CN112419752B - Control method and device for intersection traffic signals - Google Patents
Control method and device for intersection traffic signals Download PDFInfo
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Abstract
The present disclosure relates to a method and a device for controlling intersection traffic signals, and relates to the technical field of road traffic control, wherein the method comprises the following steps: the method comprises the steps of obtaining a driving sequence of each driving direction in a target intersection, wherein the driving sequence comprises vehicles in the driving direction and ideal departure time of each vehicle in the driving direction, sequencing each vehicle in the driving sequence according to an arrival sequence, combining the driving sequences of all the driving directions into a plurality of departure sequences according to a preset combination rule, wherein each departure sequence comprises all vehicles in the target intersection, the sequence of the vehicles in the first driving direction in each departure sequence is the same as that of the vehicles in the driving sequence of the first driving direction, the first driving direction is any driving direction, determining delay time of each departure sequence, and controlling a signal lamp of each driving direction of the target intersection according to the departure sequence with the minimum delay time. The method and the device can effectively reduce the time delay of the intersection and improve the passing efficiency.
Description
Technical Field
The present disclosure relates to the field of road traffic control technologies, and in particular, to a method and an apparatus for controlling intersection traffic signals.
Background
With the increasing amount of automobiles kept, road traffic is under increasing pressure. The traffic signal lamp is used as a traffic manager which is most widely applied, and can dredge traffic flow, improve road traffic capacity and reduce traffic accidents. The existing traffic signal lamp control method usually predicts the vehicle flow in a short time by a mathematical statistical method, and then adjusts the timing of the signal lamp according to the predicted vehicle flow and a timing signal control method. However, the predicted vehicle flow has time lag, and it is difficult to accurately reflect real-time traffic conditions on the road, and it is also difficult to meet traffic demands of the road and reduce traffic efficiency by controlling the timing of the traffic lights according to the timing signal control method.
Disclosure of Invention
The invention aims to provide a method and a device for controlling intersection traffic signals, which are used for solving the problems of inaccurate signal lamp control and low traffic efficiency in the prior art.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a method for controlling intersection traffic signals, the method including:
acquiring a driving sequence of each driving direction in a target intersection, wherein the driving sequence comprises vehicles in the driving direction and ideal departure time of each vehicle in the driving direction, each vehicle in the driving sequence is sequenced according to an arrival sequence, and the target intersection at least comprises two driving directions;
merging the driving sequences of all the driving directions into a plurality of departure sequences according to a preset merging rule, wherein each departure sequence comprises all vehicles in the target road junction, and the sequence of the vehicles in the first driving direction in each departure sequence is the same as that of the vehicles in the driving sequence of the first driving direction, and the first driving direction is any one driving direction;
determining a delay time for each of the departure sequences;
and controlling the signal lamp of each driving direction of the target intersection according to the departure sequence with the minimum delay time.
Optionally, the obtaining of the driving sequence of each driving direction in the target intersection includes:
acquiring the position information of each first type vehicle in the driving direction;
determining the ideal departure time and the arrival order of each vehicle of the first type according to the distance between the position information and the target intersection;
determining the arrival sequence and the ideal departure time of each second vehicle in the driving direction according to a preset motion model according to the position information, the arrival sequence and the ideal departure time of each first vehicle;
and sequencing each vehicle of the first type and each vehicle of the second type in the driving direction according to the arrival sequence to obtain the driving sequence in the driving direction.
Optionally, the determining the arrival order and the ideal departure time of each second type vehicle in the driving direction according to a preset motion model according to the position information, the arrival order and the ideal departure time of each first type vehicle includes:
ranking each vehicle of the first type according to the arrival order of each vehicle of the first type;
for any two adjacent first-class vehicles after sequencing, determining the number of second-class vehicles in the driving direction between the two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
and determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to the number of the second type vehicles in the driving direction between two adjacent first type vehicles and the ideal departure time of two adjacent first type vehicles.
Optionally, the determining, according to the position information of two adjacent first-class vehicles, the number of second-class vehicles in the driving direction between the two adjacent first-class vehicles includes:
determining the target distance of two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
determining the number of vehicles of the second type between two adjacent vehicles of the first type according to the target distance and the blockage density and saturation flow rate of the target intersection.
Optionally, the method further comprises:
if the first type of vehicle is detected to meet a preset condition, updating the running sequence, wherein the preset condition is as follows: the first type of vehicle enters the target intersection, the first type of vehicle exits the target intersection, and the running speed of the first type of vehicle is zero;
and repeatedly executing the step of combining the driving sequences of each driving direction into a plurality of starting sequences according to a preset combination rule, and controlling the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
Optionally, the determining a delay time of each of the departure sequences includes:
determining the predicted passing time of each vehicle in a target departure sequence through the target intersection, wherein the target departure sequence is any one of the departure sequences;
determining a delay for each vehicle in the target departure sequence based on the predicted transit time for each vehicle in the target departure sequence and the ideal departure time for each vehicle in the target departure sequence;
and taking the sum of the delays of all the vehicles in the target departure sequence as the delay time of the target departure sequence.
Optionally, the determining the predicted transit time for each target vehicle in the target departure sequence to pass through the target intersection comprises:
determining a first number of vehicles in the target departure sequence that are ahead of a target vehicle in the same direction of travel as the target vehicle, the target vehicle being any one of the vehicles in the target departure sequence;
determining intersection speed of the target vehicle to the target intersection according to the first quantity;
determining the predicted time of the target vehicle passing through the target intersection at the intersection speed according to the intersection length of the target intersection;
determining the predicted transit time of the target vehicle based on the predicted time of the target vehicle, a saturation flow rate of the target intersection, and the predicted transit time of a vehicle preceding the target vehicle.
Optionally, the controlling the signal light of each driving direction of the target intersection according to the departure sequence with the minimum delay time includes:
determining a target driving direction of a first vehicle in the departure sequence in which the delay time is minimum;
controlling the signal lamps in the target driving direction to be in a passing state, and controlling the signal lamps in the driving directions except the target driving direction to be in a stopping state;
deleting the first vehicle from the departure sequence with the smallest delay time, and repeatedly executing the steps of determining the target driving direction of the first vehicle in the departure sequence with the smallest delay time until the signal lamp for controlling the target driving direction is in a passing state, and controlling the signal lamps for driving directions except the target driving direction to be in a stopping state.
According to a second aspect of the embodiments of the present disclosure, there is provided a control device of intersection traffic signals, the device including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a driving sequence of each driving direction in a target intersection, the driving sequence comprises a vehicle in the driving direction and ideal departure time of each vehicle in the driving direction, each vehicle in the driving sequence is sequenced according to an arrival sequence, and the target intersection at least comprises two driving directions;
a merging module, configured to merge the driving sequences of all the driving directions into a plurality of departure sequences according to a preset merging rule, where each departure sequence includes all vehicles in the target intersection, and an order of vehicles in a first driving direction in each departure sequence is the same as an order of vehicles in the driving sequence of the first driving direction, and the first driving direction is any one of the driving directions;
a determining module for determining a delay time for each of the departure sequences;
and the control module is used for controlling the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
Optionally, all vehicles in the target road include a first type vehicle and a second type vehicle, and the obtaining module includes:
the obtaining submodule is used for obtaining the position information of each first type vehicle in the driving direction;
a first determining submodule, configured to determine the ideal departure time and the arrival order of each of the first vehicles according to a distance between the position information and the target intersection;
the second determining submodule is used for determining the arrival sequence and the ideal departure time of each second vehicle in the driving direction according to a preset motion model according to the position information, the arrival sequence and the ideal departure time of each first vehicle;
and the sequencing submodule is used for sequencing each vehicle of the first type and each vehicle of the second type in the driving direction according to the arrival sequence so as to obtain the driving sequence in the driving direction.
Optionally, the second determining submodule is configured to:
ranking each vehicle of the first type according to the arrival order of each vehicle of the first type;
for any two adjacent first-class vehicles after sequencing, determining the number of second-class vehicles in the driving direction between the two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
and determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to the number of the second type vehicles in the driving direction between two adjacent first type vehicles and the ideal departure time of two adjacent first type vehicles.
Optionally, the second determining submodule is configured to:
determining the target distance of two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
determining the number of vehicles of the second type between two adjacent vehicles of the first type according to the target distance and the blockage density and saturation flow rate of the target intersection.
Optionally, the apparatus further comprises:
the updating module is used for updating the driving sequence if the first type of vehicle is detected to meet a preset condition, wherein the preset condition is as follows: the first type of vehicle enters the target intersection, the first type of vehicle exits the target intersection, and the running speed of the first type of vehicle is zero;
and repeatedly executing the step of combining the driving sequences of each driving direction into a plurality of starting sequences according to a preset combination rule, and controlling the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
Optionally, the determining module includes:
a third determining submodule, configured to determine a predicted passing time of each vehicle in a target departure sequence through the target intersection, where the target departure sequence is any one of the departure sequences;
a fourth determining submodule for determining a delay for each vehicle in the target departure sequence based on the predicted transit time for each vehicle in the target departure sequence and the ideal departure time for each vehicle in the target departure sequence;
and the summation submodule is used for taking the sum of the delays of all the vehicles in the target departure sequence as the delay time of the target departure sequence.
Optionally, the third determining sub-module is configured to:
determining a first number of vehicles in the target departure sequence that are ahead of a target vehicle in the same direction of travel as the target vehicle, the target vehicle being any one of the vehicles in the target departure sequence;
determining intersection speed of the target vehicle to the target intersection according to the first quantity;
determining the predicted time of the target vehicle passing through the target intersection at the intersection speed according to the intersection length of the target intersection;
determining the predicted transit time of the target vehicle based on the predicted time of the target vehicle, a saturation flow rate of the target intersection, and the predicted transit time of a vehicle preceding the target vehicle.
Optionally, the control module comprises:
a direction determination submodule for determining a target traveling direction of a first vehicle in the departure sequence in which the delay time is minimum;
the control submodule is used for controlling the signal lamps in the target driving direction to be in a passing state and controlling the signal lamps in the driving directions except the target driving direction to be in a stopping state;
and a circulation submodule configured to delete the first vehicle from the departure sequence with the smallest delay time, and repeatedly execute the step of determining the target travel direction of the first vehicle in the departure sequence with the smallest delay time until the traffic light for controlling the target travel direction is in a traffic state, and controlling the traffic light for the travel directions other than the target travel direction to be in a stop state.
According to the technical scheme, the method comprises the steps of firstly obtaining a driving sequence of each driving direction in a plurality of driving directions in a target intersection, wherein the driving sequence comprises vehicles in the driving direction and ideal departure time of each vehicle, arranging each vehicle according to an arrival sequence, then combining the driving sequences of all the driving directions to obtain a plurality of departure sequences, wherein the sequence of the vehicles in the same driving direction in each departure sequence is the same as the sequence in the driving sequence of the driving direction, then selecting the departure sequence with the minimum delay time according to the delay time of the plurality of departure sequences, and finally controlling signal lamps of the target intersection according to the departure sequence with the minimum delay time. The control scheme with the minimum delay is determined according to the real-time vehicle sequencing condition in the intersection, so that the delay of the intersection can be effectively reduced, and the traffic efficiency is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of controlling an intersection traffic signal in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating another method of controlling intersection traffic signals in accordance with an exemplary embodiment;
FIG. 3a is a schematic view of a motion model according to the control method of FIG. 2;
FIG. 3b is a schematic view of another motion model according to the control method shown in FIG. 2;
FIG. 4 is a flow chart illustrating another method of controlling intersection traffic signals in accordance with an exemplary embodiment;
FIG. 5 is a flow chart illustrating another method of controlling intersection traffic signals in accordance with an exemplary embodiment;
FIG. 6 is a flow chart illustrating another method of controlling intersection traffic signals in accordance with an exemplary embodiment;
FIG. 7 is a block diagram illustrating a control device for intersection traffic signals in accordance with an exemplary embodiment;
FIG. 8 is a block diagram illustrating another control arrangement for intersection traffic signals in accordance with an exemplary embodiment;
FIG. 9 is a block diagram illustrating another control arrangement for intersection traffic signals in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating another control arrangement for intersection traffic signals in accordance with an exemplary embodiment;
FIG. 11 is a block diagram illustrating another control arrangement for intersection traffic signals in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure.
Before introducing the method and the device for controlling intersection traffic signals provided by the present disclosure, an application scenario related to each embodiment of the present disclosure is first introduced. The target intersection in the application scene can comprise a plurality of driving directions, each driving direction is provided with a signal lamp, and each driving direction is a one-way road.
Fig. 1 is a flow chart illustrating a method of controlling intersection traffic signals, as shown in fig. 1, in accordance with an exemplary embodiment, the method comprising:
For example, the target intersection is taken as an intersection, and includes two driving directions, such as two driving directions from south to north and from west to east (each driving direction is a one-way driving). And determining a driving sequence of each driving direction according to the driving information of the vehicles in the two driving directions at the current moment. The detection range of the target intersection may be set in advance, for example, the detection range of each driving direction may be 200 meters centering on the target intersection, that is, the driving sequence in the driving direction from west to east includes all the vehicles in the target intersection 100 meters from west and the target intersection 100 meters from east, and also includes the ideal departure times of the vehicles, and the vehicles are arranged in the arrival order. The ideal departure time of a certain vehicle can be understood as the time when the vehicle drives to the target intersection at the current position at the free flow speed, wherein the free flow speed is the normal driving speed of the vehicle in an unobstructed scene, and can be preset according to the actual speed limit condition of the target intersection. Taking an example that the current position of a certain vehicle is 75m away from the target intersection, and the free flow speed is 60km/h, the ideal departure time is as follows: (75m)/(60km/h) 4.5 s. The arrival order of a certain vehicle can be understood as the number of vehicles ahead of the vehicle traveling to the target intersection, i.e., the order of the vehicles in the traffic stream in the traveling direction. For example: if there are 6 vehicles ahead of a certain vehicle in the direction of north-south travel, the arrival order of the vehicles is 7.
And step 102, merging the driving sequences of all driving directions into a plurality of departure sequences according to a preset merging rule, wherein each departure sequence comprises all vehicles in the target intersection, the sequence of the vehicles in the first driving direction in each departure sequence is the same as that of the vehicles in the driving sequence of the first driving direction, and the first driving direction is any driving direction.
For example, after the driving sequences of all driving directions of the target intersection are obtained, all driving sequences are merged according to a preset merging rule to obtain a plurality of starting sequences. Each departure sequence includes all vehicles within the detection range within the target intersection, and may also include an ideal departure time for each of these vehicles, and the order of the vehicles in the same travel direction in each departure sequence is the same as the order of the vehicles in the travel sequence for that travel direction. The merging rule may be that, on the premise that the order of the vehicles in the same driving direction in the departure sequence is the same as the order of the vehicles in the driving sequence in the driving direction, all possible departure sequences are obtained in an exhaustive manner, for example, the driving sequence in the south-to-north driving direction is a and b, and the driving sequence in the west-to-east driving direction is c and d, so on the premise that the order of the vehicles in the same driving direction is not changed, 6 departure sequences may be enumerated: (c, d, a, b); (c, a, d, b); (c, a, b, d); (a, b, c, d); (a, c, b, d); (a, c, d, b). The merge rule may be such that the priority of each of the plurality of traveling directions is set in advance on the premise of ensuring that the order of the vehicles in the same traveling direction in the departure sequence is the same as the order of the vehicles in the traveling sequence of the traveling directions. For example, the road in the south-to-north driving direction is wider than the road in the west-to-east driving direction, the traffic flow is large, and when the ideal departure times of the vehicle in the south-to-north driving direction and the vehicle in the west-to-east driving direction are the same, the vehicle in the south-to-north driving direction may be arranged in front of the vehicle in the west-to-east driving direction.
And 104, controlling the signal lamps of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
Furthermore, in the multiple departure sequences, according to the information of the sequence of the vehicles in the departure sequences, the ideal departure time, the saturation flow rate in the driving direction and the like, the delay time of each departure sequence is sequentially determined, the departure sequence with the minimum delay time is selected, and finally the signal lamp of each driving direction of the target intersection is controlled according to the departure sequence with the minimum delay time, so that the signal lamp of the target intersection can be matched with the sequential change of the vehicles in the departure sequence with the minimum delay time, the time delay of the intersection is reduced, and the traffic efficiency is improved. For example, the departure sequence with the smallest delay time includes A, B, C, D, E, F6 vehicles, where a and E belong to the south-to-north driving direction, B, C, D and F belong to the west-to-east driving direction, and the time for each vehicle to pass through the target intersection is assumed to be 1 s. Then, the signal lamp in the south-to-north driving direction of the target intersection can be controlled to be a green lamp for keeping 1s (the signal lamp in the west-to-east driving direction is a red lamp for keeping 1s), the signal lamp A is allowed to pass, the signal lamp in the west-to-east driving direction is controlled to be a green lamp for 3s (the signal lamp in the south-to-north driving direction is a red lamp for keeping 3s), the signal lamp B, C, D is allowed to pass, then the signal lamp in the south-to-north driving direction is controlled to be a green lamp for keeping 1s (the signal lamp in the west-to-east driving direction is a red lamp for keeping 1s), the signal lamp E is allowed to pass, the signal lamp in the west-to-east driving direction is controlled to be a green lamp for 1s (the signal lamp in the south-to-north driving direction is a red lamp for keeping 1s), and the signal lamp F is allowed to pass. So that A, B, C, D, E, F6 vehicles can pass through the target intersection with the minimum delay time.
In summary, the present disclosure first obtains a driving sequence of each of a plurality of driving directions in a target intersection, where the driving sequence includes vehicles in the driving direction and ideal departure times of the vehicles, and the vehicles are arranged according to an arrival order, then combines the driving sequences of all the driving directions to obtain a plurality of departure sequences, where in each departure sequence, the order of the vehicles in the same driving direction is the same as the order in the driving sequence of the driving direction, then selects a departure sequence with the smallest delay time according to the delay times of the plurality of departure sequences, and finally controls signal lights of the target intersection according to the departure sequence with the smallest delay time. The control scheme with the minimum delay is determined according to the real-time vehicle sequencing condition in the intersection, so that the delay of the intersection can be effectively reduced, and the traffic efficiency is improved.
In practical situations, vehicles running on roads are generally of various types, and can be classified into two categories according to whether the vehicles can report information in real time: the vehicle comprises a first vehicle and a second vehicle, wherein the first vehicle can be an intelligent networking vehicle or any vehicle provided with a vehicle-mounted wireless network, and can report the driving data (such as position information, driving speed and the like) of the vehicle in real time through the vehicle-mounted wireless network. The Vehicle-mounted Wireless network may be a WAVE (chinese: Vehicle-mounted communication Wireless Access) network, a DSRC (Dedicated Short Range Communications chinese: Dedicated Short Range Communications) network, or a V2X (Vehicle to X, where the Vehicle interacts with the outside world) network, and the type of the Vehicle-mounted network is not limited in the present disclosure. The second type of vehicle can be any traditional motor vehicle, and the second type of vehicle cannot report the driving data of the vehicle in real time.
When all vehicles in the target intersection comprise the first type of vehicle and the second type of vehicle, the ideal departure time and the arrival order of the first type of vehicle can be determined according to the position information reported by the first type of vehicle in the target intersection, and then the ideal departure time and the arrival order of the second type of vehicle can be determined by combining the relationship between the position of the first type of vehicle in the target intersection and the position of the second type of vehicle in the target intersection. The method is not limited by the type of the vehicle in the target road, and the driving sequence can be acquired in real time.
Specifically, fig. 2 is a flowchart illustrating another method for controlling intersection traffic signals according to an exemplary embodiment, and as shown in fig. 2, the step 101 may be implemented by:
at step 1011, position information of each first type vehicle in the driving direction is acquired.
And 1012, determining the ideal departure time and arrival sequence of each first-type vehicle according to the distance between the position information and the target intersection.
For example, in order to obtain a driving sequence of each driving direction in the target intersection in real time, position information reported by each first-class vehicle in each driving direction may be obtained, and then the ideal departure time and arrival order of the first-class vehicle may be determined according to the distance between the position information and the target intersection. For example, when the position information reported by a certain first type vehicle is obtained, the distance between the position indicated by the position information and the target intersection is 50m, and the free flow speed is 60km/h for example, then the ideal departure time of the first type vehicle is: (50m)/(60km/h) 3 s. 3 first-class vehicles are contained in the intersection from the front of the first-class vehicle, and then the arrival sequence of the first-class vehicles is 4.
And 1013, determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to a preset motion model according to the position information, the arrival sequence and the ideal departure time of each first type vehicle.
And 1014, sequencing each first type vehicle and each second type vehicle in the driving direction according to the arrival order to obtain a driving sequence in the driving direction.
Since the second type of vehicle cannot report the driving data in real time, the arrival sequence and the ideal departure time of the second type of vehicle can be predicted according to the driving data reported by the first type of vehicle. For example, the distance between any two adjacent first-type vehicles may be determined according to the position information and the arrival order of the plurality of first-type vehicles determined in step 1012, and then the number of second-type vehicles existing between any two adjacent first-type vehicles may be determined according to the headway distance (the minimum safe distance of the vehicles + the average length of the vehicles), so as to calculate the arrival order and the ideal departure time of each second-type vehicle. And finally, combining the first type of vehicles and the second type of vehicles according to the arrival sequence, namely, obtaining the driving sequence in the driving direction.
Optionally, predicting the second type of vehicle according to the traveling data reported by the first type of vehicle in step 1013 may be implemented by the following steps:
1) and sequencing each first type vehicle according to the arrival order of each first type vehicle.
2) And determining the number of second-class vehicles in the driving direction between any two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles aiming at any two adjacent first-class vehicles after sequencing.
For example, if 3 first-type vehicles are included in the driving sequence in the west-east driving direction, the number N1 of second-type vehicles before the first-type vehicle may be first calculated, and then the number N2 of second-type vehicles between the first-type vehicle and the second first-type vehicle, the number N3 of second-type vehicles between the second first-type vehicle and the third first-type vehicle may be calculated, and so on, and then the number of second-type vehicles included in the driving sequence in the west-east driving direction may be N1+ N2+ N3.
3) And determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to the number of the second type vehicles in the driving direction between two adjacent first type vehicles and the ideal departure time of the two adjacent first type vehicles.
Further, after the number of the second-type vehicles between every two adjacent first-type vehicles is determined, the arrival sequence and the ideal departure time of each second-type vehicle can be determined by combining a preset motion model. For example, the number of second-type vehicles N2 between a first-type vehicle and a second first-type vehicle is 5, based on the difference t2-t1 between the ideal departure time t1 of the first vehicle of the first type and the ideal departure time t2 of the second vehicle of the first type, t2-t1 may be equally divided into 5 shares using linear interpolation, such that the arrival order of the first one of the 5 second vehicles is the arrival order of the first one plus 1, the ideal arrival time is t1+ (t2-t1)/5, the arrival order of the second one of the 5 second vehicles is the arrival order of the first one plus 2, the ideal arrival time is t1+ (t2-t1)/5+ (t2-t1)/5, and so on, the arrival sequence and the ideal departure time for each of the 5 vehicles of the second type can be determined.
Specifically, the manner of acquiring the number of the second type vehicles in step 2) is as follows:
first, the target distance of two adjacent first-type vehicles is determined according to the position information of the two adjacent first-type vehicles.
Then, the number of vehicles of the second type between two adjacent vehicles of the first type is determined according to the target distance and the blocking density and the saturation flow rate of the target intersection.
When vehicles on a road normally run, the motion relation between two adjacent vehicles is similar to the propagation mode of waves in the air, so that the motion of a plurality of vehicles can be regarded as the propagation of motion waves, and a motion model is established in advance to predict the number of second-class vehicles between any two adjacent first-class vehicles, wherein the motion model can be a motion wave model. The first vehicle type can be divided into two scenes according to whether the first vehicle type is the first vehicle type in the driving sequence, the position of the vehicle is represented by a vertical coordinate, the time is represented by a horizontal coordinate, and x is represented by a horizontal coordinateIRepresenting the position of the target intersection, c being the first vehicle in the driving sequence, and when c stops, the position is xcTime tcThe thick line represents the motion process of c, the thin line represents the motion process of the second type of vehicle before c as an example, when c is the first type of vehicle in the driving sequence, as shown in fig. 3a, when c is the non-first type of vehicle in the driving sequence, as shown in fig. 3b,
indicating vehicles of the first type that are ranked before c, adjacent to c,
at the time of stopping, the position is
At a time of
When x isI-w(tc-tg,i-1)≤xc≤xI-w(tc-tg,i) C is the first vehicle in the driving sequence. Wherein w denotes the propagation velocity of the moving wave, e.g. 20km/h, tg,i-1Indicating the time t of the last green light start of the current target crossing in the driving directiong,iAnd the time when the current green light of the current target intersection starts in the driving direction is shown.
For example, when a certain first-type vehicle is the first-type vehicle in the driving sequence, it indicates that all vehicles ahead of the first-type vehicle are second-type vehicles, and the number of the second-type vehicles at this time can be calculated by the following formula:
nconv＝(xc*kj)-(Tg*Sm)
wherein n isconvIndicating the number of vehicles of the second type, xcPosition information of c, kjDenotes the blocking density, TgIndicating the duration of green light at the current target intersection in the driving direction, SmIndicating the saturation flow rate (which may be 1800veh/h, for example). Wherein k isj＝1/Hd，HdFor headway, the sum of the minimum safe distance (2.4m) and the average length of the vehicle (4.8m) can be understood.
For example, when a certain first type vehicle is a non-first type vehicle in the driving sequence, then the number of second type vehicles between the first type vehicle and the adjacent first type vehicle can be calculated by the following formula:
wherein,
to represent
The position of (a).
FIG. 4 is a flow chart illustrating another method of controlling intersection traffic signals, according to an exemplary embodiment, as shown in FIG. 4, the method further comprising:
The steps 101 to 104 are repeatedly executed.
For example, the driving sequence of each driving direction at the target intersection can be obtained in real time, for example, the position information of the first type of vehicle in each driving direction can be collected according to a preset time interval (for example, 2s), and the steps 101 to 104 are repeatedly executed to update the driving sequence. The step 101 to the step 104 can also be repeatedly executed to update the driving sequence when the target intersection detects a triggering event (i.e. detects that the first type of vehicle meets the preset condition). The triggering event may be: and detecting that the first type of vehicle enters the detection range of the target intersection, the first type of vehicle exits the detection range of the target intersection and the running speed of the first type of vehicle is zero, namely the first type of vehicle stops.
FIG. 5 is a flow chart illustrating another method of controlling intersection traffic signals, according to an exemplary embodiment, as shown in FIG. 5, step 103 includes:
and step 1031, determining the predicted passing time of each vehicle in the target departure sequence when the vehicle passes through the target intersection, wherein the target departure sequence is any departure sequence.
For example, to determine the delay time of the target departure sequence, the expected passing time of each vehicle in the target departure sequence through the target intersection, i.e., the time when the vehicle passes through the target intersection in the order in the departure sequence, including the waiting time (i.e., the expected passing time of all vehicles in front of the vehicle), and the time when the vehicle travels from one end of the target intersection to the other end at a certain speed according to the traveling direction (e.g., the traveling direction from south to north, the vehicle travels from south to north of the target intersection). The difference between the expected transit time and the ideal departure time for the vehicle is then used as the delay for the vehicle in the target departure sequence. The delay time of the target departure sequence is defined as the sum of the delays of each vehicle in the target departure sequence, which can be understood as the total delay time that would occur if the signal lights of each driving direction of the target intersection were controlled according to the target departure sequence, and each vehicle in the target departure sequence would pass through the target intersection.
Alternatively, the obtaining manner of the expected passing time in step 1031 may be:
4) a first number of vehicles in the target departure sequence that precede the target vehicle in the same direction of travel as the target vehicle is determined, the target vehicle being any vehicle in the target departure sequence.
5) Determining an intersection speed at which the target vehicle reaches the target intersection based on the first quantity.
6) And determining the predicted time of the target vehicle passing through the target intersection at the intersection speed according to the intersection length of the target intersection.
7) The predicted transit time of the target vehicle is determined based on the predicted time of the target vehicle, the saturated flow rate at the target intersection, and the predicted transit time of a vehicle preceding the target vehicle.
For example, the first number of target vehicles in the target departure sequence is first determined, which may be understood as the number of vehicles ahead of the target vehicle in the traveling direction of the target vehicle immediately after the signal light of the traveling direction of the target vehicle turns green (i.e., after the previous vehicle different from the traveling direction of the target vehicle passes the target intersection).
Then, the crossing speed of the target vehicle reaching the target crossing (namely the speed of the target vehicle continuously accelerating to the crossing from starting) is determined according to the first quantity, and the predicted time of the target vehicle passing the target crossing with the crossing speed as the crossing length is determined. The estimated time may be determined by the following equation:
wherein, PcjRepresenting the predicted time of the target vehicle, l representing the intersection length (e.g., 5m), vfRepresenting the velocity of the free flow, vcjRepresenting the crossing speed of the target vehicle, a represents a preset vehicle acceleration (e.g., 2 m/s)2)，OckDenotes a first number, SmIndicating the saturation flow rate (which may be 1800veh/h, for example), and j indicates the number of the target departure sequence, i.e., the target departure sequence is the jth of the plurality of departure sequences.
As can be seen from the above equation, the first quantity OckAnd the estimated time PcjInversely proportional, i.e., the greater the first number, the smaller the estimated time, the smaller the first number, the greater the estimated time, it can be understood that the greater the number of vehicles ahead of the target vehicle, the greater the intersection speed at which the target vehicle reaches the target intersection, and the shorter the time (i.e., the estimated time) for the corresponding distance traveled the intersection length at the intersection speed, whereas the fewer the number of vehicles ahead of the target vehicle, the smaller the intersection speed at which the target vehicle reaches the target intersection, and the longer the time for the corresponding distance traveled the intersection length at the intersection speed.
Finally, the predicted transit time of the target vehicle may be determined according to the following equation:
wherein D iscjRepresenting the predicted transit time, v, of the target vehiclecIndicating the ideal departure time of the target vehicle (i.e. the time of departure)
)，
Indicating the predicted transit time of a vehicle adjacent to the target vehicle, which is ranked ahead of the target vehicle.
Further, according to the above calculation formula, the delay time of the corresponding target departure sequence may be:
wherein, TDjThe delay time of the target departure sequence is indicated, and N indicates the number of vehicles in the target departure sequence.
FIG. 6 is a flow chart illustrating another method of controlling intersection traffic signals, according to an exemplary embodiment, as shown in FIG. 6, step 104 includes:
And step 1042, controlling the traffic light in the target driving direction to be in a passing state, and controlling the traffic light in the driving directions except the target driving direction to be in a stopping state.
And step 1043, deleting the first vehicle from the departure sequence with the minimum delay time, and repeatedly executing the steps 1041 to 1042.
Specifically, after the departure sequence with the smallest delay time is selected, the first vehicle in the departure sequence with the smallest delay time may be taken out, the target driving direction of the vehicle is determined, and then the signal lamp of the target driving direction is controlled to be in the on state (green lamp) for the specified time period, and the signal lamps of the driving directions other than the target driving direction are controlled to be in the off state (red lamp) for the specified time period. Wherein, the specified time length can be the average time of each vehicle passing through the target intersection, or the estimated time of the vehicle determined in the step 6).
And then deleting the vehicle from the departure sequence with the minimum delay time, and continuing to repeat the steps 1041 to 1042 until all vehicles in the departure sequence with the minimum delay time are deleted. In the process of repeating steps 1041 to 1042, the driving sequence may be updated (i.e. step 105), the corresponding departure sequence is also updated, and then the departure sequence with the minimum delay time is also updated, so that the signal lights of the target intersection can be matched with the sequence change of the vehicles in the departure sequence with the minimum delay time in real time, thereby reducing the delay of the intersection and improving the traffic efficiency.
The main body of the method for controlling intersection traffic signals according to the present disclosure may be a controller capable of receiving position information transmitted by the first type vehicle and transmitting a control command to a signal light of a target intersection, and the controller may be a server, or may be an RSU (Road Side Unit) or the like provided around the target intersection.
In summary, the present disclosure first obtains a driving sequence of each of a plurality of driving directions in a target intersection, where the driving sequence includes vehicles in the driving direction and ideal departure times of the vehicles, and the vehicles are arranged according to an arrival order, then combines the driving sequences of all the driving directions to obtain a plurality of departure sequences, where in each departure sequence, the order of the vehicles in the same driving direction is the same as the order in the driving sequence of the driving direction, then selects a departure sequence with the smallest delay time according to the delay times of the plurality of departure sequences, and finally controls signal lights of the target intersection according to the departure sequence with the smallest delay time. The control scheme with the minimum delay is determined according to the real-time vehicle sequencing condition in the intersection, so that the delay of the intersection can be effectively reduced, and the traffic efficiency is improved.
Fig. 7 is a block diagram illustrating a control apparatus for intersection traffic signals according to an exemplary embodiment, and as shown in fig. 7, the apparatus 200 includes:
the obtaining module 201 is configured to obtain a driving sequence of each driving direction in the target intersection, where the driving sequence includes vehicles in the driving direction and an ideal departure time of each vehicle in the driving direction, and each vehicle in the driving sequence is sorted according to an arrival order, and the target intersection includes at least two driving directions.
The merging module 202 is configured to merge the driving sequences of all driving directions into a plurality of departure sequences according to a preset merging rule, where each departure sequence includes all vehicles in the target intersection, and an order of the vehicles in the first driving direction in each departure sequence is the same as an order of the vehicles in the driving sequence of the first driving direction, and the first driving direction is any one driving direction.
A determining module 203, configured to determine a delay time of each departure sequence.
And the control module 204 is configured to control a signal lamp of each driving direction of the target intersection according to the departure sequence with the minimum delay time.
Fig. 8 is a block diagram of another control device for intersection traffic signals according to an exemplary embodiment, as shown in fig. 8, all vehicles in the target intersection include a first type vehicle and a second type vehicle, and the obtaining module 201 includes:
the obtaining sub-module 2011 is configured to obtain position information of each first vehicle in the driving direction.
The first determining sub-module 2012 is configured to determine an ideal departure time and arrival order of each vehicle of the first type according to the distance between the position information and the target intersection.
And the second determining submodule 2013 is used for determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to a preset motion model according to the position information, the arrival sequence and the ideal departure time of each first type vehicle.
And the sequencing sub-module 2014 is used for sequencing each first type vehicle and each second type vehicle in the driving direction according to the arrival order to obtain the driving sequence in the driving direction.
Optionally, the second determining submodule 2013 may be configured to perform the following steps:
1) and sequencing each first type vehicle according to the arrival order of each first type vehicle.
2) And determining the number of second-class vehicles in the driving direction between any two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles aiming at any two adjacent first-class vehicles after sequencing.
3) And determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to the number of the second type vehicles in the driving direction between two adjacent first type vehicles and the ideal departure time of the two adjacent first type vehicles.
Specifically, the implementation manner of the second determining submodule 2013 when executing the step 2) may be:
first, the target distance of two adjacent first-type vehicles is determined according to the position information of the two adjacent first-type vehicles.
Then, the number of vehicles of the second type between two adjacent vehicles of the first type is determined according to the target distance and the blocking density and the saturation flow rate of the target intersection.
Fig. 9 is a block diagram illustrating another control apparatus for intersection traffic signals according to an exemplary embodiment, and as shown in fig. 9, the apparatus 200 further includes:
an updating module 205, configured to update the driving sequence if it is detected that the first type of vehicle meets a preset condition, where the preset condition is: the first type of vehicle enters the target intersection, the first type of vehicle exits the target intersection, and the running speed of the first type of vehicle is zero.
And repeatedly executing the step of combining the driving sequences of each driving direction into a plurality of starting sequences according to a preset combination rule to control the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
Fig. 10 is a block diagram illustrating another control apparatus for intersection traffic signals according to an exemplary embodiment, and as shown in fig. 10, the determination module 203 includes:
a third determining sub-module 2031 for determining the expected passing time of each vehicle in the target departure sequence through the target intersection, the target departure sequence being any one of the departure sequences.
A fourth determining sub-module 2032 for determining the delay of each vehicle in the target departure sequence based on the predicted transit time of each vehicle in the target departure sequence and the ideal departure time of each vehicle in the target departure sequence.
The summing sub-module 2033 is configured to use the sum of the delays of all vehicles in the target departure sequence as the delay time of the target departure sequence.
Specifically, the third determining submodule 2031 may be configured to perform the following steps:
4) a first number of vehicles in the target departure sequence that precede the target vehicle in the same direction of travel as the target vehicle is determined, the target vehicle being any vehicle in the target departure sequence.
5) Determining an intersection speed at which the target vehicle reaches the target intersection based on the first quantity.
6) And determining the predicted time of the target vehicle passing through the target intersection at the intersection speed according to the intersection length of the target intersection.
7) The predicted transit time of the target vehicle is determined based on the predicted time of the target vehicle, the saturated flow rate at the target intersection, and the predicted transit time of a vehicle preceding the target vehicle.
Fig. 11 is a block diagram illustrating another control device for intersection traffic signals according to an exemplary embodiment, where as shown in fig. 11, the control module 204 includes:
the direction determination submodule 2041 is configured to determine a target traveling direction of the first vehicle in the departure sequence with the smallest delay time.
The control submodule 2042 is configured to control the traffic lights in the target traveling direction to be in a traffic state, and control the traffic lights in the traveling directions other than the target traveling direction to be in a stop state.
The circulation submodule 2043 is configured to delete the first vehicle from the departure sequence with the smallest delay time, and repeatedly execute the steps of determining the target traveling direction of the first vehicle in the departure sequence with the smallest delay time until the traffic light for controlling the target traveling direction is in the traffic state, and controlling the traffic light for the traveling directions other than the target traveling direction to be in the stop state.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, the present disclosure first obtains a driving sequence of each of a plurality of driving directions in a target intersection, where the driving sequence includes vehicles in the driving direction and ideal departure times of the vehicles, and the vehicles are arranged according to an arrival order, then combines the driving sequences of all the driving directions to obtain a plurality of departure sequences, where in each departure sequence, the order of the vehicles in the same driving direction is the same as the order in the driving sequence of the driving direction, then selects a departure sequence with the smallest delay time according to the delay times of the plurality of departure sequences, and finally controls signal lights of the target intersection according to the departure sequence with the smallest delay time. The control scheme with the minimum delay is determined according to the real-time vehicle sequencing condition in the intersection, so that the delay of the intersection can be effectively reduced, and the traffic efficiency is improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (16)
1. A method of controlling intersection traffic signals, the method comprising:
acquiring a driving sequence of each driving direction in a target intersection, wherein the driving sequence comprises vehicles in the driving direction and ideal departure time of each vehicle in the driving direction, each vehicle in the driving sequence is sequenced according to an arrival sequence, and the target intersection at least comprises two driving directions;
merging the driving sequences of all the driving directions into a plurality of departure sequences according to a preset merging rule, wherein each departure sequence comprises all vehicles in the target road junction, and the sequence of the vehicles in the first driving direction in each departure sequence is the same as that of the vehicles in the driving sequence of the first driving direction, and the first driving direction is any one driving direction;
determining a delay time for each of the departure sequences;
and controlling the signal lamp of each driving direction of the target intersection according to the departure sequence with the minimum delay time.
2. The method of claim 1, wherein the first type of vehicle and the second type of vehicle are included in all vehicles in the target intersection, and the obtaining the driving sequence of each driving direction in the target intersection comprises:
acquiring the position information of each first type vehicle in the driving direction;
determining the ideal departure time and the arrival order of each vehicle of the first type according to the distance between the position information and the target intersection;
determining the arrival sequence and the ideal departure time of each second vehicle in the driving direction according to a preset motion model according to the position information, the arrival sequence and the ideal departure time of each first vehicle;
and sequencing each vehicle of the first type and each vehicle of the second type in the driving direction according to the arrival sequence to obtain the driving sequence in the driving direction.
3. The method according to claim 2, wherein determining the arrival order and the ideal departure time of each of the second vehicles in the driving direction according to a preset motion model based on the position information, the arrival order and the ideal departure time of each of the first vehicles comprises:
ranking each vehicle of the first type according to the arrival order of each vehicle of the first type;
for any two adjacent first-class vehicles after sequencing, determining the number of second-class vehicles in the driving direction between the two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
and determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to the number of the second type vehicles in the driving direction between two adjacent first type vehicles and the ideal departure time of two adjacent first type vehicles.
4. The method according to claim 3, wherein the determining the number of the second type of vehicles in the driving direction between two adjacent first type of vehicles according to the position information of the two adjacent first type of vehicles comprises:
determining the target distance of two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
determining the number of vehicles of the second type between two adjacent vehicles of the first type according to the target distance and the blockage density and saturation flow rate of the target intersection.
5. The method according to any one of claims 2-4, further comprising:
if the first type of vehicle is detected to meet a preset condition, updating the running sequence, wherein the preset condition is as follows: the first type of vehicle enters the target intersection, the first type of vehicle exits the target intersection, and the running speed of the first type of vehicle is zero;
and repeatedly executing the step of combining the driving sequences of each driving direction into a plurality of starting sequences according to a preset combination rule, and controlling the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
6. The method of claim 1, wherein said determining a delay time for each of said departure sequences comprises:
determining the predicted passing time of each vehicle in a target departure sequence through the target intersection, wherein the target departure sequence is any one of the departure sequences;
determining a delay for each vehicle in the target departure sequence based on the predicted transit time for each vehicle in the target departure sequence and the ideal departure time for each vehicle in the target departure sequence;
and taking the sum of the delays of all the vehicles in the target departure sequence as the delay time of the target departure sequence.
7. The method of claim 6, wherein said determining a projected transit time for each target vehicle in a target departure sequence to pass through said target intersection comprises:
determining a first number of vehicles in the target departure sequence that are ahead of a target vehicle in the same direction of travel as the target vehicle, the target vehicle being any one of the vehicles in the target departure sequence;
determining intersection speed of the target vehicle to the target intersection according to the first quantity;
determining the predicted time of the target vehicle passing through the target intersection at the intersection speed according to the intersection length of the target intersection;
determining the predicted transit time of the target vehicle based on the predicted time of the target vehicle, a saturation flow rate of the target intersection, and the predicted transit time of a vehicle preceding the target vehicle.
8. The method according to claim 1, wherein said controlling signal lights of each driving direction of said target intersection according to said departure sequence with minimum delay time comprises:
determining a target driving direction of a first vehicle in the departure sequence in which the delay time is minimum;
controlling the signal lamps in the target driving direction to be in a passing state, and controlling the signal lamps in the driving directions except the target driving direction to be in a stopping state;
deleting the first vehicle from the departure sequence with the smallest delay time, and repeatedly executing the steps of determining the target driving direction of the first vehicle in the departure sequence with the smallest delay time until the signal lamp for controlling the target driving direction is in a passing state, and controlling the signal lamps for driving directions except the target driving direction to be in a stopping state.
9. A control device for an intersection traffic signal, the device comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a driving sequence of each driving direction in a target intersection, the driving sequence comprises a vehicle in the driving direction and ideal departure time of each vehicle in the driving direction, each vehicle in the driving sequence is sequenced according to an arrival sequence, and the target intersection at least comprises two driving directions;
a merging module, configured to merge the driving sequences of all the driving directions into a plurality of departure sequences according to a preset merging rule, where each departure sequence includes all vehicles in the target intersection, and an order of vehicles in a first driving direction in each departure sequence is the same as an order of vehicles in the driving sequence of the first driving direction, and the first driving direction is any one of the driving directions;
a determining module for determining a delay time for each of the departure sequences;
and the control module is used for controlling the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
10. The apparatus of claim 9, wherein the first type of vehicle and the second type of vehicle are included in all vehicles within the target roadway, and wherein the obtaining module comprises:
the obtaining submodule is used for obtaining the position information of each first type vehicle in the driving direction;
a first determining submodule, configured to determine the ideal departure time and the arrival order of each of the first vehicles according to a distance between the position information and the target intersection;
the second determining submodule is used for determining the arrival sequence and the ideal departure time of each second vehicle in the driving direction according to a preset motion model according to the position information, the arrival sequence and the ideal departure time of each first vehicle;
and the sequencing submodule is used for sequencing each vehicle of the first type and each vehicle of the second type in the driving direction according to the arrival sequence so as to obtain the driving sequence in the driving direction.
11. The apparatus of claim 10, wherein the second determination submodule is configured to:
ranking each vehicle of the first type according to the arrival order of each vehicle of the first type;
for any two adjacent first-class vehicles after sequencing, determining the number of second-class vehicles in the driving direction between the two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
and determining the arrival sequence and the ideal departure time of each second type vehicle in the driving direction according to the number of the second type vehicles in the driving direction between two adjacent first type vehicles and the ideal departure time of two adjacent first type vehicles.
12. The apparatus of claim 11, wherein the second determination submodule is configured to:
determining the target distance of two adjacent first-class vehicles according to the position information of the two adjacent first-class vehicles;
determining the number of vehicles of the second type between two adjacent vehicles of the first type according to the target distance and the blockage density and saturation flow rate of the target intersection.
13. The apparatus according to any one of claims 10-12, further comprising:
the updating module is used for updating the driving sequence if the first type of vehicle is detected to meet a preset condition, wherein the preset condition is as follows: the first type of vehicle enters the target intersection, the first type of vehicle exits the target intersection, and the running speed of the first type of vehicle is zero;
and repeatedly executing the step of combining the driving sequences of each driving direction into a plurality of starting sequences according to a preset combination rule, and controlling the signal lamp of each driving direction of the target intersection according to the starting sequence with the minimum delay time.
14. The apparatus of claim 9, wherein the determining module comprises:
a third determining submodule, configured to determine a predicted passing time of each vehicle in a target departure sequence through the target intersection, where the target departure sequence is any one of the departure sequences;
a fourth determining submodule for determining a delay for each vehicle in the target departure sequence based on the predicted transit time for each vehicle in the target departure sequence and the ideal departure time for each vehicle in the target departure sequence;
and the summation submodule is used for taking the sum of the delays of all the vehicles in the target departure sequence as the delay time of the target departure sequence.
15. The apparatus of claim 14, wherein the third determination submodule is configured to:
determining a first number of vehicles in the target departure sequence that are ahead of a target vehicle in the same direction of travel as the target vehicle, the target vehicle being any one of the vehicles in the target departure sequence;
determining intersection speed of the target vehicle to the target intersection according to the first quantity;
determining the predicted time of the target vehicle passing through the target intersection at the intersection speed according to the intersection length of the target intersection;
determining the predicted transit time of the target vehicle based on the predicted time of the target vehicle, a saturation flow rate of the target intersection, and the predicted transit time of a vehicle preceding the target vehicle.
16. The apparatus of claim 9, wherein the control module comprises:
a direction determination submodule for determining a target traveling direction of a first vehicle in the departure sequence in which the delay time is minimum;
the control submodule is used for controlling the signal lamps in the target driving direction to be in a passing state and controlling the signal lamps in the driving directions except the target driving direction to be in a stopping state;
and a circulation submodule configured to delete the first vehicle from the departure sequence with the smallest delay time, and repeatedly execute the step of determining the target travel direction of the first vehicle in the departure sequence with the smallest delay time until the traffic light for controlling the target travel direction is in a traffic state, and controlling the traffic light for the travel directions other than the target travel direction to be in a stop state.
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