CN111653110A - Intelligent traffic light system based on Beidou satellite positioning - Google Patents

Intelligent traffic light system based on Beidou satellite positioning Download PDF

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CN111653110A
CN111653110A CN202010301967.9A CN202010301967A CN111653110A CN 111653110 A CN111653110 A CN 111653110A CN 202010301967 A CN202010301967 A CN 202010301967A CN 111653110 A CN111653110 A CN 111653110A
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vehicle
traffic
light
traffic light
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CN111653110B (en
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柳锦宝
袁也
刘备
苟富强
张敏娟
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Chengdu University of Information Technology
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Chengdu University of Information Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an intelligent traffic light system based on Beidou satellite positioning, which comprises a smart phone, a vehicle-mounted positioning device, a feedback system, a traffic control department background management system and a traffic light control system, wherein the high-precision positioning data obtained by a Beidou navigation system, the feedback system and the traffic light control system are combined. The Beidou navigation system is used for obtaining the position information of vehicles and people, and the feedback system is used for receiving the position information, processing, calculating and transmitting the position information to the traffic light control system to achieve intelligent regulation and control of the traffic light. Through the designed algorithm, the density, the speed, the waiting time and the waiting length of the vehicles and the crowd are combined and calculated in different time periods, and the change of the traffic lights is controlled through the difference of the weights, so that the change of the traffic lights is more intelligent. The display of traffic lights is scientifically regulated and controlled. The classification is that the traffic flow and the pedestrian flow are normal, the crowd and the vehicle are few, and the crowd and the vehicle are many.

Description

Intelligent traffic light system based on Beidou satellite positioning
Technical Field
The invention relates to the technical field of traffic, in particular to an intelligent traffic light system based on Beidou satellite positioning.
Background
Since more than 100 years of the first automobile coming out, the first automobile can quickly enter the lives of common people by virtue of the advantages of convenience, quickness and the like. The popularization of the automobile has epoch-making significance, time is saved, working efficiency is improved, convenience is brought to travel, life is enriched, and economic development is greatly increased. The popularization of automobiles creates many new things for human society, such as automobile art, automobile advertisements, automobile models, automobile exhibitions and the like, improves the life style and the traditional concept of people, further changes the urban structure, the rural structure and the employment structure, changes the regional concept, the residence selection, the consumption structure, the business model, the life style and the leisure style of people, and changes the social relationship, the communication mode, the activity rhythm, the knowledge structure and the cultural custom of people.
The rapid spread of automobiles also presents a series of challenges.
Based on the data on the network, 3172 thousands of vehicles were newly registered in the country in 2018, and the number of vehicles kept reaches 3.27 hundred million, wherein 2.4 million vehicles are in the vehicle. By the end of 2018, the number of automobiles kept in the country reaches 2.4 hundred million, which is 2285 thousands more than 2017, and the increase is 10.51%. The holding capacity of the small passenger-carrying automobile reaches 2.01 hundred million, 2 hundred million is broken through for the first time, 2085 thousands of small passenger-carrying automobiles are increased compared with 2017, the small passenger-carrying automobile is increased by 11.56 percent, and the small passenger-carrying automobile is a main component part for the increase of the holding capacity of the automobile; private cars (private small mini passenger cars) continue to grow rapidly, the number of the private cars is up to 1.89 hundred million cars in 2018, 1952 thousands of cars are all grown in [3] nearly 5 years, the number of new energy cars is up to 261 thousands of cars, and 107 thousands of cars are grown all the year round. In 2018, the new energy automobiles in China have the capacity of 261 thousands of automobiles, account for 1.09% of the total amount of the automobiles, and are increased by 107 thousands of automobiles and increased by 70.00% compared with 2017 [3 ]. [4] From these data, it can be seen that car holding is constantly on the rise [3 ]. The traffic pressure also increases rapidly along with the increase of the number of automobiles, and the urban congestion problem is increasingly highlighted.
Contradictory to the number of automobiles is the incompleteness of design and construction of infrastructure in our country including expressways, provinces, urban roads, and the like. The traffic signal control system in some areas is designed to be less intelligent, for example: at present, in many traffic control systems, the flow in a certain direction is less, but too much passing time is given; the direction of large flow and the passing time are set to be less. Even if the passing time in different directions is changed in a targeted manner, the traffic control system cannot follow the change of the flow due to the lack of the capability of dynamic adjustment, the traffic control system can only execute a relatively rigid traffic passing scheme according to a preset program when the traffic control system is changed dynamically. In addition, the carrying capacity of the urban road cannot be matched with the traffic flow, and the congestion degree of the city is further increased.
Still another urgent problem is that the media are frequently reported that emergency vehicles are caught in the rolling stream, resulting in loss of personnel and property. Although corresponding exempt schemes have been proposed, the scheme is far from sufficient to face the traffic problem of cities. Many times, special emergency vehicles appear on roads, long traffic flow is blocked in front, avoidance is also available without roads, and the traffic signal control system is required to assist in dredging at the moment.
Aiming at the problems of the existing traffic signal control system, a Beidou satellite positioning system is adopted to assist in judging traffic road and vehicle flow, analyzing data and uploading the data to a control system at a signal lamp background, so that intelligent control of red and green lamps is realized. For vehicles, the traffic time can be reduced, intersection parking conditions are less, and the driving oil consumption is reduced. For pedestrians, intersection waiting time is saved, safety factor of traveling is increased, and traveling experience is improved. For the government department of traffic management, the traffic management cost is reduced, the road carrying utilization rate is utilized to the maximum, and the satisfaction degree of citizens on traffic traveling is improved. For special vehicles on duty, the intelligent traffic lights can dredge potential congestion factors of roads in advance, provide stable passing guarantee for the special vehicles, and have important significance for life and property safety of people.
Currently, traffic light control systems at home and abroad are known to acquire data through various methods such as a metal sensor, video detection, video image data and the like, but all have different defects, such as:
the metal sensor has certain limitation on the distance, the video image has certain visual field blind area, meanwhile, the data is processed slowly, the Beidou navigation system is used for positioning, the range of acquired data can be expanded far, and the position information can be fed back in real time so as to control traffic lights. The algorithm applied by the feedback system not only considers the traffic flow, the crowd density and the waiting vehicle length, but also considers the crowd, the waiting time of the vehicle and how to change the traffic light in a special time period, and the system is a traffic light system closer to our life, so that the traffic light does not fall behind in the society developing at a high speed, and the function which the traffic light should have is kept.
Disclosure of Invention
The invention aims to solve the problems and provide an intelligent traffic light system based on Beidou satellite positioning.
The invention realizes the purpose through the following technical scheme:
the intelligent mobile phone comprises an intelligent mobile phone, a vehicle-mounted positioning device, a feedback system, a traffic control department background management system and a traffic light control system, wherein the intelligent mobile phone or the vehicle-mounted positioning device is wirelessly connected with the feedback system and feeds back position information to the feedback system, the feedback system and the traffic control department background management system transmit switch signals and position information, the control signal output end of the feedback system is connected with the traffic light control system, and the control signal output end of the traffic light control system is connected with a control switch of a traffic light.
The feedback system comprises a power circuit, a control module and a control signal generation module, the control module transmits a switch signal and position information with the traffic management department background management system, the power circuit is respectively connected with the control module and the power input end of the control signal generation module, the control module receives the position information of the smart phone or the vehicle-mounted positioning device, and the control signal generation module receives the control signal of the control module and outputs the control signal.
The traffic light control system comprises a power circuit, a control module, a weak current module and a strong current module, wherein the control module receives a control signal of the feedback system, the power circuit is respectively connected with the control module, the weak current module and a driving power input end of the strong current module, the control signal of the control module is connected with a control signal input end of the weak current module, and a control signal output end of the weak current module is connected with a control end of the strong current module.
The invention has the beneficial effects that:
the invention relates to an intelligent traffic light system based on Beidou satellite positioning, which has the following advantages compared with the prior art:
(1) the system combines high-precision positioning data obtained by a Beidou navigation system which is independently constructed and operates in China, a feedback system and a traffic light control system. The Beidou navigation system is used for obtaining the position information of vehicles and people, and the feedback system is used for receiving the position information, processing, calculating and transmitting the position information to the traffic light control system to achieve intelligent regulation and control of the traffic light.
(2) After the position information of the Beidou navigation system is transmitted to the feedback system, the density, the speed, the waiting time and the waiting length of vehicles and people can be calculated in different time periods in combination with the weight of the people and the weight of the vehicles through a designed calculation method, and the change of traffic lights is controlled through the difference of the weights, so that the change of the traffic lights is more intelligent.
(3) The display of the traffic lights is scientifically regulated and controlled through a reasonably designed model. The classification is that the traffic flow and the pedestrian flow are normal, the crowd and the vehicle are few, and the crowd and the vehicle are many.
With the development of science and technology, vehicles are continuously increased, convenience is brought to people, and meanwhile huge traffic pressure is brought, wherein traffic lights play a vital role, and the traffic lights can become more intelligent by combining the traffic lights with a Beidou navigation technology. The traffic light is intelligently changed after the feedback system is combined with the Beidou navigation system, and the system combined with the Beidou navigation system has higher research value and application prospect in other aspects.
Drawings
FIG. 1 is a schematic block diagram of the architecture of the present invention;
FIG. 2 is a schematic block diagram of the feedback system architecture of the present invention;
FIG. 3 is a schematic block diagram of a traffic light control system of the present invention;
FIG. 4 is a flow chart of the operation of the traffic light control system of the present invention;
FIG. 5 is a feedback system work flow diagram of the present invention;
FIG. 6 is a schematic view of embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of the non-smart mode area of the present invention;
FIG. 8 is a schematic view of the green light of the present invention turning on;
FIG. 9 is a schematic diagram of the red light and green light of the present invention turning on;
fig. 10 is a schematic view of a vehicle situation around a traffic light of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1: the intelligent mobile phone comprises an intelligent mobile phone, a vehicle-mounted positioning device, a feedback system, a traffic control department background management system and a traffic light control system, wherein the intelligent mobile phone or the vehicle-mounted positioning device is wirelessly connected with the feedback system and feeds back position information to the feedback system, the feedback system transmits a switching signal and the position information to the traffic control department background management system, the control signal output end of the feedback system is connected with the traffic light control system, and the control signal output end of the traffic light control system is connected with a control switch of a traffic light.
As shown in fig. 2: the feedback system comprises a power circuit, a control module and a control signal generation module, the control module and the traffic management department background management system transmit switch signals and position information, the power circuit is respectively connected with the control module and the power input end of the control signal generation module, the control module receives the position information of the smart phone or the vehicle-mounted positioning device, and the control signal generation module receives the control signal of the control module and outputs the control signal.
As shown in fig. 3: the traffic light control system comprises a power circuit, a control module, a weak current module and a strong current module, wherein the control module receives a control signal of the feedback system, the power circuit is respectively connected with the control module, the weak current module and a driving power input end of the strong current module, a control signal of the control module is connected with a control signal input end of the weak current module, and a control signal output end of the weak current module is connected with a control end of the strong current module.
Working principle of system
The working principle of the system is divided into three parts:
1. based on vehicle-mounted and handheld mobile equipment, the Beidou satellite system is used for assisting positioning, dynamically acquiring the position information of a target and uploading the position information to a server side in real time.
2. The server end classifies and stores the position data from each place in a storage mode: all the position information near a certain intersection is stored in the storage unit by taking the intersection as a storage unit. And at intervals of unit time, data collected by the server is sent to a traffic light background control microcomputer at the intersection.
3. The crossing traffic light background controls crisis, data is converted into a time scheme of the traffic light, then the scheme is exported to a power supply control module of the traffic light, and the power supply control module executes the corresponding scheme, so that the control on the traffic passage time can be realized. When the emergency passing request is received, the emergency request is preferentially executed, and the latest intersection traffic flow solution is executed after the emergency vehicle passes through the intersection.
Functional design
Feedback system function
The feedback system is a data collection system for collecting information such as traffic speed, traffic direction, and traffic congestion length before calculating the traffic flow. The main positioning technologies include two, one is positioning based on Beidou navigation, and the other is positioning based on a base station of a mobile operation network. The Beidou-based positioning mode is that a Beidou positioning module on a mobile phone is utilized to send a position signal of the mobile phone to a positioning background to realize mobile positioning, and the mobile phone positioning means that actual position information (longitude and latitude coordinate data including three-dimensional data) of a mobile user is determined through the cooperation of a wireless terminal (a mobile phone) and a wireless network. [5] The positioning of the base station determines the position of the mobile phone by using the measured distance of the base station to the distance of the mobile phone. The latter does not need the mobile phone to have big dipper location ability, but the precision depends on the size of distribution and the coverage of basic station to a great extent [6], and this kind of scheme can only be applicable to the urban area that the basic station is dense. The former precision is higher, and big dipper location technology is network-assisted big dipper location, and mobile network is through tracking big dipper satellite signal when fixing a position promptly, demodulates out big dipper navigation signal to convey these information to the mobile station, the mobile station utilizes these information can search for effectual big dipper satellite fast, receives the satellite signal after, the work of calculating the mobile station position can be accomplished by network entity or mobile station. The positioning technology based on the Beidou system has the advantages of higher positioning precision and positioning radius of tens of meters and several meters.
The scheme of the invention mainly adopts a Beidou positioning mode, and vehicle-mounted or handheld Beidou signal receiving equipment receives position information of a WeChat broadcast, demodulates, calculates and corrects the position information to obtain the real-time ground position of the equipment, and then uploads the real-time ground position of the equipment to a server side in a unified manner. The data of the server takes the road area as a storage unit. According to the data amount in each storage unit, the information such as the traffic flow, the waiting time of the vehicle, the average passing time and the like of a certain intersection can be roughly estimated. Then the server sends the information to the background control microcomputer of each red and green light of the road, and the data information is processed and used by the control microcomputer in the next step. And then, the function of the feedback system is executed.
Traffic light control system function
The traffic light control system is the last link of the whole system, is provided with a network module and is in data communication with a server through a base station of mobile equipment. Its function is equal to a simplified microcomputer, and it is formed from microcomputer power supply module, microprocessor, information output module and signal lamp power supply control module. When the road traffic flow data from the server is received, the data is converted and output as the data of the duration time of the traffic light at a certain intersection, and then the data enters a signal light power supply control module, so that the data is reflected as the change of the lighting time of the red light and the green light of the traffic light.
When the control system receives data with different priorities from the server, the emergency passing request is preferentially executed, and the traffic flow information of the social vehicles from the server is temporarily put aside. And after waiting for the emergency vehicle to pass through the intersection, continuously executing the currently received latest road vehicle flow information.
System workflow
FIG. 4 traffic light control system work flow
FIG. 5 feedback System workflow
After the Beidou system acquires the position information of a target in a certain range of a traffic light, the position information is fed back to the feedback system, the crowd weight Q1 and the common vehicle weight Q2 are calculated, and the weight X1 of the traffic light of the sidewalk and the weight X2 of the traffic light of the motor vehicle are calculated according to the weight, the number of waiting vehicles, the number of people, the corresponding waiting time and the maximum tolerance.
When X1< X2, the signal light of the motor vehicle is green, and the green time should be the estimated time of the vehicle passing through the route feedback system.
When the pedestrian crossing displays the green light, the red light and the yellow light of the motor vehicle lane are lightened up when the time is over, and the green light time is the estimated time of the crowd passing through the route feedback system.
When Q3 is not equal to 0, all traffic lights give priority to special vehicles, and the special vehicles can pass through quickly by controlling the traffic lights 3-4 seconds in advance by positioning and pre-judging the routes and the speeds of the special vehicles.
System implementation
FIG. 6 is a diagram of selecting Beijing City, showing a map of Beijing City appearing on the presentation interface. The on state of the specific intelligent traffic light in the area can be checked by selecting province, city, county, street/township when the place is selected.
Fig. 7 is a schematic diagram of a non-smart mode region. When the non-intelligent mode area is clicked and inquired, a red dot can be displayed on the map, and the traffic light is indicated to be turned off.
A green (gray in the illustration, green in the color drawing) dot in fig. 8 and 9 indicates that the traffic light of the intelligent traffic light system is enabled, and a red (black in the illustration, red in the color drawing) dot indicates that it is not turned on. When the intelligent mode area is clicked and inquired, a green point is displayed on the map to indicate that the traffic light starts an intelligent traffic light system; when a red point is selected, and then the intelligent mode is clicked to be started, the traffic light can start the intelligent traffic light system, and the selected point can be displayed as green on the map; when a green dot is selected and the smart mode is clicked off, the dot becomes green and the smart traffic light system for that traffic light is also turned off.
Fig. 10 shows a traffic situation of a vehicle around a traffic light, the traffic situation of a crowd, the blue dots represent people, the black dots represent vehicles, and the green dots represent traffic lights. In the figure, blue dots indicate people, black dots indicate cars, and green dots indicate traffic lights.
System model construction
Acquisition of position information of people, vehicles and special vehicles
The types of the Beidou satellite signals transmitted between pedestrians, common vehicles and special vehicles are different and respectively represent three passing units, the Beidou navigation systems on the mobile phones and the vehicles of people do not need to be opened, but the position information is sent out, in order to eliminate the influence of Beidou signals of residential areas such as residential areas on two sides of streets, shopping malls and the like, vehicles stopping at the roadside are provided, a range is set at a traffic light position for people, the vehicles can not receive interference signals sent from surrounding buildings, the vehicles can only receive signals from starting vehicles, the radius of the traffic light receiving signals of each traffic intersection is set, the red light and the green light of each intersection are an independent system, and if the vehicles which are not analyzed can receive too far vehicle information, the information is useless.
Control authority setting for special vehicle
The method changes the sending signal of each special vehicle into the highest priority signal, when the special vehicle is at a certain distance from the traffic light, the traffic light at the position can predict the time of arriving at the traffic light according to the speed and the distance of the special vehicle, and when the vehicle arrives at a certain distance, the traffic light can light the green light in advance to ensure the passing of the special vehicle.
Display arrangement for traffic lights
The traffic lights are divided into motor vehicle signal lights and pedestrian crossing signal lights, each crossing has eight traffic lights which can be divided into two groups, namely a transverse group and a longitudinal group, the traffic light display of each group is the same, and the traffic light display between the groups can not conflict, so the analysis of the crowd and the vehicles is set as the longitudinal group and the transverse group in the display setting of the traffic lights, the change of the internal value of the traffic lights display caused by the relevant parameters changing along with the time is calculated together, when the change value of one group reaches the required value, the traffic lights of the group can change the color, and the traffic lights of the other group can change correspondingly.
Setting of parameters
The parameters of the input model are considered, and the maximum waiting time which can be accepted by a person in the general traffic light setting time, the endurance time of a driver and the pedestrian flow and the traffic flow at different intersections are known by consulting the data.
The traffic light designed by the people and vehicles is based on real-time crowd and vehiclesControlling the display, the factor that must therefore be added is the number of real-time vehicles ρ1Real-time population number rho2Vehicle waiting time T1, crowd waiting time T2, special vehicle speed v1, special vehicle distance to traffic light s1, red light time threshold T1, green light time threshold T2, crowd endurance maximum time TRMaximum time T endured by vehiclec。
Function model determination
Investigating data to obtain relevant function model
(1) The relation between the average time of a driver passing through the traffic light and the factors such as the length of the vehicle, the distance between the vehicles and the speed of the vehicle is established, the time-enduring factor of the driver is comprehensively considered, and whether the time setting of the traffic light is reasonable or not is judged.
(2) The model assumes that:
A. each road section has no overtaking, namely, the lanes at the intersection pass through in sequence.
B. The length of the car is taken as a reference, and weights are added to other car types according to the length.
C. All vehicles are starting at a standstill and are starting with uniform acceleration at the same acceleration.
D. The distance between each adjacent vehicle waiting under the red light is equal, and the delay time during starting is equal.
E. The vehicle runs at the highest speed limit after the uniform acceleration is started.
(3) Let sn(t) the nth vehicle waiting before the red light is at the position of the departure point at the time t after the start;
the initial position of the nth vehicle relative to is Sn(0) And (2) the distance between two adjacent vehicles is (n-1) (L + d), wherein L is the length of each vehicle, and d is the distance between two adjacent vehicles. [7]
Suppose that the car starts to light from green to t0The moment is a process of first making uniform acceleration linear motion and then making uniform velocity linear motion, and a is the acceleration of the automobile, v0The highest speed of the running vehicle on the urban road.
The vehicle reaches v from start-up to speed0V is the time required for uniform acceleration of linear motion0A, the distance traveled in this case is
Figure RE-GDA0002546234950000111
Then the linear motion is carried out at a constant speed, and the running distance is sn is uniform speed＝v0(t-tn). Therefore, it is not only easy to use
Figure RE-GDA0002546234950000112
According to actual investigation, the time needed for reaching the traffic light is obtained, wherein L is 4m, d is 1m, a is 2m/s2, T is 1s, V is 12m/s, and n is 15; v*South 16m/s, V*φ＝15m/s、V*North is 12m/s and V*If it is 14m/s, then:
Figure RE-GDA0002546234950000113
then when the endurance time of the pedestrian is longer than
Figure RE-GDA0002546234950000114
We think that the traffic lights are not reasonably arranged on the road section at the moment.
Design model
The factors considered are:
(1) vehicle-number of vehicles, waiting time, maximum endurance time.
(2) Crowd-number of people, time a person waits, maximum endurance time.
(3) Traffic light — green light threshold, red light threshold.
(4) Special vehicles-speed, distance from traffic lights.
2. Setting variables:
(1) number of vehicles ρ1Waiting time T1, maximum endurance time TcEach vehicle passing time t1n。
(2) Number of people ρ2Crowd waiting time T2 and crowd tolerance maximum time TREach person passing time t2n。
(3) A red light time threshold T1, a green light time threshold T2.
(4) Special vehicle speed v, distance from traffic lights s.
(5) A crowd weight q1 and a vehicle weight q 2.
3. And (3) determining a model:
the sum of each vehicle multiplied by the weight and the waiting time is found:
Figure BDA0002454341320000121
summing the products of each person's weight and latency:
Figure BDA0002454341320000122
and (3) calculating the estimated time of all vehicles passing the traffic lights:
Figure BDA0002454341320000123
calculating the time of the crowd passing the road: t isr＝ρ2·L/vγ
Setting a threshold value for the vehicle passing time: tc (max), TC(min)
Setting a threshold value for the crowd passing time: tr (max), Tr(min)
General conditions are as follows:
when the traffic flow and the pedestrian flow are normal, namely the crowd and the vehicle are equivalent, and not much or little; (judgment condition is TC(min)≤TLTC (max) and
Figure BDA0002454341320000124
)
when Q1>When Q2, the vehicle should be allowed to pass, the signal light of the motor vehicle is green, and the green time is the estimated time T for the vehicle to pass the traffic lightCTime t of starting with vehiclesSum, i.e. TL＝TC+ts。
When the pedestrian crossing displays green light, namely the time of red light and yellow light of the motor vehicle lane is over, the duration time of the green light of the pedestrian crossing only needs to consider the passing time, namely
Figure RE-GDA0002546234950000125
Consider the case of a particular vehicle:
the special vehicles should not decelerate when passing through the traffic light, so the traffic light of the motor vehicle lane should be displayed as a green light when the special vehicle amount is a certain distance away from the traffic light, and after the special vehicles pass through, the traffic light judges the correlation between the vehicles and the crowd again.
Supposing that a green light is required to be turned on when a special vehicle is far away from a traffic light L, and the L is required to be related to the passing time of the vehicle waiting in front, an uncertain factor q is set, and the passing time T of the vehicle is the time T of the traffic lightC。
Having such a relationship, L/vT＝Tc+ q, so L ═ T can be obtainedc+q)*vT
Special cases are as follows:
(1) when the crowd and the vehicle are both small (i.e. T)C(min)≥TLAnd is
Figure BDA0002454341320000131
Time), we set another case for red green etc. at this time:
in this case, a fixed frequency is set for the traffic lights, which is almost the same as the ordinary traffic lights, but when a person passes through the road, the traffic lights of the pedestrian crossing can skip the waiting time to light the green lights, and when the person passes through the road, the fixed frequency can be restored again (at this time, the passing of the vehicle is not detected). When the vehicle passes, the green light of the motor vehicle lane is lightened, and the fixed frequency is restored after the vehicle passes (at the moment, the condition that the road passing is not detected). When people and vehicles are detected simultaneously, in order to consider safety factors, the vehicles are preferentially allowed to pass, the green time of the motor vehicle lane is T (T should consider the actual passing time T to be L/v1+L/v2.........)
(2) When there are many people and vehicles (T)LIs not less than Tc (max) and
Figure BDA0002454341320000132
)
the green light of the motor vehicle or the crosswalk cannot be always on, so that constant values TC and TR are set to respectively represent the green light time of the motor vehicle lane and the crosswalk, and the period of the traffic light is set according to the time.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (4)

1. The utility model provides an intelligence traffic lights system based on big dipper satellite positioning which characterized in that: including smart mobile phone, on-vehicle positioner, feedback system, traffic control department backstage management system, traffic lights control system, smart mobile phone or on-vehicle positioner with feedback system wireless connection to feedback system feedback position information, feedback system with traffic control department backstage management system transmission switching signal and position information, feedback system's control signal output end with traffic lights control system connects, traffic lights control system's control signal output end is connected with the control switch of traffic lights.
2. The intelligent traffic light system based on Beidou satellite positioning according to claim 1, characterized in that: the feedback system comprises a power circuit, a control module and a control signal generation module, the control module and the traffic management department background management system transmit switch signals and position information, the power circuit is respectively connected with the control module and the power input end of the control signal generation module, the control module receives the position information of the smart phone or the vehicle-mounted positioning device, and the control signal generation module receives the control signal of the control module and outputs the control signal.
3. The intelligent traffic light system based on Beidou satellite positioning according to claim 1, characterized in that: the traffic light control system comprises a power circuit, a control module, a weak current module and a strong current module, wherein the control module receives a control signal of the feedback system, the power circuit is respectively connected with the control module, the weak current module and a driving power input end of the strong current module, the control signal of the control module is connected with a control signal input end of the weak current module, and a control signal output end of the weak current module is connected with a control end of the strong current module.
4. The intelligent traffic light system based on Beidou satellite positioning according to claim 3, characterized in that: the control method of the traffic light control system comprises the following steps:
s1: the traffic lights are divided into motor vehicle signal lights and pedestrian crossing signal lights, each intersection is provided with eight traffic lights which are divided into two groups, namely a transverse group and a longitudinal group, the traffic light display of each group needs to be the same, and the traffic light display between the groups can not conflict;
s2: setting real-time vehicle number rho1Real-time population number rho2Vehicle waiting time T1, crowd waiting time T2, special vehicle speed v1, special vehicle distance to traffic light s1, red light time threshold T1, green light time threshold T2, crowd endurance maximum time TRMaximum time T endured by vehiclec；
S3: investigating data to obtain relevant function model
Establishing the relation between the average time of a driver passing through the traffic lights and the factors such as the length of the vehicles, the distance between the vehicles and the speed of the vehicles, comprehensively considering the time-enduring factor of the driver, and judging whether the time setting of the traffic lights is reasonable or not;
s4: setting variables:
(1) number of vehicles ρ1Waiting time t1Maximum endurance time TcEach vehicle passing time t1n；
(2) Number of people ρ2Waiting time t of the crowd2The maximum time T of tolerance of the crowdREach person passing time t2n；
(3) Time threshold T of red light1Green light time threshold T2；
(4) Special vehicle speed v, distance s from traffic lights;
(5) crowd weight q1Vehicle weight q2；
The sum of each vehicle multiplied by the weight and the waiting time is found:
Figure FDA0002454341310000021
summing the products of each person's weight and latency:
Figure FDA0002454341310000022
and (3) calculating the estimated time of all vehicles passing the traffic lights:
Figure FDA0002454341310000023
calculating the time of the crowd passing the road: t isr＝ρ2·L/vγ
Setting a threshold value for the vehicle passing time: tc (max), Tc(min)
Setting a threshold value for the crowd passing time: tr (max), Tr(min)
General conditions are as follows:
when the traffic flow and the pedestrian flow are normal, namely the crowd and the vehicle are equivalent, and not much or little; (judgment condition is TC(min)≤TLTc (max) and
Figure FDA0002454341310000031
)
when Q1>When Q2, the vehicle should be allowed to pass, the signal light of the motor vehicle is green, and the green time is the estimated time T for the vehicle to pass the traffic lightCTime t of starting with vehiclesSum, i.e. TL＝TC+ts；
When the crosswalk shows green light, i.e. red and yellow lights, in the motorwayAt the end of the time, the duration of the green light of the crosswalk only needs to consider the passing time, that is
Figure FDA0002454341310000032
Consider the case of a particular vehicle:
the special vehicles should not decelerate when passing through the traffic light, so the traffic light of the motor vehicle lane should be displayed as a green light when the special vehicle amount is a certain distance away from the traffic light, and after the special vehicles pass through, the traffic light judges the correlation between the vehicles and the crowd again;
supposing that a green light is required to be turned on when a special vehicle is far away from a traffic light L, and the L is required to be related to the passing time of the vehicle waiting in front, an uncertain factor q is set, and the passing time T of the vehicle is the time T of the traffic lightC；
Having such a relationship, L/vT＝Tc+ q, so L ═ T can be obtainedc+q)*vTSpecial cases are as follows:
(1) when the crowd and the vehicle are both small (i.e. T)C(min)≥TLAnd is
Figure FDA0002454341310000033
Time), we set another case for red green etc. at this time:
in this situation, a fixed frequency is set for the traffic lights, which is almost the same as the ordinary traffic lights, but when a person passes through the road, the traffic lights of the pedestrian crossing can skip the waiting time to light the green lights, and when the person passes through the road, the fixed frequency can be restored again (at this time, the passing of the vehicle is not detected); when the vehicle passes, the green lamp of the motor vehicle road is lighted, and the fixed frequency is restored after the vehicle passes (at the moment, the condition that a person passes the road is not detected); when people and vehicles are detected simultaneously, in order to consider safety factors, the vehicles are preferentially allowed to pass, the green time of the motor vehicle lane is T (T should consider the actual passing time T to be L/v1+L/v2.........)
(2) When there are many people and vehicles (T)LIs not less than Tc (max) and
Figure FDA0002454341310000041
)
we cannot let the green light of the motor vehicle or crosswalk light up all the time, so we set a constant value TCAnd TRThe green light time of the motor vehicle lane and the pedestrian crossing are respectively expressed, and the period of the traffic light is set according to the green light time.
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