CN113313943B - Road side perception-based intersection traffic real-time scheduling method and system - Google Patents
Road side perception-based intersection traffic real-time scheduling method and system Download PDFInfo
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Abstract
The invention discloses a road side perception-based real-time crossing traffic scheduling method and system, which comprises the following specific steps of collecting corresponding scene information by a road side unit; identifying vehicles, pedestrians and non-motor vehicles in the scene information through information fusion to perform target level fusion to obtain fused target information in the current scene; extracting the target information of corresponding regional lane levels according to the road information of the high-precision map and the fused target information, and counting the traffic demands of different courses of the intersection; and inputting the traffic demands of the intersection with different courses into a traffic scheduling algorithm, calculating to obtain a lighting strategy of the intersection, and feeding back and adjusting. The traffic light control system can count the traffic demands of vehicles, pedestrians and non-motor vehicles with different courses in real time according to the result of the road side sensing module, and autonomously adjust the light-on strategy and light-on time of the traffic light at the intersection, so that the traffic efficiency at the intersection is improved, and the traffic pressure is relieved.
Description
Technical Field
The invention relates to the technical field of crossing traffic scheduling, in particular to a real-time crossing traffic scheduling method and system based on roadside perception.
Background
Along with the rapid development of economy and science and technology, the daily life of human beings is more and more intelligent, and along with the gradual improvement of living standard, people also have higher and higher requirements to the degree of convenience of daily trip. At present, traffic signal lamps are installed at almost all domestic crossroads, and the devices provide guarantee for safe traveling of people. However, in recent years, the quantity of private cars in China is gradually increased, and the traffic systems of all the large cities face huge pressure, so that the release of the traffic pressure slowly becomes a difficult problem for the traffic systems of all the large cities.
There are many reasons for traffic jam, one of them is that the signal light is not intelligent enough, resulting in the jam of vehicles at the crossroad. The conventional traffic signal lamp system is still in a mode of setting fixed lighting time, the lighting time is adjusted completely by the experience of people, the lighting time cannot be intelligently changed according to the traffic flow of each road section, and the efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and in order to realize the purpose, the invention adopts a road side perception-based intersection traffic real-time scheduling method to solve the problems in the background technology.
The first technical scheme adopted by the invention is as follows: a road side perception-based intersection traffic real-time scheduling method comprises the following steps:
collecting corresponding scene information by using a road side unit;
identifying vehicles, pedestrians and non-motor vehicles in the scene information through information fusion to perform target level fusion to obtain fused target information in the current scene;
extracting the target information of corresponding regional lane levels according to the road information of the high-precision map and the fused target information, and counting the traffic demands of different courses of the intersection;
and inputting the traffic demands of the intersection with different courses into a traffic scheduling algorithm, calculating to obtain a lighting strategy of the intersection, and feeding back and adjusting.
As a further aspect of the invention: the specific steps of identifying vehicles, pedestrians and non-motor vehicles in the scene information through information fusion to perform target level fusion and obtaining fused target information in the current scene comprise:
collecting point cloud data of a target in scene information, segmenting, clustering, extracting characteristics and identifying the target, and extracting a target clustering target central point and anchor frame information: (x, y, l, w, h, c), wherein (x, y) is the abscissa and the ordinate of the target in the radar coordinate system, (l, w, h) is the length, width and height of the target, and c is the category of the target;
simultaneously, acquiring image data of a target in scene information, identifying vehicles, pedestrians and non-motor vehicles at an intersection by using a deep learning model, and extracting target center information and anchor frame information as follows: (x, y, l, w, c);
and mapping target information in the radar coordinate system to the image, performing target-level fusion according to the intersection and comparison of the anchor frames of the image and the image, and outputting the position and the category information of the target.
As a further aspect of the invention: the specific steps of extracting the target information of the corresponding regional lane level according to the road information of the high-precision map and the fused target information and carrying out statistics on the traffic demands of different courses at the intersection comprise:
loading a high-precision map of the intersection area, and acquiring target information after target-level fusion;
according to the high-precision map, mapping the fused target information to the current intersection area, extracting the target information of all lanes and counting as follows: (no, t, count)left，countforward，countrightt，countcross)；
Wherein no represents the current road side unit number, t represents the GPS time of the radar information acquisition time, (count)left，countforward，countrightt，countcross) Respectively representing the vehicle left-turn demand count, straight-going demand count, right-turn demand count of the current intersection area, and the pedestrian and non-motor vehicle demand count of the zebra crossing area.
As a further aspect of the invention: the specific steps of extracting and counting the target information of all lanes comprise:
acquiring the number of lanes in different directions, and counting the passing demands of vehicles in different lanes;
counting the passing demands of left-turn vehicles:
counting the passing demands of straight-going vehicles:
right-turn vehicle traffic demand counting:
wherein, a, b and c are the independent number of lanes for straight running, left turning and right turning at the intersection, d is the number of lanes for collinear left turning and straight running, and e is the number of lanes for collinear right turning and straight running.
As a further aspect of the invention: the specific steps of inputting the traffic demands of the intersection with different courses into a traffic scheduling algorithm, calculating to obtain a lighting strategy of the intersection, and feeding back and adjusting include:
the method comprises the following steps: acquiring the statistical results of the target information of different course lane levels of the intersection;
step two: firstly, determining that signals of bidirectional straight traffic lights are consistent with signals of zebra crossing traffic lights on two sides in the same direction;
step three: when a passing period begins, selecting the direction with the largest passing demand as the current passing direction according to the target information statistical result, deleting the direction from the passing demand list, forbidding the passing in other passing directions, and simultaneously when the passing of the vehicles in the direction is finished and the consumed time is less than a preset threshold value tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled;
step four: in the current passing period, selecting the direction with the largest demand from the passing list as the passing direction, forbidding in other directions, and simultaneously when the passing of the vehicles in the direction is finished and the consumed time is less than a preset threshold tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled;
step five: the iteration is carried out until all the directions in the current passing period are passed, and a new passing period starts tthresA threshold is preset for the release time.
The second technical scheme adopted by the invention is as follows: a system comprising the road side perception-based intersection traffic real-time scheduling method comprises the following steps:
the roadside sensing module is used for acquiring scene data information of the intersection area and fusing target information;
the traffic scheduling module is used for acquiring traffic requirements of different courses of the intersection and outputting a traffic scheduling strategy;
the traffic light module is used for receiving the light-up strategy and the light-up time output by the traffic scheduling module and performing intersection traffic indication;
and the communication module is used for signal communication among the road side sensing module, the traffic scheduling module and the traffic light module.
As a further aspect of the invention: the traffic scheduling module is respectively connected to the roadside sensing module and the traffic light module through the communication module.
As a further aspect of the invention: the roadside sensing module comprises a high-definition camera, a laser radar and an embedded computing unit.
Compared with the prior art, the invention has the following technical effects:
by adopting the technical scheme, the roadside sensing modules are arranged in different lane areas of the intersection, the information of vehicles, pedestrians and non-motor vehicles in different areas is collected, the target information fusion is carried out through the embedded computing unit, the target information is transmitted to the traffic scheduling module, the specific strategy setting is carried out, the time control quantity is output to the traffic light control system, the reasonable passing time is set according to the vehicle passing condition of the intersection in real time, the purpose of adjusting different traffic flow of each road section in different time periods is achieved, the light-up time can be intelligently changed, the light-up strategy and the light-up time of the traffic light of the intersection can be autonomously adjusted, the passing efficiency of the intersection is improved, and the traffic pressure is relieved.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
fig. 1 is a schematic step diagram of a cross traffic real-time scheduling method according to some embodiments disclosed in the present application;
fig. 2 is a schematic structural diagram of a system of a real-time intersection traffic scheduling method according to some embodiments disclosed in the present application;
fig. 3 is a flow diagram of cross traffic real-time scheduling in accordance with some embodiments disclosed herein.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 3, in an embodiment of the present invention, a road side perception-based intersection traffic real-time scheduling method includes:
s1, collecting corresponding scene information by using a road side unit;
s2, identifying vehicles, pedestrians and non-motor vehicles in the scene information through information fusion to perform target level fusion to obtain fused target information in the current scene, and the method specifically comprises the following steps:
collecting point cloud data in scene information through a laser radar, segmenting and filtering the ground through point cloud, clustering the segmented point cloud, and extracting target clustering target center points and anchor frame information: (x, y, l, w, h, c), wherein (x, y) is the abscissa and the ordinate of the target in the radar coordinate system, (l, w, h) is the length, width and height of the target, and c is the category of the target;
simultaneously, acquiring image data of a target in scene information, identifying vehicles, pedestrians and non-motor vehicles at an intersection by using a YoLo V4 deep learning model, and extracting target center information and anchor frame information as follows: (x, y, l, w, c);
and mapping target information in a radar coordinate system onto an image according to the laser radar and the high-definition camera external calibration matrix, performing target-level fusion according to the intersection and comparison of the actual target and the anchor frame of the laser radar target, and outputting the position and category information of the target.
S3, extracting the target information of the corresponding regional lane level according to the road information of the high-precision map and the fused target information, and counting the traffic demands of different courses at the intersection, wherein the method specifically comprises the following steps:
loading a high-precision map of the intersection area, and acquiring target information after target-level fusion;
according to the high-precision map information of the intersection, mapping the fused target information to the current intersection area, extracting the target information of all lanes and counting as follows: (no, t, count)left，countforward，countrightt，countcross) This information is published by the ROS node.
Wherein no represents the current road side unit number, t represents the GPS time of the radar information acquisition time, (count)left，countforward，countrightt，countcross) Respectively representing the vehicle left-turn demand count, straight-going demand count, right-turn demand count of the current intersection area, and the pedestrian and non-motor vehicle demand count of the zebra crossing area.
In some specific embodiments, the specific steps of extracting and counting target information of all lanes include:
acquiring the number of lanes in different directions, and counting the passing demands of vehicles in different lanes;
counting the passing demands of left-turn vehicles:
counting the passing demands of straight-going vehicles:
right-turn vehicle traffic demand counting:
wherein, a, b and c are the independent number of lanes for straight running, left turning and right turning at the intersection, d is the number of lanes for collinear left turning and straight running, and e is the number of lanes for collinear right turning and straight running.
S4, inputting the traffic demands of different courses of the intersection into a traffic scheduling algorithm, calculating to obtain a lighting strategy of the intersection, and feeding back and adjusting, wherein the method specifically comprises the following steps:
the traffic lights in all directions of the intersection are all lighted once to define a traffic cycle, in each traffic cycle, the course corresponding to the largest requirement is selected from a traffic requirement list as the traffic direction, the green lights corresponding to the lanes and the zebra crossing are lighted, the rest red lights are judged, whether the traffic is finished or whether the lighting time exceeds a set threshold value is judged, if yes, the most required course is selected from the rest courses in the traffic requirement list as the current lighting course, and the process is circulated until the end of one traffic cycle. When the next passing cycle starts, the lighting sequence is determined according to the real-time sensing result of the road side sensing module.
The method comprises the following steps: and acquiring the statistical result of the target information of the lane levels of the intersection with different courses, and comprehensively counting the vehicle information of the current intersection area with different course requirements and the passing requirement information of pedestrians and non-motor vehicles on the zebra crossing. Assuming that the road at the current intersection is in the east-west direction and the south-north direction, the traffic flow passing demand variables after statistics are as follows:
cl_swcounting the vehicles required for turning left in the south-to-west (north-to-east) direction;
cl_wncounting the vehicles required for turning left in the northwest (southeast) direction;
cf_ewcounting the straight-ahead needs of the vehicle in the east-west (west-east) direction;
cf_sncounting the straight-ahead demand of the vehicle in the north-south (north-south) direction;
cr_ewcounting the right turning demand of the vehicle in the east-west direction;
cr_sncounting the right turning demands of the vehicle in the north-south direction;
pf_ecounting the passing demands of people and non-motor vehicles on the zebra crossing of the east lane;
pf_wcounting the passing demands of people and non-motor vehicles on the west zebra crossing;
pf_scounting the passing demands of people and non-motor vehicles on the south zebra crossing;
pf_ncounting the traffic demands of people and non-motor vehicles on the northern zebra crossing.
Step two: inputting the parameters into a traffic scheduling algorithm, and then determining that the bidirectional straight traffic lights and the zebra crossing traffic lights on the two sides in the same direction keep consistent signals, wherein the method specifically comprises the following steps:
the traffic lights which go straight in the east-west (west-east) direction are consistent with the traffic lights which pass through the zebra crossing on the south side and the north side;
the traffic light which is directly traveled in the south-north (north-south) direction is consistent with the traffic light which is traveled by the zebra crossing in the east and west.
Step three: according to max { cl_sw,cl_wn,cf_ew+pf_s+pf_n,cf_sn+pf_e+pf_wAnd when a passing period starts, selecting the current passing direction with the largest passing requirement according to a target information statistical result, deleting the direction from the passing requirement list, forbidding in other passing directions, and simultaneously when the passing of the vehicles in the direction is finished and the consumed time is less than a preset threshold value tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled;
the implementation manner of the specific embodiment is as follows:
if the traffic demand in the north-south direction is the largest, the straight traffic in the north-south (north-south) direction (the straight green light is on, the red lights in the other directions are on) and the east-west zebra crossing traffic. If the accumulated south-north direction vehicle passing is over and the time consumption is less than tthresIf the current traffic accumulated time exceeds t, the traffic is prohibited (the traffic red light is on)thresIf the direction is straight, the vehicle is forbidden to run (the straight red light is on);
step four: in the current passing period, selecting the direction with the largest demand from the passing list as the passing direction, forbidding in other directions, and simultaneously when the passing of the vehicles in the direction is finished and the consumed time is less than a preset threshold tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled; the method comprises the following specific steps:
when the direction is disabled in step three, it is disabled in a bi-directional way according to max { c }l_sw,cl_wn,cf_ew+pf_s+pf_nAcquiring a left steering direction with the largest passing requirement in the direction, allowing the vehicle in the left steering direction to pass, and forbidding the vehicle in other directions, and when the vehicle in the direction passes and the time consumption is less than a preset threshold value tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled;
the specific embodiment is as follows:
if the traffic demand in the direction of turning south to west (turning north to east) to turn left is the largest, turning left green lights in the direction of turning south to west and turning north to east are on, and the other directions including zebra crossing red lights are on; if the accumulated traffic in the direction is over and the time consumption is less than tthresIf the current traffic accumulated time exceeds t, the traffic is prohibited (the red light is on)thresThen the direction is disabled (red light on).
According to the third step, circularly judging the vehicles, pedestrians and non-motor vehicles in the other direction of the intersection, wherein tthresA threshold is preset for the release time. The specific embodiment is as follows:
when disabled in the third direction, according to max { cl_wn,cf_ew+pf_s+pf_nAnd (4) corresponding traffic demands in the directions, if the straight traffic demand in the east-west direction (west-east direction) is large, straight traffic in the directions (straight green light, red light in the other directions) is performed, and the south-north zebra crossing is performed. If the accumulated traffic in the east-west direction is over and the time consumption is less than tthresIf the current traffic accumulated time exceeds t, the traffic is prohibited (the traffic red light is on)thresIf the direction is straight, the line is forbidden (the straight red light is on);
when the south-north direction (north-south direction), the east-west direction (west-east direction) and the south-to-west direction and the north-to-east direction are forbidden, the left turn green light in the west-to-north direction and the east-to-south direction is bright, and the other directions including the zebra crossing red light are bright; if the accumulation of the vehicle passing in the direction is over and the time consumption is less than tthresIf the current traffic accumulated time exceeds t, the traffic is prohibited (the red light is on)thresThen the direction is disabled (red light on).
Step five: and (4) iteratively executing the steps until all directions in the current passing period are passed, and starting a new passing period.
The second technical scheme adopted by the invention is as follows: referring to fig. 2, a system including a roadside awareness-based intersection traffic real-time scheduling method as described in any one of the above embodiments includes:
the road side sensing module is used for acquiring scene data information of the intersection area and fusing target information; in a specific embodiment, one road side sensing module is installed at each of the road junctions of the solid lines in the east, south, west and north directions. The mounting position of the roadside sensing module is located at the middle point from the starting position of the pre-intersection to the center of the intersection, is located at the position 1m away from the road on the right side of the road, and is 3-4 m away from the ground. The field of view covers all solid lanes at the current road pre-crossing.
The traffic scheduling module is used for acquiring traffic requirements of different courses of the intersection and outputting a traffic scheduling strategy;
the traffic light module is used for receiving the light-up strategy and the light-up time output by the traffic scheduling module and performing intersection traffic indication;
and the communication module is used for signal communication among the road side sensing module, the traffic scheduling module and the traffic light module.
In some specific embodiments, the traffic scheduling module is connected to the roadside sensing module and the traffic light module through the communication module respectively. Specifically, the roadside sensing module and the traffic scheduling module construct a local area network through the communication module, and information interaction between the roadside sensing module and the traffic scheduling module is realized through the ROS. One of the embedded computing units is selected to be the ROS master.
In some specific embodiments, the roadside sensing module comprises a high-definition camera for identifying objects such as vehicles, pedestrians and non-motor vehicles on the road by using an image object identification algorithm, a laser radar for extracting object clusters in the current field of view according to the collected point cloud data by using an object identification algorithm, and an embedded computing unit for loading a high-definition map of the intersection area.
Specifically, the roadside sensing module comprises a Tanshan gather 128 first laser radar RS-Ruby, three America AR023Z high-definition cameras and an Invida Xavier embedded computing unit, the laser radar is connected with the Xavier embedded computing unit through a network interface, and the high-definition cameras are connected with the Xavier embedded computing unit through a USB3.0 interface. The laser radar is installed in a downward inclination mode, and the inclination angle is 25.647-29.036 degrees. The three cameras are arranged right above the radar and respectively cover the left, middle and right parts of the current road.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, and all such modifications are intended to be included within the scope of the invention.
Claims (6)
1. A road side perception-based intersection traffic real-time scheduling method is characterized by comprising the following steps:
collecting corresponding scene information by using a road side unit;
identifying vehicles, pedestrians and non-motor vehicles in scene information through information fusion to perform target level fusion to obtain fused target information in the current scene, and the method specifically comprises the following steps:
collecting point cloud data of a target in scene information, segmenting, clustering, extracting characteristics and identifying the target, and extracting a target clustering target central point and anchor frame information: (x, y, l, w, h, c), wherein (x, y) is the abscissa and the ordinate of the target in the radar coordinate system, (l, w, h) is the length, width and height of the target, and c is the category of the target;
simultaneously, acquiring image data of a target in scene information, identifying vehicles, pedestrians and non-motor vehicles at the intersection by using a deep learning model, and extracting target center information and anchor frame information as follows: (x, y, l, w, c);
mapping target information in a radar coordinate system to an image, performing target-level fusion according to the intersection and comparison of anchor frames of the target information and the image, and outputting position and category information of a target;
according to the road information of the high-precision map and the fused target information, extracting the target information of corresponding regional lane levels, and counting the traffic demands of different courses of the intersection, the method specifically comprises the following steps:
loading a high-precision map of the intersection area, and acquiring target information after target-level fusion;
according to the high-precision map, mapping the fused target information to the current intersection area, and extracting the target information of all lanesAnd the statistics are as follows: (no, t, count)left，countforward，countrightt，countcross)；
Wherein no represents the current road side unit number, t represents the GPS time of the radar information acquisition time, (count)left，countforward，countrightt，countcross) Respectively representing the left turn demand count, the straight travel demand count and the right turn demand count of the vehicles in the current intersection area, and the demand counts of pedestrians and non-motor vehicles in the zebra crossing area;
and inputting the traffic demands of the intersection with different courses into a traffic scheduling algorithm, calculating to obtain a lighting strategy of the intersection, and feeding back and adjusting.
2. The method for real-time traffic crossing scheduling based on roadside perception according to claim 1, wherein the specific steps of extracting and counting the target information of all lanes comprise:
acquiring the number of lanes in different directions, and counting the passing demands of vehicles in different lanes;
counting the passing demands of left-turn vehicles:
counting the passing demands of straight-going vehicles:
right-turn vehicle traffic demand counting:
wherein, a, b and c are the independent number of lanes for straight running, left turning and right turning at the intersection, d is the number of lanes for collinear left turning and straight running, and e is the number of lanes for collinear right turning and straight running.
3. The method for real-time traffic dispatching at the intersection based on roadside awareness as claimed in claim 2, wherein the specific steps of inputting traffic demands of the intersection with different headings into a traffic dispatching algorithm, calculating a lighting strategy of the intersection, and performing feedback regulation comprise:
the method comprises the following steps: acquiring the statistical results of the target information of lane levels of different courses of the intersection;
step two: firstly, determining that signals of bidirectional straight traffic lights are consistent with signals of zebra crossing traffic lights on two sides in the same direction;
step three: when a passing period begins, selecting the direction with the largest passing demand as the current passing direction according to the target information statistical result, deleting the direction from the passing demand list, forbidding the passing in other passing directions, and simultaneously when the passing of the vehicles in the direction is finished and the consumed time is less than a preset threshold value tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled;
step four: in the current passing period, selecting the direction with the largest demand from the passing list as the passing direction, forbidding in other directions, and simultaneously when the passing of the vehicles in the direction is finished and the consumed time is less than a preset threshold value tthresOr when the vehicle passing time exceeds the preset threshold tthresIf so, the direction is disabled;
step five: the iteration is carried out until all the directions in the current passing period are passed, and a new passing period starts tthresA threshold is preset for the release time.
4. A system comprising a road side perception-based intersection traffic real-time scheduling method according to any one of claims 1 to 3, comprising:
the roadside sensing module is used for acquiring scene data information of the intersection area and fusing target information;
the traffic scheduling module is used for acquiring traffic requirements of different courses of the intersection and outputting a traffic scheduling strategy;
the traffic light module is used for receiving the light-up strategy and the light-up time output by the traffic scheduling module and performing intersection traffic indication;
and the communication module is used for signal communication among the road side sensing module, the traffic scheduling module and the traffic light module.
5. The system of claim 4, wherein the traffic scheduling module is respectively connected to the roadside sensing module and the traffic light module through communication modules.
6. The system of claim 5, wherein the roadside awareness module comprises a high-definition camera, a laser radar and an embedded computing unit.
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| CN114550447A (en) * | 2022-02-09 | 2022-05-27 | 重庆长安汽车股份有限公司 | System and method for obtaining intersection information to realize real-time traffic light scheduling |
| CN114639253B (en) * | 2022-02-28 | 2023-12-19 | 阿波罗智联(北京)科技有限公司 | Traffic signal control method, edge computing device, storage medium and product |
| CN117475389B (en) * | 2023-12-27 | 2024-03-15 | 山东海润数聚科技有限公司 | Pedestrian crossing signal lamp control method, system, equipment and storage medium |
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