CN111369784A - Method and device for controlling traffic flow of lane - Google Patents

Method and device for controlling traffic flow of lane Download PDF

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Publication number
CN111369784A
CN111369784A CN201811593682.6A CN201811593682A CN111369784A CN 111369784 A CN111369784 A CN 111369784A CN 201811593682 A CN201811593682 A CN 201811593682A CN 111369784 A CN111369784 A CN 111369784A
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CN
China
Prior art keywords
lane
vehicle
traffic
lanes
passing
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CN201811593682.6A
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Chinese (zh)
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苗伟
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Beijing Didi Infinity Technology and Development Co Ltd
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Beijing Didi Infinity Technology and Development Co Ltd
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Priority to CN201811593682.6A priority Critical patent/CN111369784A/en
Publication of CN111369784A publication Critical patent/CN111369784A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Abstract

The application relates to the technical field of intelligent traffic, in particular to a method and a device for controlling lane flow. The method comprises the following steps: acquiring traffic state information on at least two associated lanes; determining a traffic state difference degree between the at least two associated lanes based on the acquired traffic state information; and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for the at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes. By adopting the scheme, the traffic control strategy can be timely adjusted according to the traffic state on the lane, so that lane resources can be effectively utilized, and the traffic pressure of the lane at the peak is relieved.

Description

Method and device for controlling traffic flow of lane
Technical Field
The application relates to the technical field of intelligent traffic, in particular to a method and a device for controlling lane flow.
Background
With the complication of urban traffic networks and the increase of the number of automobiles, traffic jam conditions are increasingly serious. At present, under the scenes of morning and evening rush hours and the like during work and work, unbalanced traffic flow of lanes in different directions of the same road section is often seen, for example, a certain road section has two lanes in the city entering direction and two lanes in the city exiting direction, but in the early rush hour period, the number of vehicles in the lanes in the city exiting direction is far smaller than that in the city entering direction, the lane resources in the city exiting direction are wasted, and in the late rush hour, the number of vehicles in the city exiting direction is far larger than that in the city entering direction, and the lane resources in the city entering direction are wasted. Therefore, the current lane configuration mode may have the problem of unbalanced traffic flow on lanes in different directions, which results in the waste of partial lane resources.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for controlling lane traffic, which can adjust a traffic control policy in time according to a traffic state on a lane, so as to effectively utilize lane resources and alleviate lane traffic pressure during a peak period.
Mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a method for controlling a lane flow, including:
acquiring traffic state information on at least two associated lanes;
determining a traffic state difference degree between the at least two associated lanes based on the acquired traffic state information;
and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for the at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes.
In one possible embodiment, the traffic status information includes at least one of the following information: vehicle speed, number of vehicle queues at road intersections.
In one possible embodiment, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being lanes connected to a road intersection;
the number of the first lanes is at least two, and the passing direction of the vehicles on the first lanes is from a first direction to a second direction;
the number of the second lanes is at least two, and the passing direction of the vehicles on the second lanes is from the second direction to the first direction.
In one possible embodiment, when the traffic state information is the vehicle traffic speed, the determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information includes:
calculating a first vehicle passing speed mean value between the vehicle passing speeds of at least two first lanes; and calculating a second vehicle passing speed mean value between the vehicle passing speeds of the at least two second lanes;
and calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value.
In a possible embodiment, when the traffic state difference degree meets a preset trigger condition, adjusting the lane traffic control strategy for the at least two associated lanes includes:
when the difference degree of the passing speeds meets a first preset triggering condition, selecting a target first lane from the at least two first lanes, and using the selected target first lane as a temporary second lane; or, selecting a target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
In one possible embodiment, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being lanes connected to a road intersection;
the first lane is at least one, and the passing direction of the vehicles on the first lane is from a first direction to a second direction;
the second lane has at least one, and the traffic direction of the vehicle on the second lane is from the third direction to the fourth direction.
In a possible embodiment, when the traffic status information is the vehicle queue number at the road intersection, the vehicle queue number at the road intersection includes a vehicle queue number of at least one first lane and a vehicle queue number of at least one second lane;
the determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information includes:
calculating a first vehicle queue number sum among the vehicle queue numbers of the at least one first lane; and calculating a second vehicle queue number sum among the vehicle queue numbers of the at least one second lane;
and calculating the vehicle queuing number difference degree between the first vehicle queuing number sum and the second vehicle queuing number sum.
In a possible embodiment, when the traffic state difference degree meets a preset trigger condition, adjusting the lane traffic control strategy for the at least two associated lanes includes:
when the vehicle queuing number difference degree meets a second preset trigger condition, increasing the allowable passing time of the at least one first lane and reducing the allowable passing time of the at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
In one possible embodiment, the notifying the vehicle in at least one of the at least two associated lanes of the adjusted lane passing control strategy includes:
and informing the vehicle on at least one lane of the at least two associated lanes of the adjusted traffic control strategy through the roadside communication unit.
In one possible embodiment, the notifying the vehicle in at least one of the at least two associated lanes of the adjusted lane passing control strategy includes:
and controlling the display state of the traffic indicator lights and/or traffic signs of the intersection based on the adjusted traffic control strategy so as to inform the vehicles on at least one lane of the at least two associated lanes passing through the intersection of the adjusted traffic control strategy through the display state of the traffic indicator lights and/or traffic signs.
In a second aspect, an embodiment of the present application provides an apparatus for controlling a traffic lane, including:
the acquisition module is used for acquiring traffic state information on at least two associated lanes;
the determining module is used for determining the traffic state difference degree between the at least two associated lanes based on the acquired traffic state information;
and the processing module is used for adjusting lane traffic control strategies aiming at the at least two associated lanes when the traffic state difference degree meets a preset trigger condition, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes.
In one possible design, the traffic status information includes at least one of: vehicle speed, number of vehicle queues at road intersections.
In one possible design, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being lanes connected to a road intersection;
the number of the first lanes is at least two, and the passing direction of the vehicles on the first lanes is from a first direction to a second direction;
the number of the second lanes is at least two, and the passing direction of the vehicles on the second lanes is from the second direction to the first direction.
In a possible design, when the traffic state information is the vehicle traffic speed, the determining module, when determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information, is specifically configured to:
calculating a first vehicle passing speed mean value between the vehicle passing speeds of at least two first lanes; and calculating a second vehicle passing speed mean value between the vehicle passing speeds of the at least two second lanes;
and calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value.
In a possible design, when the traffic state difference meets a preset trigger condition, the processing module is specifically configured to:
when the difference degree of the passing speeds meets a first preset triggering condition, selecting a target first lane from the at least two first lanes, and using the selected target first lane as a temporary second lane; or, selecting a target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
In one possible design, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being lanes connected to a road intersection;
the first lane is at least one, and the passing direction of the vehicles on the first lane is from a first direction to a second direction;
the second lane has at least one, and the traffic direction of the vehicle on the second lane is from the third direction to the fourth direction.
In a possible design, when the traffic state information is the number of vehicles queued at the road intersection, the determining module, when determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information, is specifically configured to:
calculating a first vehicle queue number sum among the vehicle queue numbers of the at least one first lane; and calculating a second vehicle queue number sum among the vehicle queue numbers of the at least one second lane;
and calculating the vehicle queuing number difference degree between the first vehicle queuing number sum and the second vehicle queuing number sum.
In a possible design, when the traffic state difference meets a preset trigger condition, the processing module is specifically configured to:
when the vehicle queuing number difference degree meets a second preset trigger condition, increasing the allowable passing time of the at least one first lane and reducing the allowable passing time of the at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
In one possible embodiment, the processing module, when informing the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy, has the logic for:
and informing the vehicle on at least one lane of the at least two associated lanes of the adjusted traffic control strategy through the roadside communication unit.
In one possible embodiment, the processing module, when informing the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy, has the logic for:
and controlling the display state of the traffic indicator lights and/or traffic signs of the intersection based on the adjusted traffic control strategy so as to inform the vehicles on at least one lane of the at least two associated lanes passing through the intersection of the adjusted traffic control strategy through the display state of the traffic indicator lights and/or traffic signs.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method for controlling lane traffic as set forth in the first aspect above, or any one of the possible implementations of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method for controlling lane flow described in the first aspect, or any one of the possible implementations of the first aspect.
The method and the device for controlling the traffic of the lane, provided by the embodiment of the application, firstly, the traffic state information on at least two associated lanes is obtained; then determining the traffic state difference degree between the at least two associated lanes based on the acquired traffic state information; and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for the at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes. By adopting the scheme, the traffic control strategy can be timely adjusted according to the traffic state on the lane, so that lane resources can be effectively utilized, and the traffic pressure of the lane at the peak is relieved.
In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram illustrating an overall networking architecture of an intelligent transportation system according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for controlling lane traffic according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a first at least two associated lanes provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a second at least two associated lanes provided by an embodiment of the present application;
fig. 5 is a schematic flow chart illustrating a process of determining a traffic speed difference between a first lane and a second lane in a method for controlling lane traffic according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating an embodiment of the present application for adjusting a lane traffic control strategy for at least two associated lanes;
FIG. 7 is a flow chart illustrating a process of determining a vehicle queue number difference between a first lane and a second lane in a method for controlling lane traffic according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram illustrating an apparatus 80 for controlling lane flow according to an embodiment of the present disclosure;
fig. 9 shows a schematic structural diagram of an electronic device 90 provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The following detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
First, an application scenario to which the present application is applicable will be described. The lane passing control method and the lane passing control device can be applied to the application scene of controlling the passing states of the vehicles on the lanes in the intelligent traffic field, and the lane passing control strategy is timely adjusted by determining the passing states of the vehicles on at least two associated lanes, so that lane resources can be effectively utilized, and the lane passing pressure in a peak period is relieved.
It should be noted that, in the prior art, the lanes on the road are fixedly configured, for example, on the east-west road, the number of lanes in the two traffic directions from east to west and from west to east is the same, and as can be seen from the analysis of the background art, the traffic flow in the lanes may be greatly different during the rush hour, and the fixed configuration of the lanes in the prior art may cause the traffic flow in the lanes in different directions to be unbalanced, so that part of the lane resources are wasted. Under another possible condition, the lane flow of the east-west direction and the south-north direction of the same intersection are greatly different according to the actual conditions, but the control strategy of the traffic signal lamp of the intersection is usually fixed, or the traffic signal lamp can be adjusted only by traffic commanders according to the road traffic conditions, so that the problem of untimely adjustment exists.
In view of the above problems, the present application provides a method and an apparatus for controlling traffic flow in a lane, which can timely adjust lane traffic control strategies of at least two associated lanes based on traffic state information on at least two associated lanes acquired in real time, and notify vehicles on the lanes of the adjusted lane traffic control strategies, so as to effectively utilize lane resources and alleviate traffic pressure of the lanes at a peak time.
In order to facilitate understanding of the present embodiment, a detailed description is first given of technical solutions provided in the embodiments of the present application.
Example one
Referring to fig. 1, an overall networking architecture diagram of an intelligent transportation system provided in an embodiment of the present application includes:
an information acquisition module 11; a roadside communication unit 12; an edge calculation unit 13; a cloud server 14; a traffic management platform 15; a vehicle 16; a user terminal 17; a device conversion unit 18; a traffic light 19; an electronic guideboard 20.
The information acquisition module 11 includes information acquisition devices, such as cameras, laser radars, etc., disposed at intersections and intermediate sections of roads; the laser radar and the camera can acquire road condition information of a road intersection or a middle road section, and upload the road condition information to the cloud server 14 and/or the edge calculation unit 13 through the roadside communication unit 12, and the cloud server 14 and/or the edge calculation unit 13 analyze the road condition;
the roadside communication unit 12 is configured to receive the road condition information acquired by the information acquisition module 11, and may also be configured to receive the road condition information acquired by the vehicle 16 and the user terminal 17, and send the received road condition information to the cloud server 14 and/or the edge calculation unit 13;
the edge calculation unit 13 is configured to detect whether an abnormal state occurs at a road intersection or an intermediate road section according to the road condition information, and may also be configured to send a detection result to the cloud server 14, the traffic management platform 15, the vehicle 16, and the user terminal 17 through the roadside communication unit 12;
the cloud server 14 is configured to detect whether an abnormal state occurs at a road intersection or an intermediate road section according to the road condition information, and may also be configured to send a detection result to the traffic management platform 15, the vehicle 16, and the user terminal 17;
the traffic management platform 15 is used for managing and commanding traffic;
the vehicle 16 has mounted thereon a vehicle-mounted terminal, and a built-in sensor device such as an image pickup device, a laser radar sensor, and the like. The vehicle-mounted terminal has the functions of receiving and sending information, supports communication with the roadside communication unit 12, can also support communication with the cloud server 14, and can also support communication with vehicle-mounted terminals of other vehicles, wherein the specific communication mode comprises DSRC/LTE-V2X/5G-V2X and the like;
the vehicle 16 can acquire various road condition information through the built-in sensor device, then communicate with the roadside communication unit 12 through the communication unit of the vehicle-mounted terminal, transmit the acquired various road condition information to the edge calculation unit 13, and also communicate with the cloud server 14, transmit the acquired various road condition information to the cloud server 14, so that the cloud server 14 and/or the edge calculation unit 13 can analyze the road condition; the vehicle 16 is further configured to receive the detection result transmitted by the cloud server 14 and/or the edge computing unit 13;
the user terminal 17 may be configured to collect traffic information, transmit the collected traffic information to the edge computing unit 13 through the roadside communication unit 12, and upload the collected traffic information to the cloud server 14; and is further configured to receive the detection result transmitted by the cloud server 14 and/or the edge computing unit 13.
The cloud server 14 and the edge calculation unit 13 may also issue a response control policy to the device conversion unit 18 through the roadside communication unit 12 based on the abnormal state occurring on the road, so as to adjust the display states of the traffic signal lamp 19 and the electronic guideboard 20.
Based on the system architecture, the method mainly realizes that the hardware equipment, the vehicle-mounted sensor and the cloud server deployed on the access passage detect the traffic state information on the lane, then adjusts the lane traffic control strategy in time, and informs the vehicle on the lane of the adjusted lane traffic control strategy, so that lane resources can be effectively utilized, and the traffic pressure of the lane at a peak period is relieved.
The following describes the method and apparatus for controlling lane flow according to the present application in detail with reference to specific embodiments. The execution main body of the method and the device for controlling the lane flow can be a cloud server or an edge computing unit.
Example two
Referring to fig. 2, a flow chart of a method for controlling a lane flow according to an embodiment of the present application is schematically shown, and the method includes the following steps:
s201: traffic state information on at least two associated lanes is acquired.
S202: and determining the traffic state difference degree between at least two associated lanes based on the acquired traffic state information.
S203: and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes.
In one possible embodiment, the traffic status information includes at least one of the following information: vehicle speed, number of vehicle queues at road intersections. It can be understood that the number of vehicles on the lane can be known through the at least one type of traffic state information, when the traffic speed of the vehicles is high, the vehicles are relatively smooth on the lane, the number of the vehicles is relatively small, otherwise, the number of the vehicles is relatively large; when the number of the vehicles in the line at the road intersection is small, the number of the vehicles on the lane is small, and otherwise, the number of the vehicles is large.
The current lane setting situation of a road may be a bidirectional lane, i.e. two left and right lanes, such as an east-west road, which are divided into a passing direction from east to west and a passing direction from west to east, and each passing direction may be divided into a plurality of lanes, such as two straight lanes, a left-turn lane, a right-turn lane, etc. For an intersection, such as a crossroad, the crossroad corresponds to two roads, such as a northeast road and a northeast road.
In one possible embodiment, referring to fig. 3, for the case where there are two-way lanes on a road, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being the lanes connected to the intersection;
the first lane is provided with at least two lanes, and the passing direction of the vehicles on the first lane is from the first direction to the second direction;
the second lane has at least two, and the traffic direction of vehicle on the second lane is from the second direction to first direction.
For example, the east-west lane connected to the intersection is divided into a first east-west lane and a second west-east lane, wherein the first lane may include at least two lanes, for example, two straight lanes, a left-turn lane and a right-turn lane. Similarly, the second lane may be symmetrical to the first lane, and there may be at least two of the second lanes.
In another possible embodiment, referring to fig. 4, for the case of two roads at an intersection, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being the lanes connected to the intersection;
the first lane has at least one, and the passing direction of the vehicles on the first lane is from the first direction to the second direction;
the second lane has at least one, and the traffic direction of the vehicle on the second lane is from the third direction to the fourth direction.
For example, the east-west lane and the south-north lane are connected with the intersection, the east-west lane is a first lane, and the south-north lane is a second lane, wherein the first lane may include at least one, when the lanes are narrow, the first lane may be one, which indicates that the lanes are not clearly divided into the left lane and the right lane, and when the lanes are wide, the first lane may be two or more, which indicates that the lanes are clearly divided into a plurality of lanes, such as two straight vehicles, a left-turn lane and a right-turn lane. Similarly, the second lane may have at least one lane as the first lane.
In a specific implementation, the vehicle passing speed on at least two associated lanes can be obtained in any one of the following four ways:
the first method is as follows:
and acquiring the vehicle passing speed on the at least two associated lanes through monitoring images and/or monitoring videos acquired by the cameras respectively arranged on the at least two associated lanes.
In a possible implementation manner, after a camera mounted on a lane collects a monitoring image and/or a monitoring video of the lane, the collected monitoring image and/or monitoring video is transmitted to an edge computing unit and/or a cloud server through a roadside communication unit, and the edge computing unit and/or the cloud server can obtain vehicle passing speeds on at least two associated lanes according to the collected monitoring image and/or monitoring video through the following steps:
positioning the position of each vehicle on the lane in each frame of image according to a plurality of monitoring images and/or multi-frame images in the monitoring video of the lane collected in the set time period at intervals of the set time period;
and obtaining the vehicle passing speed of each vehicle on the lane in a preset time period according to the position change information of the vehicle in each frame image.
For example, the predetermined time period is 3s, in the 3s time period, the vehicle moves from one position in the image to another position in the image, and the actual space movement distance of the vehicle is obtained according to the distance difference between the two positions and the image scale, so that the traffic speed of the vehicle is obtained.
The second method comprises the following steps:
the passing speed of each vehicle is collected through laser radar sensors respectively arranged on at least two associated lanes, and the collected passing speed of each vehicle is transmitted to the edge computing unit and/or the cloud server by the laser radar.
In one possible implementation, the lidar sensor may acquire the traffic speed of each vehicle by:
the laser radar device sends laser radar signals to the vehicles in the driving process every other preset time period, and the passing speed of each vehicle is determined according to the reflection condition of the laser radar signals sent at least twice.
For example, the laser radar sends laser radar signals to a running vehicle every 3s, and the running distance of the vehicle can be determined according to the reflection time difference of the two laser radar signals sent between 3s intervals, so that the vehicle passing speed is obtained.
The third method comprises the following steps:
the vehicle-mounted laser radar sensors mounted on the vehicles on the at least two associated lanes are used for acquiring the passing speed of the front vehicle or the rear vehicle, and the passing speed of each front vehicle or rear vehicle acquired by the vehicle-mounted laser radar is transmitted to the edge calculation unit and/or the cloud server by each vehicle.
In one possible implementation, the vehicle-mounted lidar sensor may acquire the traffic speed of each vehicle ahead or behind by:
the vehicle-mounted laser radar device sends laser radar signals to front vehicles or rear vehicles at intervals of a preset time period, and the passing speed of each front vehicle or rear vehicle is determined according to the reflection condition of the laser radar signals sent at least twice.
The method is as follows:
in one possible embodiment, the vehicle transmits the current driving position information of the vehicle to a roadside communication unit near the vehicle through a communication unit of the vehicle-mounted terminal in real time, and the transmitted current driving position information is associated with the vehicle information. At this time, the roadside communication unit may transmit the current driving position and the vehicle information of each vehicle to the edge calculation unit and/or the cloud server, and then the edge calculation unit and/or the cloud server may determine the passing speed of each vehicle according to the change condition of the driving position information of each vehicle within a preset time period.
In another possible implementation manner, the vehicle sends the current driving position information of the vehicle to the cloud server through the communication unit of the vehicle-mounted terminal in real time, the sent current driving position information is associated with vehicle information, and the cloud server can determine the passing speed of each vehicle according to the change condition of the driving position information of each vehicle in a preset time period; the cloud server can also directly send the determined passing speed of each vehicle to the edge computing unit through the roadside communication unit; the cloud server can also send the received current running position information of each vehicle to the edge computing unit, and the edge computing unit determines the passing speed of each vehicle according to the change condition of the running position information of each vehicle in a preset time period.
In another possible implementation manner, navigation software may be used for navigation of each vehicle during the driving process, and at this time, the cloud server may determine the current driving position of each vehicle in real time according to the current navigation path of each vehicle, so as to determine the passing speed of each vehicle according to the change condition of the driving position information of each vehicle within a preset time period; the cloud server can also directly send the determined passing speed of each vehicle to the edge computing unit through the roadside communication unit; the cloud server can also send the received current running position information of each vehicle to the edge computing unit, and the edge computing unit determines the passing speed of each vehicle according to the change condition of the running position information of each vehicle in a preset time period.
In a specific implementation, the vehicle queuing number at the road intersection on at least two associated lanes can be obtained in any one of the following three ways:
the first method is as follows:
and acquiring the vehicle queuing number at the road intersection on the at least two associated lanes through monitoring images and/or monitoring videos acquired by cameras respectively arranged at the road intersection on the at least two associated lanes.
In a possible implementation manner, firstly, the edge calculation unit communicates with the equipment conversion unit to obtain an indication state of a current traffic signal lamp, when the indication state of the traffic signal lamp is a red light, after waiting for a preset time period, a camera installed at a road intersection is controlled to acquire a monitoring image and/or a monitoring video of a lane, and the acquired monitoring image and/or monitoring video is transmitted to the edge calculation unit and/or the cloud server through the roadside communication unit, and the edge calculation unit and/or the cloud server can acquire the vehicle queuing number at the road intersection on at least two associated lanes according to the acquired monitoring image and/or monitoring video through the following steps:
positioning each vehicle on the lane in each frame of image according to a plurality of collected monitoring images of the lane and/or a plurality of frames of images in the monitoring video;
and acquiring the vehicle queuing number at the road intersection on at least two associated lanes according to the number of each vehicle on the lanes in each frame of image.
For example, after the red light is turned on, the camera device is controlled to start capturing videos and/or images for 30s, vehicles driving from the rear sequentially arrive at the intersection within the 30s time to queue, and the waiting time can be set according to actual conditions.
The second method comprises the following steps:
the vehicle queuing number at the road intersection on the at least two associated lanes is collected through roadside communication units respectively installed on the at least two associated lanes, and the roadside communication units transmit the collected vehicle queuing number at the road intersection on the at least two associated lanes to an edge calculation unit and/or a cloud server.
In one possible implementation, the roadside communication unit may collect the number of vehicle queues at the road intersection on at least two associated lanes by:
the method comprises the steps that firstly, an edge computing unit communicates with an equipment conversion unit to obtain the indicating state of a current traffic signal lamp, when the indicating state of the traffic signal lamp is a red light, after waiting for a preset time, a roadside communication unit installed at a road intersection is controlled to send communication request signals communicated with communication units of all vehicles to the road intersection, after the communication units of the vehicles receive the communication request signals sent by the roadside communication unit, communication success signals are automatically returned to the roadside communication unit, the roadside communication unit sends the number of the received communication success signals to the edge computing unit and/or a cloud server, and then the vehicle queuing number at the road intersection on two associated lanes is determined.
The third method comprises the following steps:
in one possible embodiment, the vehicle transmits the current driving position information of the vehicle to a roadside communication unit near the vehicle through a communication unit of the vehicle-mounted terminal in real time, and the transmitted current driving position information is associated with the vehicle information. At this time, the roadside communication unit may send the current driving position and the vehicle information of each vehicle to the edge calculation unit and/or the cloud server, and then the edge calculation unit and/or the cloud server may obtain the number of vehicles located at the intersection according to the current driving position information of each vehicle after a preset time period after a red light of the intersection is lit, and determine the number of vehicle queues at the intersection on at least two associated lanes.
In another possible implementation manner, the vehicle sends the current running position information of the vehicle to the cloud server through the communication unit of the vehicle-mounted terminal in real time, the sent current running position information is associated with vehicle information, and the cloud server can obtain the number of vehicles at the road intersection according to the current running position information of each vehicle after a preset time period after a red light of the road intersection is turned on, and determine the number of vehicle queues at the road intersection on at least two associated lanes; the cloud server can also directly send the determined vehicle queuing number at the road intersection on the at least two associated lanes to the edge computing unit through the roadside communication unit; the cloud server can also send the received current driving position information of each vehicle to the edge computing unit, the number of the vehicles at the road intersection is obtained by the edge computing unit according to the current driving position information of each vehicle after a preset time period after the red light of the road intersection is turned on, and the vehicle queuing number at the road intersection on at least two associated lanes is determined.
In another possible implementation mode, navigation software may be used for navigation of each vehicle in the driving process, and at this time, the cloud server may determine the current driving position of each vehicle in real time according to the current navigation path of each vehicle, so that the number of vehicles located at a road intersection can be obtained according to the current driving position information of each vehicle after a red light of the road intersection is lit for a preset time period, and the number of vehicle queues at the road intersection on at least two associated lanes is determined; the cloud server can also directly send the determined vehicle queuing number at the road intersection on the at least two associated lanes to the edge computing unit through the roadside communication unit; the cloud server can also send the received current driving position information of each vehicle to the edge computing unit, the number of the vehicles at the road intersection is obtained by the edge computing unit according to the current driving position information of each vehicle after a preset time period after the red light of the road intersection is turned on, and the vehicle queuing number at the road intersection on at least two associated lanes is determined.
After the vehicle passing speeds on at least two associated lanes and the vehicle queuing number at the road intersection are obtained in the above various manners, the embodiment of the present application will describe in detail the implementation of step S202 and step S203 for two road situations in fig. 3 and fig. 4, respectively.
For the road situation in figure 3,
in a possible implementation, when the traffic state information is the vehicle traffic speed, and when the step S202 is implemented specifically, referring to fig. 5, the traffic state difference degree between the first lane and the second lane may be determined based on the acquired traffic state information by the following steps:
s501: calculating a first vehicle passing speed mean value between the vehicle passing speeds of at least two first lanes; and calculating a second vehicle passing speed mean value between the vehicle passing speeds of the at least two second lanes.
During specific implementation, according to the vehicle passing speeds of all vehicles on at least two first lanes, calculating the average value of the passing speeds of all vehicles to obtain the average value of the passing speeds of all vehicles;
and calculating the average value of the vehicle passing speeds according to the vehicle passing speeds of the vehicles on the at least two second lanes to obtain the average value of the second vehicle passing speeds.
S502: and calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value.
In the specific implementation process, the traffic speed difference degree may be an absolute value of a difference between a mean value of the first traffic speed and a mean value of the second traffic speed, or may be a ratio between the mean value of the first traffic speed and the mean value of the second traffic speed or a ratio between the mean value of the second traffic speed and the mean value of the first traffic speed.
In a possible implementation manner, the passing speed difference meeting the first preset trigger condition may be that an absolute value of a difference between the first vehicle passing speed mean and the second vehicle passing speed mean is greater than a preset difference threshold, or that a ratio between the first vehicle passing speed mean and the second vehicle passing speed mean is greater than a preset ratio threshold greater than 1 or less than a preset ratio threshold less than 1, or that a ratio between the second vehicle passing speed mean and the first vehicle passing speed mean is greater than a preset ratio threshold greater than 1 or less than a preset ratio threshold less than 1.
It can be understood that when the average value of the passing speeds on the two lanes is greatly different or the ratio is too large, the traffic flow on the two lanes is not balanced, and the problem of lane resource waste exists.
When the difference degree of the passing speeds meets the first preset trigger condition, when the step S203 is specifically implemented, the lane passing control strategy for at least two associated lanes may be adjusted in the following manner:
selecting a target first lane from the at least two first lanes, and using the selected target first lane as a temporary second lane; or selecting one target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
For example, as shown in fig. 6, when the traffic flow of the second lane is large, one of the first lanes may be used as the temporary second lane.
According to the embodiment of the application, one lane of lanes with low current traffic flow is used as the lane with high current traffic flow, so that lane resources can be effectively utilized, and the traffic pressure of the lanes in the peak period is relieved.
For the road situation in figure 4,
in a possible implementation, when the traffic status information is the number of vehicles queued at the road intersection, and step S202 is implemented in detail, referring to fig. 7, the traffic status difference between the first lane and the second lane may be determined based on the acquired traffic status information by:
s701: calculating a first vehicle queue number sum among vehicle queue numbers of at least one first lane; and calculating a second vehicle queue number sum among the vehicle queue numbers of the at least one second lane.
During specific implementation, the sum of the queuing numbers of the vehicles on all the first lanes is calculated according to the queuing numbers of the vehicles on all the first lanes and is used as the sum of the queuing numbers of the first vehicles;
and calculating the sum of the vehicle queuing numbers on all the second lanes as the sum of the second vehicle queuing numbers according to the vehicle queuing numbers on all the second lanes.
It should be noted that, when there is only one first lane, the sum of the queuing number of the first vehicles is the queuing number of the vehicles on the first lane; and when only one second lane is available, the sum of the second vehicle queuing number is the vehicle queuing number on the second lane.
S702: and calculating the vehicle queuing number difference degree between the first vehicle queuing number sum and the second vehicle queuing number sum.
When the vehicle queuing number difference degree is realized, the vehicle queuing number difference degree can be a difference absolute value between the sum of the first vehicle queuing number and the sum of the second vehicle queuing number, or can be a ratio between the sum of the first vehicle queuing number and the sum of the second vehicle queuing number or a ratio between the sum of the second vehicle queuing number and the sum of the first vehicle queuing number.
In a possible implementation manner, the meeting of the second preset triggering condition for the difference degree of the vehicle queuing number may be that an absolute value of a difference between the sum of the first vehicle queuing number and the sum of the second vehicle queuing number is greater than a preset difference threshold, or that a ratio between the sum of the first vehicle queuing number and the sum of the second vehicle queuing number is greater than a preset ratio threshold greater than 1 or less than a preset ratio threshold less than 1, or that a ratio between the sum of the second vehicle queuing number and the sum of the first vehicle queuing number is greater than a preset ratio threshold greater than 1 or less than a preset ratio threshold less than 1.
It can be understood that when the sum of the vehicle queuing numbers on the two lanes is relatively large or the ratio is too large, the traffic flow on the two lanes is not balanced, and the problem of lane resource waste is solved.
When the difference of the number of the vehicles in the queue meets the second preset trigger condition, when the step S203 is specifically implemented, the lane passing control strategy for at least two associated lanes may be adjusted in the following manner: increasing the allowable passing time of at least one first lane and reducing the allowable passing time of at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
According to the embodiment of the application, the allowable passing time of the lane with low current traffic flow corresponding to the same crossroad is reduced in real time, the allowable passing time of the lane with high current traffic flow is increased, the allowable passing time of each lane at the intersection can be reasonably distributed, lane resources are effectively utilized, and the lane passing pressure in a peak period is relieved.
In a possible implementation, for the road condition in fig. 3, when the traffic status information is the vehicle queue number at the road intersection, step S202, when implemented, may refer to the steps in fig. 7 to determine the traffic status difference between the first lane and the second lane, that is, first calculate the sum of the first vehicle queue numbers between the vehicle queue numbers of the at least two first lanes, and calculate the sum of the second vehicle queue numbers between the vehicle queue numbers of the at least two second lanes, and then calculate the vehicle queue number difference between the sum of the first vehicle queue numbers and the sum of the second vehicle queue numbers. When the difference degree of the vehicle queuing number meets a second preset trigger condition, selecting a target first lane from at least two first lanes, and using the selected target first lane as a temporary second lane; or selecting one target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
In a possible implementation, for the road condition in fig. 4, when the traffic state information is the vehicle traffic speed, when the step S202 is implemented, the step S5 may be referred to determine the traffic state difference degree between the first lane and the second lane, that is, first calculating a first vehicle traffic speed mean value between the vehicle traffic speeds of the at least one first lane, and calculating a second vehicle traffic speed mean value between the vehicle traffic speeds of the at least one second lane, and then calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value. When the difference degree of the passing speeds meets a first preset trigger condition, increasing the allowed passing time of at least one first lane and reducing the allowed passing time of at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
After the lane traffic control strategy for the at least two associated lanes is adjusted in the above manner, the vehicle on at least one lane of the at least two associated lanes is notified of the adjusted lane traffic control strategy.
When the method is specifically realized, the vehicle on at least one lane of the at least two associated lanes can be informed of the adjusted lane traffic control strategy in one or two ways of the following two ways:
in one possible embodiment, the vehicle in at least one of the at least two associated lanes is informed of the adjusted traffic control strategy by the roadside communication unit.
It is understood that the roadside communication unit may communicate with the communication unit of the in-vehicle terminal, and thus vehicles within the communication range of the roadside communication unit may be notified by the roadside communication unit. Meanwhile, the vehicle-mounted terminal and the user terminal of the driver can be associated with each other, and the user terminal of the driver in the vehicle can be informed of the adjusted traffic control strategy.
In another possible embodiment, the display state of the traffic lights and/or traffic signs of the intersection is controlled based on the adjusted traffic control strategy, so that the vehicle on at least one of the at least two associated lanes passing through the intersection is informed of the adjusted traffic control strategy by the display state of the traffic lights and/or traffic signs.
Through the two modes, a driver can timely see the adjusted lane traffic control strategy and can pass according to the adjusted lane traffic control strategy, so that lane resources are effectively utilized, and the lane traffic pressure in a peak period is relieved.
The method for controlling the traffic of the lane comprises the steps of firstly obtaining traffic state information on at least two associated lanes; then determining the traffic state difference degree between at least two associated lanes based on the acquired traffic state information; and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes. By adopting the scheme, the traffic control strategy can be timely adjusted according to the traffic state on the lane, so that lane resources can be effectively utilized, and the traffic pressure of the lane at the peak is relieved.
Based on the same technical concept, the embodiment of the present application further provides a device for controlling lane flow, which corresponds to the method for controlling lane flow, and as the principle of solving the problem of the device in the embodiment of the present application is similar to that of the method for controlling lane flow in the embodiment of the present application, the implementation of the device may refer to the implementation of the method, and repeated details are not repeated.
EXAMPLE III
As shown in fig. 8, a schematic structural diagram of a device 80 for controlling a lane flow according to a third embodiment of the present application includes:
an obtaining module 81, configured to obtain traffic state information on at least two associated lanes;
a determining module 82, configured to determine a traffic state difference degree between the at least two associated lanes based on the acquired traffic state information;
and the processing module 83 is configured to, when the traffic state difference meets a preset trigger condition, adjust lane traffic control strategies for the at least two associated lanes, and notify the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategies.
In one possible design, the traffic status information includes at least one of: vehicle speed, number of vehicle queues at road intersections.
In one possible design, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being lanes connected to a road intersection;
the number of the first lanes is at least two, and the passing direction of the vehicles on the first lanes is from a first direction to a second direction;
the number of the second lanes is at least two, and the passing direction of the vehicles on the second lanes is from the second direction to the first direction.
In one possible design, when the traffic state information is the vehicle traffic speed, the determining module 82, when determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information, is specifically configured to:
calculating a first vehicle passing speed mean value between the vehicle passing speeds of at least two first lanes; and calculating a second vehicle passing speed mean value between the vehicle passing speeds of the at least two second lanes;
and calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value.
In one possible design, when the traffic state difference meets a preset trigger condition, the processing module 83 is specifically configured to, when adjusting lane traffic control strategies for the at least two associated lanes:
when the difference degree of the passing speeds meets a first preset triggering condition, selecting a target first lane from the at least two first lanes, and using the selected target first lane as a temporary second lane; or, selecting a target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
In one possible design, the at least two associated lanes include a first lane and a second lane, the first lane and the second lane being lanes connected to a road intersection;
the first lane is at least one, and the passing direction of the vehicles on the first lane is from a first direction to a second direction;
the second lane has at least one, and the traffic direction of the vehicle on the second lane is from the third direction to the fourth direction.
In one possible design, when the traffic state information is the vehicle queue number at the road intersection, the vehicle queue number at the road intersection includes a vehicle queue number of at least one first lane and a vehicle queue number of at least one second lane;
the determining module 82, when determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information, is specifically configured to:
calculating a first vehicle queue number sum among the vehicle queue numbers of the at least one first lane; and calculating a second vehicle queue number sum among the vehicle queue numbers of the at least one second lane;
and calculating the vehicle queuing number difference degree between the first vehicle queuing number sum and the second vehicle queuing number sum.
In one possible design, when the traffic state difference meets a preset trigger condition, the processing module 83 is specifically configured to, when adjusting lane traffic control strategies for the at least two associated lanes:
when the vehicle queuing number difference degree meets a second preset trigger condition, increasing the allowable passing time of the at least one first lane and reducing the allowable passing time of the at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
In one possible embodiment, the processing module 83, when informing the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy, has means for:
and informing the vehicle on at least one lane of the at least two associated lanes of the adjusted traffic control strategy through the roadside communication unit.
In one possible embodiment, the processing module 83, when informing the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy, has means for:
and controlling the display state of the traffic indicator lights and/or traffic signs of the intersection based on the adjusted traffic control strategy so as to inform the vehicles on at least one lane of the at least two associated lanes passing through the intersection of the adjusted traffic control strategy through the display state of the traffic indicator lights and/or traffic signs.
The device for controlling the traffic flow of the lane provided by the embodiment of the application firstly obtains the traffic state information on at least two associated lanes; then determining the traffic state difference degree between the at least two associated lanes based on the acquired traffic state information; and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for the at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes. By adopting the scheme, the traffic control strategy can be timely adjusted according to the traffic state on the lane, so that lane resources can be effectively utilized, and the traffic pressure of the lane at the peak is relieved.
Example four
Based on the same technical concept, the embodiment of the application also provides the electronic equipment. Referring to fig. 9, a schematic structural diagram of an electronic device 90 provided in the embodiment of the present application includes a processor 91, a memory 92, and a bus 93. The memory 92 is used for storing execution instructions and includes a memory 921 and an external memory 922; here, the memory 921 is also referred to as an internal memory, and is configured to temporarily store operation data in the processor 91 and data exchanged with an external memory 922 such as a hard disk, and the processor 91 exchanges data with the external memory 922 through the memory 921, and when the computer device 90 operates, the processor 91 communicates with the memory 92 through the bus 93, so that the processor 91 executes the following instructions:
acquiring traffic state information on at least two associated lanes;
determining a traffic state difference degree between the at least two associated lanes based on the acquired traffic state information;
and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for the at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes.
The specific processing flow of the processor 91 may refer to the description of the above method embodiment, and is not described herein again.
EXAMPLE five
Based on the same technical concept, embodiments of the present application also provide a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method for controlling lane flow.
Specifically, the storage medium can be a general storage medium, such as a removable disk, a hard disk, and the like, and when a computer program on the storage medium is executed, the method for controlling the traffic flow can be executed, so that the traffic control strategy can be adjusted in time according to the traffic state on the lane, thereby effectively utilizing lane resources and relieving the traffic pressure of the lane at a peak time.
The computer program product of the method for controlling lane flow provided in the embodiment of the present application includes a computer readable storage medium storing a program code, and instructions included in the program code may be used to execute the method in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (22)

1. A method of controlling lane flow, comprising:
acquiring traffic state information on at least two associated lanes;
determining a traffic state difference degree between the at least two associated lanes based on the acquired traffic state information;
and when the difference degree of the traffic states meets a preset trigger condition, adjusting lane traffic control strategies for the at least two associated lanes, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes.
2. The method of claim 1, wherein the traffic state information comprises at least one of: vehicle speed, number of vehicle queues at road intersections.
3. The method of claim 2, wherein the at least two associated lanes comprise a first lane and a second lane, the first lane and the second lane being lanes connected to a pathway intersection;
the number of the first lanes is at least two, and the passing direction of the vehicles on the first lanes is from a first direction to a second direction;
the number of the second lanes is at least two, and the passing direction of the vehicles on the second lanes is from the second direction to the first direction.
4. The method of claim 3, wherein when the traffic state information is the vehicle traffic speed, the determining the degree of traffic state difference between the first lane and the second lane based on the acquired traffic state information comprises:
calculating a first vehicle passing speed mean value between the vehicle passing speeds of at least two first lanes; and calculating a second vehicle passing speed mean value between the vehicle passing speeds of the at least two second lanes;
and calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value.
5. The method of claim 4, wherein when the traffic state difference meets a preset trigger condition, adjusting the lane traffic control strategy for the at least two associated lanes comprises:
when the difference degree of the passing speeds meets a first preset triggering condition, selecting a target first lane from the at least two first lanes, and using the selected target first lane as a temporary second lane; or, selecting a target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
6. The method of claim 2, wherein the at least two associated lanes comprise a first lane and a second lane, the first lane and the second lane being lanes connected to a pathway intersection;
the first lane is at least one, and the passing direction of the vehicles on the first lane is from a first direction to a second direction;
the second lane has at least one, and the traffic direction of the vehicle on the second lane is from the third direction to the fourth direction.
7. The method of claim 6, wherein when the traffic status information is the number of vehicle queues at the road intersection, the number of vehicle queues at the road intersection includes a number of vehicle queues for at least one first lane and a number of vehicle queues for at least one second lane;
the determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information includes:
calculating a first vehicle queue number sum among the vehicle queue numbers of the at least one first lane; and calculating a second vehicle queue number sum among the vehicle queue numbers of the at least one second lane;
and calculating the vehicle queuing number difference degree between the first vehicle queuing number sum and the second vehicle queuing number sum.
8. The method of claim 7, wherein when the traffic state difference meets a preset trigger condition, adjusting the lane traffic control strategy for the at least two associated lanes comprises:
when the vehicle queuing number difference degree meets a second preset trigger condition, increasing the allowable passing time of the at least one first lane and reducing the allowable passing time of the at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
9. The method of claim 1, wherein said notifying a vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy comprises:
and informing the vehicle on at least one lane of the at least two associated lanes of the adjusted traffic control strategy through the roadside communication unit.
10. The method of claim 1, wherein said notifying a vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy comprises:
and controlling the display state of the traffic indicator lights and/or traffic signs of the intersection based on the adjusted traffic control strategy so as to inform the vehicles on at least one lane of the at least two associated lanes passing through the intersection of the adjusted traffic control strategy through the display state of the traffic indicator lights and/or traffic signs.
11. An apparatus for controlling lane flow, comprising:
the acquisition module is used for acquiring traffic state information on at least two associated lanes;
the determining module is used for determining the traffic state difference degree between the at least two associated lanes based on the acquired traffic state information;
and the processing module is used for adjusting lane traffic control strategies aiming at the at least two associated lanes when the traffic state difference degree meets a preset trigger condition, and informing the adjusted lane traffic control strategies to vehicles on at least one lane of the at least two associated lanes.
12. The apparatus of claim 11, wherein the traffic state information comprises at least one of: vehicle speed, number of vehicle queues at road intersections.
13. The apparatus of claim 12, wherein the at least two associated lanes comprise a first lane and a second lane, the first lane and the second lane being lanes connected to a pathway intersection;
the number of the first lanes is at least two, and the passing direction of the vehicles on the first lanes is from a first direction to a second direction;
the number of the second lanes is at least two, and the passing direction of the vehicles on the second lanes is from the second direction to the first direction.
14. The apparatus of claim 13, wherein when the traffic status information is the vehicle traffic speed, the determining module, when determining the degree of traffic status difference between the first lane and the second lane based on the acquired traffic status information, is specifically configured to:
calculating a first vehicle passing speed mean value between the vehicle passing speeds of at least two first lanes; and calculating a second vehicle passing speed mean value between the vehicle passing speeds of the at least two second lanes;
and calculating the traffic speed difference degree between the first vehicle traffic speed mean value and the second vehicle traffic speed mean value.
15. The apparatus according to claim 14, wherein the processing module, when adjusting the lane traffic control strategy for the at least two associated lanes when the traffic state difference meets a preset trigger condition, is specifically configured to:
when the difference degree of the passing speeds meets a first preset triggering condition, selecting a target first lane from the at least two first lanes, and using the selected target first lane as a temporary second lane; or, selecting a target second lane from the at least two second lanes, and using the selected target second lane as the temporary first lane.
16. The apparatus of claim 12, wherein the at least two associated lanes comprise a first lane and a second lane, the first lane and the second lane being lanes connected to a pathway intersection;
the first lane is at least one, and the passing direction of the vehicles on the first lane is from a first direction to a second direction;
the second lane has at least one, and the traffic direction of the vehicle on the second lane is from the third direction to the fourth direction.
17. The apparatus of claim 16, wherein when the traffic status information is the number of vehicle queues at the road intersection, the number of vehicle queues at the road intersection includes a number of vehicle queues for at least one first lane and a number of vehicle queues for at least one second lane;
the determining module, when determining the traffic state difference degree between the first lane and the second lane based on the acquired traffic state information, is specifically configured to:
calculating a first vehicle queue number sum among the vehicle queue numbers of the at least one first lane; and calculating a second vehicle queue number sum among the vehicle queue numbers of the at least one second lane;
and calculating the vehicle queuing number difference degree between the first vehicle queuing number sum and the second vehicle queuing number sum.
18. The apparatus according to claim 17, wherein the processing module, when adjusting the lane traffic control strategy for the at least two associated lanes when the traffic state difference meets a preset trigger condition, is specifically configured to:
when the vehicle queuing number difference degree meets a second preset trigger condition, increasing the allowable passing time of the at least one first lane and reducing the allowable passing time of the at least one second lane; or, the allowable passing time of the at least one first lane is reduced, and the allowable passing time of the at least one second lane is increased.
19. The apparatus of claim 11, wherein the processing module, in notifying the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy, has means for:
and informing the vehicle on at least one lane of the at least two associated lanes of the adjusted traffic control strategy through the roadside communication unit.
20. The apparatus of claim 11, wherein the processing module, in notifying the vehicle in at least one of the at least two associated lanes of the adjusted lane traffic control strategy, has means for:
and controlling the display state of the traffic indicator lights and/or traffic signs of the intersection based on the adjusted traffic control strategy so as to inform the vehicles on at least one lane of the at least two associated lanes passing through the intersection of the adjusted traffic control strategy through the display state of the traffic indicator lights and/or traffic signs.
21. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method of controlling lane flow according to any one of claims 1 to 10.
22. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the method of controlling lane flow according to any one of claims 1 to 10.
CN201811593682.6A 2018-12-25 2018-12-25 Method and device for controlling traffic flow of lane Pending CN111369784A (en)

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