CN112489465A - Efficient intelligent traffic light control method and system - Google Patents
Efficient intelligent traffic light control method and system Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
Abstract
The invention discloses a high-efficiency intelligent traffic light control method and a system, wherein the control method comprises the following steps: (1) continuously detecting whether the traffic light in the current passing direction in the passable state is switched to the passage prohibition state, if so, entering the step (2); (2) keeping the traffic light in the next passing direction to be in the passing prohibition state, and simultaneously judging whether the object to be passed is positioned in the intersection area in the current passing direction, if so, keeping the traffic light in the next passing direction in the passing prohibition state, and if not, entering the step (3); (3) and (4) switching the traffic light in the next traffic direction into a passable state, returning to the step (1), and circulating the operation. The invention can effectively avoid traffic jam caused by mutual blocking of vehicles in different directions in the intersection area, and effectively guide the vehicles to pass through the traffic intersection orderly.
Description
Technical Field
The invention relates to a traffic light, in particular to a high-efficiency intelligent traffic light control method and a system.
Background
At present, the common traffic indicator lamp simply switches red, green and yellow states to show forbidden, passing and reminding signals. The switching time of the indicator lights in each passing direction is usually fixed and unchanged, and an intelligent function of intelligently and dynamically distributing the passing time in different directions of each road after analysis and judgment according to the number of queued vehicles waiting to pass on the roads in different directions is not provided. The situation that one party does not have the vehicle to wait for the green light to pass through but has a plurality of vehicles to wait for the red light to forbid the passing through frequently occurs, most of traffic jams are caused by the defect, and consequently, the time and the resources are wasted, the passing efficiency of the vehicles at the intersection point is seriously reduced, and the social efficiency is seriously influenced.
In order to solve the above problems, in the prior art, traffic light systems capable of intelligently setting the traffic time according to the actual number of people and traffic flows, such as an adaptive intelligent traffic light disclosed in the invention patent with the publication number of CN 101799987B and a control method thereof, a pedestrian crossing intelligent traffic light monitoring system and method based on computer vision disclosed in the invention patent with the publication number of CN 103077617B and a traffic light dynamic real-time scheduling method based on flow characteristics disclosed in the application publication number of CN 108133604 a, etc., have appeared, and these traffic light systems and methods can effectively improve the traffic efficiency, but still have the following problems:
in an actual traffic light intersection, a vehicle which has crossed the line in the previous indication passing direction often appears, and the vehicle in the other direction is released to enter the intersection area under the condition that the vehicle cannot leave the intersection pavement in time for various reasons, so that further and more vehicles are blocked at the intersection, the vehicle blocking state of the intersection point is frosted on snow, and the vehicle blocking state is changed into a blocking state from blocking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an efficient intelligent traffic light control method, which can effectively avoid traffic jam caused by mutual blocking of vehicles in different directions in a junction area and effectively guide the vehicles to pass through a traffic intersection in order.
Another object of the present invention is to provide a traffic light control system for implementing the above-mentioned high-efficiency intelligent traffic light control method.
The purpose of the invention is realized by the following technical scheme:
a high-efficiency intelligent traffic light control method is characterized by comprising the following steps:
(1) continuously detecting whether the traffic light in the current passing direction in the passable state is switched to the passage prohibition state, if so, entering the step (2);
(2) keeping the traffic light in the next passing direction to be in the passing prohibition state, and simultaneously judging whether the object to be passed is positioned in the intersection area in the current passing direction, if so, keeping the traffic light in the next passing direction in the passing prohibition state, and if not, entering the step (3);
(3) and (4) switching the traffic light in the next traffic direction into a passable state, returning to the step (1), and circulating the operation.
According to a preferable scheme of the efficient intelligent traffic light control method, the object to be passed is a vehicle or a pedestrian, and the intersection area is a vehicle passing intersection area or a pedestrian crossing. The method of the invention is suitable for controlling traffic lights in a plurality of traffic directions and is also suitable for controlling traffic lights at pedestrian crossings, wherein the vehicles comprise automobiles, motorcycles, electric vehicles, bicycles and the like.
The invention discloses a preferable scheme of a high-efficiency intelligent traffic light control method, wherein in the step (2), whether an object to be passed is positioned in a junction area in the current passing direction is detected by an image recognition method, and the method specifically comprises the following steps:
(2-1) acquiring images at the intersection area in real time according to a set frequency through image acquisition equipment;
(2-2) carrying out image recognition on the acquired image, and judging whether an object to be passed exists in the intersection area or not; when image recognition is carried out, recognition is carried out from the position of entering the intersection area to the direction of leaving the intersection area along the current passing direction, and when an object to be passed is recognized, calculation is stopped, so that the data processing amount is reduced as far as possible, and the calculation speed is improved.
In the preferred embodiment of the efficient intelligent traffic light control method, the time of the traffic light passing state in each passing direction is calculated and determined in real time according to the number of the objects to be passed. Specifically, the number of objects to be passed waiting for passing in the direction to enter the passing state is calculated in an image recognition mode, when the number of the objects to be passed is large, the set passing time is long, otherwise, the set passing time is short, if no object to be passed always passes in a certain passing direction and more objects to be passed exist in the other direction, the direction with more objects to be passed is continuously in the green light state, so that the passing time can be determined according to the actual situation, the situation that when passing is carried out according to the fixed time, a lot of objects to be passed do not pass in the red light state in a certain passing direction and no object to be passed exists in the other passing direction is avoided, time waste is caused, and the passing efficiency is influenced. Through the optimal scheme, the waiting time of the objects to be passed in all directions is generally consistent, the situation that the waiting time difference is far in different passing directions is avoided, and the passing efficiency is effectively improved.
Further, when it is detected that no pedestrian waiting for passing exists on the two sides of the pedestrian crossing, the vehicle passing direction is kept in the passable state continuously. This can avoid the situation that the vehicle is empty on the pedestrian crossing, and the like, and no pedestrian passes through.
Preferably, the method of detecting whether there is a pedestrian waiting for passage is infrared thermal imaging detection, and whether there is a pedestrian is detected by an infrared thermal imaging detection device.
The invention discloses a preferable scheme of the high-efficiency intelligent traffic light control method, wherein the method also comprises the step of detecting whether an object passes through preferentially; the method specifically comprises the following steps:
detecting whether a prior passing object exists in each passing direction, wherein the prior passing object comprises but is not limited to an ambulance, a fire truck, a public security vehicle and an emergency vehicle; if the prior passing object exists in a certain passing direction, if the passing direction is in the current passable state, the prior passing object is kept in the passable state until the prior passing object passes through, if the passing direction is in the current no-pass state, the passing direction in the current passing state is immediately turned into a red light, and the passing direction is opened to be in the passable state.
Therefore, vehicles which are in urgent need of passing can pass quickly, the invention not only considers the particularity and urgency of vehicle passing, but also ensures the passing efficiency. The specific detection method can be image recognition, license plate recognition, voice recognition and the like, for example, the appearance and the identification of the vehicle are judged through the image recognition to judge the attribute of the vehicle, the license plate number of the object which passes preferentially has a fixed characteristic, whether the object which passes preferentially exists can be quickly judged through the recognition of the license plate number, and when the ambulance, the fire truck, the police car and the like are in an emergency state, a siren can be sounded, and whether the object which passes preferentially exists can be judged through the voice recognition.
A traffic light control system comprises a plurality of traffic lights corresponding to a passing direction, a control module for controlling the lighting states of the traffic lights and a monitoring module for detecting an object to be passed in a junction area, wherein the monitoring module comprises a data acquisition module and a data processing module, the data acquisition module is used for acquiring real-time scene information at the junction area, and the data processing module is used for processing the real-time scene information and judging whether the object to be passed is still located in the junction area in the current passing direction; the signal output end of the data processing module is connected with the control module and transmits a traffic light state signal to the control module; after the traffic light in the current passing direction is switched to the no-passing state, if the data processing module judges that an object to be passed is still located in the intersection area in the current passing direction, a traffic light state signal for keeping the traffic light in the next passing direction in the no-passing state is transmitted to the control module, the control module controls the traffic light in the next passing direction to be in the no-passing state according to the signal, if the data processing module judges that no object to be passed is located in the intersection area in the current passing direction, the control module transmits a traffic light state signal for switching the traffic light in the next passing direction to the passable state, and the control module controls the traffic light in the next passing direction to be in the passable state according to the signal.
In a preferred embodiment of the traffic light control system of the present invention, the data acquisition module is an image acquisition module including a camera, and the real-time scene information is a real-time picture of a junction area; the data processing module is an image processing module and comprises a processor, a memory and a communication module, and the communication module is communicated with the image acquisition module to transmit image data.
According to a preferable scheme of the traffic light control system, the data acquisition module is a thermal imaging module and comprises a thermal infrared imager; the data processing module is a thermal imaging picture processing module and comprises a processor, a memory and a communication module, and the communication module is communicated with the thermal imaging module to transmit picture data.
Compared with the prior art, the invention has the following beneficial effects:
1. in the invention, after the traffic light in the current passing direction is switched to the no-pass state, the traffic light in the next passing direction is not switched to the passable state immediately, but whether the object to be passed in the current passing direction is positioned in the intersection area or not is judged in real time, if yes, the traffic light in the next passing direction is kept in the no-pass state until all the objects to be passed in the current passing direction leave the intersection area, so that the objects to be passed in the two mutually staggered passing directions are prevented from being blocked at the intersection area, the traffic disorder at the intersection area is fundamentally avoided, vehicles and pedestrians in all directions can pass through the traffic light intersection orderly, the passing efficiency is improved, and the traffic safety of the traffic intersection is ensured.
2. Because the two objects to be passed in the passing directions which are staggered with each other are prevented from blocking each other at the intersection area, the driver of the vehicle driving away from the intersection area finally can be prevented from getting hurry, the driver of the vehicle can leave the intersection area more orderly, and the traffic accident caused by the robbing can be avoided.
Drawings
Fig. 1 is a flow chart diagram of a high-efficiency intelligent traffic light control method of the present invention.
Fig. 2 is a schematic block diagram of a traffic light control system of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1 and 2, the efficient intelligent traffic light control method of the embodiment includes the following steps:
(1) continuously detecting whether the traffic light in the current passing direction in the passable state is switched to the passage prohibition state, if so, entering the step (2); the lighting time of the traffic light in the current passing direction in the passable state is set by a control module of the traffic light, and after the passing time is over, the control module sends a signal for switching the passing state to switch the traffic light to the no-passing state (red light), or firstly switches to the warning state (yellow light) and switches to the no-passing state (red light);
(2) keeping the traffic light in the next passing direction to be in the passing prohibition state, and simultaneously judging whether the object to be passed is positioned in the intersection area in the current passing direction, if so, keeping the traffic light in the next passing direction in the passing prohibition state, and if not, entering the step (3); that is, after the traffic light in the current passing direction is switched to the no-pass state, the traffic light in the next passing direction is not switched to the passable state immediately, but whether the object to be passed is still located in the intersection area in the current passing direction is judged in real time, if yes, the traffic light in the next passing direction is kept in the no-pass state until all the objects to be passed leave the intersection area in the current passing direction. The intersection areas are areas where objects to be passed in different directions have intersecting tracks, and traffic identification lines such as stop lines, zebra crossings and the like are usually arranged on the edges or inside of the areas.
(3) And (4) switching the traffic light in the next traffic direction into a passable state, returning to the step (1), and circulating the operation. The current passing direction and the next passing direction are two directions which are staggered from front to back and cannot pass simultaneously, for example, in a crossroad, two passing directions which are perpendicular to each other, or a turning equidirectional direction and a straight passing direction, but a pedestrian crossing and a vehicle passing direction can be used.
The object to be passed is a vehicle or a pedestrian, and the intersection area is a vehicle passing intersection area or a pedestrian crossing. The method of the embodiment is suitable for controlling traffic lights in a plurality of vehicle passing directions and controlling traffic lights at pedestrian crossings, the two conditions have the condition that objects to be passed mutually interfere at a junction area, and on the pedestrian crossings, the condition that pedestrians do not completely pass through zebra stripes and the vehicle passing directions are already lighted up by green lights possibly exists, so that traffic accidents are easily caused. The vehicles comprise automobiles, motorcycles, electric vehicles, bicycles and the like, and if the vehicles are trapped in intersection areas, traffic jam can be caused, and personal injury caused by traffic accidents can be easily caused.
In the efficient intelligent traffic light control method, various methods are used for judging whether the objects to be passed are positioned in the intersection area in the step (2), and an image identification method is preferentially adopted, and the method specifically comprises the following steps:
(2-1) acquiring images at the intersection area in real time according to a set frequency through image acquisition equipment; the image acquisition equipment is a camera, the field range of the camera can cover the whole intersection area, a single wide-angle head-shaking type camera can be adopted, and a plurality of cameras can be arranged to work together.
(2-2) carrying out image recognition on the acquired image, and judging whether an object to be passed exists in the intersection area or not; when image recognition is carried out, recognition is carried out from the position of entering the intersection area to the direction of leaving the intersection area along the current passing direction, and when an object to be passed is recognized, calculation is stopped, so that the data processing amount is reduced as far as possible, and the calculation speed is improved.
In the present invention, the objects to be passed include vehicles and pedestrians, and for the identification of the vehicles, the following method can be adopted: (1) firstly, acquiring a background image without a target vehicle as a basic image for judging a current target, wherein the background image does not have an object to be detected and to be passed; (2) subtracting the currently acquired image from the background image to obtain foreground pixels, wherein possible objects to be passed are contained in the foreground pixels; (3) extracting contour features of the foreground pixels, wherein the contour features represent unique elements of an object to be detected, and acquiring a binary image; (4) and comparing the foreground image with the object template to be passed stored in the database, wherein the standard object template to be passed is stored in the database, comparing the current foreground image characteristics with the object template to be passed, and judging whether the object to be passed exists in the foreground image. For the identification of the pedestrian, besides the method, a face identification mode can be adopted for judgment, and in addition, an infrared thermal imaging mode can be adopted for judging whether the pedestrian exists. The detection method of the object to be passed can be performed by adopting the existing image recognition method, for example, an adaptive intelligent traffic light disclosed by the authorized bulletin number CN 101799987B and a control method thereof, a pedestrian crossing intelligent traffic light supervision system and method based on computer vision disclosed by the authorized bulletin number CN 103077617B, and the like.
The time of the traffic light passing state in each passing direction is calculated and determined in real time according to the number of the objects to be passed. Specifically, the number of objects to be passed waiting for passing in the direction to enter the passing state is calculated in an image recognition mode, when the number of the objects to be passed is large, the set passing time is large, otherwise, the set passing time is small, the passing time can be determined according to the actual situation, and the situation that when passing is carried out according to the fixed time, a large number of the objects to be passed do not pass in a red light state in a certain passing direction, and the objects to be passed do not exist in the other passing direction, so that the time waste is caused, and the passing efficiency is influenced is avoided.
When the intersection area is a pedestrian crossing, when it is detected that no pedestrian waiting for passing exists on the two sides of the pedestrian crossing, the passing direction of the vehicle is kept in a passable state continuously. Thus, the situation that the vehicle is empty in front of the pedestrian crossing and the like, and no pedestrian passes through the vehicle can be avoided.
The high-efficiency intelligent traffic light control method of the embodiment further comprises the step of detecting whether the object passes through preferentially; the method specifically comprises the following steps:
detecting whether a prior passing object exists in each passing direction, wherein the prior passing object comprises but is not limited to an ambulance, a fire truck, a public security vehicle and an emergency vehicle; if the prior passing object exists in a certain passing direction, if the passing direction is in the current passable state, the prior passing object is kept in the passable state until the prior passing object passes through, if the passing direction is in the current no-pass state, the passing direction in the current passing state is immediately turned into a red light, and the passing direction is opened to be in the passable state.
Therefore, vehicles which are in urgent need of passing can pass quickly, the invention not only considers the particularity and urgency of vehicle passing, but also ensures the passing efficiency. The specific detection method can be image recognition, license plate recognition, voice recognition and the like, for example, the appearance and the identification of the vehicle are judged through the image recognition to judge the attribute of the vehicle, the license plate number of the object which passes preferentially has a fixed characteristic, whether the object which passes preferentially exists can be quickly judged through the recognition of the license plate number, and when the ambulance, the fire truck, the police car and the like are in an emergency state, a siren can be sounded, and whether the object which passes preferentially exists can be judged through the voice recognition.
Example 2
Referring to fig. 2, the traffic light control system of the embodiment includes a plurality of traffic lights corresponding to a passing direction, a control module for controlling a lighting state of the traffic lights, a monitoring module for detecting an object to be passed in a junction area, and a power module for supplying power, wherein the monitoring module includes a data acquisition module and a data processing module, the data acquisition module is configured to acquire real-time scene information at the junction area, and the data processing module is configured to process the real-time scene information and determine whether an object to be passed in the current passing direction is located in the junction area; the signal output end of the data processing module is connected with the control module and transmits a traffic light state signal to the control module; after the traffic light in the current passing direction is switched to the no-passing state, if the data processing module judges that an object to be passed is still located in the intersection area in the current passing direction, a traffic light state signal for keeping the traffic light in the next passing direction in the no-passing state is transmitted to the control module, the control module controls the traffic light in the next passing direction to be in the no-passing state according to the signal, if the data processing module judges that no object to be passed is located in the intersection area in the current passing direction, the control module transmits a traffic light state signal for switching the traffic light in the next passing direction to the passable state, and the control module controls the traffic light in the next passing direction to be in the passable state according to the signal.
The data acquisition module is an image acquisition module and comprises a camera, and the real-time scene information is a real-time picture of the intersection area; the data processing module is an image processing module and comprises a processor, a memory and a communication module, and the communication module is communicated with the image acquisition module to transmit image data.
Example 3
Compared with the embodiment 2, the difference between the embodiment and the embodiment 2 is that in the embodiment, the data acquisition module is a thermal imaging module and comprises a thermal infrared imager; the data processing module is a thermal imaging picture processing module and comprises a processor, a memory and a communication module, and the communication module is communicated with the thermal imaging module to transmit picture data.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A high-efficiency intelligent traffic light control method is characterized by comprising the following steps:
(1) continuously detecting whether the traffic light in the current passing direction in the passable state is switched to the passage prohibition state, if so, entering the step (2);
(2) keeping the traffic light in the next passing direction to be in the passing prohibition state, and simultaneously judging whether the object to be passed is positioned in the intersection area in the current passing direction, if so, keeping the traffic light in the next passing direction in the passing prohibition state, and if not, entering the step (3);
(3) and (4) switching the traffic light in the next traffic direction into a passable state, returning to the step (1), and circulating the operation.
2. The control method of the efficient intelligent traffic light according to claim 1, wherein the object to be passed is a vehicle or a pedestrian, and the intersection area is a vehicle passing intersection area or a pedestrian crossing.
3. The control method of the efficient intelligent traffic light according to claim 1, wherein in the step (2), whether the object to be passed is located in the junction area in the current passing direction is detected by an image recognition method, and the method specifically comprises the following steps:
(2-1) acquiring images at the intersection area in real time according to a set frequency through image acquisition equipment;
(2-2) carrying out image recognition on the acquired image, and judging whether an object to be passed exists in the intersection area or not; when image recognition is carried out, recognition is carried out from the position of entering the intersection area to the direction of leaving the intersection area along the current passing direction, and when an object to be passed is recognized, calculation is stopped.
4. An efficient intelligent traffic light control method according to claim 1, characterized in that the time of traffic light passing state in each passing direction is calculated and determined in real time according to the number of objects to be passed.
5. The control method of the efficient intelligent traffic light according to claim 1, characterized in that when it is detected that there is no pedestrian waiting to pass on both sides of the pedestrian crossing, the passing direction of the vehicle is kept in a passable state continuously.
6. The control method of the efficient intelligent traffic light according to claim 1, wherein the method for detecting whether the pedestrian waiting to pass exists is infrared thermal imaging detection, and whether the pedestrian exists is detected through infrared thermal imaging detection equipment.
7. A high-efficiency intelligent traffic light control method according to claim 1, further comprising the step of detecting whether there is a passing object with priority; the method specifically comprises the following steps:
detecting whether a prior passing object exists in each passing direction, wherein the prior passing object comprises but is not limited to an ambulance, a fire truck, a public security vehicle and an emergency vehicle; if the prior passing object exists in a certain passing direction, if the passing direction is in the current passable state, the prior passing object is kept in the passable state until the prior passing object passes through, if the passing direction is in the current no-pass state, the passing direction in the current passing state is immediately turned into a red light, and the passing direction is opened to be in the passable state.
8. A traffic light control system for realizing the efficient intelligent traffic light control method of claim 1, which comprises a plurality of traffic lights corresponding to a traffic direction, a control module for controlling the lighting states of the traffic lights, and a monitoring module for detecting an object to be passed in a junction area, wherein the monitoring module comprises a data acquisition module and a data processing module, the data acquisition module is used for acquiring real-time scene information at the junction area, and the data processing module is used for processing the real-time scene information and judging whether the object to be passed in the current traffic direction is located in the junction area; the signal output end of the data processing module is connected with the control module and transmits a traffic light state signal to the control module; after the traffic light in the current passing direction is switched to the no-passing state, if the data processing module judges that an object to be passed is still located in the intersection area in the current passing direction, a traffic light state signal for keeping the traffic light in the next passing direction in the no-passing state is transmitted to the control module, the control module controls the traffic light in the next passing direction to be in the no-passing state according to the signal, if the data processing module judges that no object to be passed is located in the intersection area in the current passing direction, the control module transmits a traffic light state signal for switching the traffic light in the next passing direction to the passable state, and the control module controls the traffic light in the next passing direction to be in the passable state according to the signal.
9. The traffic light control system of claim 8, wherein the data acquisition module is an image acquisition module comprising a camera, and the real-time scene information is a real-time picture of a junction area; the data processing module is an image processing module and comprises a processor, a memory and a communication module, and the communication module is communicated with the image acquisition module to transmit image data.
10. The traffic light control system of claim 8, wherein the data acquisition module is a thermal imaging module comprising a thermal infrared imager; the data processing module is a thermal imaging picture processing module and comprises a processor, a memory and a communication module, and the communication module is communicated with the thermal imaging module to transmit picture data.
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Application publication date: 20210312 |