CN111341127A - Intelligent control system for intersection traffic signal lamp and control method thereof - Google Patents
Intelligent control system for intersection traffic signal lamp and control method thereof Download PDFInfo
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Abstract
The invention discloses an intelligent control system for traffic lights at intersections and a control method thereof, wherein the system can identify roads and vehicles in identification areas of roads in all directions at the intersections by using an identification control storage subsystem in an original intersection signal light fixed time control mode (hereinafter referred to as a fixed mode), judge the actual situation of the existence or non-existence of the vehicles, and change signal lights in real time to control the vehicles to pass in the fixed mode without being limited by the fixed time, thereby achieving the effect of improving the passing efficiency. And when the intelligent control of the signal lamp is finished, corresponding real-time data storage is carried out on the traffic live condition of roads in all directions of the intersection, and the stored data are counted and the fixed time length value in all directions are adaptively adjusted through the intersection traffic real-time data counting subsystem.
Description
Technical Field
The invention relates to an intelligent control system for intersection traffic lights and a control method thereof, belonging to the field of intelligent control of intersection traffic lights.
Background
At present, the control mode of traffic lights at urban intersections is based on a fixed time length control mode (hereinafter referred to as a fixed mode), and the control method is characterized in that whether vehicles exist or do not exist on roads in all directions of the intersections, the control signal lights indicate that the vehicles pass or do not pass according to set time length.
This fixed pattern is at a congested intersection (downtown or busy section or peak traffic). It should be said to be effective.
But at intersections with few vehicles (new areas built in cities or non-busy road sections or off-peak traffic), the control mode is effective but very inefficient.
At intersections where vehicles are rare there may be situations where: the green light in the east-west direction has no vehicle to pass, but the red light in the north-south direction has vehicles to wait for a period to pass, so that unnecessary waiting in the north-south direction is caused, and the passing efficiency is reduced, the idling energy consumption of the vehicle is increased, and redundant pollution emission is caused.
Therefore, it is of practical significance to improve the existing fixed mode of the intersection signal lamp so as to improve the traffic efficiency of the intersection.
The vehicle passing in each direction of the intersection before the fixed mode is commanded and controlled by people, and the method is characterized in that the subjective activity of people can be fully exerted, and the vehicle passing or waiting can be flexibly commanded according to the condition that vehicles exist or do not exist on the road in each direction of the intersection, and the method is represented as follows:
(1) when the traffic flow of the road is small, people can pass one side of the road once the other side of the road is empty according to the road condition, unnecessary waiting is reduced, and effectiveness and high efficiency are achieved.
(2) When the traffic flow of a road is large, the passing time of vehicles on the road in each direction at the intersection is difficult to be balanced by artificially directing the traffic, so that the passing time in each direction is unreasonable, and the contradiction is caused.
(3) People command traffic, need observe the intersection traffic flow condition constantly, but people's energy is limited, and long-time concentration can let the people excessively tired, and working strength is also very big, and every intersection all needs someone to command moreover, and the human cost is high.
Therefore, from the end of the 70 s to the beginning of the 80 s, a fixed mode control method of intersection traffic lights has appeared and is being used up to now. The mode effectively manages the traffic of the intersection, solves the problems (2) and (3), ensures the balance of the total passing time of all directions of the intersection, and reduces the cost of people. But has remarkable inflexibility, and whether vehicles exist in the other direction or not is not required to wait for a period, so that the efficiency is quite low.
Disclosure of Invention
The invention provides an intelligent control system for traffic lights at intersections and a control method thereof, wherein under an original intersection signal light fixed time control mode (hereinafter referred to as a fixed mode), an identification control module in the system is utilized to identify roads and vehicles in identification areas of roads in all directions at the intersection, the actual situation of the vehicles or the vehicles is judged, and under the fixed mode, the limitation of the fixed time is avoided, the signal lights are changed in real time to control the vehicles to pass, so that the effect of improving the passing efficiency is achieved.
The technical scheme adopted by the invention is as follows: an intelligent control system for traffic lights of intersections comprises a camera, a driving module, a calibration subsystem, an intersection database, an identification control storage subsystem, an intersection traffic real-time data statistics subsystem and a background remote database management subsystem;
the camera is connected with the driving module, the driving module is respectively connected with the calibration subsystem and the identification control storage subsystem, the identification control storage subsystem is connected with the intersection passing real-time data statistics subsystem, and the identification control storage subsystem and the intersection passing real-time data statistics subsystem are connected with the background remote database management subsystem; the intersection database is respectively connected with the identification control storage subsystem, the intersection traffic real-time data statistics subsystem and the background remote database management subsystem;
a driving module: completing the driving connection of the camera with the calibration subsystem and the identification control storage subsystem;
a calibration subsystem: calibrating an identification area on a frame image acquired by a camera;
identifying a control storage subsystem: the device comprises a control module, and an identification module and a storage module which are connected with the control module;
an identification module: identifying whether vehicles exist in the identification area or not in the fixed time period;
a control module: if the vehicle is always in the identification area, the control in the fixed mode is kept; on the contrary, if the identification area has no vehicle, namely is not limited by the fixed time length, the countdown is started in advance, and then the next signal lamp control phase is started;
a storage module: the time data is used for storing the time data from the starting state to the changing state of the signal lamp sent by the control module;
the intersection passage real-time data statistics subsystem: the device comprises a statistical module and a time length self-adaptive adjusting module;
a statistic module: the system runs synchronously with the identification control storage subsystem and is responsible for counting year, month and day statistical tables of traffic data of all directions of the intersection in real time by taking a set m time period as a cycle;
a time length self-adaptive adjusting module: taking a set m time period as a cycle, adjusting the fixed time length of each direction of the intersection according to the principle that the time length of the party with higher traffic efficiency value is reduced and the time length of the party with lower traffic efficiency value is increased, and writing the fixed time length into a database table of a background remote database management subsystem;
the intersection database stores data in a storage module in the identification control storage subsystem and a statistical module in the intersection passing real-time data statistical subsystem;
the background remote database management subsystem: comprises a retrieval analysis module;
the retrieval analysis module: and carrying out retrieval analysis on the data of the intersection database to obtain an analysis chart of the intersection traffic data.
Specifically, the identification area is determined as follows:
step 1) obtaining the speed limit value v of each direction road of the intersection at the current moment and the countdown duration t in the fixed mode1And a straight-line duration Ts and a left-turn duration Tl in the fixed mode;
step 2): dividing roads in all directions of the intersection into a buffer road section and an identification road section;
(1) the buffer section Sbf: the distance from the intersection center point to the opposite direction of the vehicle running is Sbf, and is calculated as follows:
Sbf＝v*t1(1)
(2) road identificationSection Sia, the distance from the tail end of the buffer section to the opposite direction of the vehicle running is Sia, t2The time for the vehicle to pass through the Sia section is calculated as follows:
t2＝Average(Ts,Tl)-t1(2)
Sia＝v*t2(3)。
specifically, the time length self-adaptive adjusting module adjusts the fixed time length of each direction of the intersection according to the following method:
firstly, readjusting the time lengths in the east-west direction and the south-north direction under the condition of ensuring that the sum of the time lengths in the east-west direction and the south-north direction of the intersection is not changed, wherein the readjusting comprises the following two conditions:
(1) if the absolute value of the efficiency difference value in the two directions is less than d%, the adjustment is not carried out, and the step two is directly carried out;
(2) if the absolute value of the efficiency difference value in the two directions is greater than or equal to d%, adjusting that the time length of the party with higher traffic efficiency value is reduced, and the time length of the party with lower traffic efficiency value is increased; secondly, on the basis that the fixed time length of the intersection in the east-west direction and the south-north direction is adjusted, the straight-going fixed time length in the same direction and the fixed time length of the left turn are redistributed according to the original distribution proportion of the straight-going fixed time length in the same direction and the left turn at the time interval of m time intervals of the previous adjusted time length, and then the step two is carried out;
step two: readjustment of fixed time length for calculating straight-going left-turn in same direction of intersection
Firstly, calculating the straight-going and left-turning passing efficiency values of the intersection in the same direction within a time interval m of an adjustment duration, and then adjusting the efficiency values according to the following two conditions:
(1) if the absolute value of the difference value of the efficiencies of straight going and left turning at the intersection in the same direction is less than d percent, the adjustment is not carried out;
(2) and if the absolute value of the difference value of the efficiencies of straight going and left turning at the intersection in the same direction is more than or equal to d%, adjusting that the time length of the party with higher traffic efficiency value is reduced, and the time length of the party with lower traffic efficiency value is increased.
The method specifically comprises the following steps:
step1, adjusting the fixed time length of the crossing in the east-west direction and the south-north direction;
step1.1: calculating the efficiency values of the passing efficiency of the crossing in the east-west direction and the south-north direction in the time interval of m of the last adjustment time length:
the intersection data acquisition method comprises the following steps of obtaining a time interval intersection data base record table, wherein n in the formula is the record number of an intersection data base record table of an m time period, i is a count, η _ n and η _ e are respectively the counted passing efficiency values of the north and south directions and the east and west directions in the previous time interval m time period, Tn and Te are respectively fixed time periods distributed in the north and south directions and the east and west directions in the previous time interval m time period, and Tn and Te are respectively the actual passing time periods of the north and south directions and the east and west directions in the previous time interval m time period;
step1.2: calculating the fixed time length of the east-west, south-north readjustment of the intersection
Step1.2.1 if the absolute value of η _ n- η _ e < d%, the fixed time lengths of east, west and south of the intersection are not adjusted, at the moment, the fixed time lengths of straight going and left turning in the east, south and north directions are not changed, Tns _ old comprises the fixed time length of straight going in m time intervals in the south and north directions, Tnl _ old comprises the fixed time length of left turning in m time intervals in the south and north directions, Tes _ old comprises the fixed time length of straight going in m time intervals in the east and west directions, and Tel _ old comprises the fixed time length of left turning in m time intervals in the east and west directions, and then Step2 is directly carried out;
step1.2.2 if | η _ n- η _ e | >, d%, then the following steps are performed, and then Step2 is entered:
step1.2.2.1 i) Heo η_n>η_eThen, then
At this time:
Tn_new＝Tn_old-ΔTa
Te_new＝Te_old+ΔTa
in the formula:
d%: comparing the difference of the efficiency values with a reference value, wherein the value of the difference is 10% of the total control time length in the north-south direction and the east-west direction;
Δ Ta: time for readjusting east-west, south-north of intersection
Tn _ old: fixed duration of m time periods in north-south direction
Tn _ new: fixed duration of north-south readjustment
Te _ old: fixed duration of m time periods in east-west direction
Te _ new: fixed duration of east-west readjustment
Ii) if η _ e>η _ n, then
At this time:
Tn_new＝Tn_old+ΔTa
Te_new＝Te_old-ΔTa；
after the duration in each direction is adjusted by Step1.2.2.2, the duration of the straight-going and left-turning in the same direction is redistributed and calculated according to the original distribution proportion in the previous m time period:
the north-south direction:
Rn＝Tns_old/(Tns_old+Tnl_old)
Tns_new＝Tn_new*Rn
Tnl_new＝Tn_new-Tns_new
in the formula:
rn: distribution ratio of one-cycle straight-going and left-turning time length in north-south direction
Tns _ old: fixed time length for straight going of m time intervals in north-south direction
Tnl _ old: left turn fixed time length of m time periods in north-south direction
Tns _ new: fixed duration of north-south straight-line redistribution
Tnl _ new: fixed duration of left turn left reassigned north and south
The east-west direction:
Re＝Tes_old/(Tes_old+Tel_old)
Tes_new＝Te_new*Re
Tel_new＝Te_new-Tes_new
in the formula:
re: distribution ratio of one-cycle straight-going and left-turning time length in east-west direction
Tes _ old: fixed time length for straight going of m time intervals in east-west direction
Tel _ old: left-turning fixed duration of m time periods in east-west direction
Tes _ new: fixed duration of east-west straightforward reallocation
Tel _ new: fixed duration of east-west left turn reassignment
Step 2: calculating the fixed time length of readjustment of straight running and left turning in the same direction:
step2.1, calculating the efficiency values of straight-going and left-turning passing of the intersection within m minutes of the last adjustment time interval:
n in the formula is the record number of an intersection database record table of the m time periods, i is a counting number, η _ s and η _ l are respectively the traffic efficiency values improved by straight running and left turning in all directions counted by an adjustment time period interval m time period in the same direction, Ts and Tl are respectively fixed time periods distributed by straight running and left turning of the adjustment time period interval m time period in the same direction, and Ts and Tl are respectively the actual traffic time periods distributed by straight running and left turning of the adjustment time period interval m time period in the same direction;
step2.2 calculating the readjusted fixed time length of straight going and left turning at the intersection
If the absolute value of η _ s- η _ l is less than d%, the fixed time length of straight going and left turning at the intersection is not adjusted;
if the | η _ s- η _ l | > < d%
I) if η _ s>η_l，
When the given time for the straight and left turn directions is
Ts_new＝Ts_old-ΔTs
Tl_new＝Tl_old+ΔTs
In the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: go straight in the same direction for a fixed duration based on Step2
Ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: left turn in the same direction for a fixed duration upon entering Step2
Tl _ new: fixed time length of left turn readjusted in same direction at intersection
Ii) if η _ l>η_s，
The given time for the straight and left turn is
Ts_new＝Ts_old+ΔTs
Tl_new＝Tl_old-ΔTs
In the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: go straight in the same direction for a fixed duration based on Step2
Ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: left turn in the same direction for a fixed duration upon entering Step2
Tl _ new: fixed time length of left turn readjusted in same direction at intersection
Step 3: step1 and Step2 are repeatedly executed in sequence at the adjusted time interval m time period.
Specifically, the adaptively adjusted time interval m is 30min, and d% is 10%.
Specifically, the Tn, Te, Ts, Tl are respectively stored in each record of the intersection database record table in real time, and η _ n, η _ e, η _ s, and η _ l can all be directly used by taking values from the day statistical table of the intersection database.
Specifically, the traffic data comprises straight traffic in each direction of the intersection, start-stop time of left turning, name of the intersection, traffic efficiency, exhaust emission and idling oil consumption.
A control method of the intelligent control system for the intersection traffic signal lamp comprises the following steps:
step (1): the camera collects images of each direction of the intersection in real time;
step (2): the calibration subsystem calibrates an identification area on a frame image acquired by a camera;
step (3): the identification module identifies whether vehicles exist in the road vehicles or not in the identification area within a fixed time length;
step (4): if the vehicle is always in the identification area, the fixed mode control is kept; on the contrary, if the identification area has no vehicle, namely is not limited by the fixed time length, the countdown is started in advance, and then the next signal lamp control phase is started; after the signal lamp phase control is finished, the storage module stores time data of the phase change state of the signal lamp; then the statistical module takes the set m time period as a period, and carries out real-time statistics on an annual, monthly and daily statistical table for obtaining traffic data of each direction of the intersection, and then the time length self-adaptive adjusting module takes the m time period as a period and adjusts the traffic time lengths of the south, north and west directions of the intersection and the traffic time lengths of straight going and left turning in the same direction in real time;
step (5): and repeatedly executing Step (3) and Step (4).
The invention has the beneficial effects that: in the invention, under the original intersection signal lamp fixed time length control mode (hereinafter referred to as fixed mode), the identification control module in the system is utilized to identify roads and vehicles in the identification area of each direction of the road at the intersection, the live condition of the vehicles or no vehicles is judged, and under the fixed mode, the signal lamp is changed in real time to control the vehicles to pass without being limited by the fixed time length, thereby achieving the effect of improving the passing efficiency. And when the intelligent control of the signal lamps is finished, corresponding real-time data storage and statistics are carried out on the passing live condition of each intersection, and the data of the intersection database is retrieved and analyzed through the background remote database management subsystem to obtain an analysis chart of the crossing passing data.
Drawings
FIG. 1 is a schematic diagram of the division of a buffer area and an identification area of an intersection according to the present invention;
FIG. 2 is a flow chart of the present invention for adjusting the fixed duration of the intersection between east and west, north and south, and for reallocating the duration of the straight-going and left-turning in the same direction;
FIG. 3 is a flow chart of readjusting the fixed duration for straight and left turns in the same direction according to the present invention;
FIG. 4 is a block diagram of a calibration subsystem of the present invention;
FIG. 5 is a block diagram of the identification control storage subsystem of the present invention;
FIG. 6 is a block diagram of statistical, adaptive duration adjustment according to the present invention.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
Example 1: as shown in fig. 1-6, an intelligent control system for traffic lights at intersections comprises a camera, a driving module, a calibration subsystem, an intersection database, an identification control storage subsystem, an intersection traffic real-time data statistics subsystem and a background remote database management subsystem;
the camera is connected with the driving module, the driving module is respectively connected with the calibration subsystem and the identification control storage subsystem, the identification control storage subsystem is connected with the intersection passing real-time data statistics subsystem, and the identification control storage subsystem and the intersection passing real-time data statistics subsystem are connected with the background remote database management subsystem; the intersection database is respectively connected with the identification control storage subsystem, the intersection traffic real-time data statistics subsystem and the background remote database management subsystem;
a driving module: completing the driving connection of the camera with the calibration subsystem and the identification control storage subsystem;
a calibration subsystem: calibrating an identification area on a frame image acquired by a camera;
identifying a control storage subsystem: the device comprises a control module, and an identification module and a storage module which are connected with the control module;
an identification module: identifying whether vehicles exist in the identification area or not in the fixed time period;
a control module: if the vehicle is always in the identification area, the control in the fixed mode is kept; on the contrary, if the identification area has no vehicle, namely is not limited by the fixed time length, the countdown is started in advance, and then the next signal lamp control phase is started;
a storage module: the time data is used for storing the time data from the starting state to the changing state of the signal lamp sent by the control module;
the intersection passage real-time data statistics subsystem: the device comprises a statistical module and a time length self-adaptive adjusting module;
a statistic module: the system runs synchronously with the identification control storage subsystem and is responsible for counting year, month and day statistical tables of traffic data of all directions of the intersection in real time by taking a set m time period as a cycle;
a time length self-adaptive adjusting module: taking a set m time period as a cycle, adjusting the fixed time length of each direction of the intersection according to the principle that the time length of the party with higher traffic efficiency value is reduced and the time length of the party with lower traffic efficiency value is increased, and writing the fixed time length into a database table of a background remote database management subsystem;
the intersection database stores data in a storage module in the identification control storage subsystem and a statistical module in the intersection passing real-time data statistical subsystem;
the background remote database management subsystem: comprises a retrieval analysis module;
the retrieval analysis module: and carrying out retrieval analysis on the data of the intersection database to obtain an analysis chart of the intersection traffic data.
Further, the identification area is determined as follows:
step 1) obtaining the speed limit value v of each direction road of the intersection at the current moment and the countdown duration t in the fixed mode1And a straight-line duration Ts and a left-turn duration Tl in the fixed mode;
step 2): dividing roads in all directions of the intersection into a buffer road section and an identification road section;
(1) the buffer section Sbf: the distance from the intersection center point to the opposite direction of the vehicle running is Sbf, and is calculated as follows:
Sbf＝v*t1(1)
(2) identifying road section Sia, namely, the distance t from the tail end of the buffer road section to the reverse direction of the vehicle is the distance Sia2The time for the vehicle to pass through the Sia section is calculated as follows:
t2＝Average(Ts,Tl)-t1(2)
Sia＝v*t2(3)
further, the time length self-adaptive adjusting module adjusts the fixed time length of each direction of the intersection according to the following method:
firstly, readjusting the time lengths in the east-west direction and the south-north direction under the condition of ensuring that the sum of the time lengths in the east-west direction and the south-north direction of the intersection is not changed, wherein the readjusting comprises the following two conditions:
(1) if the absolute value of the efficiency difference value in the two directions is less than d%, the adjustment is not carried out, and the step two is directly carried out;
(2) if the absolute value of the efficiency difference value in the two directions is greater than or equal to d%, adjusting that the time length of the party with higher traffic efficiency value is reduced, and the time length of the party with lower traffic efficiency value is increased; secondly, on the basis that the fixed time length of the intersection in the east-west direction and the south-north direction is adjusted, the straight-going fixed time length in the same direction and the fixed time length of the left turn are redistributed according to the original distribution proportion of the straight-going fixed time length in the same direction and the left turn at the time interval of m time intervals of the previous adjusted time length, and then the step two is carried out;
step two: readjustment of fixed time length for calculating straight-going left-turn in same direction of intersection
Firstly, calculating the straight-going and left-turning passing efficiency values of the intersection in the same direction within a time interval m of an adjustment duration, and then adjusting the efficiency values according to the following two conditions:
(1) if the absolute value of the difference value of the efficiencies of straight going and left turning at the intersection in the same direction is less than d percent, the adjustment is not carried out;
(2) and if the absolute value of the difference value of the efficiencies of straight going and left turning at the intersection in the same direction is more than or equal to d%, adjusting that the time length of the party with higher traffic efficiency value is reduced, and the time length of the party with lower traffic efficiency value is increased.
Further, the method specifically comprises the following steps:
step1, adjusting the fixed time length of the crossing in the east-west direction and the south-north direction;
step1.1: calculating the efficiency values of the passing efficiency of the crossing in the east-west direction and the south-north direction in the time interval of m of the last adjustment time length:
the intersection data base recording table comprises a plurality of intersection data base recording tables, wherein n is the number of records of an intersection data base recording table of an m time period, i is a counting amount, η _ n and η _ e are respectively the counted passing efficiency values of north and south and east directions in the previous adjustment time interval m time period, Tn and Te are respectively fixed time lengths distributed in the north and south directions and east and west directions in the previous adjustment time interval m time period, Tn and Te are respectively the actual passing time lengths of the north and south directions and east and west directions in the previous adjustment time interval m time period, Tn, Te, Tn and Te are respectively stored in each record of the intersection data base recording table in real time, and η _ n and η _ e can be directly used for value taking from the day counting table of the intersection data base;
step1.2: calculating the fixed time length of the east-west, south-north readjustment of the intersection
Step1.2.1 if the absolute value of η _ n- η _ e < d%, the fixed time lengths of east, west and south of the intersection are not adjusted, at the moment, the fixed time lengths of straight going and left turning in the east, south and north directions are not changed, Tns _ old comprises the fixed time length of straight going in m time intervals in the south and north directions, Tnl _ old comprises the fixed time length of left turning in m time intervals in the south and north directions, Tes _ old comprises the fixed time length of straight going in m time intervals in the east and west directions, and Tel _ old comprises the fixed time length of left turning in m time intervals in the east and west directions, and then Step2 is directly carried out;
step1.2.2 if | η _ n- η _ e | >, d%, then the following steps are performed, and then Step2 is entered:
step1.2.2.1 i) Heo η_n>η_eThen, then
At this time:
Tn_new＝Tn_old-ΔTa
Te_new＝Te_old+ΔTa
in the formula:
d%: the difference between the efficiency values is compared with a reference value, and the control value is taken as the control of the north-south direction and the east-west direction
10% of the total length of time;
Δ Ta: time for readjusting east-west, south-north of intersection
Tn _ old: fixed duration of m time periods in north-south direction
Tn _ new: fixed duration of north-south readjustment
Te _ old: fixed duration of m time periods in east-west direction
Te _ new: fixed duration of east-west readjustment
Ii) if η _ e>η _ n, then
At this time:
Tn_new＝Tn_old+ΔTa
Te_new＝Te_old-ΔTa；
after the duration in each direction is adjusted by Step1.2.2.2, the duration of the straight-going and left-turning in the same direction is redistributed and calculated according to the original distribution proportion in the previous m time period:
the north-south direction:
Rn＝Tns_old/(Tns_old+Tnl_old)
Tns_new＝Tn_new*Rn
Tnl_new＝Tn_new-Tns_new
in the formula:
rn: distribution ratio of one-cycle straight-going and left-turning time length in north-south direction
Tns _ old: fixed time length for straight going of m time intervals in north-south direction
Tnl _ old: left turn fixed time length of m time periods in north-south direction
Tns _ new: fixed duration of north-south straight-line redistribution
Tnl _ new: fixed duration of left turn left reassigned north and south
The east-west direction:
Re＝Tes_old/(Tes_old+Tel_old)
Tes_new＝Te_new*Re
Tel_new＝Te_new-Tes_new
in the formula:
re: distribution ratio of one-cycle straight-going and left-turning time length in east-west direction
Tes _ old: fixed time length for straight going of m time intervals in east-west direction
Tel _ old: left-turning fixed duration of m time periods in east-west direction
Tes _ new: fixed duration of east-west straightforward reallocation
Tel _ new: fixed duration of east-west left turn reassignment
Step 2: calculating the fixed time length of readjustment of the straight movement and the left turning in the same direction (because the east-west direction, the south-north direction and the left turning are adjusted in the same method, the east-west direction, the south-north direction and the left turning are not distinguished any more, and the following methods are uniformly applied to the east-west direction, the south-north direction and the left turning):
step2.1, calculating the efficiency values of straight-going and left-turning passing of the intersection within m minutes of the last adjustment time interval:
n in the formula is the record number of an intersection database record table at an interval of m time periods of an adjusted time length in the same direction, i is a counting number, η _ s and η _ l are respectively the traffic efficiency values improved by straight running and left turning in each direction counted at an interval of m time periods of an adjusted time length in the same direction, Ts and Tl are respectively fixed time lengths distributed by straight running and left turning at an interval of m time periods of an adjusted time length in the same direction, Ts and Tl are respectively the actual traffic time lengths of straight running and left turning at an interval of m time periods of an adjusted time length in the same direction, Ts, Tl, Ts and Tl are respectively stored in each record of the intersection database record table in real time, and η _ s and η _ l related to the method are directly used for taking values from a day statistic table of an intersection database;
step2.2 calculating the readjusted fixed time length of straight going and left turning at the intersection
If the absolute value of η _ s- η _ l is less than d%, the fixed time length of straight going and left turning at the intersection is not adjusted;
if the | η _ s- η _ l | > < d%
I) if η _ s>η_l，
When the given time for the straight and left turn directions is
Ts_new＝Ts_old-ΔTs
Tl_new＝Tl_old+ΔTs
In the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: go straight in the same direction for a fixed duration upon going to Step2, namely: if the Step2 is directly entered from Step1.2.1, Ts _ old is Tns _ old or Tes _ old; if entering Step2 from Step1.2.2, Ts _ old is Tns _ new or Tes _ new;
ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: the same direction left turn according to Step2 is for a fixed duration, namely: if the user directly enters Step2 from Step1.2.1, then Tl _ old is Tnl _ old or Tel _ old; if entering Step2 from Step1.2.2, Tl _ old is Tnl _ new or Tel _ new;
tl _ new: fixed time length of left turn readjusted in same direction at intersection
Ii) if η _ l>η_s，
The given time for the straight and left turn is
Ts_new＝Ts_old+ΔTs
Tl_new＝Tl_old-ΔTs
In the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: go straight in the same direction for a fixed duration upon going to Step2, namely: if the Step2 is directly entered from Step1.2.1, Ts _ old is Tns _ old or Tes _ old; if entering Step2 from Step1.2.2, Ts _ old is Tns _ new or Tes _ new;
ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: the same direction left turn according to Step2 is for a fixed duration, namely: if the user directly enters Step2 from Step1.2.1, then Tl _ old is Tnl _ old or Tel _ old; if entering Step2 from Step1.2.2, Tl _ old is Tnl _ new or Tel _ new;
tl _ new: fixed time length of left turn readjusted in same direction at intersection
Step 3: step1 and Step2 are repeatedly executed in sequence at the adjusted time interval m time period.
Further, the adaptively adjusted time interval m is 30min, and d% is 10%.
The above method is described in detail with reference to specific examples.
Example 1, the north-south direction and the east-west direction of an intersection are set, the current fixed time duration Tn is 60, the current fixed time duration Te is 60s, the straight travel time Ts of one adjustment time duration m period in each direction is 40s, the left turn time (north-south, east-west) is Tl is 20s, all the passing efficiency values are counted in 30 minutes, the efficiency comparison value d is 10%, η _ n is 40%, η _ e is 35%, the north-south direction η _ s is 40%, η _ l is 36%, the east-west direction η _ s is 45%, η _ l is 40%, and the south-north direction is 40%, and the current fixed time duration Tn is 60s
< 10% of < η _ n- η _ e |, in the north-south direction < 10% of < η _ s- η _ l |, east-west
The direction is I η _ s- η _ l < 10%
Therefore, the fixed duration in all directions is not adjusted
Wherein:
η _ n passing efficiency value in north and south direction counted in the last period of time of adjustment interval m
η _ e passing efficiency value of east-west direction counted in last period of adjusted duration interval m
η _ s efficiency rate of straight-going traffic counted during the last adjusted interval m
η _ l traffic efficiency value for the left turn counted during the last adjusted time interval m period
Example 2, setting the north and south directions of the intersection, the current fixed time length Tn is 60, Te is 60s, the straight time of an adjustment time interval m in each direction is Ts _ old is 40s, that is, the left turn time is Tl _ old is 20s, and setting all the following passing efficiency values to be counted in 30 minutes, the efficiency comparison value d% is 10%, η _ n is 40%, η _ e is 35%, the north and south directions are η _ s 33%, η _ l 50%, the east and west directions are η _ s 50%, η _ l is 33%, and | η \ u is calculated at this timen-η_e|<10% in the north-south direction, | η \ us-η_l|>10％；
East-west direction | η \ us-η_l|>10％；
Therefore, the east-west direction and the south-north direction are not adjusted;
the process of adjusting the time length of the straight-going and left-turning in the north-south direction is as follows:
at this point η _ s < η _ l,
Ts_new＝Ts_old+ΔTs＝40+2＝42s
Tl_new＝Tl_old-ΔTs＝20-2＝18s
in the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: going straight in the same direction for a fixed duration according to Step2, Ts _ old equals 40s since Step2 is entered directly from Step 1.2.1;
ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: the same direction left turn according to Step2 is for a fixed duration, namely: since Step2 is entered directly from Step1.2.1, Tl _ old is 20 s;
tl _ new: fixed time length of left turn readjusted in same direction at intersection
The process of adjusting the length of the straight line and the left turn in the east-west direction is as follows:
at this point η _ s > η _ l,
Ts_new＝Ts_old-ΔTs＝40-3＝37s
Tl_new＝Tl_old+ΔTs＝20+3＝23s
in the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: going straight in the same direction for a fixed duration according to Step2, Ts _ old equals 40s since Step2 is entered directly from Step 1.2.1;
ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: the same direction left turn according to Step2 is for a fixed duration, namely:
since Step2 is entered directly from Step1.2.1, Tl _ old is 20 s;
tl _ new: fixed time length of left turn readjusted in same direction at intersection
Example 3, setting the north and south directions of the intersection, setting the current fixed time length Tn to be 60 and Te to be 60s, the straight-going time in each direction to be 40s and the left-turning time to be 20s, setting all the following passing efficiency values to be counted within m to 30 minutes, setting the efficiency difference comparison value d% to be 10%, η _ n to be 50% and η _ e to be 33%, setting the north and south directions to be η _ s to be 60% and η _ l to be 45%, and setting the east and west directions to be η _ s to be 50% and η _ l to be 45%;
at this time | η \ un-η_e|>10％；
Therefore, the following adjustment is made
(1) Adjustment in north-south and east-west directions:
Tn_new＝Tn_old-ΔTa＝60-5＝55s
Te_new＝Te_old+ΔTa＝60+5＝65s
in the formula:
Δ Ta: time for readjusting east-west, south-north of intersection
Tn _ old: fixed duration of m time periods in north-south direction
Tn _ new: fixed duration of north-south readjustment
Te _ old: fixed duration of m time periods in east-west direction
Te _ new: fixed duration of east-west readjustment
(2) Adjusting the straight and left turn on the basis of (1):
1) the north-south direction:
① reassign the duration in proportion to the last cycle:
Rn＝Tns_old/(Tns_old+Tnl_old)＝40/(20+40)＝0.6
Tns_new＝Tn_new*Rn＝55*0.6＝33s
Tnl_new＝Tn_new-Tns_new＝55-33＝22s
in the formula:
rn: distribution ratio of one-cycle straight-going and left-turning time length in north-south direction
Tns _ old: fixed time length for straight going of m time intervals in north-south direction
Tnl _ old: left turn fixed time length of m time periods in north-south direction
Tns _ new: fixed duration of north-south straight-line redistribution
Tnl _ new: fixed duration of left turn left reassigned north and south
②|η_s-η_l|>10%, so the time length adjustment of the north-south straight-going and left-turning is continued on the basis of ①:
at this point η _ s > η _ l,
Ts_new＝Ts_old-ΔTs＝33-2＝31s
Tl_new＝Tl_old+ΔTs＝22+2＝24s
in the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: when the user enters Step2 for a fixed time period in the same direction, where the user enters Step2 from Step1.2.2, Ts _ old is Tns _ new is 33 s;
ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: when entering Step2, the same direction left-turn is performed for a fixed duration, here from Step1.2.2 to Step2, then Tl _ old is Tnl _ new is 22s
Tl _ new: fixed time length of left turn readjusted in same direction at intersection
2) The east-west direction:
① reassign the duration in proportion to the last cycle:
Re＝Tes_old/(Tes_old+Tel_old)＝40/(20+40)＝0.6
Tes_new＝Te_new*Re＝65*0.6＝39s
Tel_new＝Te_new-Tes_new＝65-39＝26s
in the formula:
re: distribution ratio of one-cycle straight-going and left-turning time length in east-west direction
Tes _ old: fixed time length for straight going of m time intervals in east-west direction
Tel _ old: left-turning fixed duration of m time periods in east-west direction
Tes _ new: fixed duration of east-west straightforward reallocation
Tel _ new: fixed duration of east-west left turn reassignment
②|η_s-η_l|<10 percent, so the time length adjustment of straight movement and left turning is not needed on the basis of ①.
Since claims 3, 4 of the present invention may yield many specific embodiments, not all of which may be explicitly enumerated, the description is given by way of representation only of examples 1-3 above.
Description of the formula:
1. written description of the formula
(1) Different directions
The fixed duration is the total duration in north-south direction or the total duration in east-west direction
Traffic efficiency improvement amount ═ (given duration-actual traffic duration)/given duration · 100%
(note: the given duration and the actual duration of one direction include straight and left turns).
(2) In the same direction
The fixed duration is equal to the straight-line duration + the left-turn duration
Traffic efficiency value (given duration-actual traffic duration)/given duration 100%
Description of the parameters of the invention:
setting of adjustment period m: generally, m is a minute unit, the range is limited between 20 minutes and 40 minutes, if the value is smaller, the real-time performance is better, but the statistical frequency of a system background database is required to be higher, and the data scale is increased; the value is large, the time length parameter change period is long, and the real-time performance is reduced. Therefore, it is better to take the intermediate value (the actual use value is 30 min).
Setting of the difference in efficiency values compared to the reference value d%: the comparison reference value d% of the difference of the efficiency values is set depending on the value of the total duration in the north-south direction or the east-west direction, if the value is smaller, the change of the duration of the straight-ahead movement and the left-turn in the north-south direction and the east-west direction or the same direction is not large, and the difference has no obvious practical significance; the value is large, so that on one hand, the adjustment condition cannot be met and the effect of non-self-adaption is reflected; on the other hand, a too large value of the change in the duration is rather counterproductive and is therefore moderate and good. The invention sets the total control time length in the north-south direction or the east-west direction to be 60s, and the value of d% is 10% under the condition.
Further, the adaptively adjusted time interval m is 30min, and d% is 10%.
Furthermore, the Tn, Te, Ts, Tl, Ts and Tl are respectively stored in each record of the intersection database record table in real time, and η _ n, η _ e, η _ s and η _ l can all be directly used by taking values from the day statistical table of the intersection database.
Furthermore, the traffic data comprise straight running in all directions of the intersection, start-stop time of left turning, name of the intersection, traffic efficiency, tail gas emission and idling oil consumption.
A control method of the intelligent control system for the intersection traffic signal lamp comprises the following steps:
step (1): the camera collects images of each direction of the intersection in real time;
step (2): the calibration subsystem calibrates an identification area on a frame image acquired by a camera;
step (3): the identification module identifies whether vehicles exist in the road vehicles or not in the identification area within a fixed time length;
step (4): if the vehicle is always in the identification area, the fixed mode control is kept; on the contrary, if the identification area has no vehicle, namely is not limited by the fixed time length, the countdown is started in advance, and then the next signal lamp control phase is started; after the signal lamp phase control is finished, the storage module stores time data of the phase change state of the signal lamp; then the statistical module takes the set m time period as a period, and carries out real-time statistics on an annual, monthly and daily statistical table for obtaining traffic data of each direction of the intersection, and then the time length self-adaptive adjusting module takes the m time period as a period and adjusts the traffic time lengths of the south, north and west directions of the intersection and the traffic time lengths of straight going and left turning in the same direction in real time;
step (5): and repeatedly executing Step (3) and Step (4).
The system hardware of the invention consists of a camera, a PC computer and an Arduino control panel. The specific requirements are as follows:
a camera: the resolution is more than 1080, the focal length is more than 16mm, and the others are standard matching;
PC computer: the basic configuration is memory 8G, hard disk 256G, and the others are standard configuration;
arduino control panel: 13 bits.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit and scope of the present invention.
Claims (8)
1. An intelligent control system for intersection traffic signal lamps, characterized in that: the system comprises a camera, a driving module, a calibration subsystem, an intersection database, an identification control storage subsystem, an intersection passing real-time data statistics subsystem and a background remote database management subsystem;
the camera is connected with the driving module, the driving module is respectively connected with the calibration subsystem and the identification control storage subsystem, the identification control storage subsystem is connected with the intersection passing real-time data statistics subsystem, and the identification control storage subsystem and the intersection passing real-time data statistics subsystem are connected with the background remote database management subsystem; the intersection database is respectively connected with the identification control storage subsystem, the intersection traffic real-time data statistics subsystem and the background remote database management subsystem;
a driving module: completing the driving connection of the camera with the calibration subsystem and the identification control storage subsystem;
a calibration subsystem: calibrating an identification area on a frame image acquired by a camera;
identifying a control storage subsystem: the device comprises a control module, and an identification module and a storage module which are connected with the control module;
an identification module: identifying whether vehicles exist in the identification area or not in the fixed time period;
a control module: if the vehicle is always in the identification area, the control in the fixed mode is kept; on the contrary, if the identification area has no vehicle, namely is not limited by the fixed time length, the countdown is started in advance, and then the next signal lamp control phase is started;
a storage module: the time data is used for storing the time data from the starting state to the changing state of the signal lamp sent by the control module;
the intersection passage real-time data statistics subsystem: the device comprises a statistical module and a time length self-adaptive adjusting module;
a statistic module: the system runs synchronously with the identification control storage subsystem and is responsible for counting year, month and day statistical tables of traffic data of all directions of the intersection in real time by taking a set m time period as a cycle;
a time length self-adaptive adjusting module: taking a set m time period as a cycle, adjusting the fixed time length of each direction of the intersection according to the principle that the time length of the party with higher traffic efficiency value is reduced and the time length of the party with lower traffic efficiency value is increased, and writing the fixed time length into a database table of a background remote database management subsystem;
the intersection database stores data in a storage module in the identification control storage subsystem and a statistical module in the intersection passing real-time data statistical subsystem;
the background remote database management subsystem: comprises a retrieval analysis module;
the retrieval analysis module: and carrying out retrieval analysis on the data of the intersection database to obtain an analysis chart of the intersection traffic data.
2. An intelligent control system for a cross traffic signal light as recited in claim 1, wherein: the identification area is determined according to the following method:
step 1) obtaining the speed limit value v of each direction road of the intersection at the current moment and the countdown duration t in the fixed mode1And a straight-line duration Ts and a left-turn duration Tl in the fixed mode;
step 2): dividing roads in all directions of the intersection into a buffer road section and an identification road section;
(1) the buffer section Sbf: the distance from the intersection center point to the opposite direction of the vehicle running is Sbf, and is calculated as follows:
Sbf＝v*t1(1)
(2) identifying road section Sia, namely, the distance t from the tail end of the buffer road section to the reverse direction of the vehicle is the distance Sia2The time for the vehicle to pass through the Sia section is calculated as follows:
t2＝Average(Ts,Tl)-t1(2)
Sia＝v*t2(3)。
3. an intelligent control system for a cross traffic signal light as recited in claim 1, wherein: the time length self-adaptive adjusting module adjusts the fixed time length of each direction of the intersection according to the following method:
firstly, readjusting the time lengths in the east-west direction and the south-north direction under the condition of ensuring that the sum of the time lengths in the east-west direction and the south-north direction of the intersection is not changed, wherein the readjusting comprises the following two conditions:
(1) if the absolute value of the efficiency difference value in the two directions is less than d%, the adjustment is not carried out, and the step two is directly carried out;
(2) if the absolute value of the efficiency difference value in the two directions is greater than or equal to d%, adjusting that the time length of the party with higher traffic efficiency value is reduced, and the time length of the party with lower traffic efficiency value is increased; secondly, on the basis that the fixed time length of the intersection in the east-west direction and the south-north direction is adjusted, the straight-going fixed time length in the same direction and the fixed time length of the left turn are redistributed according to the original distribution proportion of the straight-going fixed time length in the same direction and the left turn at the time interval of m time intervals of the previous adjusted time length, and then the step two is carried out;
step two: readjustment of fixed time length for calculating straight-going left-turn in same direction of intersection
Firstly, calculating the straight-going and left-turning passing efficiency values of the intersection in the same direction within a time interval m of an adjustment duration, and then adjusting the efficiency values according to the following two conditions:
(1) if the absolute value of the difference value of the efficiencies of straight going and left turning at the intersection in the same direction is less than d percent, the adjustment is not carried out;
(2) and if the absolute value of the difference value of the efficiencies of straight going and left turning at the intersection in the same direction is more than or equal to d%, adjusting that the time length of the party with higher traffic efficiency value is reduced, and the time length of the party with lower traffic efficiency value is increased.
4. An intelligent control system for a cross traffic signal light as recited in claim 3, wherein: the method adopted by the time length self-adaptive adjusting module comprises the following specific steps:
step1, adjusting the fixed time length of the crossing in the east-west direction and the south-north direction;
step1.1: calculating the efficiency values of the passing efficiency of the crossing in the east-west direction and the south-north direction in the time interval of m of the last adjustment time length:
the intersection data acquisition method comprises the following steps of obtaining a time interval intersection data base record table, wherein n in the formula is the record number of an intersection data base record table of an m time period, i is a count, η _ n and η _ e are respectively the counted passing efficiency values of the north and south directions and the east and west directions in the previous time interval m time period, Tn and Te are respectively fixed time periods distributed in the north and south directions and the east and west directions in the previous time interval m time period, and Tn and Te are respectively the actual passing time periods of the north and south directions and the east and west directions in the previous time interval m time period;
step1.2: calculating the fixed time length of the east-west, south-north readjustment of the intersection
Step1.2.1 if the absolute value of η _ n- η _ e < d%, the fixed time lengths of east, west and south of the intersection are not adjusted, at the moment, the fixed time lengths of straight going and left turning in the east, south and north directions are not changed, Tns _ old comprises the fixed time length of straight going in m time intervals in the south and north directions, Tnl _ old comprises the fixed time length of left turning in m time intervals in the south and north directions, Tes _ old comprises the fixed time length of straight going in m time intervals in the east and west directions, and Tel _ old comprises the fixed time length of left turning in m time intervals in the east and west directions, and then Step2 is directly carried out;
step1.2.2 if | η _ n- η _ e | >, d%, then the following steps are performed, and then Step2 is entered:
step1.2.2.1 i) if η _ n>η _ e, then
At this time:
Tn_new＝Tn_old-ΔTa
Te_new＝Te_old+ΔTa
in the formula:
d%: comparing the difference of the efficiency values with a reference value, wherein the value of the difference is 10% of the total control time length in the north-south direction and the east-west direction;
Δ Ta: readjusting and adjusting time of east, west, south and north of intersection
Tn _ old: fixed duration of m time periods in north-south direction
Tn _ new: fixed duration of north-south readjustment
Te _ old: fixed duration of m time periods in east-west direction
Te _ new: fixed duration of east-west readjustment
Ii) if η _ e>η _ n, then
At this time:
Tn_new＝Tn_old+ΔTa
Te_new＝Te_old-ΔTa；
after the duration in each direction is adjusted by Step1.2.2.2, the duration of the straight-going and left-turning in the same direction is redistributed and calculated according to the original distribution proportion in the previous m time period:
the north-south direction:
Rn＝Tns_old/(Tns_old+Tnl_old)
Tns_new＝Tn_new*Rn
Tnl_new＝Tn_new-Tns_new
in the formula:
rn: distribution ratio of one-cycle straight-going and left-turning time length in north-south direction
Tns _ old: fixed time length for straight going of m time intervals in north-south direction
Tnl _ old: left turn fixed time length of m time periods in north-south direction
Tns _ new: fixed duration of north-south straight-line redistribution
Tnl _ new: fixed duration of left turn left reassigned north and south
The east-west direction:
Re＝Tes_old/(Tes_old+Tel_old)
Tes_new＝Te_new*Re
Tel_new＝Te_new-Tes_new
in the formula:
re: distribution ratio of one-cycle straight-going and left-turning time length in east-west direction
Tes _ old: fixed time length for straight going of m time intervals in east-west direction
Tel _ old: left-turning fixed duration of m time periods in east-west direction
Tes _ new: fixed duration of east-west straightforward reallocation
Tel _ new: fixed duration of east-west left turn reassignment
Step 2: calculating the fixed time length of readjustment of straight running and left turning in the same direction:
step2.1, calculating the efficiency values of straight-going and left-turning passing of the intersection within m minutes of the last adjustment time interval:
n in the formula is the record number of an intersection database record table of the m time periods, i is a counting number, η _ s and η _ l are respectively the traffic efficiency values improved by straight running and left turning in all directions counted by an adjustment time period interval m time period in the same direction, Ts and Tl are respectively fixed time periods distributed by straight running and left turning of the adjustment time period interval m time period in the same direction, and Ts and Tl are respectively the actual traffic time periods distributed by straight running and left turning of the adjustment time period interval m time period in the same direction;
step2.2 calculating the readjusted fixed time length of straight going and left turning at the intersection
If the absolute value of η _ s- η _ l is less than d%, the fixed time length of straight going and left turning at the intersection is not adjusted;
if the | η _ s- η _ l | > < d%
I) if η _ s>η_l，
When the given time for the straight and left turn directions is
Ts_new＝Ts_old-ΔTs
Tl_new＝Tl_old+ΔTs
In the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: go straight in the same direction for a fixed duration based on Step2
Ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: left turn in the same direction for a fixed duration upon entering Step2
Tl _ new: fixed time length of left turn readjusted in same direction at intersection
Ii) if η _ l>η_s，
The given time for the straight and left turn is
Ts_new＝Ts_old+ΔTs
Tl_new＝Tl_old-ΔTs
In the formula:
Δ Ts: readjusting time for straight left turn at intersection in same direction
Ts _ old: go straight in the same direction for a fixed duration based on Step2
Ts _ new: fixed length of straight line readjusted in the same direction at intersection
Tl _ old: left turn in the same direction for a fixed duration upon entering Step2
Tl _ new: fixed time length of left turn readjusted in same direction at intersection
Step 3: step1 and Step2 are repeatedly executed in sequence at the adjusted time interval m time period.
5. An intelligent control system for a cross traffic signal light as recited in claim 1, wherein: the adaptively adjusted time interval m is 30min, and d% is 10%.
6. An intelligent control system for traffic lights at intersections according to claim 2, wherein Tn, Te, Tn, Te, Ts, Tl, Ts and Tl are respectively stored in each record of the intersection database record table in real time, and η _ n, η _ e, η _ s and η _ l can be directly used as values from the day statistical table of the intersection database.
7. An intelligent control system for a cross traffic signal light as recited in claim 1, wherein: the passing data comprises straight going in all directions of the intersection, left-turning start-stop time, intersection names, passing efficiency, tail gas emission and idling oil consumption.
8. A control method of an intelligent control system for a cross traffic signal lamp according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:
step (1): the camera collects images of each direction of the intersection in real time;
step (2): the calibration subsystem calibrates an identification area on a frame image acquired by a camera;
step (3): the identification module identifies whether vehicles exist in the road vehicles or not in the identification area within a fixed time length;
step (4): if the vehicle is always in the identification area, the fixed mode control is kept; on the contrary, if the identification area has no vehicle, namely is not limited by the fixed time length, the countdown is started in advance, and then the next signal lamp control phase is started; after the signal lamp phase control is finished, the storage module stores time data of the phase change state of the signal lamp; then the statistical module takes the set m time period as a period, and carries out real-time statistics on an annual, monthly and daily statistical table for obtaining traffic data of each direction of the intersection, and then the time length self-adaptive adjusting module takes the m time period as a period and adjusts the traffic time lengths of the south, north and west directions of the intersection and the traffic time lengths of straight going and left turning in the same direction in real time;
step (5): and repeatedly executing Step (3) and Step (4).
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| CN111341127B (en) | 2021-06-25 |
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