳市哈工大交通电子技术有限公司 | The method of adjustment and device in track and signal lamp cycle based on vehicle queue length |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109979191A (en) | 2019-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109979191B (en) | Traffic signal control method, traffic signal control device, electronic equipment and computer-readable storage medium | |
| Murat et al. | A fuzzy logic multi-phased signal control model for isolated junctions | |
| CN111199652B (en) | Road traffic signal control method, device, system, electronic device and storage medium | |
| CN104590246B (en) | For operating the method and system of vehicle | |
| Navratilova et al. | Phase precession and variable spatial scaling in a periodic attractor map model of medial entorhinal grid cells with realistic after‐spike dynamics | |
| CN105550746B (en) | The training method and trainer of machine learning model | |
| CN104637315A (en) | Non-signalized crossing optimization control method and system in cooperative vehicle infrastructure environment | |
| KR101384420B1 (en) | Simulation device, method, and computer readable recording medium having program | |
| CN114333357B (en) | Traffic signal control method and device, electronic equipment and storage medium | |
| CN113415288B (en) | Sectional type longitudinal vehicle speed planning method, device, equipment and storage medium | |
| RU2014130034A (en) | METHOD AND MODULE FOR DETERMINING, AT LEAST, THE ONE REFERENCE VALUE FOR THE VEHICLE CONTROL SYSTEM | |
| CN110659825A (en) | Cash demand prediction method and device for multiple learners of bank outlets | |
| CN110517481A (en) | Vehicle flowrate prediction technique, medium, equipment and device | |
| CN109556610A (en) | A kind of paths planning method, controller and system | |
| CN112036737B (en) | Method and device for calculating regional electric quantity deviation | |
| CN103991389B (en) | A kind of fuel cell hybrid bus energy management method and device | |
| CN110516564A (en) | Pavement detection method and apparatus | |
| CN109686086A (en) | The training of fuzzy control network generates the method and device that speed is suggested at crossing | |
| CN112816010A (en) | Oil quantity calculation method and device, storage medium and oil quantity output control method | |
| CN109191875B (en) | Signal control scheme generation method and device | |
| Khanjary | Using game theory to optimize traffic light of an intersection | |
| Lazzaroni et al. | Automated Parking in CARLA: A Deep Reinforcement Learning-Based Approach | |
| Chen et al. | A survey of urban traffic signal control for agent recommendation system | |
| Hanuschkin et al. | Compositionality of arm movements can be realized by propagating synchrony | |
| CN110503234A (en) | A kind of method, system and the equipment of logistics transportation scheduling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |