CN111627232A

CN111627232A - Method and device for determining signal lamp period, timing change time and passing duration

Info

Publication number: CN111627232A
Application number: CN202010627749.4A
Authority: CN
Inventors: 杜泽龙; 朱金清
Original assignee: Beijing Didi Infinity Technology and Development Co Ltd
Current assignee: Didi Intelligent Transportation Technology Co., Ltd
Priority date: 2018-07-19
Filing date: 2018-07-19
Publication date: 2020-09-04
Anticipated expiration: 2038-07-19
Also published as: CN111627231A; CN110738863B; CN111627232B; CN111627231B; CN110738863A

Abstract

The application provides a method and a device for determining signal lamp period, timing change time and passing duration, and relates to the field of public transport. The signal lamp period determining method comprises the steps that firstly, a plurality of passing times of a vehicle passing through a stop line of an intersection where a signal lamp is located are obtained; then, respectively calculating the coefficient of variation of the complementation result of each candidate period relative to different passing time; and finally, selecting a candidate period with the variation coefficient meeting the requirement as the working period of the signal lamp. According to the signal lamp period determining method, the rationality of the remainder results of different candidate periods is evaluated by introducing the coefficient of variation, and the specified candidate period is reversely deduced to be used as the signal lamp working period, so that the accuracy of calculating the signal lamp working period is improved.

Description

Method and device for determining signal lamp period, timing change time and passing duration

Technical Field

The application relates to the field of public transportation, in particular to a method and a device for determining signal lamp period, timing change time and passing time.

Background

The present application is a divisional application of the patent application with application number 201810797942.5.

The signal lamp is used as a tool for strengthening road traffic management, reducing traffic accidents, improving road use efficiency and improving traffic conditions, and is widely used at each traffic intersection.

When the traffic light works, the traffic light circularly controls the passing condition of each intersection by controlling the alternating brightness of the traffic light according to the preset working period of the traffic light, wherein the working period of the traffic light refers to the sum of time required for the traffic light in each phase to display once in turn. Furthermore, by knowing the working period of the signal lamp, the user can accurately make a trip plan so as to reduce the trip cost.

In the related art, technicians typically have the following two ways to determine the duty cycle of a signal. Firstly, directly acquiring the working cycle of a signal lamp from a signal generator manufacturer; and secondly, calculating the working period of the signal lamp by adopting a data back-stepping mode.

Disclosure of Invention

The application aims to provide a method and a device for determining signal lamp period, timing change time and passing time.

In a first aspect, an embodiment of the present application provides a signal lamp period determining method, including:

acquiring a plurality of passing times of a stop line of an intersection where a vehicle passes through a signal lamp;

calculating a coefficient of variation of a result of complementation for each of the candidate periods with respect to the plurality of passage times, respectively, for the plurality of candidate periods;

and determining the signal lamp working period from the candidate periods according to the variation coefficient corresponding to each candidate period in the candidate periods.

With reference to the first aspect, this application provides a first possible implementation manner of the first aspect, where the step of calculating a coefficient of variation of each candidate period with respect to a remainder of the plurality of transit times includes:

for each candidate period, respectively calculating the variation coefficient of a plurality of the remainder results corresponding to each traffic direction according to a plurality of the passing times corresponding to different traffic directions;

and determining the coefficient of variation of the complementation results of each candidate period relative to the plurality of passing time according to the coefficient of variation of the complementation results corresponding to each traffic direction and the weights of different traffic directions.

With reference to the first aspect, this embodiment of the present application provides a second possible implementation manner of the first aspect, where the determining, according to the variation coefficient respectively corresponding to each of the multiple candidate periods, a signal lamp duty cycle from the multiple candidate periods includes:

and selecting the candidate period with the minimum coefficient of variation from the plurality of candidate periods as a signal lamp working period.

With reference to the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, where the step of obtaining multiple passing times of the stop line of the intersection where the signal lamp is passed by the vehicle includes:

acquiring a vehicle running track point;

selecting two track points, the distances between which and a stop line in the vehicle running track points meet the preset requirement, as calculation points;

and calculating the passing time according to the position information and the time information corresponding to the calculation point.

With reference to the first aspect, an embodiment of the present application provides a fourth possible implementation manner of the first aspect, where the step of selecting, as the calculation point, two trajectory points of the vehicle driving trajectory points whose distance from the stop line meets a preset requirement includes:

selecting a track point which is closest to the stop line from the vehicle running track points as a calculation point;

or, a trace point closest to the stop line among the vehicle travel trace points that have not exceeded the stop line is selected as the calculation point, and a trace point closest to the stop line among the vehicle travel trace points that have exceeded the stop line is selected as the calculation point.

In a second aspect, an embodiment of the present application further provides a method for determining a time change during signal timing, where the method includes:

acquiring a plurality of passing times of a stop line of an intersection where a vehicle passes through a signal lamp in each of a plurality of reference time slices;

calculating a coefficient of variation of each of a plurality of candidate periods with respect to a result of the remainder of the plurality of transit times, respectively, for each reference time slice;

and determining the time change of the signal lamp timing scheme according to the variation coefficients corresponding to different candidate periods in the plurality of reference time slices.

With reference to the second aspect, the present application provides a first possible implementation manner of the second aspect, wherein the determining, according to the variation coefficients corresponding to different candidate periods in the multiple reference time slices, a timing scheme change time of the signal lamp includes:

for each reference time slice, determining the variation coefficient corresponding to each reference time slice according to the numerical value of the variation coefficient of different candidate periods corresponding to each reference time slice;

determining a variation coefficient accumulated value of each unit time slice which is overlapped with the reference time slice in time according to the variation coefficient corresponding to each reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

and determining the change time of the timing scheme of the signal lamp according to the change conditions of the variation coefficient accumulation values of different unit time slices.

With reference to the second aspect, this embodiment provides a second possible implementation manner of the second aspect, where the determining, according to the coefficient of variation corresponding to each reference time slice, a cumulative value of the coefficient of variation of each unit time slice that overlaps with the reference time slice in time includes:

selecting, for each unit time slice, a signal lamp duty cycle for the unit time slice from signal lamp duty cycles corresponding to reference time slices temporally overlapping the unit time slice;

and calculating the accumulated value of the variation coefficients of the unit time slices according to the variation coefficients of the reference time slices with the same signal lamp work cycles of the unit time slices.

With reference to the second aspect, this application provides a third possible implementation manner of the second aspect, where the calculating, for each unit time slice, a variation coefficient cumulative value of the unit time slice according to a variation coefficient of a reference time slice that is the same as a signal lamp duty cycle of the unit time slice includes:

calculating the variation coefficient accumulated value of each unit time slice according to the variation coefficient of each target reference time slice and the number of the target reference time slices; the target reference time slice is a reference time slice which is the same as the working cycle of a signal lamp of the unit time slice; the numerical value of the accumulated value of the coefficient of variation of the unit time slice is in negative correlation with the coefficient of variation of the target reference time slice; the number of the variation coefficient accumulated value of the unit time slice is positively correlated with the number of the target reference time slices.

With reference to the second aspect, the present application provides a fourth possible implementation manner of the second aspect, where the step of selecting, for each unit time slice, a signal lamp operating cycle of the unit time slice from signal lamp operating cycles corresponding to reference time slices that temporally overlap with the unit time slice includes:

aiming at each unit time slice, calculating a variation coefficient accumulated value of the signal lamp working period corresponding to each reference time slice according to the variation coefficient of the signal lamp working period corresponding to each reference time slice;

and selecting the signal lamp working period corresponding to the reference time slice with the variation coefficient accumulated value meeting the preset requirement as the signal lamp working period of the unit time slice aiming at each unit time slice.

With reference to the second aspect, the present application provides a fifth possible implementation manner of the second aspect, where the determining, according to a change of the accumulated values of the variation coefficients of different unit time slices, a timing scheme change time of the signal lamp includes:

calculating the variation amplitude of the accumulated value corresponding to the designated time section according to the reference variation coefficient accumulated values of a plurality of unit time slices adjacent in time corresponding to the designated time section;

and determining the time for changing the timing scheme of the signal lamp according to the change amplitude of the accumulated value corresponding to the designated time section.

With reference to the second aspect, this application provides a sixth possible implementation manner of the second aspect, where the step of calculating, for each reference time slice, a coefficient of variation of a remainder of each candidate period of the plurality of candidate periods with respect to the plurality of passing times includes:

respectively calculating the variation coefficient of a plurality of the remainder results corresponding to each traffic direction according to a plurality of the passing times corresponding to different traffic directions aiming at each candidate period in different reference time slices;

and aiming at each candidate period in different reference time slices, determining the variation coefficient of the complementation result of each candidate period relative to the plurality of passing time according to the variation coefficient of the complementation results corresponding to each traffic direction and the weights of different traffic directions.

With reference to the second aspect, the present application provides a seventh possible implementation manner of the second aspect, where the step of obtaining, in each of a plurality of reference time slices, a plurality of passing times at which the vehicle passes through a stop line of an intersection where the signal lamp is located includes:

acquiring a vehicle running track point;

With reference to the second aspect, this embodiment provides an eighth possible implementation manner of the second aspect, where the step of selecting, as the calculation point, two track points of the vehicle driving track points whose distance from the stop line meets a preset requirement includes:

In a third aspect, an embodiment of the present application further provides a method for determining a time change during signal timing, where the method includes:

acquiring a plurality of passing times of a stop line of a crossing where a vehicle passes a signal lamp in each reference time slice;

calculating the variation coefficient of each candidate period relative to the remainder result of the passing times for each reference time slice, and determining the signal lamp working period from the candidate periods according to the variation coefficient corresponding to each candidate period in the candidate periods;

and determining the change time of the signal lamp timing scheme according to the signal lamp working period of each reference time slice.

With reference to the third aspect, the present application provides a first possible implementation manner of the third aspect, where the step of determining the signal lamp timing scheme change time according to the signal lamp duty cycle of each reference time slice includes:

determining the signal lamp working period of the unit time slice overlapped with the reference time slice in time according to the signal lamp working period of each reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

and determining the change time of the signal lamp timing scheme according to the change condition of the working period of the signal lamp of different unit time slices.

With reference to the third aspect, the present application provides a second possible implementation manner of the third aspect, where the determining, according to the signal light duty cycle of each reference time slice, the signal light duty cycle of the unit time slice that overlaps with the reference time slice in time includes:

and aiming at each unit time slice, selecting the signal lamp working period of the reference time slice with the variation coefficient accumulated value meeting the preset requirement as the signal lamp working period of the unit time slice.

With reference to the third aspect, this application provides a third possible implementation manner of the third aspect, where the step of calculating, for each reference time slice, a variation coefficient of a remainder of each candidate period of the plurality of candidate periods with respect to the plurality of passing times includes:

With reference to the third aspect, the present application provides a fourth possible implementation manner of the third aspect, where the step of obtaining, in each of the multiple reference time slices, multiple passing times of the stop line at which the vehicle passes through the intersection where the signal lamp is located includes:

acquiring a vehicle running track point;

With reference to the third aspect, the present application provides a fifth possible implementation manner of the third aspect, where the step of selecting, as the calculation point, two track points whose distances from the stop line meet a preset requirement in the vehicle driving track points includes:

In a fourth aspect, an embodiment of the present application further provides a method for determining a traffic light passing time length, where based on the method for determining a signal timing change time as described in the second aspect or the third aspect, the method for determining the traffic light passing time length includes:

determining a target timing time period according to the signal lamp timing scheme change time; the timing strategies of the signal lamps in the target timing time period are the same;

acquiring the number change condition of vehicles which do not exceed the stop line in the target timing time period;

and determining the passing time length of the signal lamp in the target timing time period according to the number change condition of the vehicles which do not exceed the stop line.

In combination with the fourth aspect, the present embodiments provide a first possible implementation manner of the fourth aspect, wherein the step of determining the passage duration of the signal lamp in the target timing period according to the number variation of the vehicles that do not exceed the stop line includes:

the time at which the number of vehicles that do not exceed the stop line starts to decrease is taken as the first endpoint time, and the time at which the number of vehicles that do not exceed the stop line starts to increase is taken as the second endpoint time, to determine the passage time period of the signal lamp in the target timing period.

In a fifth aspect, an embodiment of the present application further provides a signal lamp period determining apparatus, including:

the first acquisition module is used for acquiring a plurality of passing times of a stop line of an intersection where a vehicle passes through a signal lamp;

a first calculating module, configured to calculate, for a plurality of candidate periods, a coefficient of variation of a result of complementation for each candidate period with respect to a plurality of the transit times, respectively;

the first determining module is used for determining the signal lamp working period from the candidate periods according to the variation coefficient corresponding to each candidate period in the candidate periods.

With reference to the fifth aspect, embodiments of the present application provide a first possible implementation manner of the fifth aspect, where the first computing module includes:

a first calculating unit, configured to calculate, for each candidate period, a variation coefficient of the plurality of remainder results corresponding to each traffic direction according to a plurality of passage times corresponding to different traffic directions;

the first determining unit is used for determining the coefficient of variation of the complementation results of each candidate period relative to the plurality of passing time according to the coefficient of variation of the complementation results corresponding to each traffic direction and the weights of different traffic directions.

With reference to the fifth aspect, embodiments of the present application provide a second possible implementation manner of the fifth aspect, where the first determining module includes:

and the first selection unit is used for selecting the candidate period with the minimum coefficient of variation from the plurality of candidate periods as a signal lamp working period.

With reference to the fifth aspect, an embodiment of the present application provides a third possible implementation manner of the fifth aspect, where the first obtaining module includes:

the first acquisition unit is used for acquiring the vehicle running track points;

the second selection unit is used for selecting two track points, the distance between which and the stop line of the vehicle running track points meets the preset requirement, as calculation points;

and the second calculating unit is used for calculating the passing time according to the position information and the time information corresponding to the calculating point.

With reference to the fifth aspect, an embodiment of the present application provides a fourth possible implementation manner of the fifth aspect, where the second selecting unit includes:

the first selection subunit is used for selecting the track point which is closest to the stop line in the vehicle running track points as a calculation point; or, a trace point closest to the stop line among the vehicle travel trace points that have not exceeded the stop line is selected as the calculation point, and a trace point closest to the stop line among the vehicle travel trace points that have exceeded the stop line is selected as the calculation point.

In a sixth aspect, an embodiment of the present application further provides an apparatus for determining a time when a signal lamp timing changes, where the apparatus includes:

the second acquisition module is used for acquiring a plurality of passing times of the stop line of the intersection where the vehicle passes the signal lamp in each reference time slice;

a second calculating module, configured to calculate, for each reference time slice, a coefficient of variation of a remainder of each candidate period in the plurality of candidate periods with respect to the plurality of passing times, respectively;

and the second determining module is used for determining the time change of the timing scheme of the signal lamp according to the variation coefficients corresponding to different candidate periods in the plurality of reference time slices.

With reference to the sixth aspect, embodiments of the present application provide a first possible implementation manner of the sixth aspect, where the second determining module includes:

a second determining unit, configured to determine, for each reference time slice, a variation coefficient corresponding to each reference time slice according to a magnitude of a variation coefficient of different candidate periods corresponding to each reference time slice;

a third determining unit, configured to determine, according to the coefficient of variation corresponding to each reference time slice, a cumulative value of the coefficient of variation of each unit time slice that temporally overlaps with the reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

and the fourth determining unit is used for determining the time change of the timing scheme of the signal lamp according to the change situation of the variation coefficient accumulation values of different unit time slices.

With reference to the sixth aspect, embodiments of the present application provide a second possible implementation manner of the sixth aspect, where the third determining unit includes:

a second selection subunit, configured to select, for each unit time slice, a signal light duty cycle of the unit time slice from signal light duty cycles corresponding to reference time slices temporally overlapping with the unit time slice;

and the first calculating subunit is used for calculating the variation coefficient accumulated value of the unit time slice according to the variation coefficient of the reference time slice which is the same as the signal lamp work period of the unit time slice.

With reference to the sixth aspect, this application provides a third possible implementation manner of the sixth aspect, where the first calculating subunit is further configured to calculate, for each unit time slice, a variance value of the unit time slice according to the variance of each target reference time slice and the number of the target reference time slices; the target reference time slice is a reference time slice which is the same as the working cycle of a signal lamp of the unit time slice; the numerical value of the accumulated value of the coefficient of variation of the unit time slice is in negative correlation with the coefficient of variation of the target reference time slice; the number of the variation coefficient accumulated value of the unit time slice is positively correlated with the number of the target reference time slices.

With reference to the sixth aspect, embodiments of the present application provide a fourth possible implementation manner of the sixth aspect, where the second selecting subunit includes:

the second calculating subunit is used for calculating, for each unit time slice, a variation coefficient accumulated value of the signal lamp working period corresponding to each reference time slice according to the variation coefficient of the signal lamp working period corresponding to each reference time slice;

and the third selecting subunit is used for selecting the signal lamp working period corresponding to the reference time slice with the variation coefficient accumulated value meeting the preset requirement as the signal lamp working period of the unit time slice aiming at each unit time slice.

With reference to the sixth aspect, embodiments of the present application provide a fifth possible implementation manner of the sixth aspect, where the fourth determining unit includes:

a third calculating subunit, configured to calculate, according to the reference variation coefficient accumulated values of the temporally adjacent unit time slices corresponding to the specified time zone, a variation amplitude of the accumulated value corresponding to the specified time zone;

and the first determining subunit is used for determining the time for changing the timing scheme of the signal lamp according to the change amplitude of the accumulated value corresponding to the designated time section.

With reference to the sixth aspect, embodiments of the present application provide a sixth possible implementation manner of the sixth aspect, where the second computing module includes:

a third calculating unit, configured to calculate, for each candidate period in different reference time slices, a variation coefficient of the plurality of remainder results corresponding to each traffic direction according to a plurality of passage times corresponding to different traffic directions;

and a fifth determining unit, configured to determine, for each candidate period in different reference time slices, a variation coefficient of the complementary result of each candidate period with respect to the multiple passing times according to the variation coefficient of the complementary result corresponding to each traffic direction and the weights of different traffic directions.

With reference to the sixth aspect, embodiments of the present application provide a seventh possible implementation manner of the sixth aspect, where the second obtaining module includes:

the second acquisition unit is used for acquiring the vehicle running track points;

the third selection unit is used for selecting two track points, the distances between the two track points and the stop line of which meet the preset requirement, from the vehicle running track points as calculation points;

and the fourth calculating unit is used for calculating the passing time according to the position information and the time information corresponding to the calculating points.

With reference to the sixth aspect, the present application provides an eighth possible implementation manner of the sixth aspect, where the third selecting unit includes:

the fourth selection subunit is used for selecting the track point which is closest to the stop line from the vehicle running track points as a calculation point; or, a trace point closest to the stop line among the vehicle travel trace points that have not exceeded the stop line is selected as the calculation point, and a trace point closest to the stop line among the vehicle travel trace points that have exceeded the stop line is selected as the calculation point.

In a seventh aspect, an embodiment of the present application further provides a device for determining a time when a signal light timing is changed, where the device includes:

the third acquisition module is used for acquiring a plurality of passing times of the stop line of the intersection where the vehicle passes the signal lamp in each reference time slice;

the third calculation module is used for calculating the variation coefficient of the remainder result of each candidate period in the multiple candidate periods relative to the multiple passing times respectively aiming at each reference time slice, and determining the working period of the signal lamp from the multiple candidate periods according to the variation coefficient corresponding to each candidate period in the multiple candidate periods;

and the third determining module is used for determining the signal lamp timing scheme change time according to the signal lamp working period of each reference time slice.

With reference to the seventh aspect, an embodiment of the present application provides a first possible implementation manner of the seventh aspect, where the third determining module includes:

a sixth determining unit, configured to determine, according to the beacon duty cycle of each reference time slice, a beacon duty cycle of a unit time slice that overlaps in time with the reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

and the seventh determining unit is used for determining the change time of the signal lamp timing scheme according to the change condition of the working period of the signal lamp of different unit time slices.

With reference to the seventh aspect, an embodiment of the present application provides a second possible implementation manner of the seventh aspect, where the sixth determining unit includes:

the fourth calculating subunit is configured to calculate, for each unit time slice, a variation coefficient cumulative value of the signal lamp duty cycle corresponding to each reference time slice according to the variation coefficient of the signal lamp duty cycle corresponding to each reference time slice;

and the fifth selecting subunit is used for selecting the signal lamp working period of the reference time slice with the variance coefficient accumulated value meeting the preset requirement as the signal lamp working period of the unit time slice aiming at each unit time slice.

With reference to the seventh aspect, an embodiment of the present application provides a third possible implementation manner of the seventh aspect, where the third computing module includes:

a fifth calculating unit, configured to calculate, for each candidate period in different reference time slices, a variation coefficient of the plurality of remainder results corresponding to each traffic direction according to a plurality of passing times corresponding to different traffic directions, respectively;

an eighth determining unit, configured to determine, for each candidate period in different reference time slices, a variation coefficient of the complementary result of each candidate period with respect to the multiple passing times according to the variation coefficient of the complementary result corresponding to each traffic direction and the weights of different traffic directions.

With reference to the seventh aspect, an embodiment of the present application provides a fourth possible implementation manner of the seventh aspect, where the third obtaining module includes:

the third acquisition unit is used for acquiring the vehicle running track points;

the fourth selection unit is used for selecting two track points, the distances between the two track points and the stop line of which meet the preset requirement, from the vehicle running track points as calculation points;

and the sixth calculating unit is used for calculating the passing time according to the position information and the time information corresponding to the calculating points.

With reference to the seventh aspect, an embodiment of the present application provides a fifth possible implementation manner of the seventh aspect, where the fourth selecting unit includes:

the sixth selection subunit is used for selecting the track point which is closest to the stop line from the vehicle running track points as a calculation point; or, a trace point closest to the stop line among the vehicle travel trace points that have not exceeded the stop line is selected as the calculation point, and a trace point closest to the stop line among the vehicle travel trace points that have exceeded the stop line is selected as the calculation point.

In an eighth aspect, an embodiment of the present application further provides a device for determining a traffic light passing time length, where the device for determining a traffic light timing change time is based on the sixth aspect or the seventh aspect, and the device for determining a traffic light passing time length includes:

the fourth determining module is used for determining a target timing time period according to the signal lamp timing scheme change time; the timing strategies of the signal lamps in the target timing time period are the same;

the fourth acquisition module is used for acquiring the number change condition of the vehicles which do not exceed the stop line in the target timing time period;

and the fifth determining module is used for determining the passing time length of the signal lamp in the target timing time period according to the number change condition of the vehicles which do not exceed the stop line.

With reference to the eighth aspect, an embodiment of the present application provides a first possible implementation manner of the eighth aspect, where the fifth determining module includes:

a ninth determining unit for taking a time at which the number of vehicles that do not exceed the stop line starts to decrease as the first endpoint time and a time at which the number of vehicles that do not exceed the stop line starts to increase as the second endpoint time to determine a passage time period of the signal lamp in the target timing period.

In a ninth aspect, the present application further provides a computer readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method of any one of the first aspects.

In a tenth aspect, the present application further provides a computer-readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method of any one of the second or third aspects.

In an eleventh aspect, the present application further provides a computer-readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method of any one of the fourth aspects.

In a twelfth aspect, an embodiment of the present application further provides a computing apparatus, including: a processor, a memory and a bus, the memory storing execution instructions, the processor and the memory communicating via the bus when the computing device is running, the processor executing the method according to any one of the first aspect stored in the memory.

In a twelfth aspect, an embodiment of the present application further provides a computing apparatus, including: a processor, a memory and a bus, the memory storing execution instructions, the processor and the memory communicating via the bus when the computing device is running, the processor executing the method according to any of the second or third aspects stored in the memory.

In a thirteenth aspect, an embodiment of the present application further provides a computing apparatus, including: a processor, a memory and a bus, the memory storing execution instructions, the processor and the memory communicating via the bus when the computing device is running, the processor executing the method according to any of the fourth aspect stored in the memory.

The signal lamp period determining method provided by the embodiment of the application comprises the steps that firstly, a plurality of passing times of a vehicle passing through a stop line of an intersection where a signal lamp is located are obtained; then, respectively calculating the coefficient of variation of the complementation result of each candidate period relative to different passing time; and finally, selecting a candidate period with the variation coefficient meeting the requirement as the working period of the signal lamp. According to the signal lamp period determining method, the rationality of the remainder results of different candidate periods is evaluated by introducing the coefficient of variation, and the specified candidate period is reversely deduced to be used as the signal lamp working period, so that the accuracy of calculating the signal lamp working period is improved.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred 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 shows a basic flowchart of a signal lamp period determination method provided in an embodiment of the present application;

FIG. 2 is a schematic diagram showing the relationship of track points and stop lines from a top view perspective;

fig. 3 is a schematic basic flowchart illustrating a method for determining a signal timing change time according to an embodiment of the present application;

FIG. 4 is a diagram showing a relationship of a reference time slice and a unit time slice;

FIG. 5 is a graph showing a cumulative value curve composed of a plurality of reference coefficient of variation cumulative values for a time slice;

fig. 6 is a schematic basic flow chart illustrating another method for determining a signal timing change time provided in the embodiment of the present application;

FIG. 7 is a schematic diagram showing a curve formed by the number change data of vehicles that do not exceed the stop line;

FIG. 8 illustrates a schematic diagram of a first computing device provided by an embodiment of the application;

FIG. 9 illustrates a schematic diagram of a second computing device provided by embodiments of the present application;

fig. 10 illustrates a schematic diagram of a third computing device provided by an embodiment of the present application.

Detailed Description

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 of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, 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.

The technology in some fields needs to use the signal lamp working period as basic data to achieve the technical purpose. For example, in the accurate navigation technology, the driving route can be planned by knowing the working period of the signal lamp and the current condition (red light or green light) of the signal lamp, so that the purpose of reducing the travel time is achieved.

In the related art, there are generally the following two ways to determine the duty cycle of the signal lamp. Firstly, directly acquiring the working cycle of a signal lamp from a signal generator manufacturer; and secondly, calculating the working period of the signal lamp by adopting a data back-stepping mode.

For the first mode of determining the working period of the signal lamp, the cost is high, and a corresponding signal manufacturer is not easy to accurately find, so that the realization is difficult. With respect to the second way of determining the duty cycle of the traffic light, the inventor of the present application has conducted a certain amount of experiments, and it is considered that the current technology of calculating the duty cycle of the traffic light by means of data back-stepping is not sufficient, and further, the present application provides an improved method of determining the duty cycle of the traffic light, as shown in fig. 1, comprising the following steps:

step S101, obtaining a plurality of passing times of a stop line of a stop signal lamp when a vehicle passes through the intersection;

step S102, calculating the coefficient of variation of the complementation result of each candidate period relative to a plurality of passing times respectively aiming at a plurality of candidate periods;

step S103, determining the signal lamp working period from the candidate periods according to the variation coefficient corresponding to each candidate period in the candidate periods.

Wherein the passing time refers to a time value at which the vehicle passes the intersection stop line. It should be noted that the value of the passing time should be affected by the change of the signal light, for example, during the process that the straight lane at the intersection is under the red light, the vehicle running on the straight lane should not generate the corresponding passing time (when the red light is, the vehicle cannot pass through the stop line).

In particular, a more fully functional signal lamp typically comprises the following three modules: the system comprises a straight-going signal lamp module (used for controlling the vehicle intersection to go straight or stop), a left-turning signal lamp module (used for controlling the vehicle intersection to turn left or stop), and a right-turning signal lamp module (used for controlling the vehicle intersection to turn right or stop). If the signal a includes the straight signal module and the left-turn signal module, and there is no right-turn signal module, it indicates that the signal a is not needed to be seen when the signal a turns right at the intersection, and therefore, if the time when the vehicle passes the stop line when the signal a turns right at the intersection, the time should not be the passing time in step S101. Correspondingly, if the vehicle passes through the stop line when turning left at the intersection where the signal lamp a is located, or going straight, the time can be taken as the passing time in step S101.

The core idea of the scheme provided by the application is to examine which candidate period the change rule corresponding to the passing time accords with, and further determine a certain candidate period as the working period of the signal lamp. It can be predicted that the change rule cannot be determined by simply using a certain pass time, and therefore, a plurality of pass times need to be acquired in step S101, so as to determine the change rule in the subsequent steps.

The calculation process of step S102 can be divided into two steps, which are:

step 21, calculating a remainder result of each candidate period relative to a plurality of passing times;

and step 22, calculating the variation coefficient corresponding to each candidate period according to the multiple remainder results corresponding to each candidate period.

In implementation, the system may directly complete these two steps in a large calculation formula, thereby completing the execution of step S102. The following description will be made with respect to step 21 and step 22, respectively, but it should be understood that the description procedure is necessarily equally applicable to step S102.

In step 21, the candidate period may be predetermined, for example, the candidate period may be determined to be any value between 50 seconds and 200 seconds according to an empirical value (an integer should be selected as the candidate period in general, but a decimal may be selected as the candidate period in some cases).

Further, in step 21, the result of the complementation between each possible candidate period (e.g. 50, 51, 52) and the multiple transit times (actually, the set of the multiple transit times) is calculated. The following describes a process of calculating a result of complementation of a certain candidate period with respect to a plurality of transit times.

For the complementation process of a specified candidate period relative to different passing times, respectively calculating the candidate period and each passing time to carry out complementation operation, and further obtaining the complementation result corresponding to each passing time. For any one candidate period, each passing time corresponds to one complementation result, and since the passing time is multiple, the complementation result should also be multiple (the complementation result corresponding to each candidate period should be multiple).

For convenience of calculation, the passing time here may be generally selected from a time counted by taking a certain time point as a starting time, for example, counting from twelve noon, and the passing time of the vehicle passing through the stop line at 0 minute and 25 seconds at 12 hours may be 25S (the stop line is passed at 25S after the starting time) or 53S (the stop line is passed at 53S after the starting time). If the a candidate period (one of the candidate periods) is 50S and the transit times are 25S, 53S and 84S, respectively, the remainder of the a candidate period with respect to the transit time of 25S is 25S; the remainder of the a candidate period with respect to the transit time 53S is 3S; the remainder of the a candidate period with respect to the elapsed time 84S is 34S. Of course, the sample size of the transit time is generally far more than 3 in the above example when actually participating in the calculation, and it is expected that the number of the remainder results is the same as the number of the transit times (how many transit times there are, how many remainder results should be, and the remainder results corresponding to different transit times may be the same), that is, how many transit times there are for one candidate period, how many remainder results will be. Similarly, if the B-candidate period (one of the candidate periods) is 51S and the passage times are 25S, 53S and 84S, respectively, the remainder of the B-candidate period with respect to the passage time of 25S is 25S; the complementation result of the B candidate period relative to the passing time 53S is 2S; the result of the remainder of the B candidate period with respect to the elapsed time 84S is 33S.

Furthermore, in step 21, the remainder is calculated for each candidate period, and in order to ensure the accuracy of the calculation, the candidate period is generally taken from the minimum value to the maximum value in a reasonable range (e.g., 50S-200S). For example, if the reasonable range is 50S-200S, the candidate periods may be 50S, 51S, 52S, 53S, 54S, 55S, 56S, 57S … 199S, and 200S, that is, the candidate periods may be any integer in the reasonable range, and of course, in order to ensure the calculation accuracy, the decimal in the reasonable range may also be selected as the candidate period. In practical use, the plurality of candidate periods in step S102 generally need to be set to the maximum value (e.g., 200,) from the minimum value (e.g., 50) in a manner that the step size is 1, and further, the candidate periods may be 50, 51, 52, 53 … 199, 200. Of course, the step size may also be a fractional number.

Further, after step 21 is executed, it can be determined that a large number of remainder results corresponding to each candidate period are obtained, for example, the remainder results of the a candidate periods are 15, 8, 17, 29, 5, 38, and 27; the complementation result of the B candidate period is 12, 38, 47, 21, 3, 16 and 2; the remainder of the C candidate periods is 42, 32, 17, 7, 3, 12, 9. In step 22, a variation coefficient corresponding to each candidate period may be calculated according to a plurality of remainder results corresponding to each candidate period, where the variation coefficient is a ratio of a standard deviation of the data set to an average value. For example, when the coefficient of variation is calculated for the above-described remainder (15, 8, 17, 29, 5, 38, 27) of the a candidate period, the ratio of the standard deviation to the average of the data sets including 15, 8, 17, 29, 5, 38, 27 should be calculated. Furthermore, a corresponding coefficient of variation can be obtained for each candidate cycle. For example, the variation coefficient of the X candidate period is 0.22, the variation coefficient of the Y candidate period is 0.13, and the variation coefficient of the X candidate period is 0.27. It should be understood that in the schemes provided in this application, the meaning of the coefficient of variation, in addition to the meaning explained above in this paragraph, can be further understood as any number that can characterize the degree of dispersion of the data set (the set of complementary results).

Since the coefficient of variation characterizes the degree of dispersion of data in the data set, if a certain candidate period is a real period, the coefficient of variation of the remainder corresponding to the candidate period should be relatively small, for example, the remainder is between 10 and 20, i.e., the differences between different remainders are not large. On the contrary, if the variation coefficients of the complementation results corresponding to other candidate periods are relatively large (the difference between different complementation results is relatively large). Further, in step S103, the candidate period corresponding to the coefficient of variation candidate having the smallest value of the coefficient of variation may be directly selected as the traffic light operation period. Of course, before determining that the selection period corresponding to the coefficient of variation with the smallest value is the signal lamp duty cycle, other steps may also be added, for example, whether the difference between the coefficient of variation with the smallest value and the second smallest coefficient of variation with the smallest value is large enough is considered, if so, the selection period corresponding to the coefficient of variation with the smallest value may be determined to be the signal lamp duty cycle, otherwise, the current calculation result should be discarded, and a candidate period should be selected again, or sampling should be performed again (step S101 is executed again).

The method provided by the application evaluates the complementation results corresponding to different candidate periods by using the variation coefficient, wherein the complementation results are obtained by complementing the candidate periods by using the time; furthermore, in the subsequent steps, the candidate period with the sufficiently small coefficient of variation can be directly selected as the working period of the signal lamp, so that the accuracy of calculating the working period of the signal lamp is improved.

In connection with the foregoing description, the multiple passing times mentioned in step S101 are generally times when the vehicle passes through stop lines in different traffic directions, or times when the vehicle passes through stop lines in the same traffic direction.

Further, step S102 may be implemented as follows:

and respectively calculating the variation coefficient of a plurality of surplus results corresponding to each traffic direction according to a plurality of passing times corresponding to the target traffic direction for each candidate period. Wherein the target traffic direction is a specified one of the directions.

That is, step S102 may be executed to only consider the passing time (i.e. the passing time of the stop line in one traffic direction) of one traffic direction (e.g. any one of east-west, west-east, south-north or north-south), mainly because the signal lamp duty cycles of all directions of one intersection should be the same, and therefore, after the signal lamp duty cycle in one traffic direction is determined, the signal lamp duty cycle in each direction at the intersection can be determined.

In fact, since an intersection usually has stop lines in multiple traffic directions (for example, an intersection usually has four stop lines, which are east-west stop line, west-east stop line, south-north stop line, and north-south stop line), and further, if the passing time of the vehicle passing through different stop lines of the intersection where the signal lamp is located is obtained in step S101, the passing time of the vehicle passing through the stop lines in different traffic directions can be classified first, that is, each traffic direction corresponds to a predetermined number of passing times (for example, west-east corresponds to N passing times of the vehicle passing through the west-east stop line), the remainder result of different candidate periods corresponding to the stop line in each traffic direction needs to be calculated respectively according to the passing time of the stop line in each traffic direction in the subsequent process, and the variation coefficient of different candidate periods corresponding to the stop line in each traffic direction needs to be calculated according to the remainder result, and then, determining the working period of the signal lamp according to the coefficient of variation. As shown in table 1 below, the coefficient of variation of the remainder of the candidate periods corresponding to stop lines in different traffic directions at the same intersection is shown:

TABLE 1

Table 1 shows the coefficient of variation for different candidate periods for two traffic direction stop lines (e.g., the a stop line is the west-east stop line and the B stop line is the north-south stop line). In table 1, since the values of the coefficients of variation are different, the multiple remainder results used for calculating different coefficients of variation should be different (at least should not be identical).

Furthermore, in the method provided by the present application, step S102 may be implemented as follows:

step 1021, for each candidate period, respectively calculating the coefficient of variation of a plurality of complementation results corresponding to each traffic direction according to a plurality of passing times corresponding to different traffic directions;

step 1022, determining the coefficient of variation of the remainder result of each candidate period relative to the plurality of transit times according to the coefficient of variation of the plurality of the remainders corresponding to each traffic direction and the weights of different traffic directions.

Step 1021 is to calculate the variation coefficient of different candidate periods corresponding to each traffic direction, and step 1022 may be to sum the variation coefficients of different candidate periods corresponding to each traffic direction to calculate the variation coefficient of each candidate period. For example, the candidate cycles 50, 51, and 52 in the a direction have coefficient of variation of 0.15, 0.18, and 0.12, respectively; the variation coefficients corresponding to the candidate periods 50, 51 and 52 in the B direction are 0.25, 0.28 and 0.14, respectively; the coefficient of variation corresponding to the candidate period 50 may be 0.15+0.25 to 0.4 (in this case, the weight is 1); the coefficient of variation of the candidate period 51 may be 0.18+0.28 to 0.46 (in this case, the weight is 1). Here, the coefficient of variation of the candidate cycle 50 in the a direction of 0.15 is the coefficient of variation of the plurality of results of the remainder corresponding to the traffic direction corresponding to the candidate cycle 50 in step 1021.

In practice, step 1021 may be implemented as follows:

step 1021 comprises the steps of:

step 10211, calculating the remainder of different candidate periods corresponding to each traffic direction according to the passing time corresponding to different traffic directions;

step 10212, calculating variation coefficients of different candidate periods corresponding to each traffic direction according to the remainder result of different candidate periods corresponding to each traffic direction;

correspondingly, step 1022 may be implemented as follows:

step 10221, select the coefficient of variation with the smallest value among the coefficients of variation of different candidate periods corresponding to each traffic direction as the coefficient of variation of the corresponding candidate period.

That is, the coefficient of variation corresponding to the candidate period is the smallest value among the coefficients of variation corresponding to the candidate period in different traffic directions.

In step 10211, the remaining results of different candidate periods corresponding to each traffic direction are calculated respectively by using the corresponding transit time. For example, step 10211 should calculate the remainder result X1 corresponding to the first candidate period and the remainder result X2 corresponding to the second candidate period in the traffic direction a; the remainder result X3 corresponding to the first candidate period in the traffic direction a and the remainder result X4 corresponding to the second candidate period a, of course, the passing time used for calculating the remainder result X1 corresponding to the first candidate period in the traffic direction a should also be the passing time of the vehicle passing through the stop line in the traffic direction a, and similarly, the remainder results for the designated candidate periods in other traffic directions should also be used.

At step 10212, the coefficient of variation of the candidate period in each traffic direction needs to be calculated, and in step 10212, the coefficient of variation Y1 corresponding to the first candidate period in the traffic direction a should be calculated by using the remainder result X1; calculating a variation coefficient Y2 corresponding to the second candidate period of the traffic direction A by using the residue result X2; calculating a variation coefficient Y3 corresponding to the first candidate period of the traffic direction B by using the residue result X3; and calculating a coefficient of variation Y4 corresponding to the second candidate period of the traffic direction B by using the residue result X4. It can be seen that the first candidate period (e.g. 50 seconds) in the traffic direction a and the first candidate period (e.g. 50 seconds) in the traffic direction B are the same candidate period, and the second candidate period (e.g. 53 seconds) in the traffic direction a and the second candidate period (e.g. 53 seconds) in the traffic direction B are the same candidate period, and further, in step 1022, the coefficient of variation of each candidate period may be determined directly according to the same value of the candidate period and the different coefficients of variation in the traffic directions, and in a specific implementation, if Y1 is 0.12 and Y3 is 0.25, the coefficient of variation of the first candidate period may be determined to be 0.12; if Y2 is 0.22 and Y4 is 0.19, it can be determined that the coefficient of variation of the first candidate period is 0.19, that is, the coefficient of variation with the smallest value among the plurality of coefficients of variation (the coefficients of variation corresponding to different traffic directions, and only one coefficient of variation corresponding to each traffic direction) corresponding to each candidate period should be selected as the coefficient of variation of the candidate period.

Of course, step 1022 may also be implemented as follows:

step 10222, performing weighted summation on the variation coefficients corresponding to multiple candidate periods with the same candidate period and different traffic directions by using a weighted calculation method, so as to determine the variation coefficient of the summation result of each candidate period with respect to multiple transit times.

In step 10222, a weighting calculation method may be adopted to sum up multiple coefficient variations corresponding to the same candidate period, and the sum result is used as the coefficient variation of the candidate period, so as to obtain the coefficient variation corresponding to each candidate period.

For example, step 10211 should calculate the remainder result X1 corresponding to the first candidate period and the remainder result X2 corresponding to the second candidate period in the traffic direction a; and the complementation result X3 corresponding to the first candidate period and the complementation result X4 corresponding to the second candidate period in the traffic direction B. In the step 10212, calculating a variation coefficient Y1 corresponding to the first candidate period in the traffic direction A by using the residue result X1; calculating a variation coefficient Y2 corresponding to the second candidate period of the traffic direction A by using the residue result X2; calculating a variation coefficient Y3 corresponding to the first candidate period of the traffic direction B by using the residue result X3; and calculating a coefficient of variation Y4 corresponding to the second candidate period of the traffic direction B by using the residue result X4. In step 10222, if Y1 is 0.12 and Y3 is 0.25, it is determined that the variation coefficient corresponding to the first candidate period is 0.12 × 1+0.25 × 1 — 0.37 (two 1s appearing in the formula are weighting coefficients); if Y2 is 0.22 and Y4 is 0.19, the coefficient of variation of the second candidate period can be determined to be 0.22 × 1+0.19 × 1 — 0.39.

As shown in the following table 2, the corresponding relationship between the variation coefficients of different traffic directions and the variation coefficients of the candidate periods calculated by the summation method is shown:

TABLE 2

As can be seen from table 2, each candidate period corresponds to the variation coefficients of a plurality of different traffic directions and corresponds to a final variation coefficient, and the variation coefficient corresponding to any one candidate period is calculated from the variation coefficients of a plurality of different traffic directions that are the same as the candidate period. The coefficient of variation 0.48 for example, a candidate period of 50 is summed from 0.12, 0.22, and 0.14.

In addition to the above-mentioned calculation of the coefficient of variation by using the summation method, the average value and the median value of the plurality of coefficients of variation in different traffic directions corresponding to the same candidate period may be used as the coefficient of variation of the candidate period, and of course, other methods may be used for calculation, but it should be ensured that the coefficient of variation corresponding to the target candidate period (one of the plurality of candidate periods) can only be obtained from the plurality of coefficients of variation in different traffic directions corresponding to the target candidate period, and the coefficient of variation in different traffic directions of other candidate periods (candidate periods other than the target candidate period) cannot be used for calculation of the coefficient of variation of the target candidate period.

As will be explained in the foregoing, the transit time refers to a time value at which the vehicle passes through the intersection stop line, which is generally determined based on the track point. The track points refer to data which are formed in the driving process of the vehicle and used for describing the position and time of the vehicle (each track point corresponds to unique position information and time information, the position information is used for explaining the specific position where the vehicle drives, and the time information is used for explaining the time value when the vehicle drives to the position), and then the plurality of track points are connected into a line according to the time corresponding to the track points and the sequence of time to form the driving track of the vehicle. As shown in fig. 2, the relationship of the track points and the stop lines is shown from a top view perspective. For example, in fig. 2, the time that track point a, track point B, track point C, track point D and track point E correspond increases in proper order, that is, the track point vehicle in fig. 2 has reached track point a, track point B, track point C, track point D and track point E first, that is, the vehicle driving direction that the track point shown in fig. 2 corresponds is as shown by the arrow in fig. 2, from left to right. Further, it can be determined that the vehicle has not passed the stop line when the vehicle is at track point D and has passed the stop line when the vehicle is at track point E. Further, in the case of fig. 2, the time corresponding to the trajectory point E (the time when the vehicle reaches the trajectory point E) may be selected as the passage time. Of course, the passing time may be calculated comprehensively from the data of the trace points D and E to improve the accuracy.

The passing time can be determined in a derivation mode or a direct acquisition mode.

If the passing obtained by the direct acquisition mode is adopted, the time corresponding to the first track point (such as the track point E in the figure 2) after the vehicle exceeds the stop line can be directly taken as the passing time.

If the derived way is used to determine the passing time, the passing time can be determined according to the following steps, i.e. step S101 includes:

step 1011, obtaining vehicle running track points;

step 1012, selecting two track points, the distances between which and the stop line of the vehicle driving track points meet the preset requirement, as calculation points;

step 1013, calculating the passing time according to the position information corresponding to the calculation point and the time information of the calculation point.

The vehicle driving trace points are the trace points depicted in fig. 2, and the explanation is not repeated here.

Step 1012 may be executed in many ways, for example, two or more vehicle driving track points closest to the stop line may be selected as the calculation points; one or more of the vehicle travel track points that do not exceed the stop line, which are closest to the stop line, may also be selected as calculation points (e.g., track point D in fig. 2), and one or more of the vehicle travel track points that have exceeded the stop line, which are closest to the stop line, may be selected as calculation points (e.g., track point E in fig. 2). Specifically, the distance between the vehicle running track point and the stop line can be calculated from the coordinates of each vehicle running track point and the coordinates of the stop line.

Step 1013, when executed, may calculate a transit time from the found calculation points. For example, the found calculation points are the track point D and the track point E in fig. 2, and correspondingly, it can be determined that the time when the vehicle reaches the track point D is T1 (time information), the time when the vehicle reaches the track point E is T2, the distance between the track point D and the stop line is D1, and the distance between the track point E and the stop line is D2, and then, in the calculation, the passing time T can be calculated by using the following formula:

similarly, the average speed of the vehicle between the track points D and E can be calculated according to the positions of the track points D and E and the corresponding time information, and then the time X for the vehicle to move from the track point D to the stop line is calculated according to the distance between the track point D and the stop line and the average speed, so that the sum of the time information corresponding to the track point D and the time X can be used as the passing time.

In implementation, a system (an execution main body of the signal lamp period determination method provided by the present application) usually receives a large number of vehicle driving track points, each vehicle driving track point has link information (i.e. road information indicating on which road the track point is), in addition to time information and position information, and then the vehicle driving track points can be matched (flow matching) according to the link information of the vehicle driving track points to determine whether the vehicle driving track point falls on a straight line or a left-turn line of an intersection where a specified signal lamp is located, that is, whether the vehicle driving track point can be used to calculate the working period of the specified signal lamp.

According to the signal lamp period determining method, the rationality of the remainder results of different candidate periods is evaluated by introducing the coefficient of variation, and then the specified candidate period is reversely deduced to be used as the signal lamp working period, so that the accuracy of calculating the signal lamp working period is improved.

Based on the implementation principle of the signal lamp period determination method, the application also provides a change time determination method for determining a signal lamp timing period based on a reference coefficient of variation, as shown in fig. 3, including the following steps:

s301, acquiring a plurality of passing times of a stop line of an intersection where a vehicle passes through a signal lamp in each of a plurality of reference time slices;

s302, calculating the coefficient of variation of the complementation result of each candidate period relative to a plurality of passing times in a plurality of candidate periods respectively aiming at each reference time slice;

and S303, determining the time change of the timing scheme of the signal lamp according to the variation coefficients corresponding to different candidate periods in the plurality of reference time slices.

It should be noted that, if there is no specific description, the meaning of the feature involved in the change time determination method of the signal timing period may refer to the corresponding meaning in the signal timing period determination method. The timing scheme change means that a timing period is changed, or the signal lamp time length (green lamp time length, red lamp time length, yellow lamp time length and the like) in the timing period is changed.

The value of the passing time should be affected by the change of the signal light, for example, during the process that the straight lane of the intersection is under the red light, the vehicle running on the straight lane should not generate the corresponding passing time (when the red light is, the vehicle cannot pass the stop line).

In particular, a more fully functional signal lamp typically comprises the following three modules: the system comprises a straight-going signal lamp module (used for controlling the vehicle intersection to go straight or stop), a left-turning signal lamp module (used for controlling the vehicle intersection to turn left or stop), and a right-turning signal lamp module (used for controlling the vehicle intersection to turn right or stop). If the signal lamp a comprises the straight signal lamp module and the left turn signal lamp module, and there is no right turn signal lamp module, it indicates that the signal lamp a is not needed to be seen when the signal lamp a turns right at the intersection, therefore, if the time when the vehicle passes the stop line when the signal lamp a turns right at the intersection, the time should not be the passing time in step S301. Correspondingly, if the vehicle passes through the stop line when turning left at the intersection where the signal lamp a is located, or going straight, the time can be taken as the passing time in step S301.

The implementation of step S302 is similar to the implementation of step S102, and all the coefficients of variation are calculated, except that in step S302, each candidate period does not correspond to one coefficient of variation, but a reference time slice is to be distinguished. That is, step S302 is executed by adopting the method of step S102 to calculate the coefficient of variation of the remainder of each candidate period with respect to the plurality of transit times for each reference time slice, and furthermore, for one reference time slice, each candidate period corresponds to 1 coefficient of variation. As shown in table 3 below, the correspondence of the reference time slice, the candidate period, and the coefficient of variation is shown.

TABLE 3

Reference time slice	Candidate period	Coefficient of variation
			A	50	0.12
A	51	0.18
			A	52	0.28
B	50	0.22
			B	51	0.25
B	52	0.32

As can be seen from table 3, each reference time slice corresponds to a plurality of candidate periods, and each candidate period corresponds to one coefficient of variation. The method for calculating the coefficient of variation of each candidate period may refer to the corresponding steps in the signal period determination method described above.

It should be noted that the times between different reference time slices in the present scheme generally overlap with each other. For example, in table 3, the reference time slice a may be a time period from 10 o 'clock 10 to 10 o' clock 30, and the reference time slice B may be a time period from 10 o 'clock 20 to 10 o' clock 40. Since the reference time slice is considered when calculating the candidate period, the transit time should also be limited, for example, when calculating the variation coefficient of the candidate period corresponding to the reference time slice a, the transit time of the time point value between 10 o 'clock 10 and 10 o' clock 30 can only be selected to participate in the calculation.

In step S303, the time-scheduling scheme change time of the traffic light needs to be determined according to the variation coefficients corresponding to different candidate periods in the multiple reference time slices, and the specific determination manner is many, for example, the variation coefficient of each reference time slice may be determined first, and then the time-scheduling scheme change time of the traffic light is determined according to the variation situation of the variation coefficient of the reference time slice with time. For another example, if the signal light timing strategy of the a reference time slice is the same as the signal light timing strategy of the B reference time slice, in general, the variation coefficient of each candidate cycle corresponding to the a reference time slice should be the same or similar to the variation coefficient of each candidate cycle corresponding to the B reference time slice (for example, the variation coefficient of the candidate cycle 50 of the a reference time slice is the same as the variation coefficient of the candidate cycle 50 of the a reference time slice), and further, it may be determined according to such a rule whether the allocation policies of the time periods of the two reference time slices are consistent, and if not, the timing scheme is changed in the time periods corresponding to the two time slices.

As shown in table 3, in step 303, for each reference time slice, the variation coefficient corresponding to each candidate period needs to be calculated, then, the minimum value of the variation coefficient of the candidate period corresponding to the reference time slice may be directly selected as the variation coefficient of the reference time slice, and after the variation coefficient of each reference time slice is determined, the time change of the timing scheme of the signal lamp may be determined according to the time change of the variation coefficient of the reference time slice. The duty cycle of the signal lamp corresponding to the reference time slice a is 50, and the coefficient of variation corresponding to the reference time slice a is 0.12 (the coefficient of variation of the signal lamp duty cycle 50 is smaller than the coefficients of variation of the signal lamp duty cycles 51 and 52, so that the coefficient of variation of the reference time slice a is determined to be 0.12). Similarly, the reference coefficient of variation for reference time slice B in table 3 should be 0.22.

Generally, the more drastic time points of the variation coefficients corresponding to the reference time slices are more likely to be the time points of the timing scheme changes. For example, the coefficient of variation of the reference time slice a (10: 10 to 10: 30) is 0.12; the coefficient of variation of the reference time slice B (10: 20 to 10: 40) was 0.11; the coefficient of variation of the reference time slice C (the reference time slices from 10: 30 to 10: 50) was 0.29; the coefficient of variation of the reference time slice D (the reference time slice from 10 o 'clock 40 to 11 o' clock) was 0.24; the coefficient of variation of the reference time slice E (the reference time slice from 10: 50 to 11: 10) was 0.12; a case where the timing scheme change may occur between 10: 30 and 11 is explained, and further, it can be determined that the timing scheme change time is between 10: 30 and 11. The timing scheme herein refers to a signal lamp operation scheme composed of a red light duration and a green light duration. In some cases, it may be that the duration of the red light is changed, in some cases, it may be that the duration of the green light is changed, or that both the duration of the red light and the duration of the green light are changed.

In this scheme, a unit time slice is introduced on the basis of the reference time slice because the system cannot collect enough data (it cannot be guaranteed that the transit time can be collected in each reference time slice) in some cases. In the scheme, the time length of the unit time slice is smaller than that of the reference time slice, and furthermore, the variation coefficient of the unit time slice is not directly calculated, but is determined according to the variation coefficient of the reference time slice related to the unit time slice (overlapped in time).

Further, step S303 may be implemented as follows:

3031, aiming at each reference time slice, determining the variation coefficient corresponding to each reference time slice according to the value of the variation coefficient of different candidate periods corresponding to each reference time slice;

step 3032, determining the accumulated value of the variation coefficient of each unit time slice which is overlapped with the reference time slice in time according to the variation coefficient corresponding to each reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

and step 3033, determining the time change of the timing scheme of the signal lamp according to the change conditions of the variation coefficient accumulation values of different unit time slices.

In step 3031, first, the coefficient of variation corresponding to each reference time slice needs to be determined, for example, the smallest one of the coefficient of variation of the candidate periods corresponding to the reference time slice may be selected as the coefficient of variation of the reference time slice. As shown in table 3, the variance coefficient of 0.12 corresponding to the candidate period 50 may be selected as the variance coefficient of the reference time slice a.

In step 3032, it is necessary to determine the accumulated value of the variation coefficient of each unit time slice temporally overlapping with the reference time slice according to the variation coefficient corresponding to each reference time slice.

In a specific implementation, the time of each reference time slice may be equal, the time length of each reference time slice is X minutes, the time of each unit time slice is equal, and the time of each unit time slice is Y minutes; and Y is less than X (more precisely, X should be greater than Y/10 and less than Y/2). Specifically, for example, the time length of the unit time slice is 5 minutes, and the time length of the reference time slice is 15 minutes, or 30 minutes, and in general, the time lengths of different reference time slices may be different.

As shown in fig. 4, a relation in time between a reference time slice and a unit time slice is shown, e.g., reference time slice a is a two-hour reference time slice of 10-12 points; reference time slice B is a 10 point, 30 minutes to 12 point, 1.5 hour reference time slice; reference time slice C is an one hour reference time slice from 11 o 'clock to 12 o' clock; the reference time slice D is a half-hour reference time slice from 11 points, 30 minutes to 12 points; the reference time slice E is a half-hour reference time slice from 11 points 45 minutes to 12 points 15 minutes; the reference time slice F is an hour reference time slice from 11 points 45 minutes to 12 points 45 minutes; the reference time slice G is a 1.5 hour reference time slice from 11 o 'clock 45 min to 13 o' clock 15 min; the reference time slice H is a two-hour reference time slice from 11 o 'clock 45 minutes to 13 o' clock 45 minutes; the unit time slice X is a 15 minute reference time slice from 11 o 'clock 45 minutes to 12 o' clock. Each unit time slice overlapping with the reference time slice in time means that the time of the reference time slice corresponding to the reference coefficient of variation involved in calculating the reference coefficient of variation cumulative value should cover (at least partially) the time of the unit time slice, for example, in the example illustrated in fig. 4, the time of the unit time slice is from 11: 45 to 12, and the time of the unit time slices a to H can cover the time from 11: 45 to 12. If there is a reference time slice Z with time between 15 and 19, the reference time slice Z does not cover the time of the unit time slice X in time, and the reference coefficient of variation of the reference time slice Z cannot be used for calculation when calculating the accumulated value of the reference coefficient of variation of the unit time slice X.

The reference coefficient of variation for each reference time slice can already be calculated in step 3031, e.g. the reference coefficient of variation for reference time slice a is 0.12; 0.25 of the reference coefficient of variation for reference time slice B; the reference coefficient of variation for reference time slice C is 0.16; 0.17 of the reference coefficient of variation for reference time slice D; the reference coefficient of variation for reference time slice E is 0.20; 0.23 of the reference coefficient of variation for reference time slice F; the reference coefficient of variation for reference time slice G is 0.19; if the reference coefficient of variation of the reference time slice H is 0.24, the integrated value of the reference coefficient of variation of the unit time slice X may be the result of summing the reference coefficients of all the reference time slices a-H, or may be the result of summing the reference coefficients of some sub-units of the reference time slices a-H (e.g., the result of summing the reference coefficients of the reference time slice a and the reference coefficients of the reference time slice F). Of course, other calculation formulas can be used to calculate the reference coefficient of variation integrated value, but it should be ensured that the reference coefficient of variation integrated value should reflect the reference coefficient of variation of at least two corresponding reference time slices (the reference time slices overlapping with the unit time slice in time) to some extent.

Finally, in step 303, the timing scheme change time may be determined according to the variation of the reference variance factor cumulative value. As shown in fig. 5, an integrated value curve (wavy curve in fig. 5) composed of the integrated values of the reference coefficient of variation for a large number of time-units is shown. The time length of the unit time slice corresponding to the reference coefficient of variation integrated value forming the integrated value curve in fig. 5 is 15 minutes, and the coefficient of variation integrated value of a certain unit time slice is calculated by using the coefficients of variation of a plurality of reference time slices having the same signal lamp duty cycle as that of the unit time slice. The time corresponding to each valley point of the cumulative value curve in fig. 5 is the timing scheme change time of the signal lamp (or the timing scheme change time of the signal lamp).

Further, step 3033 may be implemented as follows:

step 30331, calculating the variation range of the accumulated value corresponding to the designated time zone according to the reference variation coefficient accumulated value of the plurality of unit time slices adjacent in time corresponding to the designated time zone;

step 30332, determining the timing scheme change time of the signal lamp according to the accumulated value change amplitude corresponding to the designated time zone.

That is, the variation range of the accumulated value for each time segment can be calculated separately, for example, a time segment is composed of a unit time slice X, a unit time slice Y, and a unit time slice Z, and then the variation range of the accumulated value for the time segment can be calculated according to the reference variation coefficient accumulated value for the unit time slice X, the reference variation coefficient accumulated value for the unit time slice Y, and the reference variation coefficient accumulated value for the unit time slice Z. And if the change amplitude is too high, determining that the situation that the timing scheme of the signal lamp is changed in the time corresponding to the time section. Since the variation width of the accumulated value needs to be calculated, at least two reference variation coefficient accumulated values per unit time slice are required to be calculated.

Specifically, the change time of the timing scheme of the signal lamp can be intuitively determined by drawing an accumulated value change curve.

Specifically, step 3033 may be implemented as follows:

step 30333, calculating an accumulated value change curve expressing the relationship between time and the reference accumulated value of the coefficient of variation according to the reference accumulated value of the coefficient of variation of different unit time slices;

and step 30334, determining the time for changing the timing scheme of the signal lamp according to the gradual situation of the change curve of the accumulated value.

That is, the more gradual the integrated value change curve, the less likely the timing scheme change will occur, whereas the steeper the integrated value change curve, the more likely the timing scheme change will occur.

In order to improve the accuracy of the calculation, it is necessary to determine the accumulated value of the variation coefficient of a single bit time slice more accurately, and further, step 3032 may be implemented as follows:

step 30321, aiming at each unit time slice, selecting the signal lamp working period of the unit time slice from the signal lamp working periods corresponding to the reference time slices which are overlapped with the unit time slice in terms of time;

step 30322, calculating the accumulated value of the variation coefficient of the unit time slice according to the variation coefficient of the reference time slice with the same signal lamp work period of the unit time slice aiming at each unit time slice.

That is, when the specific implementation is performed, step 30321 is executed first, that is, the signal lamp duty cycle of each unit time slice needs to be determined, and for any unit time slice, the signal lamp duty cycle of the unit time slice should be selected from the signal lamp duty cycles corresponding to the reference time slices which are overlapped with the unit time slices in time. For example, if the reference time slices temporally overlapping the unit time slice X are reference time slice a, reference time slice B, and reference time slice C, the signal lamp duty cycle of reference time slice a is 50, the signal lamp duty cycle of reference time slice B is 50, and the signal lamp duty cycle of reference time slice C is 51, the signal lamp duty cycle of unit time slice X is only 50 or 51. It should be noted that, in the foregoing process, a calculation manner of the variation coefficient corresponding to each reference time slice has been described, and the candidate period corresponding to the variation coefficient of the reference time slice is the signal lamp duty cycle of the reference time slice. As shown in fig. 3, the coefficient of variation for the reference time slice a should be 0.12(0.12 for the candidate period 50 is less than 0.18 for the candidate period 51 and less than 0.28 for the candidate period 52).

In step 30322, the accumulated value of the variation coefficient of the unit time slice can be calculated according to the variation coefficient of the reference time slice which is the same as the signal lamp work period of the unit time slice.

For example, the reference time slices overlapping with the unit time slice X in terms of time are reference time slice a-reference time slice D, and the signal lamp duty cycles of the reference time slices a-reference time slices D are as follows: the beacon duty cycle of reference time slice a is 160S, the beacon duty cycle of reference time slice B is 160S, the beacon duty cycle of reference time slice C is 159S, and the beacon duty cycle of reference time slice D is 160S. It is apparent that the number of occurrences of the period value of 160S is the largest, and 3 occurrences are total, and therefore, it can be determined that the beacon duty cycle of the unit time slice is 160S, and that other reference time slices whose beacon duty cycles are not 160S should be regarded as problematic (a situation in which a timing scheme change may occur in a reference time slice whose beacon duty cycle is not 160S, resulting in two timing cycles in the reference time slice, so that the finally calculated beacon duty cycle becomes unstable). That is, in step 30321, for each unit time slice, the signal lamp duty cycle corresponding to the reference time slice with the largest number of occurrences may be selected as the signal lamp duty cycle of the unit time slice.

For another example, the duty cycle of the signal lamp in the unit time slice X is 50, and the reference time slices temporally overlapped with the unit time slice X are a reference time slice a, a reference time slice B and a reference time slice C; if the signal light duty cycle of the reference time slice a is 50, the signal light duty cycle of the reference time slice B is 50, and the signal light duty cycle of the reference time slice C is 51, the cumulative value of the variation coefficient of the unit time slice X can be calculated only from the variation coefficient of the reference time slice a and the variation coefficient of the reference time slice B. If the coefficient of variation of the reference time slice a is 0.12 and the coefficient of variation of the reference time slice B is 0.14, the cumulative value of the coefficients of variation of the unit time slice X can be calculated as follows: the cumulative value of the coefficient of variation per unit time slice X is (1-0.12) + (1-0.14). Two 1s appearing in the formula are constants and can be adjusted as required, and as the smaller the variation coefficient of the reference time slice is, the more stable the working period of the signal lamp of the reference time slice is, further, the more the reference time slices which are the same as the working period of the signal lamp of the unit time slice are, and the smaller the variation coefficient of the reference time slices which are the same as the working period of the signal lamp of the unit time slice is, the less the time corresponding to the unit time slice is, the more the situation that the timing strategy is changed is likely to occur. Furthermore, the numerical value of the variation coefficient accumulated value of the unit time slice and the variation coefficient of the target reference time slice are in negative correlation; the numerical value of the variation coefficient accumulated value of the unit time slice is positively correlated with the number of the target reference time slices; the target reference time slice is the same reference time slice as the signal lamp duty cycle of the unit time slice.

Alternatively, step 30322 may be implemented as follows, in which the cumulative value of the variation coefficients of the unit time slices is calculated for each unit time slice according to the variation coefficients of the reference time slices having the same signal lamp duty cycle as the unit time slices:

calculating the variation coefficient accumulated value of each unit time slice according to the variation coefficient of each target reference time slice and the number of the target reference time slices; the target reference time slice is the same reference time slice as the signal lamp duty cycle of the unit time slice.

In step 30321, the signal lamp duty cycle of the reference time slice with the largest occurrence number may be used as the signal lamp duty cycle of the corresponding unit time slice. The signal lamp working period of each reference time slice can be accumulated to complete the calculation more accurately.

Specifically, step 30321 may be implemented as follows:

If the signal lamp working cycle of the unit time slice X is 50, the reference time slices which are overlapped with the unit time slice X in time are a reference time slice A, a reference time slice B, a reference time slice C and a reference time slice D; the signal lamp working cycle of the reference time slice A is 50, and the coefficient of variation is 0.12; the signal lamp working cycle of the reference time slice B is 50, the variation coefficient is 0.16, the signal lamp working cycle of the reference time slice C is 51, and the variation coefficient is 0.26; the signal lamp duty cycle of the reference time slice D is 51, and the coefficient of variation is 0.18. When the method is realized, the accumulated value of the variation coefficient of the signal lamp working period 50 and the accumulated value of the variation coefficient of the signal lamp working period 51 need to be calculated, wherein the accumulated value of the variation coefficient of the signal lamp working period 50 is calculated according to 0.12 and 0.16; the cumulative value of the coefficient of variation for the signal lamp duty cycle 51 is calculated from 0.26 and 0.18. Of course, how to calculate the variation coefficient corresponding to the signal lamp duty cycle may be determined according to specific situations, but it should be noted that, when determining the signal lamp duty cycle of a unit time slice, the signal lamp duty cycle corresponding to a reference time slice with a higher occurrence frequency and a lower variation coefficient should be selected as the signal lamp duty cycle of the unit time slice.

In implementation, the process of calculating the coefficient of variation of the remainder of different candidate periods corresponding to each reference time slice may refer to the details of the signal period determination method, that is, step S302 may be implemented as follows:

step 3021, calculating, for each candidate period in different reference time slices, a variation coefficient of a plurality of complementary results corresponding to each traffic direction according to a plurality of passing times corresponding to different traffic directions;

step 3022, for each candidate period in different reference time slices, determining a variation coefficient of the remainder result of each candidate period with respect to the multiple transit times according to the variation coefficient of the plurality of the remainder results corresponding to each traffic direction and the weights of different traffic directions.

Step 3021 may be implemented by the following two steps:

respectively calculating the remainder results of different candidate periods corresponding to each traffic direction in the appointed reference time slice according to the passing time corresponding to different traffic directions;

and respectively calculating the variation coefficients of different candidate periods of each traffic direction corresponding to the appointed reference time slice according to the remainder result of different candidate periods corresponding to each traffic direction in the appointed reference time slice.

The implementation process of steps 3021 to 3022 is substantially the same as that of steps 1021 to 1022, except that step 3021 is to determine the variance coefficients of different candidate periods corresponding to each reference time slice, and therefore, the method of steps 1021 to 1022 needs to be used for each reference time slice during the calculation.

Preferably, step S301 may be implemented as follows:

step 3011, obtaining vehicle driving track points;

step 3012, selecting two track points, the distance between which and the stop line of which from the vehicle running track points meets the preset requirement, as calculation points;

step 3013, calculate the passing time based on the position information and time information corresponding to the calculation point.

Preferably, step 3012 can be implemented as follows:

In a specific implementation, the step 3012 may be executed in many ways, for example, two or more vehicle driving track points closest to the stop line may be selected as the calculation points; one or more of the vehicle travel track points that do not exceed the stop line, which are closest to the stop line, may also be selected as calculation points (e.g., track point D in fig. 2), and one or more of the vehicle travel track points that have exceeded the stop line, which are closest to the stop line, may be selected as calculation points (e.g., track point E in fig. 2). Specifically, the distance between the vehicle running track point and the stop line can be calculated from the coordinates of each vehicle running track point and the coordinates of the stop line.

Step 3013, when executed, may calculate a transit time based on the found calculation point. For example, the found calculation points are the track point D and the track point E in fig. 2, and correspondingly, it can be determined that the time when the vehicle reaches the track point D is T1 (time information), the time when the vehicle reaches the track point E is T2, the distance between the track point D and the stop line is D1, and the distance between the track point E and the stop line is D2, and then, in the calculation, the passing time T can be calculated by using the following formula:

Corresponding to the signal lamp period determining method, the present application also provides a method for determining the change time of the timing strategy according to the change situation of the signal lamp duty cycle, as shown in fig. 6, the method includes the following steps:

s601, acquiring a plurality of passing times of the stop line of the intersection where the vehicle passes the signal lamp in each reference time slice;

s602, calculating the coefficient of variation of the remainder of each candidate period relative to the passing times in the candidate periods respectively for each reference time slice, and determining the working period of the signal lamp from the candidate periods according to the coefficient of variation corresponding to each candidate period in the candidate periods;

s603, determining the change time of the signal lamp timing scheme according to the signal lamp working period of each reference time slice.

It should be noted that, if there is no specific description, the meaning of the feature involved in the change time determination method of the signal timing period may refer to the corresponding meaning in the signal timing period determination method.

In particular, a more fully functional signal lamp typically comprises the following three modules: the system comprises a straight-going signal lamp module (used for controlling the vehicle intersection to go straight or stop), a left-turning signal lamp module (used for controlling the vehicle intersection to turn left or stop), and a right-turning signal lamp module (used for controlling the vehicle intersection to turn right or stop). If the signal a includes a straight-going signal module and a left-turning signal module, and there is no right-turning signal module, it indicates that the signal a is not needed to be seen when the signal a turns right at the intersection, and therefore, if the time is the time when the vehicle passes the stop line when the signal a turns right at the intersection, the time should not be the passing time in step S601. Correspondingly, if the vehicle passes through the stop line when turning left at the intersection where the signal lamp a is located, or going straight, the time can be taken as the passing time in step S601.

The implementation of step S602 is similar to the implementation of steps S102-S103, and all the coefficients of variation are calculated, except that in step S602, one coefficient of variation is not corresponding to each candidate period, but a reference time slice is to be distinguished. That is, step S302 is executed by adopting the manner of steps S102 to S103 to calculate the coefficient of variation of the result of the complementation for each candidate period with respect to the plurality of transit times for each reference time slice, and furthermore, for one reference time slice, each candidate period corresponds to 1 coefficient of variation. As shown in table 3, the correspondence of the reference time slice, the candidate period, and the coefficient of variation is shown.

When step S602 is executed, step S102 is first used for each reference time slice to calculate the coefficient of variation of each candidate cycle corresponding to the reference time slice, and as shown in table 3, in the reference time slice a, the coefficient of variation of the candidate cycle 50 with respect to the remainder of the plurality of transit times is 0.12; in the reference time slice a, the coefficient of variation of the result of the complementation of the candidate period 51 with respect to the plurality of transit times is 0.18; in the reference time slice B, the coefficient of variation of the candidate period 50 with respect to the result of the summation of the plurality of transit times is 0.25; in the reference time slice B, the coefficient of variation of the candidate period 52 with respect to the result of the summation of the plurality of transit times is 0.32.

After the coefficient of variation of each candidate period is determined for each reference time slice, the beacon period of each reference time slice can be determined, i.e., the beacon period is determined from a plurality of candidate periods. Generally, the candidate period with the smallest coefficient of variation is used as the signal light duty cycle of the reference time slice, as shown in table 3. The signal light duty cycle for reference time slice a should be 0.12(0.12 less than 0.18, and 0.12 less than 0.28).

After the signal lamp working period of the reference time slice is determined, the change time of the signal lamp timing scheme can be directly determined, and in the specific implementation, the time of the time slice with the changed signal lamp working period of the reference time slice can be used as the change time of the signal lamp timing scheme.

Specifically, step S603 may be implemented as follows:

step 6031, determining the signal lamp working period of the unit time slice which is overlapped with the reference time slice in time according to the signal lamp working period of each reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

step 6032, determining the change time of the signal lamp timing scheme according to the change condition of the signal lamp working period of different unit time slices.

The concept of unit time slice and reference time slice is described above, and will not be repeated here. The specific implementation manner of step 6031 may be:

and selecting the signal lamp working cycle with the most occurrence times in the signal lamp working cycle corresponding to the reference time slice which is overlapped with the unit time slice in time as the target cycle of the unit time slice.

For example, the reference time slices overlapping with the unit time slice X in terms of time are reference time slice a-reference time slice D, and the signal lamp duty cycles of the reference time slices a-reference time slices D are as follows: the signal lamp working cycle of the reference time slice A is; 160S, the signal lamp working period of the reference time slice B is as follows; 160S, the signal lamp working period of the reference time slice C is; 159S, the signal lamp working period of the reference time slice D is; 160S. It is apparent that the number of occurrences of the period value of 160S is the largest, and 3 occurrences are total, and thus, it can be determined that the duty cycle of the traffic light per unit time slice is 160S.

In step 6032, if the signal lamp duty cycles of two adjacent unit time slices change, it is inevitable that the signal lamp timing scheme is changed in the time corresponding to the two unit time slices.

Specifically, the calculation of the duty cycle of the signal lamp in the unit time slice may be implemented as follows, that is, step 6031 may be implemented as follows:

Specifically, in step S602, for each reference time slice, calculating a coefficient of variation of a result of complementation of each candidate period with respect to a plurality of transit times in each candidate period may be implemented as follows:

step 6021, calculating the variation coefficient of a plurality of complementation results corresponding to each traffic direction according to a plurality of passing times corresponding to different traffic directions respectively for each candidate period in different reference time slices;

step 6022, for each candidate period in different reference time slices, determining the variation coefficient of the complementation result of each candidate period relative to the multiple passing times according to the variation coefficient of the complementation results corresponding to each traffic direction and the weights of different traffic directions.

Wherein step 6021 may be implemented by the following two steps:

The implementation process of steps 6021-3022 is substantially the same as that of steps 1021-1022, except that step 6021 is to determine the variation coefficient of different candidate periods corresponding to each reference time slice, and therefore, the method of steps 1021-1022 needs to be used for each reference time slice during calculation.

Preferably, step S601 can be implemented as follows:

step 6011, obtaining vehicle running track points;

step 6012, selecting two track points, of the vehicle driving track points, of which the distance from the stop line meets a preset requirement as calculation points;

step 6013, the passing time is calculated according to the position information and the time information corresponding to the calculation point.

Preferably, step 6012 may be implemented as follows:

In a specific implementation, step 6012 may be executed in many ways, for example, two or more vehicle driving track points closest to the stop line may be selected as the calculation points; one or more of the vehicle travel track points that do not exceed the stop line, which are closest to the stop line, may also be selected as calculation points (e.g., track point D in fig. 2), and one or more of the vehicle travel track points that have exceeded the stop line, which are closest to the stop line, may be selected as calculation points (e.g., track point E in fig. 2). Specifically, the distance between the vehicle running track point and the stop line can be calculated from the coordinates of each vehicle running track point and the coordinates of the stop line.

Step 6013, when executed, may calculate the transit time from the found calculation points. For example, the found calculation points are the track point D and the track point E in fig. 2, and correspondingly, it can be determined that the time when the vehicle reaches the track point D is T1 (time information), the time when the vehicle reaches the track point E is T2, the distance between the track point D and the stop line is D1, and the distance between the track point E and the stop line is D2, and then, in the calculation, the passing time T can be calculated by using the following formula:

Based on the method for determining the time change during signal lamp timing, the application also provides a method for determining the passing time of the signal lamp, which comprises the following steps:

step 701, determining a target timing time period according to the signal lamp timing scheme change time; the timing strategies of the signal lamps in the target timing time period are the same;

step 702, acquiring the number change condition of vehicles which do not exceed a stop line in a target timing time period;

and 703, determining the passing time length of the signal lamp in the target timing time period according to the number change condition of the vehicles which do not exceed the stop line.

The signal light timing scheme change time is obtained by the above method for determining the signal light timing change time, and a description thereof is not repeated. The transit time here refers to the time when the signal lamp is a red light or a green light, and not to the total time of the red light plus the green light. At an intersection, the signal light in one direction is red, and the signal light in another direction perpendicular to the one direction is green, so that it is possible to determine the red light duration or the green light duration.

In step 701, a target timing time period is mainly determined, for example, a reference time slice between timing scheme change times of any two adjacent signal lamps may be used as a target timing reference time slice.

In step 702, it is necessary to determine the number of vehicles that do not exceed the stop line, because when the signal lamp is in the red light state, the number of vehicles that do not exceed the stop line can only be increased gradually (no vehicles pass through the stop line, but there are vehicles that are accumulated on the side that does not exceed the stop line), and when the signal lamp is in the green light state, the number of vehicles that do not exceed the stop line can be decreased gradually, so the passing duration can be determined by this rule. That is, the time at which the number of vehicles that do not exceed the stop line starts to decrease is taken as the first endpoint time, and the time at which the number of vehicles that do not exceed the stop line starts to increase is taken as the second endpoint time, to determine the passage time period of the signal lamp in the target timing period. That is, the time between the first end point time and the second end point time is a one-time passing time period (a one-time green light period or a one-time red light period) of the signal light in the target timing period.

As shown in fig. 7, a graph formed by data of the number of vehicles that do not exceed the stop line is shown, the horizontal axis in fig. 7 is time, and the vertical axis indicates the number of vehicles that do not exceed the stop line (upward in the vertical direction, indicating that the number increases), and further, the graph in fig. 7 indicates the number of vehicles that do not exceed the stop line. It can be seen that the time corresponding to the first vertical line is the time when the vehicle starts to decrease, and the time corresponding to the second vertical line is the time when the vehicle starts to increase. The time corresponding to the two vertical lines is the time of the start of the green light and the end of the green light (it can be seen from the figure that the time of the start of the green light is 16S, and the time of the end of the green light is 96S).

Corresponding to the method, the application also provides a signal lamp working period determining device, which comprises:

the first calculation module is used for calculating the variation coefficient of the complementation result of each candidate period relative to a plurality of passing times respectively aiming at a plurality of candidate periods;

Preferably, the first calculation module includes:

the first calculation unit is used for calculating the variation coefficient of a plurality of complementation results corresponding to each traffic direction according to a plurality of passing times corresponding to different traffic directions for each candidate period;

the first determining unit is used for determining the coefficient of variation of the complementation results of each candidate period relative to the plurality of passing times according to the coefficient of variation of the complementation results corresponding to each traffic direction and the weights of different traffic directions.

Preferably, the first determining module includes:

the first selection unit is used for selecting the candidate period with the minimum coefficient of variation from the plurality of candidate periods as the signal lamp working period.

Preferably, the first obtaining module includes:

Preferably, the second selection unit includes:

Corresponding to the method, the application also provides a device for determining the time for changing the signal lamp timing, which comprises the following steps:

the second calculation module is used for respectively calculating the coefficient of variation of the complementation result of each candidate period relative to the multiple passing times in the multiple candidate periods aiming at each reference time slice;

Preferably, the second determination module includes:

a third determining unit, configured to determine, according to the coefficient of variation corresponding to each reference time slice, a coefficient of variation cumulative value of each unit time slice that temporally overlaps with the reference time slice; the time length of the unit time slice is less than the time length of a reference time slice which overlaps with the unit time slice in time;

Preferably, the third determination unit includes:

Preferably, the first calculating subunit is further configured to calculate, for each unit time slice, a variation coefficient accumulated value of the unit time slice according to the variation coefficient of each target reference time slice and the number of the target reference time slices; the target reference time slice is a reference time slice which is the same as the working cycle of a signal lamp of the unit time slice; the numerical value of the accumulated value of the coefficient of variation of the unit time slice is in negative correlation with the coefficient of variation of the target reference time slice; the number of the variation coefficient accumulated value of the unit time slice is positively correlated with the number of the target reference time slices.

Preferably, the second selection subunit includes:

Preferably, the fourth determination unit includes:

Preferably, the second calculation module includes:

the third calculating unit is used for respectively calculating the variation coefficient of a plurality of complementation results corresponding to each traffic direction according to a plurality of passing times corresponding to different traffic directions aiming at each candidate period in different reference time slices;

and a fifth determining unit, configured to determine, for each candidate period in different reference time slices, a variation coefficient of the complementation result for each candidate period with respect to the multiple transit times according to the variation coefficient of the multiple complementation results corresponding to each traffic direction and the weights of different traffic directions.

Preferably, the second obtaining module includes:

Preferably, the third selection unit includes:

Preferably, the third determining module includes:

Preferably, the sixth determination unit includes:

Preferably, the third calculation module comprises:

a fifth calculating unit, configured to calculate, for each candidate period in different reference time slices, a variation coefficient of a plurality of complementary results corresponding to each traffic direction according to a plurality of transit times corresponding to different traffic directions;

and the eighth determining unit is used for determining the variation coefficient of the complementation result of each candidate period relative to the plurality of passing times according to the variation coefficient of the complementation results corresponding to each traffic direction and the weights of different traffic directions for each candidate period in different reference time slices.

Preferably, the third obtaining module includes:

Preferably, the fourth selecting unit includes:

Corresponding to the method, the application also provides a device for determining the traffic light passing time length, the device for determining the traffic light passing time length comprises a device for determining the change time of the traffic light timing in any scheme, and the device for determining the traffic light passing time length comprises:

Preferably, the fifth determining module includes:

In correspondence with the above method, the present application also provides a computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to execute the beacon period determining method.

In accordance with the above method, the present application also provides a computer readable medium having a processor executable non-volatile program code, the program code causing the processor to execute the method of determining the change time of signal timing.

In accordance with the above method, the present application also provides a computer readable medium having a processor executable nonvolatile program code, which causes the processor to execute the traffic light passage time length determination method.

As shown in fig. 8, which is a schematic diagram of a first computing device provided in the embodiment of the present application, the first computing device 1000 includes: the system comprises a processor 1001, a memory 1002 and a bus 1003, wherein the memory 1002 stores execution instructions, when the first computing device runs, the processor 1001 and the memory 1002 communicate through the bus 1003, and the processor 1001 executes steps stored in the memory 1002, such as a signal lamp period determination method.

As shown in fig. 9, which is a schematic diagram of a second computing device provided in the embodiment of the present application, the second computing device 2000 includes: a processor 2001, a memory 2002 and a bus 2003, the memory 2002 storing execution instructions, the processor 2001 and the memory 2002 communicating via the bus 2003 when the second computing device is operating, the processor 2001 executing steps of the determination method stored in the memory 2002 such as changing the time of the signal timing.

As shown in fig. 10, which is a schematic diagram of a third computing device provided in the embodiment of the present application, the third computing device 3000 includes: a processor 3001, a memory 3002 and a bus 3003, wherein the memory 3002 stores execution instructions, when the third computing device is running, the processor 3001 communicates with the memory 3002 through the bus 3003, and the processor 3001 executes the steps of the method for determining the transit time of the traffic light, such as stored in the memory 3002.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are 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

1. A method for determining a change in timing of a signal, comprising:

determining the change time of the signal lamp timing scheme according to the signal lamp working period of each reference time slice;

the step of determining the signal lamp timing scheme change time according to the signal lamp working period of each reference time slice comprises the following steps:

2. The method of claim 1, wherein the step of determining the beacon duty cycle of the unit time slices that overlap in time with the reference time slices based on the beacon duty cycle of each reference time slice comprises:

3. The method of claim 1, wherein the step of calculating, for each reference time slice, a coefficient of variation of each of the plurality of candidate periods with respect to the result of the complementation of the plurality of transit times comprises:

4. The method of claim 1, wherein the step of obtaining a plurality of transit times for the vehicle to pass a stop-line at an intersection where the signal light is located within each of a plurality of reference time slices comprises:

acquiring a vehicle running track point;

5. The method of claim 4, wherein the step of selecting two of the vehicle travel track points whose distance from the stop line meets a preset requirement as the calculation point comprises:

6. A method for determining a traffic light passage time length, based on the method for determining a change time of a traffic light timing according to any one of claims 1 to 5, the method for determining the traffic light passage time length comprising:

7. The method of claim 6, wherein the step of determining the length of time that the signal lamp has traveled during the target dispensing time period based on a change in the number of vehicles that have not exceeded the stop line comprises:

8. A device for determining a timing change time of a signal lamp, comprising:

the third determining module is used for determining the change time of the signal lamp timing scheme according to the signal lamp working period of each reference time slice;

the third determining module includes:

9. The apparatus according to claim 8, wherein the sixth determining unit comprises:

10. The apparatus of claim 8, wherein the third computing module comprises:

11. The apparatus of claim 8, wherein the third obtaining module comprises:

12. The apparatus of claim 11, wherein the fourth selecting unit comprises:

13. A traffic light passage time period determination apparatus, based on the traffic light timing change time determination apparatus according to any one of claims 8 to 12, the traffic light passage time period determination apparatus comprising:

14. The apparatus of claim 13, wherein the fifth determining module comprises:

15. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1-5.

16. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 6-7.

17. A computing device comprising: a processor, a memory and a bus, the memory storing instructions for execution, the processor and the memory communicating via the bus when the computing device is operating, the processor executing the method of any one of claims 1-5 stored in the memory.

18. A computing device comprising: a processor, a memory and a bus, the memory storing instructions for execution, the processor and the memory communicating via the bus when the computing device is operating, the processor executing the method of any one of claims 6-7 stored in the memory.