CN112037538A - Traffic signal lamp control method, temporary traffic command system and device - Google Patents
Traffic signal lamp control method, temporary traffic command system and device Download PDFInfo
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- CN112037538A CN112037538A CN201910481153.5A CN201910481153A CN112037538A CN 112037538 A CN112037538 A CN 112037538A CN 201910481153 A CN201910481153 A CN 201910481153A CN 112037538 A CN112037538 A CN 112037538A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The application relates to a traffic signal lamp control method, a temporary traffic command system and a device.A computer device acquires scanning data obtained by scanning a road environment, processes the scanning data to obtain traffic environment information of the road environment, then determines a traffic guidance strategy matched with the road environment information according to the traffic environment information, further determines traffic signal lamp control parameters according to the traffic guidance strategy, and controls the working state of a temporary traffic signal lamp according to the traffic signal lamp control parameters. Because the computer equipment obtains the traffic environment information of the road environment according to the scanning data, different traffic guidance strategies can be appointed according to different traffic environment information, so that the control parameters of the obtained temporary traffic signal lamp can be adjusted along with the change of the traffic environment, and the use flexibility of the temporary traffic signal lamp is improved.
Description
Technical Field
The present application relates to the field of signal processing technologies, and in particular, to a traffic signal lamp control method, a temporary traffic guidance system, and a device.
Background
As urban vehicles increase, the role of traffic indicator light systems in maintaining urban traffic order becomes more and more important. However, traffic may be disturbed due to failure of the traffic light system over time or due to disastrous weather, such as typhoons, snowstorms, etc., causing the traffic light system to malfunction.
In the conventional technology, a temporary traffic guidance system is arranged at an intersection with a fault traffic indicator lamp, and vehicles at the intersection are guided to run in sequence through the traffic indicator lamp in the temporary traffic guidance system.
However, the traffic lights in the temporary traffic guidance system are fixed or require human intervention to adjust, so that the temporary traffic guidance system is not flexible.
Disclosure of Invention
In view of the above, it is necessary to provide a traffic signal lamp control method, a temporary traffic guidance system, and a device.
A traffic signal control method, the method comprising:
acquiring scanning data obtained by scanning the road environment;
processing the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: at least one of information of pedestrians, vehicles and traffic obstacles in the road environment;
determining a traffic guidance strategy matched with the traffic environment information, and determining traffic light control parameters according to the traffic guidance strategy;
and controlling the working state of the temporary traffic signal lamp according to the traffic lamp control parameter.
In one embodiment, the processing the scan data to obtain traffic environment information of the road environment includes:
inputting the scanning data into a preset deep learning model, and identifying pedestrians and/or vehicles in the road environment and position information thereof through the deep learning model;
and counting the number of vehicles of each lane and/or the number of pedestrians of each sidewalk in the road environment.
In one embodiment, the determining the traffic guidance strategy matched with the traffic environment information comprises:
determining the lane with the largest number of vehicles as a target adjusting lane;
determining the display color of a target adjusting signal lamp matched with the target adjusting lane to be green, and determining the display duration under the display color;
and adjusting the display colors and the display duration of the other signal lamps according to the preset traffic light rule.
In one embodiment, the determining that the display color of the target adjustment signal lamp matched with the target adjustment lane is green includes:
acquiring a lane to be driven into which a vehicle can drive in the target adjustment lane;
determining the lanes with the number of the vehicles to be driven into the lanes smaller than a second preset threshold as target driving lanes;
and determining that the display color of the signal lamp corresponding to the target entering lane in the target adjustment signal lamps is green.
In one embodiment, the method further comprises: sending traffic data to a traffic command center, and receiving instruction information returned by the traffic command center; the traffic data includes at least one of the scan data, the traffic environment information, and the traffic light control parameter.
In one embodiment, after acquiring the scan data obtained by scanning the road environment, the method further includes:
identifying a road identification line in the scanning data; the road marking lines comprise lane dividing lines, pedestrian lane lines and vehicle guiding marks;
determining each road functional area of the road environment according to the road identification line;
and matching each lane with each signal lamp in the temporary traffic signal lamps.
A temporary traffic directing system, the system comprising: a sensor, a temporary traffic light, and a computer device connected to the sensor and the temporary traffic light;
the sensor scans the road environment to acquire scanning data;
the computer device processes the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: information of pedestrians, vehicles and traffic obstacles in the road environment; and determining a traffic guidance strategy matched with the traffic environment information, and determining traffic light control parameters according to the traffic guidance strategy.
A traffic signal control apparatus, the apparatus comprising:
the scanning module is used for acquiring scanning data obtained by scanning the road environment;
a processing module, configured to process the scan data to obtain traffic environment information of the road environment, where the traffic environment information includes: information of pedestrians, vehicles and traffic obstacles in the road environment;
the determining module is used for determining a traffic guidance strategy matched with the traffic environment information and determining traffic light control parameters according to the traffic guidance strategy;
and the control module is used for controlling the working state of the temporary traffic signal lamp according to the traffic light control parameters.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the traffic signal control method described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the traffic signal control method described above.
According to the traffic signal lamp control method, the temporary traffic command system and the temporary traffic signal lamp control device, the computer equipment obtains scanning data obtained by scanning the road environment, processes the scanning data to obtain traffic environment information of the road environment, then determines a traffic guidance strategy matched with the traffic environment information, further determines traffic lamp control parameters according to the traffic guidance strategy, and controls the working state of the temporary traffic signal lamp according to the traffic lamp control parameters. Because the computer equipment obtains the traffic environment information of the road environment according to the scanning data, different traffic guidance strategies can be appointed according to different traffic environment information, so that the control parameters of the obtained temporary traffic signal lamp can be adjusted along with the change of the traffic environment, and the use flexibility of the temporary traffic signal lamp is improved.
Drawings
FIG. 1 is a diagram of an exemplary traffic light control application environment;
FIG. 2 is a schematic flow chart diagram illustrating a traffic light control method according to one embodiment;
FIG. 3 is a schematic flow chart illustrating a traffic light control method according to another embodiment;
FIG. 4 is a schematic flow chart illustrating a traffic light control method according to another embodiment;
FIG. 5 is a schematic flow chart illustrating a traffic light control method according to another embodiment;
FIG. 6 is a schematic flow chart illustrating a traffic light control method according to another embodiment;
FIG. 7 is a diagram of an application environment of a temporary traffic guidance system in another embodiment;
FIG. 8 is a block diagram of a temporary traffic guidance system in one embodiment;
FIG. 9 is a block diagram showing the construction of a traffic signal control apparatus according to an embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The traffic signal lamp method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The sensor 130 may be, but not limited to, a laser radar, a millimeter wave radar, a camera, an infrared sensor, or the like, may be one sensor, or may be a combination of multiple sensors, and is not limited herein; the computer device 110 is connected to the sensor 130 and the temporary traffic signal 120, respectively.
In one embodiment, as shown in fig. 2, a traffic signal lamp control method is provided, which is described by taking the method as an example applied to the computer device in fig. 1, and comprises the following steps:
s101, scanning data obtained by scanning the road environment are obtained.
The scanning data may be point cloud data obtained by a laser radar, or image data acquired by a camera, and the specific type of the scanning data is not limited herein. The road environment refers to an environment in which a temporary traffic light is needed to guide traffic, and may be a traffic intersection in a city, a transportation road, a rural road, or the like, and the type of the road environment is not limited herein.
Specifically, the computer device may directly receive the scan data sent by the sensor, or receive the scan data sent by the traffic control center after the sensor uploads the scan data to the traffic control center; the computer device may acquire the scan data through a wired connection or a wireless connection, and the acquisition method of the scan data is not limited herein.
S102, processing the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: at least one of information of pedestrians, vehicles, and traffic obstacles in the road environment.
The traffic environment information refers to perception information of the current road environment obtained by processing the scanned data by the computer device, and may be, for example, the number of pedestrians in the current road environment, or the distribution of various types of vehicles in the current road environment, such as which areas of the road environment the bicycles, the electric vehicles, and the automobiles are respectively located in, or information of traffic obstacles existing in the current road, such as the positions of the traffic obstacles, the sizes of the traffic obstacles, and the conditions of vehicles around the traffic obstacles, and the specific content of the traffic environment information is not limited herein.
When the scanning data are processed, the computer equipment can identify the point cloud data through a contour identification method to obtain the positions of pedestrians, vehicles and/or traffic obstacles in the road environment; the pedestrian, the vehicle and/or the traffic barrier in the image information collected by the camera can be obtained by an image recognition method, and the advancing speed and the advancing direction of the pedestrian and the driving speed of the vehicle in the road environment can be obtained by scanning data for multiple times; the scan data may be processed by a machine learning algorithm, and the processing method of the scan data is not limited herein.
S103, determining a traffic guidance strategy matched with the information according to the traffic environment, and determining traffic light control parameters according to the traffic guidance strategy.
The traffic guidance strategy is determined according to the traffic environment information and is used for guiding the traffic of vehicles and pedestrians in the current environment to adjust the traffic of the current road to a proper state. The traffic guidance policy may be a traffic guidance policy corresponding to a certain road environment, for example, the computer device may determine, through the traffic environment information, that the traffic flow in a certain direction is large in the road environment, and determine the traffic guidance policy according to the above condition, for example, extend the green light display duration of a signal light corresponding to the direction in the temporary traffic signal light; the traffic guidance strategy can also be a traffic guidance strategy in a certain time period, for example, for different vehicle congestion road sections of early peak and late peak in a certain road environment, the traffic guidance strategy can be determined according to the situations, and the traffic congestion in the peak period can be relieved; the current traffic condition can be judged in real time according to the traffic environment information, the display state of the temporary traffic signal lamp can be adjusted in time, and for example, the next display state is determined before the display state of the current temporary traffic signal lamp is finished; the traffic guidance system can also be used for temporarily adjusting temporary emergent conditions, for example, traffic obstacles such as trunks crossing the road or vehicles with faults appear in a certain area in the road environment, and the computer equipment can determine a traffic guidance strategy according to the emergent conditions and adjust the temporary traffic signal lamp to a normal working state after the emergent conditions are recovered; the specific type of the traffic guidance strategy is not limited herein.
Specifically, the traffic guidance policy may include a policy for adjusting a display color of the temporary traffic light, a policy for adjusting a display duration, or a policy for adjusting a display direction of the traffic light, for example, adjusting a straight-ahead light to a left-turn light; the adjustment policy may include a method for adjusting a display mode of the traffic light, and may further include a plurality of steps for adjusting a display state of the traffic light, and specific contents of the traffic guidance policy are not limited herein.
When determining a traffic guidance strategy according to the traffic environment information, the computer device may select an appropriate scheme from a plurality of preset traffic light display schemes according to the traffic road information, for example, select a traffic light display scheme matched with a traffic flow according to the traffic flow in the road environment; in addition, the appropriate traffic light display duration may be calculated according to the traffic road information and different traffic conditions, for example, according to the current traffic flow, and the specific determination manner of the traffic guidance policy is not limited herein.
Specifically, after determining the traffic guidance policy, the computer device may determine a corresponding control parameter when the temporary traffic signal lamp is displayed according to the traffic guidance policy, where the traffic light control parameter may be a control instruction or a group of digital control signals, and a specific form of the traffic light control parameter is not limited herein.
And S104, controlling the working state of the temporary traffic signal lamp according to the traffic light control parameters.
Specifically, after the computer device determines the traffic light control parameter, the control parameter may be sent to the temporary traffic light device, so that the temporary traffic light may display the traffic light state corresponding to the traffic guidance policy according to the control parameter.
According to the traffic signal lamp control method, the computer equipment acquires scanning data obtained by scanning the road environment, processes the scanning data to obtain traffic environment information of the road environment, determines a traffic guidance strategy matched with the traffic environment information, further determines traffic lamp control parameters according to the traffic guidance strategy, and controls the working state of the temporary traffic signal lamp according to the traffic lamp control parameters. Because the computer equipment obtains the traffic environment information of the road environment according to the scanning data, different traffic guidance strategies can be appointed according to different traffic environment information, so that the control parameters of the obtained temporary traffic signal lamp can be adjusted along with the change of the traffic environment, and the use flexibility of the temporary traffic signal lamp is improved.
Fig. 3 is a schematic flow chart of a traffic light control method in another embodiment, where the embodiment relates to a specific manner in which a computer device obtains traffic environment information, and on the basis of the embodiment, as shown in fig. 3, the step S102 includes:
s201, inputting the scanning data into a preset deep learning model, and identifying pedestrians and/or vehicles in the road environment and position information thereof through the deep learning model.
Specifically, the computer device may process the scan data through a deep learning model to obtain traffic environment information. The computer equipment can directly input the scanning data into a preset deep learning model, or input the scanning data into the deep learning model after filtering stray signals, and the input method is not limited herein.
Further, the computer device may identify pedestrians and/or vehicles in the road environment through the deep learning model, and determine the positions of the pedestrians and/or vehicles in the road environment; for example, the pedestrians and/or vehicles in the road environment may be identified, and then the coordinate system of the road environment is established, and the coordinate positions of the pedestrians and/or vehicles may be determined.
S202, counting the number of vehicles in each lane and/or the number of pedestrians in each sidewalk in the road environment.
The computer device may obtain the number of vehicles in each lane and/or the number of pedestrians in each sidewalk in the road environment after determining the pedestrians and/or the vehicles and their coordinate positions in the road environment. Specifically, the computer device may obtain, in the road environment coordinate system, area ranges of each lane and each sidewalk, mark the identified vehicles in the area ranges of each lane, and count the number of vehicles corresponding to each lane according to the marks; or marking the identified pedestrians in the area range of each sidewalk, and then counting the number of the pedestrians corresponding to each sidewalk according to the marks; in addition, the computer equipment can mark pedestrians and vehicles identified in the road environment, then obtain the area range of each lane and each sidewalk, count the marks according to the area range, and finally obtain the number of vehicles in each lane and/or the number of pedestrians in each sidewalk. The above statistical method is not limited herein.
When the computer equipment acquires the area ranges of each lane and each sidewalk, each lane and each sidewalk can be identified by processing the scanning information; the data sent by the traffic control platform can also be received, and the area coordinates corresponding to each lane and each sidewalk are determined; the computer equipment can be acquired by setting parameters of the traffic police personnel, and the acquisition mode of the area range is not limited herein.
According to the traffic signal lamp control method, the computer equipment can rapidly and accurately identify the number of pedestrians and/or the number of vehicles in different areas in the road environment through the deep learning model, so that the computer equipment can formulate a traffic guidance strategy which is more matched with the current road environment according to the number of pedestrians and/or the number of vehicles.
Fig. 4 is a schematic flow chart of a traffic light control method in another embodiment, where this embodiment relates to a specific way for a computer device to determine a traffic guidance policy, and on the basis of the foregoing embodiment, as shown in fig. 4, the foregoing S103 includes:
s301, determining the lane with the largest number of vehicles as a target adjusting lane.
Specifically, after obtaining the number of vehicles in each lane, the computer device may determine which lane has the largest number of vehicles by comparing the number of vehicles, and then may determine the lane with the largest number of vehicles as the target adjustment lane, so that the computer device may designate a corresponding traffic guidance policy, so that the vehicles in the lane with the largest number of vehicles preferentially pass through, and the road traffic congestion is alleviated.
S302, determining that the display color of the target adjusting signal lamp matched with the target adjusting lane is green, and determining the display time length under the display color.
In particular, the computer device may obtain a matching relationship between the respective lanes in the road environment and the respective sets of signal lights in the temporary traffic signal lights, that is, the vehicles in each lane are driven according to the indication of that signal light. The computer equipment can obtain the direction of each lane by scanning data and match the direction of each group of signal lamps of the traffic signal lamps to determine the matching relation; or may be set by a traffic police officer, and the manner of acquiring the matching relationship is not limited herein.
Further, when the computer device determines that the vehicle in the target adjustment lane is preferentially passed, the display color of the signal lamp matching the target adjustment lane may be adjusted to green. The computer device may set the color of each of the lights in the set of signal lights to green so that the vehicle in the target adjustment lane may travel in all directions according to the rules, or may set some of the lights to green, for example, when there are many vehicles in the lane after straight traveling, the straight traveling light may be set to red, and the left turn light and the right turn light may be set to green. The method of determining the display color of the signal is not limited herein.
The computer device may determine the green light display duration according to the traffic light display duration of the current road environment, may also determine a green light display duration matched with the number of vehicles according to the number of vehicles in the target adjustment lane, for example, when the number of vehicles is included in a preset threshold interval, the display duration matched with the threshold interval may be determined as the green light display duration, and may also calculate the green light display duration according to the number of vehicles and the average duration of the vehicles traveling through the road intersection, for example, when the number of vehicles in the target adjustment lane is 30, the average duration of the vehicles traveling through the intersection is 3 seconds, and then may calculate the green light display duration as 90 seconds; the determination method of the display duration is not limited herein.
And S303, adjusting the display colors and the display duration of the other signal lamps according to a preset traffic light rule.
After the display color and the display duration of the signal lamp matched with the target vehicle are determined, the display colors and the display durations of the other signal lamps can be adjusted according to a preset traffic rule, wherein the preset traffic rule is used for guaranteeing the driving safety of the vehicle, for example, when the vehicle in the east-west direction moves straight, the vehicle in the north-south direction stops; in addition, the display states of the other signal lamps are adjusted according to the traffic rules, so that the running routes of vehicles running in different directions in the road can be prevented from intersecting, and traffic jam is avoided.
According to the traffic signal lamp control method, the computer equipment determines the lane with the largest number of vehicles as the target adjustment lane, so that the vehicles in the lane can pass preferentially.
Fig. 5 is a schematic flow chart of a traffic light control method in another embodiment, where the embodiment relates to a manner in which a computer device adjusts a display color of a signal light, and on the basis of the above embodiment, as shown in fig. 5, the above S302 includes:
s401, a lane to be driven into, which can be driven into by a vehicle in the target adjusting lane, is obtained.
After determining the target adjustment lane, the computer device may determine the vehicle in the target adjustment lane, the lane that may be entered according to the traffic rules, as the lane to be entered, for example, the lane that the vehicle in the target adjustment lane may enter in a straight line, a left turn, and a right turn on the basis of S301.
S402, determining the lanes with the number of the vehicles to be driven into the lanes smaller than a second preset threshold as the target driven-into lanes.
Further, the computer device may compare the number of vehicles to enter the lane with a second preset threshold, and when the number of vehicles is smaller than the second preset threshold, the computer device considers that there are fewer vehicles on the lane to enter, and may guide the vehicle in the target adjustment lane to enter the lane; if the number of the vehicles to be driven into the lane is larger than the preset second threshold value, the computer device considers that the number of the vehicles to be driven into the lane is large, and the vehicles in the target adjusting lane can be guided into other lanes to be driven into so as to avoid the traffic jam of the lane.
And S403, determining that the display color of the signal lamp corresponding to the target driving lane in the target adjustment signal lamps is green.
After the computer device determines that the target enters the lane, a signal light that matches the target adjustment lane to which the target entered the lane may be displayed green.
According to the traffic signal lamp control method, after the target adjustment lane is determined, the computer equipment determines that the target enters the lane, so that the vehicle in the target adjustment lane can be guided to other lanes more quickly, the traffic jam in the target adjustment vehicle is relieved, and the determined traffic guide strategy is more matched with the current traffic environment information.
In one embodiment, on the basis of the above embodiment, the method further includes: sending the traffic data to a traffic command center, and receiving instruction information returned by the traffic command center; the traffic data includes at least one of scan data, traffic environment information, and traffic light control parameters.
Specifically, the computer device can send the traffic data to the traffic guidance center, so that the traffic guidance center can acquire the traffic conditions of the road environment in time according to the traffic data, and can perform overall traffic coordination with other roads. The computer device may transmit the environment data through a wired connection or a wireless connection, which is not limited herein.
Further, the computer device may also receive instruction information returned by the traffic guidance center, where the instruction information may be an instruction of an updated version of the computer device, or may also be data related to a road environment sent to the computer device, and specific content of the instruction information is not limited herein.
Alternatively, the computer device can receive a moving instruction sent by the traffic guidance center, and move the temporary traffic signal lamp to other positions through the movable device.
According to the traffic signal lamp control method, the computer equipment sends the traffic data to the traffic command center, so that the traffic command center can carry out overall coordination on road traffic according to the traffic data, and the traffic can be guided more efficiently.
Fig. 6 is a schematic flow chart of a traffic light control method in another embodiment, which relates to a way for matching lanes with lights by a computer device, and on the basis of the above embodiment, as shown in fig. 6, after the above S101, the method further includes:
s501, identifying a road identification line in the scanning data; the road marking lines include lane marking lines, pedestrian lane lines, and vehicle guide marks.
Specifically, the computer device may recognize the road marking line through image recognition, or a deep learning algorithm, and the like, and the recognition method is not limited herein.
And S502, determining each road functional area of the road environment according to the road identification line.
Further, the computer device may determine, according to the road marking, each road functional region, where the road functional region may refer to each sidewalk and each lane, for example, the computer device may determine a region in a lane marking as a lane, and then determine, according to the lane guiding mark, whether the lane may turn left or may turn left and go straight, etc.; the computer device may also determine the area where the pedestrian lane line is located as a pedestrian lane.
And S503, matching each lane with each signal lamp in the temporary traffic signal lamps.
After determining each road functional area, the computer device may match each lane with each signal lamp according to a comparison between the direction of each signal lamp and the direction of each lane, for example, the computer device determines that one lane is located in the due north direction of the temporary traffic signal lamp according to the coordinates of the road environment, and then the computer device may match the signal lamp facing the due north direction with the lane.
According to the traffic signal lamp control method, the computer equipment can match the lanes in the road environment with the signal lamps through the scanning data, so that the traffic signal lamp control method can be applied to various road environments without the operation of traffic police personnel, and the use flexibility of temporary traffic signal lamps is further improved.
In order to make the description of the traffic signal lamp control method clearer, the method is described in detail by taking fig. 7 as an example, and the method is described by taking an example of being applied to a crossroad, as shown in fig. 7, the crossroad may include four traffic branches, namely a north branch, a south branch, an east branch, and a west branch; each traffic branch comprises two bidirectional lanes, namely north 1, north 2, east 3, south 4, west 4 and west 1, and further comprises four sidewalks 12, 23, 34 and 14 positioned at intersections of the four traffic branches. Interim traffic signal lamp includes four group's signal lamps, and every group signal lamp all includes a straight-going lamp, a left turn lamp and a right turn lamp, and the signal lamp corresponds with the traffic branch road that the direction of illumination is unanimous, as in fig. 1, north branch road corresponds with lamp 1, and south branch road corresponds with lamp 3, and east branch road corresponds with lamp 2, and west branch road corresponds with lamp 4.
The sensor can establish a coordinate system of the road environment by taking the central position as a scanning reference, continuously perform full-angle scanning on the road environment, and acquire scanning data of each traffic branch and each sidewalk of the traffic intersection, for example, point cloud data of the road environment can be acquired through a laser radar; the scan data may include pedestrians, automobiles, road obstacles, and the like at each point in the coordinate system.
The computer equipment can identify pedestrians and vehicles in the point cloud data through a preset deep learning algorithm and mark the pedestrians and vehicles; then, counting the number of automobiles in each lane and the number of pedestrians on each sidewalk according to the marks; the pedestrian advancing speed, the pedestrian advancing direction and the like on each pedestrian passage can also be obtained through the scanning results of the continuous times. For example, the scanning range of the sensor is about 200 meters, and the computer device can obtain that the number of cars in the current traffic road is 30 for the north 1 lane, 2 for the south 4 lane, 18 for the west 1 lane, 3 for the east 3 lane, etc.
The computer equipment can determine that the number of vehicles in the lane north 1 is the largest and traffic jam is possible to occur, and determines the lane north 1 as a target vehicle to drive in; the number of vehicles in the lane west 1 is also higher and is larger than a preset second threshold value 10, and the number of vehicles in the lanes south 4 and east 3 is smaller, so that the lanes south 4 and east 3 are determined as target entering lanes. The computer equipment can adjust the straight running light and the left turn light of the light 1 to be green lights, the right turn light to be red lights, meanwhile, the straight running light and the left turn light of the light 2, the light 3 and the light 4 to be red lights, and the right turn light to be green lights, so that vehicles in the north of the lane 1 can pass through the crossroad as soon as possible and can enter the south of the lane 4 or the east of the lane 3; meanwhile, the duration of each traffic light at the moment can be determined by the corresponding relation between the number of automobiles in the north 1 lane and the preset number of vehicles and the duration of the traffic lights, for example, the number of vehicles in the north 1 lane is large, and the decision unit can prolong the duration of green light display of the traffic lights corresponding to the north branch and the south branch.
Further, when the green duration of the straight running light and the left turn light of the light 1 remains 3 seconds, the computer device may obtain 1 pedestrian in the area a of the sidewalk 14 according to the scanning data, and determine that the average forward speed of the pedestrian is M through the continuous multiple times of scanning data, and the forward direction is from south to north; then the time length required for the pedestrian to pass through the sidewalk can be calculated to be 8 seconds, and the display time length of the green light and the red light can be prolonged by 5 seconds; the straight and left turn lights of lamp 1 turned to red lights 8 seconds later.
Further, the computer device can send the parameter adjustment records of the traffic signal lamps to a traffic command center.
After the fixed traffic lights of the road environment are restored to work, the traffic command center can send instructions to the computer equipment, so that the temporary traffic lights can be moved to a specified position, such as a temporary placement position or another intersection, according to the instructions.
It should be understood that although the various steps in the flow charts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a temporary traffic guidance system, the system comprising: a sensor 130, a temporary traffic light 120, and a computer device 110 connected to the sensor and the temporary traffic light;
the sensor 130 scans the road environment to acquire scanning data;
the computer device 110 processes the scanned data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: information of pedestrians, vehicles and traffic obstacles in the road environment; and determining a traffic guidance strategy matched with the information according to the traffic environment, and determining traffic light control parameters according to the traffic guidance strategy.
The temporary traffic guidance system provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the description is omitted.
In one embodiment, as shown in fig. 9, there is provided a traffic signal control apparatus including a scanning module 10, a processing module 20, a determining module 30, and a control module 40, wherein:
the scanning module 10 is configured to acquire scanning data obtained by scanning a road environment.
A processing module 20, configured to process the scan data to obtain traffic environment information of the road environment, where the traffic environment information includes: information of pedestrians, vehicles and traffic obstacles in the road environment.
And the determining module 30 is used for determining a traffic guidance strategy matched with the information according to the traffic environment and determining traffic light control parameters according to the traffic guidance strategy.
And the control module 40 is used for controlling the working state of the temporary traffic signal lamp according to the traffic light control parameter.
The traffic signal lamp control device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the detailed description is omitted.
In one embodiment, on the basis of the above-described embodiment, the processing module 20 includes:
the recognition unit is used for inputting the scanning data into a preset deep learning model, and recognizing pedestrians and/or vehicles in the road environment and position information thereof through the deep learning model;
and the statistical unit is used for counting the number of vehicles in each lane and/or the number of pedestrians in each sidewalk in the road environment.
In an embodiment, on the basis of the above-described embodiment, the determination module 30 comprises.
A first determination unit for determining a lane in which the number of vehicles is the largest as a target adjustment lane.
And the second determining unit is used for determining that the display color of the target adjusting signal lamp matched with the target adjusting lane is green, and determining the display time length under the display color.
And the adjusting unit is used for adjusting the display colors and the display duration of the other signal lamps according to the preset traffic light rule.
In an embodiment, on the basis of the foregoing embodiment, the second determining unit is specifically configured to: acquiring a lane to be driven into which a vehicle can drive in a target adjustment lane; determining the lanes with the number of vehicles to be driven into the lanes smaller than a second preset threshold as target driving lanes; and determining that the display color of the signal lamp corresponding to the target entering the lane is green in the target adjustment signal lamp.
In one embodiment, on the basis of the above embodiment, the apparatus further includes a sending module, configured to send the traffic data to a traffic guidance center, and receive instruction information returned by the traffic guidance center; the traffic data includes at least one of scan data, traffic environment information, and traffic light control parameters.
In an embodiment, on the basis of the above embodiment, the apparatus further includes a matching module, configured to: identifying a road marking line in the scanning data; the road marking lines comprise lane dividing lines, pedestrian lane lines and vehicle guiding marks; determining each road functional area of the road environment according to the road identification line; and matching each lane with each signal lamp in the temporary traffic signal lamps.
The traffic signal lamp control device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the detailed description is omitted.
For specific limitations of the traffic light control device, reference may be made to the above limitations of the traffic light control method, which are not described herein again. All or part of each module in the traffic signal lamp control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a traffic signal control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring scanning data obtained by scanning the road environment;
processing the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: at least one of information of pedestrians, vehicles, and traffic obstacles in the road environment;
determining a traffic guidance strategy matched with the traffic environment information, and determining traffic light control parameters according to the traffic guidance strategy;
and controlling the working state of the temporary traffic signal lamp according to the traffic lamp control parameters.
In one embodiment, the processor, when executing the computer program, further performs the steps of: inputting the scanning data into a preset deep learning model, and identifying pedestrians and/or vehicles in the road environment and position information thereof through the deep learning model; and counting the number of vehicles of each lane and/or the number of pedestrians of each sidewalk in the road environment.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the lane with the largest number of vehicles as a target adjusting lane; determining the display color of a target adjusting signal lamp matched with the target adjusting lane to be green, and determining the display duration under the display color; and adjusting the display colors and the display duration of the other signal lamps according to the preset traffic light rule.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a lane to be driven into which a vehicle can drive in a target adjustment lane; determining the lanes with the number of vehicles to be driven into the lanes smaller than a second preset threshold as target driving lanes; and determining that the display color of the signal lamp corresponding to the target entering the lane is green in the target adjustment signal lamp.
In one embodiment, the processor, when executing the computer program, further performs the steps of: sending the traffic data to a traffic command center, and receiving instruction information returned by the traffic command center; the traffic data includes at least one of scan data, traffic environment information, and traffic light control parameters.
In one embodiment, the processor, when executing the computer program, further performs the steps of: identifying a road marking line in the scanning data; the road marking lines comprise lane dividing lines, pedestrian lane lines and vehicle guiding marks; determining each road functional area of the road environment according to the road identification line; and matching each lane with each signal lamp in the temporary traffic signal lamps.
The implementation principle and technical effect of the computer device provided in this embodiment are similar to those of the method embodiments described above, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring scanning data obtained by scanning the road environment;
processing the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: at least one of information of pedestrians, vehicles, and traffic obstacles in the road environment;
determining a traffic guidance strategy matched with the traffic environment information, and determining traffic light control parameters according to the traffic guidance strategy;
and controlling the working state of the temporary traffic signal lamp according to the traffic lamp control parameters.
In one embodiment, the computer program when executed by the processor further performs the steps of: inputting the scanning data into a preset deep learning model, and identifying pedestrians and/or vehicles in the road environment and position information thereof through the deep learning model; and counting the number of vehicles of each lane and/or the number of pedestrians of each sidewalk in the road environment.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the lane with the largest number of vehicles as a target adjusting lane; determining the display color of a target adjusting signal lamp matched with the target adjusting lane to be green, and determining the display duration under the display color; and adjusting the display colors and the display duration of the other signal lamps according to the preset traffic light rule.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a lane to be driven into which a vehicle can drive in a target adjustment lane; determining the lanes with the number of vehicles to be driven into the lanes smaller than a second preset threshold as target driving lanes; and determining that the display color of the signal lamp corresponding to the target entering the lane is green in the target adjustment signal lamp.
In one embodiment, the computer program when executed by the processor further performs the steps of: sending the traffic data to a traffic command center, and receiving instruction information returned by the traffic command center; the traffic data includes at least one of scan data, traffic environment information, and traffic light control parameters.
In one embodiment, the computer program when executed by the processor further performs the steps of: identifying a road marking line in the scanning data; the road marking lines comprise lane dividing lines, pedestrian lane lines and vehicle guiding marks; determining each road functional area of the road environment according to the road identification line; and matching each lane with each signal lamp in the temporary traffic signal lamps.
The implementation principle and technical effect of the computer-readable storage medium provided by this embodiment are similar to those of the above-described method embodiment, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A traffic signal control method, characterized in that the method comprises:
acquiring scanning data obtained by scanning the road environment;
processing the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: at least one of information of pedestrians, vehicles and traffic obstacles in the road environment;
determining a traffic guidance strategy matched with the traffic environment information, and determining traffic light control parameters according to the traffic guidance strategy;
and controlling the working state of the temporary traffic signal lamp according to the traffic lamp control parameter.
2. The method of claim 1, wherein the processing the scan data to obtain traffic environment information of the road environment comprises:
inputting the scanning data into a preset deep learning model, and identifying pedestrians and/or vehicles in the road environment and position information thereof through the deep learning model;
and counting the number of vehicles of each lane and/or the number of pedestrians of each sidewalk in the road environment.
3. The method of claim 2, wherein determining the traffic guidance strategy that matches the traffic environment information comprises:
determining the lane with the largest number of vehicles as a target adjusting lane;
determining the display color of a target adjusting signal lamp matched with the target adjusting lane to be green, and determining the display duration under the display color;
and adjusting the display colors and the display duration of the other signal lamps according to the preset traffic light rule.
4. The method of claim 3, wherein the determining that a display color of a target adjustment signal light that matches the target adjustment lane is green comprises:
acquiring a lane to be driven into which a vehicle can drive in the target adjustment lane;
determining the lanes with the number of the vehicles to be driven into the lanes smaller than a second preset threshold as target driving lanes;
and determining that the display color of the signal lamp corresponding to the target entering lane in the target adjustment signal lamps is green.
5. The method according to any one of claims 1-4, further comprising: sending traffic data to a traffic command center, and receiving instruction information returned by the traffic command center; the traffic data includes at least one of the scan data, the traffic environment information, and the traffic light control parameter.
6. The method according to any one of claims 1-4, wherein after acquiring the scanning data obtained by scanning the road environment, the method further comprises:
identifying a road identification line in the scanning data; the road marking lines comprise lane dividing lines, pedestrian lane lines and vehicle guiding marks;
determining each road functional area of the road environment according to the road identification line;
and matching each lane with each signal lamp in the temporary traffic signal lamps.
7. A temporary traffic directing system, the system comprising: a sensor, a temporary traffic light, and a computer device connected to the sensor and the temporary traffic light;
the sensor scans the road environment to acquire scanning data;
the computer device processes the scanning data to obtain traffic environment information of the road environment, wherein the traffic environment information comprises: information of pedestrians, vehicles and traffic obstacles in the road environment; and determining a traffic guidance strategy matched with the traffic environment information, and determining traffic light control parameters according to the traffic guidance strategy.
8. A traffic signal control apparatus, characterized in that the apparatus comprises:
the scanning module is used for acquiring scanning data obtained by scanning the road environment;
a processing module, configured to process the scan data to obtain traffic environment information of the road environment, where the traffic environment information includes: information of pedestrians, vehicles and traffic obstacles in the road environment;
the determining module is used for determining a traffic guidance strategy matched with the traffic environment information and determining traffic light control parameters according to the traffic guidance strategy;
and the control module is used for controlling the working state of the temporary traffic signal lamp according to the traffic light control parameters.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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