CN110728844B - Traffic light self-adaptive control method and device, traffic control equipment and storage medium - Google Patents
Traffic light self-adaptive control method and device, traffic control equipment and storage medium Download PDFInfo
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- CN110728844B CN110728844B CN201910858758.1A CN201910858758A CN110728844B CN 110728844 B CN110728844 B CN 110728844B CN 201910858758 A CN201910858758 A CN 201910858758A CN 110728844 B CN110728844 B CN 110728844B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/085—Controlling traffic signals using a free-running cyclic timer
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
Abstract
The invention provides a self-adaptive control method of traffic lights, which comprises the following steps: acquiring an image of a vehicle within a preset distance of an intersection; identifying a type of vehicle in the image; calculating an expected time for the vehicle to travel to the intersection; when the type of the vehicle is a target type and the indicator light in the passing direction is a green light, acquiring the remaining time of the green light and the starting time of the next green light; judging whether the expected time is less than the starting time of the green light and greater than the remaining time of the green light; extending the remaining time of the green light when the expected time is greater than the remaining time of the green light and less than the starting time of the green light. The invention also provides a traffic light self-adaptive control device, traffic control equipment and a storage medium. The invention can dynamically control the indicating numbers of the traffic lights in the passing direction according to the type of the vehicle and the expected time of the vehicle reaching the intersection, and the red light display time is short when the traffic flow is small, and the green light display time is long when the traffic flow is large.
Description
Technical Field
The invention relates to the technical field of video monitoring, in particular to a traffic light self-adaptive control method and device, traffic control equipment and a storage medium.
Background
With the rapid development of economy in China, the number of private cars is increasing day by day, and the phenomena of road congestion and road blockage are getting more and more serious. At present, a lot of intersections for controlling traffic by traffic lights exist in cities, the control of the traffic lights at the intersections basically does not realize intellectualization, parameters such as the switching sequence and the switching time of the traffic lights are all fixedly set manually, and the traffic flow of the traffic lights which is dynamically changed can not be dynamically controlled, so that the situations that the traffic flow of a certain direction still occupies longer green light passing time when the traffic flow of the certain direction is small, and the traffic flow of the other direction is large, and the traffic flow is short, and is crowded and blocked are caused.
Therefore, if the traffic lights can be dynamically controlled in real time according to the dynamic traffic flow, the time for green light is short when the traffic flow is small, the time for green light is long when the traffic flow is large, and different traffic lights are adopted for different types of vehicles, the traffic capacity of roads can be improved, and the road congestion phenomenon can be relieved.
Disclosure of Invention
In view of the above, there is a need for a traffic light adaptive control method, apparatus, traffic control device and storage medium, which can dynamically control the indication number of the traffic light in the traffic direction according to the type of the vehicle and the expected time of the vehicle reaching the intersection, so that the red light display time is short when the traffic flow is small and the green light display time is long when the traffic flow is large.
A first aspect of the present invention provides a traffic light adaptive control method, including:
acquiring an image of a vehicle within a preset distance of an intersection;
identifying a type of the vehicle in the image;
calculating an expected time for the vehicle to travel to the intersection;
when the type of the vehicle is a target type and the indicator light in the passing direction is a green light, acquiring the remaining time of the green light and the starting time of the next green light;
judging whether the expected time is less than the starting time of the green light and greater than the remaining time of the green light;
extending the remaining time of the green light when the expected time is greater than the remaining time of the green light and less than the starting time of the green light.
In an optional embodiment, when the type of the vehicle is a target type and the indicator light in the traffic direction is a red light, the method further comprises:
acquiring the remaining time of the red light and the starting time of the red light next time;
judging whether the expected time is less than the starting time of the red light and greater than the remaining time of the red light;
when the expected time is greater than the start time of the red light, keeping the remaining time of the red light unchanged;
when the expected time is less than or equal to the start time of the red light, reducing the remaining time of the red light.
In an optional embodiment, when the expected time is less than the remaining time of the green light or greater than the start time of the green light, the method further comprises:
acquiring the traffic density of the intersection;
when the traffic density is larger than or equal to a preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second;
and when the traffic density is smaller than the preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of less than 1 second.
In an optional embodiment, before the obtaining the traffic density at the intersection, the method further comprises:
acquiring the indicating number of the green light;
judging whether the indicating number is smaller than a preset indicating number threshold value or not;
when the indicating number is determined to be smaller than or equal to the preset indicating number threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second;
and when the indicating number is determined to be larger than the preset indicating number threshold value, acquiring the traffic flow density of the intersection.
In an optional embodiment, in the extending the remaining time of the green light, the method further comprises:
the remaining time of the red light in the other direction intersecting the traffic direction is prolonged.
In an alternative embodiment, the calculating the expected time for the vehicle to travel to the intersection includes:
detecting the outline of the vehicle in the image by adopting a multi-target detection algorithm;
calculating an area ratio of the contour of the vehicle to the image;
according to the corresponding relation between the preset area ratio and the distance, taking the distance corresponding to the area ratio as the estimated distance between the vehicle and the intersection;
and calculating the expected time of the vehicle running to the intersection according to the estimated distance and the preset speed.
In an alternative embodiment, the identifying the type of the vehicle in the image comprises:
inputting the image into a vehicle type recognition model trained in advance;
and determining the type of the vehicle according to the recognition result output by the vehicle type recognition model.
A second aspect of the present invention provides a traffic light adaptive control apparatus, the apparatus comprising:
the acquisition module is used for acquiring an image of a vehicle within a preset distance of the intersection;
an identification module for identifying a type of the vehicle in the image;
a calculation module for calculating an expected time for the vehicle to travel to the intersection;
the acquisition module is further used for acquiring the remaining time of the green light and the starting time of the next green light when the type of the vehicle is the target type and the indicator light in the passing direction is the green light;
the judging module is used for judging whether the expected time is less than the starting time of the green light and greater than the remaining time of the green light;
the control module is used for prolonging the residual time of the green light when the expected time is larger than the residual time of the green light and smaller than the starting time of the green light.
A third aspect of the invention provides a traffic control device comprising a processor for implementing the traffic light adaptive control method when executing a computer program stored in a memory.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the traffic light adaptive control method.
In summary, the traffic light adaptive control method, the traffic light adaptive control apparatus, the traffic control device, and the storage medium according to the embodiments of the present invention can dynamically control the indication number of the traffic light in the traffic direction according to the expected arrival time of the target type vehicle at the intersection, so that the red light display time is short when the traffic flow is small, and the green light display time is long when the traffic flow is large, which is very beneficial to improving the road traffic capacity of the target type vehicle and alleviating the congestion phenomenon of the target type vehicle.
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a traffic light adaptive control method according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a traffic light adaptive control device according to a second embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a traffic control device according to a third embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. 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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example one
Fig. 1 is a flowchart of a traffic light adaptive control method according to an embodiment of the present invention.
In this embodiment, for a traffic control device that needs to perform adaptive control of a traffic light, the traffic control device may directly integrate the traffic light adaptive control function provided by the method of the present invention, or operate in the traffic control device in the form of a Software Development Kit (SKD).
As shown in fig. 1, the traffic light adaptive control method specifically includes the following steps, and the order of the steps in the flowchart may be changed and some may be omitted according to different requirements.
And S11, acquiring images of vehicles within a preset distance of the intersection.
In this embodiment, at least one traffic light control system and an image acquisition device may be disposed at an intersection, for example, an intersection or a T-junction, for acquiring an image of a vehicle at the intersection. At least one image acquisition device can be provided for each traffic direction for acquiring images of the vehicles in the traffic direction. And an image acquisition device can be correspondingly arranged for each lane in each passing direction and is used for acquiring the images of the vehicles in the lanes in the passing direction.
The acquisition distance or the acquisition range of the image acquisition device can be preset, and the image of the vehicle in the passing direction can be acquired only within the preset acquisition distance or the preset acquisition range. The image acquisition equipment acquires the vehicle within a preset acquisition distance or acquisition range, and the vehicle is indicated to be within a preset distance or a preset range of the intersection.
S12, identifying the type of the vehicle in the image.
In this embodiment, after the image of the vehicle within the preset distance of the intersection is acquired by the image acquisition device, the type of the vehicle needs to be identified.
It is possible to acquire a plurality of vehicles in advance and classify the vehicles into a plurality of types. In this embodiment, the vehicles are divided into three types, but the vehicles are not limited to the three types, and may be divided into two or more types according to actual situations and requirements.
Wherein the first type of vehicle comprises: vehicles requiring emergency passage, such as fire trucks, police cars, ambulances, etc. performing emergency tasks, or military vehicles performing tasks, etc. As the fire engine, the public security vehicle, the emergency ambulance, the military vehicle and the like relate to personal safety and national safety, the man-in-the-second competition is necessary, and much waiting time is delayed. The second type of vehicle includes: vehicles of a priority class, such as buses, trams, etc. Public transport is set as a vehicle with a priority level, people are called to ride the public transport, and environmental pollution is reduced. The third type of vehicle includes: all vehicles other than the first type and the second type may be, for example, ordinary type vehicles.
The first type may be determined as a target type, and the second type and the third type may be determined as non-target types; the first type and the second type may also be determined as a target type, and the third type may also be determined as a non-target type. The invention is not limited in any way here.
In an alternative embodiment, the identifying the type of the vehicle in the image comprises:
inputting the image into a vehicle type recognition model trained in advance;
and determining the type of the vehicle according to the recognition result output by the vehicle type recognition model.
In this embodiment, a large number of images of the vehicle may be collected in advance, the collected images of the vehicle may be labeled according to a predefined type, the collected images of the vehicle and the corresponding type may be input into a preset neural network as a data set to be trained, so as to obtain a vehicle type recognition model, and subsequently, the vehicle type may be determined according to a recognition result output by the vehicle type recognition model, only by inputting the images of the vehicle into the trained vehicle type recognition model. The vehicle type recognition model may be an object detection and recognition algorithm based on deep learning, for example, based on the fast target detection algorithm faster RCNN, but is not limited to the above algorithm. In particular, since the vehicle type recognition model is not the focus of the present invention, the process of how to train the vehicle type recognition model will not be elaborated herein.
And S13, calculating the expected time for the vehicle to travel to the intersection.
In the embodiment, the expected time of the vehicle running to the intersection needs to be calculated, so that the traffic lights at the intersection can be dynamically controlled according to the expected time.
In an alternative embodiment, the calculating the expected time for the vehicle to travel to the intersection includes:
detecting the outline of the vehicle in the image by adopting a target detection algorithm;
calculating an area ratio of the contour of the vehicle to the image;
according to the corresponding relation between the preset area ratio and the distance, taking the distance corresponding to the area ratio as the estimated distance between the vehicle and the intersection;
and calculating the expected time of the vehicle running to the intersection according to the estimated distance and the preset speed.
The target detection algorithm may be a fast multi-target detection algorithm (young Only Look one: Better, fast, Stronger, YOLO), and may detect a plurality of targets in an image at the same time, and select a contour region of each target in a rectangular frame. The target detection algorithm is the prior art, and the invention is not described in detail herein.
In the embodiment, a plurality of vehicle images can be collected within a preset collection range, and the distance between a vehicle and an intersection is calibrated in advance; then calculating the area ratio between the outline of the vehicle in the vehicle image and the whole vehicle image; and finally, forming a corresponding relation between the area ratio and the distance for storage. Subsequently, the distance between the vehicle and the intersection can be estimated only by identifying the outline of the vehicle, calculating the area ratio of the outline of the vehicle to the image and then according to the stored corresponding relation. Of course, in other embodiments, the estimated distance between the vehicle and the intersection may also be determined by training the vehicle distance recognition model and determining the recognition result output by the vehicle distance recognition model. When the estimated distance between the vehicle and the intersection is determined, the expected time can be calculated according to the estimated distance and the preset speed. The preset speed refers to a predefined maximum driving speed in the traffic direction.
And S14, when the type of the vehicle is the target type and the indicator light in the traffic direction is a green light, acquiring the remaining time of the green light and the starting time of the next green light.
Firstly, judging whether the type of the vehicle is a target type, and then judging whether an indicator light in the passing direction is a green light. Or judging whether the indicator light in the passing direction is a green light or not, and then judging whether the type of the vehicle is the target type or not. And whether the type of the vehicle is the target type or not and whether the indicator light in the passing direction is a green light or not can be judged simultaneously. Thus, several situations can be obtained: the type of the vehicle is a target type, the indicator light in the passing direction is a green light, the type of the vehicle is a target type, the indicator light in the passing direction is a red light, the type of the vehicle is a non-target type, the indicator light in the passing direction is a green light, and the type of the vehicle is a non-target type, and the indicator light in the passing direction is a red light.
In this embodiment, a target type of vehicle may be intensively studied, and when the indicator light in the passing direction is a green light, it indicates that the vehicle is allowed to pass, but since there is a distance between the vehicle and the intersection at this time, it is necessary to acquire the remaining time of the green light and the starting time of the next green light, so as to adaptively control the changing time of the indicator number of the green light in the passing direction according to the expected time when the vehicle reaches the intersection, the remaining time of the green light and the starting time of the next green light, and achieve the purpose of saving the passing time of the target type of vehicle.
S15, judging whether the expected time is less than the starting time of the green light and more than the remaining time of the green light.
It is understood that the time from the start of the next green light (referred to simply as the start time of the green light) is longer than the remaining time of the green light.
S16, when the expected time is larger than the remaining time of the green light and smaller than the starting time of the green light, prolonging the remaining time of the green light.
If the expected time is less than the starting time of the green light and greater than the remaining time of the green light, the indication light of the intersection is the green light when the vehicle drives to the intersection, but the indication light of the intersection is changed into the red light when the vehicle reaches the intersection. If the expected time is less than the remaining time of the green light, the indication light of the intersection is the green light when the vehicle drives to the intersection, but the indication light of the intersection is still the green light when the vehicle arrives at the intersection. If the expected time is greater than the starting time of the green light, the indication light of the intersection is a red light when the vehicle is driven to the intersection, but the indication light of the intersection is changed into the green light when the vehicle reaches the intersection; or when the vehicle is driven to the intersection, the indicating lamp of the intersection is green but quickly turns to red, but when the vehicle reaches the intersection, the indicating lamp of the intersection turns to green from red.
For example, assume that the estimated distance between the vehicle of the target type and the intersection is L, the preset speed in the passing direction is V, T is the expected time calculated according to the estimated distance L and the preset speed V, tR is the remaining time of the green light, and tG is the starting time of the next green light. And if tR < T < tG, delaying the current display time of the green light, namely prolonging the residual time of the green light, so that the vehicle can pass through the intersection by indicating the green light when reaching the intersection. If T < tR, or T > tG, then nothing may be done, i.e. the remaining time of the green light is kept constant.
In an optional embodiment, in the extending the remaining time of the green light, the method further comprises:
the remaining time of the red light in the other direction intersecting the traffic direction is prolonged.
The residual time of the green light in a certain traffic direction is delayed, and the residual time of the red light in other traffic directions intersecting the traffic direction is also delayed until the node of the traffic light conversion period returns to the control state.
In an optional embodiment, when the expected time is less than the remaining time of the green light or greater than the start time of the green light, the method further comprises:
acquiring the traffic density of the intersection;
when the traffic density is larger than or equal to a preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second;
and when the traffic density is smaller than the preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of less than 1 second.
In the prior art, when the display time of the green light is counted down, the indication number of the green light changes by 1 at a rate of 1 second. In this embodiment, the variation speed of the indication number of the green light may be adaptively changed according to the traffic density, for example, when the traffic density is greater than or equal to the preset traffic density threshold, which indicates that the traffic flow is large, the indication number of the green light is reduced by 1 every 1.5 seconds or every 2 seconds, so as to slow down the variation of the indication number of the green light, thereby prolonging the time for the vehicle to pass through the intersection; when the traffic density is smaller than the preset traffic density threshold value, the traffic flow is smaller, the indicating number of the green light is reduced by 1 every 0.75 second, so that the variation of the indicating number of the green light is improved, and the number of times that pedestrians pass through the intersection is prolonged.
Further, before the obtaining the traffic density of the intersection, the method further comprises:
acquiring the indicating number of the green light;
judging whether the indicating number is smaller than a preset indicating number threshold value or not;
when the indicating number is determined to be smaller than or equal to the preset indicating number threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second;
and when the indicating number is determined to be larger than the preset indicating number threshold value, acquiring the traffic flow density of the intersection.
In this embodiment, it is necessary to preferentially perform adaptive control according to the indication number of the green light, that is, when the indication number of the green light is smaller than the preset indication number threshold, the change speed of the indication number of the green light is only slow, but not fast, no matter the traffic flow is large or small. That is, when the indication number of the green light is smaller than the preset indication number threshold, the indication number of the green light is controlled to be decreased at a speed of more than 1 second. Therefore, the wrong estimated time of the habitual yellow light running driver can be avoided, and the habitual yellow light running driver can pass the estimation of the yellow light when the yellow light countdown is close, so that the habitual yellow light running driver cannot slow down in advance. Therefore, under the condition that the indicating number of the green light is smaller than the preset indicating number threshold value, if the indicating number for controlling the green light is reduced at the speed of less than 1 second, the driver can not accurately predict the time, so that emergency braking is caused at the intersection, and unsafe accidents are easily caused by the emergency braking.
The preset indicating number threshold is a critical value for the driver to start controlling the vehicle speed without emergency braking when seeing the indicating number of the indicating lamp, and may be 10, for example.
When the indicating number of the green light is larger than the preset indicating number threshold value, the traffic flow density of the intersection can be obtained, and the changing display of the indicating number of the green light is controlled according to the traffic flow density in a self-adaptive mode.
In an optional embodiment, when the type of the vehicle is a target type and the indicator light in the traffic direction is a red light, the method further comprises:
acquiring the remaining time of the red light and the starting time of the red light next time;
judging whether the expected time is less than the starting time of the red light and greater than the remaining time of the red light;
when the expected time is greater than the start time of the red light, keeping the remaining time of the red light unchanged;
when the expected time is less than or equal to the start time of the red light, reducing the remaining time of the red light.
For example, assume that the estimated distance between the vehicle of the target type and the intersection is L ', the preset speed in the passing direction is V ', T ' is the expected time calculated according to the estimated distance L ' and the preset speed V ', tR ' is the remaining time of the current red light, and tG ' is the starting time of the next red light. If T '> tG', then no processing can be done currently, e.g. keeping the remaining time of the red light unchanged, waiting for a decision to be made after a green light. Conversely, if T '< ═ tG', then the remaining time for the current red light is reduced.
When the target type vehicle is found to be in the preset acquisition range, the remaining time of the green light in the passing direction is prolonged, so that the target type vehicle can pass through the intersection, or the remaining time of the red light in the passing direction is shortened, the time for the target type vehicle to wait for the red light at the intersection is reduced, the probability that the target type vehicle passes through the intersection can be improved, and the congestion of the first type vehicle is relieved.
For a non-target type vehicle, when it is detected that the indicator light at the intersection is green, and the remaining time tR of the green light exceeds 10, no processing is performed, that is, no determination may be performed. When the expected time T < the remaining time tR-3 of the green light, no processing is performed. When the expected time T > the remaining time tR +5 of the green lamp, no processing is performed.
Further, when it is detected that the intersection is congested, the method further includes:
and controlling the indicator lights in all passing directions of the intersection to be red lights and display preset time.
In this embodiment, when detecting that the current intersection causes traffic jam because of reasons such as traffic accident or robbing yellow light, after the yellow light switches over, the pilot lamp in all traffic directions is controlled to be red light and red light duration several seconds to eliminate the influence of traffic congestion, carry out self-adaptation change lamp after the traffic congestion of clear intersection again and show.
It should be noted that, in real life, the indicator lights in each passing direction of the intersection are all related, for example, the indicator lights in the north and south passing directions are green lights, and the indicator lights in the east and west passing directions are necessarily red lights; similarly, the indicator light in the north-south traffic direction is a red light, and the indicator light in the east-west traffic direction is a green light necessarily. Therefore, according to the idea of the present invention, the speed of the change of the indicator number of the indicator lamp of each color can be adaptively controlled.
In addition, the above embodiment is directed to a single intersection, and when a vehicle in a certain direction is found to block from an adjacent intersection to an intersection, the traffic lights of two intersections in the passing direction can be controlled in an interlocking manner for a plurality of intersections in the same passing direction. The linkage control means that the traffic lights of two intersections are controlled to change simultaneously, and when the display time of the green light of the adjacent intersection is prolonged, the display time of the green light of the next intersection is prolonged. Or when the fact that the traffic density in the direction of the high-grade highway is larger than the traffic density in the direction of the low-grade highway is detected, the indicator lamps at the intersection of the high-grade highway are subjected to linkage control. When the traffic flow is congested, when the distance between two adjacent traffic lights is less than Lmin, the traffic lights are correlated, and the traffic lights turn red or green simultaneously in the direction of the main road. And will not be described in detail herein.
In conclusion, the traffic light self-adaptive control method provided by the invention can dynamically control the indication number of the traffic light in the traffic direction according to the expected time when the target type vehicle reaches the intersection, so that the red light display time is short when the traffic flow is small, and the green light display time is long when the traffic flow is large, thereby being very beneficial to improving the road traffic capacity of the target type vehicle and relieving the congestion phenomenon of the target type vehicle.
Example two
Fig. 2 is a structural diagram of a traffic light adaptive control device according to a second embodiment of the present invention.
In some embodiments, the traffic light adaptive control device 20 may include a plurality of functional modules composed of program code segments. The program code of each program segment in the traffic light adaptive control device 20 may be stored in the memory of the traffic control device and executed by the at least one processor to perform all or part of the steps of the method according to the embodiment of the present invention (described in detail with reference to fig. 1).
In this embodiment, the traffic light adaptive control device 20 may be divided into a plurality of functional modules according to the functions performed by the traffic light adaptive control device. The functional module may include: the device comprises an acquisition module 201, an identification module 202, a calculation module 203, a judgment module 204, a control module 205 and a linkage module 206. The module referred to herein is a series of computer program segments capable of being executed by at least one processor and capable of performing a fixed function and is stored in memory. In the present embodiment, the functions of the modules will be described in detail in the following embodiments.
The acquiring module 201 is configured to acquire an image of a vehicle within a preset distance of an intersection.
In this embodiment, at least one traffic light control system and an image acquisition device may be disposed at an intersection, for example, an intersection or a T-junction, for acquiring an image of a vehicle at the intersection. At least one image acquisition device can be provided for each traffic direction for acquiring images of the vehicles in the traffic direction. And an image acquisition device can be correspondingly arranged for each lane in each passing direction and is used for acquiring the images of the vehicles in the lanes in the passing direction.
The acquisition distance or the acquisition range of the image acquisition device can be preset, and the image of the vehicle in the passing direction can be acquired only within the preset acquisition distance or the preset acquisition range. The image acquisition equipment acquires the vehicle within a preset acquisition distance or acquisition range, and the vehicle is indicated to be within a preset distance or a preset range of the intersection.
An identification module 202 for identifying the type of the vehicle in the image.
In this embodiment, after the image of the vehicle within the preset distance of the intersection is acquired by the image acquisition device, the type of the vehicle needs to be identified.
It is possible to acquire a plurality of vehicles in advance and classify the vehicles into a plurality of types. In this embodiment, the vehicles are divided into three types, but the vehicles are not limited to the three types, and may be divided into two or more types according to actual situations and requirements.
Wherein the first type of vehicle comprises: vehicles requiring emergency passage, such as fire trucks, police cars, ambulances, etc. performing emergency tasks, or military vehicles performing tasks, etc. As the fire engine, the public security vehicle, the emergency ambulance, the military vehicle and the like relate to personal safety and national safety, the man-in-the-second competition is necessary, and much waiting time is delayed. The second type of vehicle includes: vehicles of a priority class, such as buses, trams, etc. Public transport is set as a vehicle with a priority level, people are called to ride the public transport, and environmental pollution is reduced. The third type of vehicle includes: all vehicles other than the first type and the second type may be, for example, ordinary type vehicles.
The first type may be determined as a target type, and the second type and the third type may be determined as non-target types; the first type and the second type may also be determined as a target type, and the third type may also be determined as a non-target type. The invention is not limited in any way here.
In an alternative embodiment, the identifying module 202 identifies the type of the vehicle in the image includes:
inputting the image into a vehicle type recognition model trained in advance;
and determining the type of the vehicle according to the recognition result output by the vehicle type recognition model.
In this embodiment, a large number of images of the vehicle may be collected in advance, the collected images of the vehicle may be labeled according to a predefined type, the collected images of the vehicle and the corresponding type may be input into a preset neural network as a data set to be trained, so as to obtain a vehicle type recognition model, and subsequently, the vehicle type may be determined according to a recognition result output by the vehicle type recognition model, only by inputting the images of the vehicle into the trained vehicle type recognition model. The vehicle type recognition model may be an object detection and recognition algorithm based on deep learning, for example, based on the fast target detection algorithm faster RCNN, but is not limited to the above algorithm. In particular, since the vehicle type recognition model is not the focus of the present invention, the process of how to train the vehicle type recognition model will not be elaborated herein.
A calculation module 203 for calculating an expected time for the vehicle to travel to the intersection.
In the embodiment, the expected time of the vehicle running to the intersection needs to be calculated, so that the traffic lights at the intersection can be dynamically controlled according to the expected time.
In an alternative embodiment, the calculating module 203 calculating the expected time for the vehicle to travel to the intersection includes:
detecting the outline of the vehicle in the image by adopting a target detection algorithm;
calculating an area ratio of the contour of the vehicle to the image;
according to the corresponding relation between the preset area ratio and the distance, taking the distance corresponding to the area ratio as the estimated distance between the vehicle and the intersection;
and calculating the expected time of the vehicle running to the intersection according to the estimated distance and the preset speed.
The target detection algorithm may be a fast multi-target detection algorithm (young Only Look one: Better, fast, Stronger, YOLO), and may detect a plurality of targets in an image at the same time, and select a contour region of each target in a rectangular frame. The target detection algorithm is the prior art, and the invention is not described in detail herein.
In the embodiment, a plurality of vehicle images can be collected within a preset collection range, and the distance between a vehicle and an intersection is calibrated in advance; then calculating the area ratio between the outline of the vehicle in the vehicle image and the whole vehicle image; and finally, forming a corresponding relation between the area ratio and the distance for storage. Subsequently, the distance between the vehicle and the intersection can be estimated only by identifying the outline of the vehicle, calculating the area ratio of the outline of the vehicle to the image and then according to the stored corresponding relation. Of course, in other embodiments, the estimated distance between the vehicle and the intersection may also be determined by training the vehicle distance recognition model and determining the recognition result output by the vehicle distance recognition model. When the estimated distance between the vehicle and the intersection is determined, the expected time can be calculated according to the estimated distance and the preset speed. The preset speed refers to a predefined maximum driving speed in the traffic direction.
The obtaining module 201 is further configured to obtain the remaining time of the green light and the starting time of the next green light when the type of the vehicle is the target type and the indicator light in the passing direction is the green light.
Firstly, judging whether the type of the vehicle is a target type, and then judging whether an indicator light in the passing direction is a green light. Or judging whether the indicator light in the passing direction is a green light or not, and then judging whether the type of the vehicle is the target type or not. And whether the type of the vehicle is the target type or not and whether the indicator light in the passing direction is a green light or not can be judged simultaneously. Thus, several situations can be obtained: the type of the vehicle is a target type, the indicator light in the passing direction is a green light, the type of the vehicle is a target type, the indicator light in the passing direction is a red light, the type of the vehicle is a non-target type, the indicator light in the passing direction is a green light, and the type of the vehicle is a non-target type, and the indicator light in the passing direction is a red light.
In this embodiment, a target type of vehicle may be intensively studied, and when the indicator light in the passing direction is a green light, it indicates that the vehicle is allowed to pass, but since there is a distance between the vehicle and the intersection at this time, it is necessary to acquire the remaining time of the green light and the starting time of the next green light, so as to adaptively control the changing time of the indicator number of the green light in the passing direction according to the expected time when the vehicle reaches the intersection, the remaining time of the green light and the starting time of the next green light, and achieve the purpose of saving the passing time of the target type of vehicle.
A determining module 204, configured to determine whether the expected time is less than the start time of the green light and greater than the remaining time of the green light.
It is understood that the time from the start of the next green light (referred to simply as the start time of the green light) is longer than the remaining time of the green light.
A control module 205 for extending the remaining time of the green light when the expected time is greater than the remaining time of the green light and less than the starting time of the green light.
If the expected time is less than the starting time of the green light and greater than the remaining time of the green light, the indication light of the intersection is the green light when the vehicle drives to the intersection, but the indication light of the intersection is changed into the red light when the vehicle reaches the intersection. If the expected time is less than the remaining time of the green light, the indication light of the intersection is the green light when the vehicle drives to the intersection, but the indication light of the intersection is still the green light when the vehicle arrives at the intersection. If the expected time is greater than the starting time of the green light, the indication light of the intersection is a red light when the vehicle is driven to the intersection, but the indication light of the intersection is changed into the green light when the vehicle reaches the intersection; or when the vehicle is driven to the intersection, the indicating lamp of the intersection is green but quickly turns to red, but when the vehicle reaches the intersection, the indicating lamp of the intersection turns to green from red.
For example, assume that the estimated distance between the vehicle of the target type and the intersection is L, the preset speed in the passing direction is V, T is the expected time calculated according to the estimated distance L and the preset speed V, tR is the remaining time of the green light, and tG is the starting time of the next green light. And if tR < T < tG, delaying the current display time of the green light, namely prolonging the residual time of the green light, so that the vehicle can pass through the intersection by indicating the green light when reaching the intersection. If T < tR, or T > tG, then nothing may be done, i.e. the remaining time of the green light is kept constant.
In an optional embodiment, when the remaining time of the green light is extended, the control module 205 is further configured to: the remaining time of the red light in the other direction intersecting the traffic direction is prolonged.
The residual time of the green light in a certain traffic direction is delayed, and the residual time of the red light in other traffic directions intersecting the traffic direction is also delayed until the node of the traffic light conversion period returns to the control state.
In an optional embodiment, when the expected time is less than the remaining time of the green light or greater than the starting time of the green light, the obtaining module 201 is further configured to: acquiring the traffic density of the intersection;
the control module 205 is further configured to control the indication number of the green light to be reduced by 1 for displaying at a speed greater than 1 second when the traffic density is greater than or equal to a preset traffic density threshold;
the control module 205 is further configured to control the indication number of the green light to be reduced by 1 for displaying at a speed of less than 1 second when the traffic density is less than the preset traffic density threshold.
In the prior art, when the display time of the green light is counted down, the indication number of the green light changes by 1 at a rate of 1 second. In this embodiment, the variation speed of the indication number of the green light may be adaptively changed according to the traffic density, for example, when the traffic density is greater than or equal to the preset traffic density threshold, which indicates that the traffic flow is large, the indication number of the green light is reduced by 1 every 1.5 seconds or every 2 seconds, so as to slow down the variation of the indication number of the green light, thereby prolonging the time for the vehicle to pass through the intersection; when the traffic density is smaller than the preset traffic density threshold value, the traffic flow is smaller, the indicating number of the green light is reduced by 1 every 0.75 second, so that the variation of the indicating number of the green light is improved, and the number of times that pedestrians pass through the intersection is prolonged.
Further, before the obtaining the traffic density of the intersection, the obtaining module 201 is further configured to: acquiring the indicating number of the green light;
the judging module 204 is further configured to judge whether the indication number is smaller than a preset indication number threshold;
the control module 205 is further configured to, when it is determined that the indication number is less than or equal to the preset indication number threshold, control the indication number of the green light to be reduced by 1 for display at a speed greater than 1 second;
the obtaining module 201 is further configured to obtain the traffic density at the intersection when it is determined that the indicator is greater than the preset indicator threshold.
In this embodiment, it is necessary to preferentially perform adaptive control according to the indication number of the green light, that is, when the indication number of the green light is smaller than the preset indication number threshold, the change speed of the indication number of the green light is only slow, but not fast, no matter the traffic flow is large or small. That is, when the indication number of the green light is smaller than the preset indication number threshold, the indication number of the green light is controlled to be decreased at a speed of more than 1 second. Therefore, the wrong estimated time of the habitual yellow light running driver can be avoided, and the habitual yellow light running driver can pass the estimation of the yellow light when the yellow light countdown is close, so that the habitual yellow light running driver cannot slow down in advance. Therefore, under the condition that the indicating number of the green light is smaller than the preset indicating number threshold value, if the indicating number for controlling the green light is reduced at the speed of less than 1 second, the driver can not accurately predict the time, so that emergency braking is caused at the intersection, and unsafe accidents are easily caused by the emergency braking.
The preset indicating number threshold is a critical value for the driver to start controlling the vehicle speed without emergency braking when seeing the indicating number of the indicating lamp, and may be 10, for example.
When the indicating number of the green light is larger than the preset indicating number threshold value, the traffic flow density of the intersection can be obtained, and the changing display of the indicating number of the green light is controlled according to the traffic flow density in a self-adaptive mode.
In an optional embodiment, the obtaining module 201 is further configured to obtain the remaining time of the red light and the starting time of the next red light when the type of the vehicle is the target type and the indicator light in the traffic direction is the red light;
the determining module 204 is further configured to determine whether the expected time is less than the start time of the red light and greater than the remaining time of the red light;
the control module 205 is further configured to keep the remaining time of the red light unchanged when the expected time is greater than the starting time of the red light;
the control module 205 is further configured to decrease the remaining time of the red light when the expected time is less than or equal to the starting time of the red light.
For example, assume that the estimated distance between the vehicle of the target type and the intersection is L ', the preset speed in the passing direction is V ', T ' is the expected time calculated according to the estimated distance L ' and the preset speed V ', tR ' is the remaining time of the current red light, and tG ' is the starting time of the next red light. If T '> tG', then no processing can be done currently, e.g. keeping the remaining time of the red light unchanged, waiting for a decision to be made after a green light. Conversely, if T '< ═ tG', then the remaining time for the current red light is reduced.
When the target type vehicle is found to be in the preset acquisition range, the remaining time of the green light in the passing direction is prolonged, so that the target type vehicle can pass through the intersection, or the remaining time of the red light in the passing direction is shortened, the time for the target type vehicle to wait for the red light at the intersection is reduced, the probability that the target type vehicle passes through the intersection can be improved, and the congestion of the first type vehicle is relieved.
For a non-target type vehicle, when it is detected that the indicator light at the intersection is green, and the remaining time tR of the green light exceeds 10, no processing is performed, that is, no determination may be performed. When the expected time T < the remaining time tR-3 of the green light, no processing is performed. When the expected time T > the remaining time tR +5 of the green lamp, no processing is performed.
Further, when the congestion at the intersection is detected, the control module 205 is further configured to:
and controlling the indicator lights in all passing directions of the intersection to be red lights and display preset time.
In this embodiment, when detecting that the current intersection causes traffic jam because of reasons such as traffic accident or robbing yellow light, after the yellow light switches over, the pilot lamp in all traffic directions is controlled to be red light and red light duration several seconds to eliminate the influence of traffic congestion, carry out self-adaptation change lamp after the traffic congestion of clear intersection again and show.
It should be noted that, in real life, the indicator lights in each passing direction of the intersection are all related, for example, the indicator lights in the north and south passing directions are green lights, and the indicator lights in the east and west passing directions are necessarily red lights; similarly, the indicator light in the north-south traffic direction is a red light, and the indicator light in the east-west traffic direction is a green light necessarily. Therefore, according to the idea of the present invention, the speed of the change of the indicator number of the indicator lamp of each color can be adaptively controlled.
In the above embodiment, the coordinated control is performed for a single intersection and for a plurality of intersections in the same traffic direction.
And the linkage module 206 is used for performing linkage control on the traffic lights of the two intersections in the passing direction when the vehicles in a certain direction are found to block the intersections from the adjacent intersections. The linkage control means that the traffic lights of two intersections are controlled to change simultaneously, and when the display time of the green light of the adjacent intersection is prolonged, the display time of the green light of the next intersection is prolonged. Or when the fact that the traffic density in the direction of the high-grade highway is larger than the traffic density in the direction of the low-grade highway is detected, the indicator lamps at the intersection of the high-grade highway are subjected to linkage control. When the traffic flow is congested, when the distance between two adjacent traffic lights is less than Lmin, the traffic lights are correlated, and the traffic lights turn red or green simultaneously in the direction of the main road. And will not be described in detail herein.
In summary, the traffic light adaptive control device provided by the invention can dynamically control the indication number of the traffic light in the traffic direction according to the expected time of the target type vehicle reaching the intersection, so that the red light display time is short when the traffic flow is small, and the green light display time is long when the traffic flow is large, which is very beneficial to improving the road traffic capacity of the target type vehicle and relieving the congestion phenomenon of the target type vehicle.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a traffic control device according to a third embodiment of the present invention. In the preferred embodiment of the present invention, the traffic control device 3 includes a memory 31, at least one processor 32, at least one communication bus 33, and a transceiver 34.
It will be appreciated by those skilled in the art that the configuration of the traffic control device shown in fig. 3 does not constitute a limitation of the embodiments of the present invention, and may be either a bus-type configuration or a star-type configuration, and that the traffic control device 3 may also include more or less hardware or software than shown, or a different arrangement of components.
In some embodiments, the traffic control device 3 includes a traffic control device capable of automatically performing numerical calculation and/or information processing according to instructions set or stored in advance, and the hardware includes, but is not limited to, a microprocessor, an application specific integrated circuit, a programmable gate array, a digital processor, an embedded device, and the like. The traffic control device 3 may also include a client device, which includes, but is not limited to, any electronic product capable of interacting with a client through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device, for example, a personal computer, a tablet computer, a smart phone, a digital camera, etc.
It should be noted that the traffic control device 3 is only an example, and other existing or future electronic products, such as those that can be adapted to the present invention, should also be included in the scope of the present invention, and are included herein by reference.
In some embodiments, the memory 31 is used for storing program codes and various data, such as devices installed in the traffic control device 3, and realizes high-speed and automatic access to programs or data during the operation of the traffic control device 3. The Memory 31 includes a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an electronically Erasable rewritable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory (EEPROM)), an optical Read-Only disk (CD-ROM) or other optical disk Memory, a magnetic disk Memory, a tape Memory, or any other medium readable by a computer capable of carrying or storing data.
In some embodiments, the at least one processor 32 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same or different functions, including one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The at least one processor 32 is a Control Unit (Control Unit) of the traffic Control device 3, connects respective components of the entire traffic Control device 3 with various interfaces and lines, and executes various functions of the traffic Control device 3 and processes data by running or executing programs or modules stored in the memory 31 and calling data stored in the memory 31.
In some embodiments, the at least one communication bus 33 is arranged to enable connection communication between the memory 31 and the at least one processor 32 or the like.
Although not shown, the traffic control device 3 may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 32 through a power management device, so as to implement functions of managing charging, discharging, and power consumption through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The traffic control device 3 may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The integrated unit implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a traffic control device, or a network device) or a processor (processor) execute parts of the methods according to the embodiments of the present invention.
In a further embodiment, in conjunction with fig. 2, the at least one processor 32 may execute operating devices of the traffic control device 3 as well as installed various types of applications, program code, etc., such as the various modules described above.
The memory 31 has program code stored therein, and the at least one processor 32 can call the program code stored in the memory 31 to perform related functions. For example, the respective modules illustrated in fig. 2 are program codes stored in the memory 31 and executed by the at least one processor 32, thereby implementing the functions of the respective modules.
In one embodiment of the invention, the memory 31 stores a plurality of instructions that are executed by the at least one processor 32 to implement all or some of the steps of the method described in the embodiments of the invention.
Specifically, the at least one processor 32 may refer to the description of the relevant steps in the embodiment corresponding to fig. 1, and details are not repeated here.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or that the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (9)
1. A traffic light adaptive control method, characterized in that the method comprises:
acquiring an image of a vehicle within a preset distance of an intersection;
identifying a type of the vehicle in the image;
calculating an expected time for the vehicle to travel to the intersection;
when the type of the vehicle is a target type and the indicator light in the passing direction is a green light, acquiring the remaining time of the green light and the starting time of the next green light;
judging whether the expected time is less than the starting time of the green light and greater than the remaining time of the green light;
extending the remaining time of the green light when the expected time is greater than the remaining time of the green light and less than the starting time of the green light;
when the expected time is less than the remaining time of the green light or greater than the starting time of the green light, acquiring the traffic flow density of the intersection; when the traffic density is larger than or equal to a preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second; and when the traffic density is smaller than the preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of less than 1 second.
2. The method of claim 1, wherein when the type of vehicle is a target type and the indicator light in the direction of traffic is a red light, the method further comprises:
acquiring the remaining time of the red light and the starting time of the red light next time;
judging whether the expected time is less than the starting time of the red light and greater than the remaining time of the red light;
when the expected time is greater than the start time of the red light, keeping the remaining time of the red light unchanged;
when the expected time is less than or equal to the start time of the red light, reducing the remaining time of the red light.
3. The method of claim 1, wherein prior to the obtaining the traffic density at the intersection, the method further comprises:
acquiring the indicating number of the green light;
judging whether the indicating number is smaller than a preset indicating number threshold value or not;
when the indicating number is determined to be smaller than or equal to the preset indicating number threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second;
and when the indicating number is determined to be larger than the preset indicating number threshold value, acquiring the traffic flow density of the intersection.
4. The method of claim 1, wherein in said extending the remaining time of said green light, said method further comprises:
the remaining time of the red light in the other direction intersecting the traffic direction is prolonged.
5. The method of any one of claims 1-4, wherein the calculating the expected time for the vehicle to travel to the intersection comprises:
detecting the outline of the vehicle in the image by adopting a multi-target detection algorithm;
calculating an area ratio of the contour of the vehicle to the image;
according to the corresponding relation between the preset area ratio and the distance, taking the distance corresponding to the area ratio as the estimated distance between the vehicle and the intersection;
and calculating the expected time of the vehicle running to the intersection according to the estimated distance and the preset speed.
6. The method of any one of claims 1 to 4, wherein the identifying the type of the vehicle in the image comprises:
inputting the image into a vehicle type recognition model trained in advance;
and determining the type of the vehicle according to the recognition result output by the vehicle type recognition model.
7. A traffic light adaptive control apparatus, the apparatus comprising:
the acquisition module is used for acquiring an image of a vehicle within a preset distance of the intersection;
an identification module for identifying a type of the vehicle in the image;
a calculation module for calculating an expected time for the vehicle to travel to the intersection;
the acquisition module is further used for acquiring the remaining time of the green light and the starting time of the next green light when the type of the vehicle is the target type and the indicator light in the passing direction is the green light;
the judging module is used for judging whether the expected time is less than the starting time of the green light and greater than the remaining time of the green light;
the control module is used for prolonging the residual time of the green light when the expected time is greater than the residual time of the green light and less than the starting time of the green light;
the control module is further used for acquiring the traffic flow density of the intersection when the expected time is less than the remaining time of the green light or greater than the starting time of the green light; when the traffic density is larger than or equal to a preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of more than 1 second; and when the traffic density is smaller than the preset traffic density threshold value, controlling the indicating number of the green light to reduce by 1 for displaying at a speed of less than 1 second.
8. A traffic control device characterized in that it comprises a processor for implementing the traffic light adaptive control method according to any one of claims 1 to 6 when executing a computer program stored in a memory.
9. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the traffic light adaptive control method according to any one of claims 1 to 6.
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| CN113299029B (en) * | 2021-05-14 | 2022-11-15 | 大旗时代（天津）科技有限公司 | Wisdom fire control remote monitering system |
| CN113793518A (en) * | 2021-09-13 | 2021-12-14 | 浙江大华技术股份有限公司 | Vehicle passing processing method and device, electronic equipment and storage medium |
| CN114067579B (en) * | 2021-10-21 | 2023-01-03 | 信通院车联网创新中心(成都)有限公司 | Intelligent traffic signal control system and control method thereof |
| CN114664097B (en) * | 2022-05-25 | 2022-09-20 | 南京慧尔视智能科技有限公司 | Radar data-based green light dynamic extension method, device, equipment and medium |
| CN116013095A (en) * | 2023-03-24 | 2023-04-25 | 中国科学技术大学先进技术研究院 | Traffic light time dynamic control method, device, equipment and readable storage medium |
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