CN113299065A

CN113299065A - Timing method and device for signal control of intersection green light interval time, computer equipment and storage medium

Info

Publication number: CN113299065A
Application number: CN202110558802.4A
Authority: CN
Inventors: 游权; 王嘉文
Original assignee: Shanghai Kuangtu Technology Co ltd
Current assignee: Shanghai Kuangtu Technology Co ltd
Priority date: 2021-05-21
Filing date: 2021-05-21
Publication date: 2021-08-24
Anticipated expiration: 2041-05-21
Also published as: CN113299065B

Abstract

The invention relates to the technical field of intelligent traffic, and discloses a timing method, a device, computer equipment and a storage medium for controlling green light interval time of an intersection by signals, namely, according to lane basic data and historical vehicle track data of the intersection by signals, an emptying traffic flow track line corresponding to a prior traffic signal phase and an entering traffic flow track line corresponding to a following traffic signal phase in two adjacent traffic signal phases of each inlet lane are generated, corresponding emptying required time is calculated aiming at two inlet lanes of the intersection of the emptying traffic flow track line and the entering traffic flow track line, finally all the emptying required time obtained by calculation is summarized, the emptying required time with the maximum value is selected as the green light interval time corresponding to the two adjacent traffic signal phases, therefore, the difficulty in data acquisition and the inaccuracy of data acquisition can be avoided, the automatic green light interval time timing device is suitable for automatic, accurate and scientific green light interval time timing of intersections of different types.

Description

Timing method and device for signal control of intersection green light interval time, computer equipment and storage medium

Technical Field

The invention belongs to the technical field of intelligent traffic, and particularly relates to a timing method and device for signal control of intersection green light interval time, computer equipment and a storage medium.

Background

A signal controlled intersection (signaled Crossing) is a road traffic science and technology term published in 1996 in China, and is also called as an intersection for short, and refers to an area formed by at least two lines intersecting on the same plane, and the area serves as a throat of road traffic, and the traffic capacity of the intersection directly influences the bearing capacity of the whole traffic network. The intersection where two roads intersect is commonly in four directions, and when one road reaches the end at the intersection, the intersection is called a three-way intersection/T-shaped intersection, and some intersections exceed four directions. At the intersection controlled by the signal lamp, a non-interference safe passage can be provided for the traffic flow allowed to pass only through the traffic signal (namely, a method of allowing different traffic units to pass through in turn according to the sequence of the traffic signal is adopted to separate traffic conflicts). In order to ensure that vehicles can safely and effectively avoid traffic conflicts in intersections, the green light interval time is a very important traffic signal control parameter, and is the time interval between the green light end time of one traffic flow and the green light start time of the next traffic flow which conflict with each other.

At present, the problems of unreasonable green light interval time timing setting, lack of a unified calculation method and theoretical basis and the like exist in urban road signal control intersections in China. For this problem, there are two main solutions as follows: firstly, experience values are directly obtained, for example, some relevant scholars obtain fixed values for green light interval time of the intersection after research and investigation, such as yellow light 3s + full red time 2s, and the experience values are not suitable for intersections of different types and are particularly not suitable for the situation of non-hybrid intersections in China; secondly, timing is carried out by calculating the vehicle running time according to different intersection geometrical conditions and types, but the method also has the problems of on-site manual acquisition, inaccurate data, difficult sampling, large acquisition amount and the like.

With the progress of internet and communication technology, researchers can acquire a large amount of high-precision vehicle track data of vehicle running, and how to use the vehicle track data accurate to the second level to time the green light interval time so as to solve the problems of poor applicability, difficult data acquisition, inaccurate data and the like of the existing green light interval time timing method is a subject of urgent research required by technicians in the field.

Disclosure of Invention

In order to solve the problems of poor applicability, difficult data acquisition, inaccurate data and the like of the existing green light interval time timing method, the invention aims to provide a new method, a device, computer equipment and a storage medium for configuring signal control intersection green light interval time based on high-precision vehicle track data, and the method, the device, the computer equipment and the storage medium can generate an emptying traffic flow track line corresponding to a prior traffic signal phase and an entering traffic flow track line corresponding to a later traffic signal phase in two adjacent traffic signal phases of each inlet lane according to lane basic data and historical vehicle track data of the signal control intersection, calculate corresponding emptying time aiming at the two inlet lanes crossed by the emptying traffic flow track line and the entering traffic flow track line, finally summarize all the calculated emptying time, select the emptying time with the maximum value as the green light interval time corresponding to the two adjacent traffic signal phases, therefore, the method and the device can avoid the difficulty in data acquisition and the inaccuracy of data, are suitable for automatic, accurate and scientific green light interval time timing of intersections of different types, and are convenient for practical application and popularization.

In a first aspect, the invention provides a timing method for controlling green light interval time of an intersection by signals, which comprises the following steps:

acquiring lane basic data and historical vehicle track data of a signalized intersection, wherein the lane basic data comprise stop line coordinates, vehicle speed limit information and steering function description information of each entrance lane in the signalized intersection, and the historical vehicle track data comprise track coordinates acquired aiming at vehicles passing through the signalized intersection in history;

determining an empty traffic flow direction corresponding to a previous traffic signal phase and an incoming traffic flow direction corresponding to a subsequent traffic signal phase in two adjacent traffic signal phases according to the corresponding steering function description information for each entrance lane;

for each entrance lane, generating a clear traffic flow trajectory route with the corresponding stop line coordinate as a starting point according to trajectory coordinates in the historical vehicle trajectory data and traveling along the corresponding clear traffic flow direction, and generating an entrance traffic flow trajectory route with the corresponding stop line coordinate as a starting point according to trajectory coordinates in the historical vehicle trajectory data and traveling along the corresponding entrance traffic flow direction;

judging whether the emptying traffic flow trajectory line of each entrance lane is crossed with the entering traffic flow trajectory lines of other entrance lanes;

if so, calculating corresponding emptying required time according to the lane basic data and the historical vehicle track data aiming at the crossed emptying traffic flow track line and entering traffic flow track line;

and summarizing all the emptying required time obtained by calculation, and selecting the emptying required time with the largest value as the green light interval time corresponding to the phases of the two adjacent traffic signals.

Based on the invention, a new scheme for configuring green light interval time of a signalized intersection based on high-precision vehicle track data can be provided, namely, an emptying traffic flow track line corresponding to the phase of a previous traffic signal and an entering traffic flow track line corresponding to the phase of a subsequent traffic signal in two adjacent traffic signal phases of each entry lane are generated according to lane basic data and historical vehicle track data of the signalized intersection, corresponding emptying time is calculated aiming at the two entry lanes where the emptying traffic flow track line and the entering traffic flow track line are crossed, all the calculated emptying time is finally summarized, the emptying time with the largest value is selected as the green light interval time corresponding to the two adjacent traffic signal phases, and therefore, the difficulty in data acquisition and the inaccuracy of data can be avoided, the automatic green light interval time timing device is suitable for automatic, accurate and scientific green light interval time timing of intersections of different types, and is convenient for practical application and popularization.

In one possible design, obtaining historical vehicle trajectory data for a signalized intersection includes:

acquiring video data of overhead shooting of the signalized intersection by an unmanned aerial vehicle;

importing the video data into vehicle track extraction software, and extracting to obtain a plurality of track coordinates of the vehicle, wherein the acquisition range of the track coordinates comprises an extension section surrounding area of a multi-surface stop line of the signalized intersection;

and summarizing a plurality of track coordinates of all vehicles to obtain the historical vehicle track data.

Based on the possible design, the unmanned aerial vehicle technology can be applied to acquire historical vehicle track data on the spot, and the real reliability and the acquisition convenience of the historical vehicle track data are guaranteed.

In one possible design, aggregating a plurality of trajectory coordinates of all vehicles to obtain the historical vehicle trajectory data includes:

carrying out denoising preprocessing in any one or any combination of the following modes (A) to (C) on the plurality of track coordinates of all vehicles to obtain the historical vehicle track data:

(A) in the plurality of track coordinates of all vehicles, track coordinates of the vehicles running to the front of a stop line on an entrance lane are removed;

(B) removing track coordinates of the vehicles after the vehicles run out of the signalized intersection from the plurality of track coordinates of all the vehicles;

(C) and eliminating track coordinates of right-turning running of the vehicles from the plurality of track coordinates of all the vehicles.

Based on the possible design, invalid vehicle track coordinates can be removed in advance by carrying out denoising preprocessing, so that the available green light interval time of the signalized intersection can be rapidly obtained by utilizing software such as Matlab and the like to control the lane basic data and the historical vehicle track data of the intersection based on the signals.

In one possible design, for crossing clear traffic flow trajectory lines and entering traffic flow trajectory lines, calculating corresponding clear required time based on the lane basic data and the historical vehicle trajectory data, including:

aiming at a first motor vehicle entrance lane corresponding to a crossed emptying traffic flow track line, calculating and obtaining a first emptying traffic flow track distance from a corresponding stop line coordinate to a cross point according to a corresponding first emptying traffic flow coordinate set, wherein the first emptying traffic flow coordinate set comprises a plurality of first emptying traffic flow coordinates which are sequentially arranged along a corresponding emptying traffic flow direction, and the first emptying traffic flow coordinates comprise a corresponding stop line coordinate, at least one track coordinate which is positioned on the corresponding emptying traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and the coordinate of the cross point;

aiming at a second motor vehicle entrance lane corresponding to a crossed entering traffic flow trajectory line, calculating a first entering traffic flow trajectory route from a corresponding stop line coordinate to a cross point according to a corresponding first entering traffic flow coordinate set, wherein the first entering traffic flow coordinate set comprises a plurality of first entering traffic flow coordinates which are sequentially arranged along a corresponding entering traffic flow direction, and the plurality of first entering traffic flow coordinates comprise corresponding stop line coordinates, at least one trajectory coordinate which is positioned on the corresponding entering traffic flow trajectory line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle trajectory data and coordinates of the cross point;

calculating the emptying required time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line according to the following formula_mv→mv：

In the formula, t_mvRepresenting a preset vehicle driver reaction time,

representing the first clear traffic flow trajectory path, i represents a natural number, M₁Representing the total number of coordinates, Δ d, in the first set of clear traffic flow coordinates_i,i+1Represents a distance, l, from the ith coordinate to the (i + 1) th coordinate in the first cleared traffic flow coordinate set_mvWhich represents the average length of the motor vehicle,

representing said first incoming traffic flow trajectory, j representing a natural number, N₁Representing the total number of coordinates, Δ d, in the first set of incoming traffic flow coordinates_j,j+1Denotes a distance, v, from the jth coordinate to the jth +1 coordinate in the first set of incoming traffic flow coordinates_mvIndicating the motor vehicle speed limit extracted from the vehicle speed limit information.

aiming at a first non-motor vehicle entrance lane corresponding to a crossed emptying traffic flow track line, calculating a second emptying traffic flow track distance from a corresponding stop line coordinate to a cross point according to a corresponding second emptying traffic flow coordinate set, wherein the second emptying traffic flow coordinate set comprises a plurality of second emptying traffic flow coordinates which are sequentially arranged along a corresponding emptying traffic flow direction, and the plurality of second emptying traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding emptying traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and coordinates of the cross point;

for a second non-motor vehicle entrance lane corresponding to a crossed entering traffic flow trajectory line, calculating a second entering traffic flow trajectory route from a corresponding stop line coordinate to a cross point according to a corresponding second entering traffic flow coordinate set, wherein the second entering traffic flow coordinate set comprises a plurality of second entering traffic flow coordinates which are sequentially arranged along a corresponding entering traffic flow direction, and the plurality of second entering traffic flow coordinates comprise a corresponding stop line coordinate, at least one trajectory coordinate which is positioned on the corresponding entering traffic flow trajectory line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle trajectory data, and coordinates of the cross point;

calculating the emptying required time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line according to the following formula_nmv→nmv：

In the formula, t_nmvIndicating a preset non-motor vehicle driver reaction time,

representing the second cleared traffic flow trajectory path, i represents a natural number, M₂Represents a total number of coordinates, Δ d ', in the second set of clear traffic flow coordinates'_i,i+1Represents a distance, l, from the ith coordinate to the (i + 1) th coordinate in the second cleared traffic flow coordinate set_nmvRepresents the average length of the non-motor vehicle,

representing said second incoming traffic flow trajectory, j representing a natural number, N₂Representing a total number of coordinates, Δ d ', in the second set of incoming traffic flow coordinates'_j,j+1Denotes a distance, v, from the jth coordinate to the jth +1 coordinate in the second set of incoming traffic flow coordinates_nmvRepresenting a non-motor vehicle speed limit extracted from the vehicle speed limit information.

the emptying time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line is calculated according to the following formula_nmv→mv：

In the formula, t_mvRepresenting a preset vehicle driver reaction time,

representing the second cleared traffic flow trajectory courseI denotes a natural number, M₂Represents a total number of coordinates, Δ d ', in the second set of clear traffic flow coordinates'_i,i+1Represents a distance, l, from the ith coordinate to the (i + 1) th coordinate in the second cleared traffic flow coordinate set_nmvRepresents the average length of the non-motor vehicle,

representing said first incoming traffic flow trajectory, j representing a natural number, N₁Representing the total number of coordinates, Δ d, in the first set of incoming traffic flow coordinates_j,j+1Denotes a distance, v, from the jth coordinate to the jth +1 coordinate in the first set of incoming traffic flow coordinates_nmvRepresenting non-motor vehicle speed limit, v, extracted from said vehicle speed limit information_mvIndicating the motor vehicle speed limit extracted from the vehicle speed limit information.

the emptying time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line is calculated according to the following formula_mv→nmv：

representing said second incoming traffic flow trajectory, j representing a natural number, N₂Representing a total number of coordinates, Δ d ', in the second set of incoming traffic flow coordinates'_j,j+1Denotes a distance, v, from the jth coordinate to the jth +1 coordinate in the second set of incoming traffic flow coordinates_mvRepresenting the motor vehicle speed limit, v, extracted from said vehicle speed limit information_nmvRepresenting a non-motor vehicle speed limit extracted from the vehicle speed limit information.

In a second aspect, the invention provides a timing device for controlling green light interval time of an intersection by signals, which comprises a data acquisition module, a traffic flow direction determination module, a track line generation module, a line crossing judgment module, a time calculation module and a green light interval time determination module which are sequentially in communication connection;

the data acquisition module is used for acquiring lane basic data and historical vehicle track data of the signalized intersection, wherein the lane basic data comprise stop line coordinates, vehicle speed limit information and steering function description information of each entrance lane in the signalized intersection, and the historical vehicle track data comprise track coordinates acquired aiming at vehicles passing through the signalized intersection in history;

the traffic flow direction determining module is used for determining an emptying traffic flow direction corresponding to a previous traffic signal phase and an entering traffic flow direction corresponding to a following traffic signal phase in two adjacent traffic signal phases according to the corresponding steering function description information aiming at each entrance lane;

the trajectory route generation module is configured to generate, for each entrance lane, an empty traffic flow trajectory route using the corresponding stop line coordinate as a starting point according to trajectory coordinates in the historical vehicle trajectory data and traveling along the corresponding empty traffic flow direction, and generate an entering traffic flow trajectory route using the corresponding stop line coordinate as a starting point according to trajectory coordinates in the historical vehicle trajectory data and traveling along the corresponding entering traffic flow direction;

the line intersection judging module is used for judging whether the emptying traffic flow trajectory lines of each entrance lane are intersected with the entering traffic flow trajectory lines of other entrance lanes;

the time calculation module is used for calculating corresponding emptying required time according to the lane basic data and the historical vehicle track data aiming at the crossed emptying traffic flow track line and entering traffic flow track line;

and the green light interval time determining module is used for summarizing all the calculated emptying required time and selecting the emptying required time with the largest value as the green light interval time corresponding to the phases of the two adjacent traffic signals.

In a third aspect, the present invention provides a computer device, comprising a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for reading the computer program and executing the timing method according to the first aspect or any one of the possible designs of the first aspect.

In a fourth aspect, the present invention provides a storage medium having stored thereon instructions for performing the timing method as described in the first aspect or any one of the possible designs of the first aspect, when the instructions are run on a computer.

In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the timing method as described in the first aspect or any one of the possible designs of the first aspect.

The invention has the technical effects that:

(1) the invention provides a new scheme for configuring green light interval time of a signalized intersection based on high-precision vehicle track data, namely, a clear traffic flow track line corresponding to a prior traffic signal phase and an incoming traffic flow track line corresponding to a later traffic signal phase of each inlet lane in two adjacent traffic signal phases are generated according to lane basic data and historical vehicle track data of the signalized intersection, corresponding clearing required time is calculated aiming at the two inlet lanes of which the clear traffic flow track line is crossed with the incoming traffic flow track line, all the clearing required time obtained by calculation is summarized, the clearing required time with the maximum value is selected as the green light interval time corresponding to the two adjacent traffic signal phases, therefore, the difficulty in data acquisition and inaccurate data acquisition can be avoided, the automatic green light interval time timing device is suitable for automatic, accurate and scientific green light interval time timing of intersections of different types, and is convenient for practical application and popularization;

(2) the vehicle track technology can be used for acquiring and processing, real-time parameters such as position, speed, acceleration and the like of the vehicle can be sensed, and labor and calculation force are saved compared with the traditional manual calculation;

(3) the vehicle track data can determine and sense the position of the conflict point between the vehicle and the vehicle, so that the method is more accurate and scientific than the traditional actual measurement and estimation;

(4) because the final green light interval time is determined by the emptying time of all traffic flow conflict pairs, compared with the traditional method (namely only calculating the emptying time of a single traffic flow), the method is more reasonable and more comprehensive in consideration, and the calculation result can ensure traffic safety;

(5) because all possible conflicts between the motor vehicles, the non-motor vehicles and the non-motor vehicles, the green light interval time considering the motor vehicles and/or the non-motor vehicles can be obtained, and the classification and selection can be carried out under the conditions of different non-motor vehicle traffic volumes;

(6) historical vehicle track data can be acquired on site by applying an unmanned aerial vehicle technology, the real reliability and the acquisition convenience of the historical vehicle track data are guaranteed, invalid vehicle track coordinates can be removed in advance by denoising pretreatment, and therefore available green light interval time of the signalized intersection can be rapidly acquired by using software such as Matlab and the like on the basis of lane basic data and the historical vehicle track data of the signalized intersection in the following process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a timing method for controlling green light interval time of an intersection by signals provided by the invention.

Fig. 2 is an exemplary illustration of a traffic conflict for each pair of ingress lanes at a crossroad provided by the present invention.

Fig. 3 is an exemplary diagram of a traffic conflict caused by intersection of an empty traffic flow trajectory line of a first entrance lane and an incoming traffic flow trajectory line of a second entrance lane in a cross intersection provided by the present invention, wherein a dotted line represents an empty traffic flow direction and an empty traffic flow trajectory line, and a solid line represents an incoming traffic flow direction and an incoming traffic flow trajectory line.

Fig. 4 is an exemplary diagram of a traffic conflict caused by intersection of an empty traffic flow trajectory line of a vehicle entrance lane and an incoming traffic flow trajectory line of another vehicle entrance lane in a cross intersection provided by the present invention, wherein a dotted line represents an empty traffic flow direction and an empty traffic flow trajectory line, and a solid line represents an incoming traffic flow direction and an incoming traffic flow trajectory line.

Fig. 5 is an exemplary diagram of a traffic conflict caused by an intersection of an empty traffic flow trajectory line of a non-motor vehicle entrance lane and an incoming traffic flow trajectory line of another non-motor vehicle entrance lane in a cross intersection according to the present invention, wherein a dotted line represents an empty traffic flow direction and an empty traffic flow trajectory line, and a solid line represents an incoming traffic flow direction and an incoming traffic flow trajectory line.

Fig. 6 is an exemplary diagram of a traffic conflict caused by intersection of an empty traffic flow trajectory line of a non-motor vehicle entrance lane and an incoming traffic flow trajectory line of another motor vehicle entrance lane in a cross intersection provided by the present invention, wherein a dotted line represents an empty traffic flow direction and an empty traffic flow trajectory line, and a solid line represents an incoming traffic flow direction and an incoming traffic flow trajectory line.

Fig. 7 is a schematic structural diagram of a timing device for controlling green light interval time of an intersection through signals provided by the invention.

Fig. 8 is a schematic structural diagram of a computer device provided by the present invention.

Detailed Description

The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely representative of exemplary embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist simultaneously; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.

As shown in fig. 1 to 6, the timing method for controlling the green light interval time of the intersection by signals provided in the first aspect of this embodiment may be, but is not limited to be, executed by a computer device with large data calculation capability, so as to achieve the purpose of configuring the green light interval time of the intersection by signals based on high-precision vehicle trajectory data, and further, while avoiding difficulty in data acquisition and inaccuracy of data, the timing method is suitable for performing automatic, accurate, and scientific green light interval time timing on intersections of different types. The timing method may include, but is not limited to, the following steps S1 to S6.

S1, obtaining lane basic data and historical vehicle track data of a signalized intersection, wherein the lane basic data comprises but is not limited to stop line coordinates, vehicle speed limit information, steering function description information and the like of all entrance lanes in the signalized intersection, and the historical vehicle track data comprises but is not limited to track coordinates acquired aiming at vehicles passing through the signalized intersection historically.

In step S1, the lane basic data is used to describe the geometric parameters and functional arrangement of the signalized intersection, which may be, but not limited to, edited by a worker or obtained by conventional import of external data, for example, after importing the design data of the signalized intersection, the lane basic data is automatically extracted by a conventional data extraction program. The steering function description information is not limited to allowable steering types of the corresponding entrance lane at each traffic signal phase (i.e. when one or more traffic flows obtain the same signal light color display at any time in one signal cycle, they obtain different continuous time sequences of different light colors and are called a traffic signal phase), such as an east-west straight type, a west-east straight type, a south-north straight type, a north-south straight type, an east-north small turn type, a west-south small turn type, a north-west small turn type, a south-east small turn type, an east-south large turn type, a west-north large turn type, a north-east large turn type, a south-west large turn type, and the like. Since most intersections right turn right-hand traffic right in China is not influenced by signal control, the present embodiment does not consider the traffic conflict relationship of right-hand vehicles for a while, as shown in fig. 2, in a cross intersection, the allowable turning types may specifically include an east-to-west straight type, a west-to-east straight type, a south-to-north straight type, a north-to-south straight type, an east-to-south large turn type, a west-to-north large turn type, a north-to-east large turn type, a south-to-west large turn type, and the like.

In the step S1, the historical vehicle trajectory data is used to represent, in a coordinate form, a moving position change situation of a vehicle passing through the signalized intersection on a road segment historically, and may also reflect a parking position and a queuing situation of the vehicle on the road. Examples of the historical vehicle trajectory data may be as shown in table 1 below:

TABLE 1 example of historical vehicle trajectory data

As can be seen from table 1, in addition to the track coordinates (i.e., the actual coordinates x and y), the historical vehicle track data may also include, but is not limited to, data such as data frame number, vehicle number, data frame acquisition speed, vehicle type, and vehicle data. Therefore, the data can be used for generating emptying/entering traffic flow track lines, calculating emptying/entering traffic flow track routes from the coordinates of the stop lines of the entrance lanes to the traffic conflict points and the time required for emptying, and providing high-precision source data for the green light interval time timing scheme of the embodiment.

And S2, aiming at each entrance lane, determining an empty traffic flow direction corresponding to the phase of the prior traffic signal and an entering traffic flow direction corresponding to the phase of the subsequent traffic signal in the two adjacent traffic signal phases according to the corresponding steering function description information.

In step S2, the clear traffic flow direction may be determined according to an allowable steering type of the entrance lane in the phase of the preceding traffic signal, as shown in fig. 3, for example, when the allowable steering type is a north-south straight-driving type, the clear traffic flow direction is determined to be a north-south direction. The incoming traffic flow direction may also be determined in particular according to an allowable steering type of an entrance lane at the rear traffic signal phase, e.g. from south to west when the allowable steering type is a south to west big turn type. In addition, since one entrance lane may have at least one allowable steering type at the same time, the correspondence relationship between the same and the empty traffic flow direction and the same may be a one-to-one correspondence relationship or a one-to-many correspondence relationship.

S3, aiming at each entrance lane, generating a clear traffic flow track line taking the corresponding stop line coordinate as a starting point according to the track coordinate which is in the historical vehicle track data and runs along the corresponding clear traffic flow direction, and generating an entering traffic flow track line taking the corresponding stop line coordinate as a starting point according to the track coordinate which is in the historical vehicle track data and runs along the corresponding entering traffic flow direction.

In step S3, the empty traffic flow trajectory line and the entering traffic flow trajectory line may be generated in a specific manner, such as, but not limited to, by performing a conventional linear fit on a plurality of trajectory coordinates in the corresponding traffic flow direction.

And S4, judging whether the emptying traffic flow track line of each entrance lane is crossed with the entering traffic flow track lines of other entrance lanes.

In step S4, since some traffic flows having a conflict relationship may also be released together at some signalized intersections with low traffic flow (certainly, some traffic flows having no traffic conflict may also be released simultaneously at the same time) in one set of traffic signal phases, in order to ensure that the last vehicle of the traffic flow of the previous traffic signal phase can safely pass through the signalized intersection without colliding with the first vehicle of the traffic flow of the next traffic signal phase when the two adjacent traffic signal phases are switched, it is necessary to first determine whether each pair of empty traffic flow and incoming traffic flow has a traffic conflict relationship, that is, to determine whether the empty traffic flow trajectory line of each entrance lane crosses the incoming traffic flow trajectory line of the other entrance lane. Specifically, whether each emptying traffic flow trajectory line of a certain entrance lane is crossed with each entering traffic flow trajectory line of another entrance lane in a geometric relationship (that is, the intersection mode indicates non-confluence) can be judged through a traversal mode, if the crossing indicates that the corresponding emptying traffic flow and the entering traffic flow have a traffic conflict relationship, the time required for emptying needs to be calculated according to the crossed emptying traffic flow trajectory lines and the entering traffic flow trajectory lines, namely the shortest time required for ensuring that vehicles at the tail end of the traffic flow of the previous traffic signal phase can safely pass through the signal control intersection without colliding with the head-driving vehicles of the traffic flow of the next traffic signal phase when the phases of the two adjacent traffic signals are switched is calculated. In addition, for the phases of two non-adjacent traffic signals, because the two corresponding traffic flows do not have a passing sequence, the time required by the emptying does not need to be calculated; the present embodiment also temporarily disregards the traffic flow conflict relationship of pedestrians and vehicles.

And S5, if so, calculating corresponding emptying required time according to the lane basic data and the historical vehicle track data aiming at the crossed emptying traffic flow track line and entering traffic flow track line.

In step S5, considering that each entrance lane in the signalized intersection may be an entrance lane of a motor vehicle or an entrance lane of a non-motor vehicle, and the motor vehicle and the non-motor vehicle are significantly different in speed limit, length, etc., therefore, for the crossed clear traffic flow trajectory line and the entrance traffic flow trajectory line, the calculation result of the time required for clearing should also be different due to the crossing condition of different lines of the motor vehicle traffic flow and the non-motor vehicle traffic flow, that is, specifically, for the crossed clear traffic flow trajectory line and the entrance traffic flow trajectory line, the corresponding time required for clearing is calculated according to the lane basic data and the historical vehicle trajectory data, including but not limited to steps S511 to S513.

And S511, aiming at a first motor vehicle entrance lane corresponding to the crossed emptying traffic flow track line, calculating a first emptying traffic flow track distance from the corresponding stop line coordinate to the cross point according to a corresponding first emptying traffic flow coordinate set, wherein the first emptying traffic flow coordinate set comprises a plurality of first emptying traffic flow coordinates which are sequentially arranged along the corresponding emptying traffic flow direction, and the first emptying traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding emptying traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data, and coordinates of the cross point.

In step S511, the first cleared traffic flow trajectory route S may be calculated according to the following formula_E：

Wherein i represents a natural number, M₁Representing the total number of coordinates, Δ d, in the first set of clear traffic flow coordinates_i,i+1Represents the distance from the ith coordinate to the (i + 1) th coordinate in the first cleared traffic flow coordinate set, as shown in fig. 4.

S512, aiming at a second motor vehicle entrance lane corresponding to the crossed entering traffic flow track line, calculating a first entering traffic flow track distance from the corresponding stop line coordinate to the cross point according to a corresponding first entering traffic flow coordinate set, wherein the first entering traffic flow coordinate set comprises a plurality of first entering traffic flow coordinates which are sequentially arranged along the corresponding entering traffic flow direction, and the plurality of first entering traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding entering traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and the coordinates of the cross point.

In step S512, the first entering traffic flow trajectory route S may be calculated according to the following formula_I：

Wherein j represents a natural number, N₁Representing the total number of coordinates, Δ d, in the first set of incoming traffic flow coordinates_j,j+1Represents the distance from the jth coordinate to the j +1 th coordinate in the first set of incoming traffic flow coordinates, as shown in fig. 4.

S513, calculating the emptying required time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line according to the following formula_mv→mv：

In the formula, t_mvRepresenting a preset vehicle driver reaction time,

presentation instrumentThe first clear traffic flow track path, i represents a natural number, M₁Representing the total number of coordinates, Δ d, in the first set of clear traffic flow coordinates_i,i+1Represents a distance, l, from the ith coordinate to the (i + 1) th coordinate in the first cleared traffic flow coordinate set_mvWhich represents the average length of the motor vehicle,

In step S513, as shown in fig. 4, if the time difference of departure of the traffic flow leading vehicle (i.e. one motor vehicle) in the following traffic signal phase from the stop line coordinate of the corresponding entrance lane is not less than the clearance required time gap, the traffic flow trailing vehicle (i.e. another motor vehicle) in the following traffic signal phase is later than the traffic flow trailing vehicle in the preceding traffic signal phase_mv→mvAnd the traffic flow starting vehicle of the later traffic signal phase and the traffic flow ending vehicle of the prior traffic signal phase both run below the motor vehicle limit speed, the traffic flow starting vehicle of the later traffic signal phase can pass through the intersection (namely a traffic conflict point) later than the traffic flow ending vehicle of the prior traffic signal phase, and the traffic flow starting vehicle of the later traffic signal phase can ensure that the traffic flow ending vehicle of the prior traffic signal phase can safely pass through the signal control intersection without colliding with the traffic flow starting vehicle of the later traffic signal phase. Furthermore, the motor vehicle has an average length l_mvThe average length l of the motor vehicle can be calculated according to the following formula, but is not limited to_mv：

Wherein K represents a natural number, K_mvRepresenting a total number of motor vehicles, L, in the historical vehicle trajectory data corresponding to the trajectory coordinates_kIndicating a vehicle length corresponding to the vehicle type of the kth motor vehicle among all motor vehicles (i.e. types of motor vehicles such as, but not limited to, cars and trucks, etc., which correspond to different vehicle lengths).

In step S5, specifically, for the crossing clear traffic flow trajectory line and entering traffic flow trajectory line, the corresponding clear required time is calculated according to the lane basic data and the historical vehicle trajectory data, and the method further includes, but is not limited to, the following steps S521 to S523.

And S521, aiming at a first non-motor vehicle entrance lane corresponding to the crossed emptying traffic flow track line, calculating a second emptying traffic flow track distance from the corresponding stop line coordinate to the cross point according to a corresponding second emptying traffic flow coordinate set, wherein the second emptying traffic flow coordinate set comprises a plurality of second emptying traffic flow coordinates which are sequentially arranged along the corresponding emptying traffic flow direction, and the plurality of second emptying traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding emptying traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and the coordinates of the cross point.

S522, aiming at a second non-motor vehicle entrance lane corresponding to a crossed entering traffic flow track line, calculating a second entering traffic flow track distance from a corresponding stop line coordinate to a cross point according to a corresponding second entering traffic flow coordinate set, wherein the second entering traffic flow coordinate set comprises a plurality of second entering traffic flow coordinates which are sequentially arranged along a corresponding entering traffic flow direction, and the plurality of second entering traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding entering traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and coordinates of the cross point.

S523, calculating the emptying required time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line according to the following formula_nmv→nmv：

In the foregoing steps S521 to S523, as shown in fig. 5, the calculation formulas of the second clearing traffic flow trajectory route and the second entering traffic flow trajectory route, and the clearing required time gap_nmv→nmvThe calculation principle of (1) can be referred to the aforementioned steps S511 to S513, and is not described herein again. In addition, the average length l of the non-motor vehicle_nmvThe average length l may also be obtained by averaging empirical values or non-motor vehicle lengths collected from the historical vehicle trajectory data, i.e., but not limited to, the average length l of the non-motor vehicle may be calculated according to the following formula_nmv：

Wherein K represents a natural number, K_nmvRepresenting a total number of non-motor vehicles in the historical vehicle trajectory data corresponding to the trajectory coordinates,/_kDenotes the vehicle length or dynamic effective vehicle length corresponding to the vehicle type of the kth non-motor vehicle among all motor vehicles (i.e., the types of non-motor vehicles are, but not limited to, automotive vehicles, electric bicycles, etc., which correspond to different vehicle lengths or dynamic effective vehicle lengths in driving), l_fdRepresenting the longitudinal safety distance of the vehicle behind, typically 0.5 m, l_bdThe longitudinal safety distance from the front vehicle is usually 0.5 m, that is, for the non-motor vehicle, the road space occupied by the non-motor vehicle when the vehicle runs on the road in the embodiment not only is the space occupied by the non-motor vehicle, but also includes a distance between the front and the rear of the non-motor vehicle.

In step S5, specifically, for the crossing clear traffic flow trajectory line and entering traffic flow trajectory line, the corresponding time required for clearing is calculated according to the lane basic data and the historical vehicle trajectory data, and the method further includes, but is not limited to, the following steps S531 to S533.

And S531, aiming at a first non-motor vehicle entrance lane corresponding to a crossed emptying traffic flow track line, calculating a second emptying traffic flow track distance from a corresponding stop line coordinate to a cross point according to a corresponding second emptying traffic flow coordinate set, wherein the second emptying traffic flow coordinate set comprises a plurality of second emptying traffic flow coordinates which are sequentially arranged along a corresponding emptying traffic flow direction, and the plurality of second emptying traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding emptying traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data, and coordinates of the cross point.

S532, aiming at a second motor vehicle entrance lane corresponding to a crossed entering traffic flow track line, calculating and obtaining a first entering traffic flow track distance from a corresponding stop line coordinate to a cross point according to a corresponding first entering traffic flow coordinate set, wherein the first entering traffic flow coordinate set comprises a plurality of first entering traffic flow coordinates which are sequentially arranged along a corresponding entering traffic flow direction, and the plurality of first entering traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding entering traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and the coordinates of the cross point.

S533, calculating to obtain the emptying time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line according to the following formula_nmv→mv：

In the formula, t_mvRepresenting a preset vehicle driver reaction time,

representing said first incoming traffic flow trajectory, j representing a natural number, N₁Representing the total number of coordinates, Δ d, in the first set of incoming traffic flow coordinates_j,j+1Denotes a distance, v, from the jth coordinate to the jth +1 coordinate in the first set of incoming traffic flow coordinates_nmvRepresenting non-motor vehicle speed limit, v, extracted from said vehicle speed limit information_mvIndicating from the vehicleAnd the motor vehicle speed limit extracted from the speed limit information.

In the foregoing steps S531 to S533, as shown in fig. 6, the calculation formula of the second clearing traffic flow trajectory route and the first entering traffic flow trajectory route, and the clearing required time gap_nmv→mvAnd the average length l of said non-motor vehicle_nmvThe calculation principle of (1) can be referred to the aforementioned steps S511 to S513 and the aforementioned steps S521 to S523, which are not described herein again.

In step S5, specifically, for the crossing clear traffic flow trajectory line and entering traffic flow trajectory line, the corresponding clear required time is calculated according to the lane basic data and the historical vehicle trajectory data, and the method further includes, but is not limited to, the following steps S541 to S543.

And S541, aiming at a first motor vehicle entrance lane corresponding to the crossed emptying traffic flow track line, calculating a first emptying traffic flow track distance from the corresponding stop line coordinate to the cross point according to a corresponding first emptying traffic flow coordinate set, wherein the first emptying traffic flow coordinate set comprises a plurality of first emptying traffic flow coordinates which are sequentially arranged along the corresponding emptying traffic flow direction, and the plurality of first emptying traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding emptying traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data, and coordinates of the cross point.

S542, aiming at a second non-motor vehicle entrance lane corresponding to a crossed entering traffic flow track line, calculating a second entering traffic flow track distance from a corresponding stop line coordinate to a cross point according to a corresponding second entering traffic flow coordinate set, wherein the second entering traffic flow coordinate set comprises a plurality of second entering traffic flow coordinates which are sequentially arranged along a corresponding entering traffic flow direction, and the plurality of second entering traffic flow coordinates comprise corresponding stop line coordinates, at least one track coordinate which is positioned on the corresponding entering traffic flow track line and is positioned between the corresponding stop line coordinate and the cross point in the historical vehicle track data and coordinates of the cross point.

S543, calculating the emptying time gap corresponding to the crossed emptying traffic flow track line and the entering traffic flow track line according to the following formula_mv→nmv：

In the foregoing steps S541 to S543, the calculation formulas of the first clear traffic flow trajectory route and the second entering traffic flow trajectory route and the clearing required time gap_mv→nmvAnd the average length l of the motor vehicle_mvThe calculation principle of (1) can be referred to the aforementioned steps S511 to S513 and the aforementioned steps S521 to S523, which are not described herein again. Furthermore, it is contemplated that the non-motor vehicle limit speed is generally less than the motor vehicle limit speed, such that the time gap required for emptying is_mv→nmvMay be less than zero.

And S6, summarizing all the emptying required time obtained by calculation, and selecting the emptying required time with the largest numerical value as the green light interval time corresponding to the phases of the two adjacent traffic signals.

In the step S6, since the time required for emptying of each pair of crossing emptying traffic flow trajectory lines and entering traffic flow trajectory lines is the shortest time required to ensure that vehicles at the end of emptying traffic flow can safely pass through the signalized intersection without colliding with vehicles at the beginning of entering traffic flow when the two adjacent traffic signal phases are switched, the time required for emptying with the largest value can be selected as the green light interval time corresponding to the two adjacent traffic signal phases on the principle of maximum safety so as to be used as the setting value of actual signal control. Specifically, the step of summarizing all the calculated emptying times includes, but is not limited to, the following steps: firstly, the emptying time of all arbitrary emptying traffic flow track lines and the combination of the entering traffic flow track lines is collected, and then a two-dimensional emptying time matrix (namely an element a in the emptying time matrix) is generated_ijAnd representing the emptying required time corresponding to the ith emptying traffic flow track line and the jth entering traffic flow track line, wherein for the emptying traffic flow track line and the entering traffic flow track line without intersection, zero values can be directly obtained due to no traffic conflicts), and finally, the maximum element value in the emptying required time matrix is obtained and is used as the green light interval time corresponding to the phases of the two adjacent traffic signals. In addition, the matrix of the time required for emptying can also be output so as to further optimize and determine the green light interval time of the signalized intersection.

Therefore, the timing method described in detail in the above steps S1-S6 can provide a new scheme for configuring green light interval time of a signalized intersection based on high-precision vehicle trajectory data, that is, according to lane basic data and historical vehicle trajectory data of the signalized intersection, an emptying traffic flow trajectory line corresponding to a previous traffic signal phase and an entering traffic flow trajectory line corresponding to a following traffic signal phase in two adjacent traffic signal phases of each entrance lane are generated, corresponding emptying time is calculated for two entrance lanes where the emptying traffic flow trajectory line and the entering traffic flow trajectory line intersect, all the calculated emptying time is summarized, the emptying time with the largest value is selected as the green light interval time corresponding to the two adjacent traffic signal phases, thereby avoiding data collection difficulty and data inaccuracy, the automatic green light interval time timing device is suitable for automatic, accurate and scientific green light interval time timing of intersections of different types, and is convenient for practical application and popularization.

In detail, the timing method described in detail in the foregoing steps S1 to S6 has the following advantages: (1) the vehicle track technology can be used for acquiring and processing, real-time parameters such as position, speed, acceleration and the like of the vehicle can be sensed, and labor and calculation force are saved compared with the traditional manual calculation; (2) the vehicle track data can determine and sense the position of the conflict point between the vehicle and the vehicle, so that the method is more accurate and scientific than the traditional actual measurement and estimation; (3) because the final green light interval time is determined by the emptying time of all traffic flow conflict pairs, compared with the traditional method (namely only calculating the emptying time of a single traffic flow), the method is more reasonable and more comprehensive in consideration, and the calculation result can ensure traffic safety; (4) since all possible conflicts between motor vehicle-non-motor vehicle and non-motor vehicle-non-motor vehicle are also considered, the green light interval time considering the motor vehicle and/or non-motor vehicle conditions can be obtained, and classification and selection can be carried out under different non-motor vehicle traffic conditions.

On the basis of the technical solution of the first aspect, the present embodiment further proposes another possible design of specifically acquiring historical vehicle trajectory data, that is, acquiring historical vehicle trajectory data of a signalized intersection, including but not limited to the following steps S11 to S13.

And S11, acquiring video data of overhead shooting of the signalized intersection by the unmanned aerial vehicle.

In step S11, the video data is preferably captured from an overhead view of the signalized intersection in a clear and windless period. Further, the photographing time period needs to exceed a period of one set of traffic signal phases, for example, 30 minutes.

And S12, importing the video data into vehicle track extraction software, and extracting to obtain a plurality of track coordinates of the vehicle, wherein the acquisition range of the track coordinates comprises an extension section surrounding area of a multi-surface stop line of the signalized intersection.

In the step S12, the vehicle track extraction software is conventional vehicle track processing and analyzing software, and may extract positions of different vehicles in each video frame based on a vehicle identification technology, so as to obtain the plurality of track coordinates of the vehicle. In addition, the acquisition range of the track coordinates is a set area for vehicle identification in the video frame, so that effective track coordinates can be extracted quickly.

And S13, summarizing a plurality of track coordinates of all vehicles to obtain the historical vehicle track data.

In step S13, since the track noise data inevitably occurs during the collection process, the collected data needs to be preprocessed, that is, preferably, the plurality of track coordinates of all vehicles are collected to obtain the historical vehicle track data, including but not limited to, the historical vehicle track data is obtained by performing denoising preprocessing on the plurality of track coordinates of all vehicles in any one or any combination of the following manners (a) to (C): (A) in the plurality of track coordinates of all vehicles, track coordinates of the vehicles running to the front of a stop line on an entrance lane are removed; (B) removing track coordinates of the vehicles after the vehicles run out of the signalized intersection from the plurality of track coordinates of all the vehicles; (C) and eliminating track coordinates of right-turning running of the vehicles from the plurality of track coordinates of all the vehicles.

Therefore, based on the possible design one described in the foregoing steps S11 to S13, the unmanned aerial vehicle technology may be applied to acquire historical vehicle trajectory data on the spot, so as to ensure the real reliability and the acquisition convenience of the historical vehicle trajectory data, and by performing denoising preprocessing, invalid vehicle trajectory coordinates may be removed in advance, so that the lane basic data and the historical vehicle trajectory data of the signalized intersection may be subsequently used by using software such as Matlab, and the available signalized intersection green light interval time may be rapidly obtained based on the lane basic data and the historical vehicle trajectory data of the signalized intersection.

As shown in fig. 7, a second aspect of this embodiment provides a virtual device for implementing the method according to any one of the first aspect or the possible designs of the first aspect, including a data acquisition module, a traffic flow direction determination module, a trajectory route generation module, a route crossing judgment module, a time calculation module, and a green light interval time determination module, which are sequentially connected in a communication manner;

For the working process, working details and technical effects of the foregoing apparatus provided in the second aspect of this embodiment, reference may be made to the method described in the first aspect or any one of the possible designs of the first aspect, which is not described herein again.

As shown in fig. 8, a third aspect of this embodiment provides a computer device for executing the method according to any one of the first aspect or the possible designs of the first aspect, where the computer device includes a memory and a processor, the memory is used for storing a computer program, and the processor is used for reading the computer program and executing the timing method according to any one of the first aspect or the possible designs of the first aspect. For example, the Memory may include, but is not limited to, a Random-Access Memory (RAM), a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a First-in First-out (FIFO), and/or a First-in Last-out (FILO), and the like; the processor may not be limited to the use of a microprocessor of the model number STM32F105 family. In addition, the computer device may also include, but is not limited to, a power module, a display screen, and other necessary components.

For the working process, working details, and technical effects of the foregoing computer device provided in the third aspect of this embodiment, reference may be made to the method in the first aspect or any one of the possible designs in the first aspect, which is not described herein again.

A fourth aspect of the present embodiment provides a storage medium storing instructions of the method according to any one of the possible designs of the first aspect or the first aspect, that is, the storage medium stores instructions that, when executed on a computer, perform the timing method according to any one of the possible designs of the first aspect or the first aspect. The storage medium refers to a carrier for storing data, and may include, but is not limited to, a computer-readable storage medium such as a floppy disk, an optical disk, a hard disk, a flash Memory, a flash disk and/or a Memory Stick (Memory Stick), and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

For the working process, the working details, and the technical effects of the foregoing storage medium provided in the fourth aspect of this embodiment, reference may be made to the method in the first aspect or any one of the possible designs in the first aspect, which is not described herein again.

A fifth aspect of the present embodiments provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the timing method as set forth in the first aspect or any one of the possible designs of the first aspect. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications may be made to the embodiments described above, or equivalents may be substituted for some of the features described. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.

Claims

1. A timing method for controlling green light interval time of an intersection by signals is characterized by comprising the following steps:

2. The timing method of claim 1, wherein obtaining historical vehicle trajectory data for a signalized intersection comprises:

3. The timing method of claim 2, wherein aggregating a plurality of trajectory coordinates of all vehicles to obtain the historical vehicle trajectory data comprises:

4. The timing method as claimed in claim 1, wherein calculating corresponding emptying required time from the lane basic data and the historical vehicle trajectory data for intersecting emptying traffic flow trajectory lines and entering traffic flow trajectory lines comprises:

In the formula, t_mvRepresenting a preset vehicle driver reaction time,

5. The timing method as claimed in claim 1, wherein calculating corresponding emptying required time from the lane basic data and the historical vehicle trajectory data for intersecting emptying traffic flow trajectory lines and entering traffic flow trajectory lines comprises:

6. The timing method as claimed in claim 1, wherein calculating corresponding emptying required time from the lane basic data and the historical vehicle trajectory data for intersecting emptying traffic flow trajectory lines and entering traffic flow trajectory lines comprises:

In the formula, t_mvRepresenting a preset vehicle driver reaction time,

representing the first incoming transactionThe path of the current path, j representing a natural number, N₁Representing the total number of coordinates, Δ d, in the first set of incoming traffic flow coordinates_j,j+1Denotes a distance, v, from the jth coordinate to the jth +1 coordinate in the first set of incoming traffic flow coordinates_nmvRepresenting non-motor vehicle speed limit, v, extracted from said vehicle speed limit information_mvIndicating the motor vehicle speed limit extracted from the vehicle speed limit information.

7. The timing method as claimed in claim 1, wherein calculating corresponding emptying required time from the lane basic data and the historical vehicle trajectory data for intersecting emptying traffic flow trajectory lines and entering traffic flow trajectory lines comprises:

8. A timing device for controlling green light interval time of an intersection by signals is characterized by comprising a data acquisition module, a traffic flow direction determination module, a track line generation module, a line crossing judgment module, a time calculation module and a green light interval time determination module which are sequentially in communication connection;

9. A computer device comprising a memory and a processor communicatively coupled, wherein the memory is configured to store a computer program and the processor is configured to read the computer program and execute the timing method of any one of claims 1 to 7.

10. A storage medium having stored thereon instructions for performing the timing method of any one of claims 1-7 when the instructions are run on a computer.