CN113874923B

CN113874923B - Traffic signal lamp control method, device, computer equipment and storage medium

Info

Publication number: CN113874923B
Application number: CN202080003158.8A
Authority: CN
Inventors: 不公告发明人
Original assignee: DeepRoute AI Ltd
Current assignee: DeepRoute AI Ltd
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2022-09-16
Anticipated expiration: 2040-01-21
Also published as: CN113874923A; WO2021146918A1

Abstract

A traffic signal light control method, apparatus, computer device and storage medium, the method comprising: acquiring a high-precision map, and building a simulation scene according to the high-precision map, wherein the high-precision map comprises lanes, stop lines and traffic signal lamps; the lane, the stop line and the traffic signal lamp have an association relation, and the stop line carries position information (S202); acquiring position information of a vehicle in the running process of the vehicle in the simulation scene (S204); determining a driving lane of the vehicle according to the position information of the vehicle, and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship (S206); calculating the distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line (S208); the state of the target traffic signal is adjusted according to the distance between the vehicle and the target stop line (S210).

Description

Traffic signal lamp control method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of automatic driving simulation technologies, and in particular, to a traffic signal lamp control method, apparatus, computer device, and storage medium.

Background

The automatic driving simulation technology is a technology for simulating various situations possibly encountered in actual driving through a computer, can accurately simulate real street scenes, and provides a reliable and cheap simulation test platform for an automatic driving system.

In the conventional automatic driving simulation technology, a fixed change period is usually set for a simulated traffic signal lamp, so that the traffic signal lamp realizes the periodic change of signal lamps with different colors according to a preset time interval, namely, the state of the conventional traffic signal lamp is only related to time. When the traffic signal lamp is in a passable state, even if no vehicle runs at the intersection, the traffic signal lamp cannot adjust the state, so that the traffic signal lamp in the conflict direction is in a no-passing state, the intersection in the conflict direction is blocked, lane resources are not reasonably distributed, and resource waste is caused.

Disclosure of Invention

The embodiment of the application provides a traffic signal lamp control method, a traffic signal lamp control device, computer equipment and a storage medium, and the technical scheme is as follows:

a traffic signal control method, comprising:

acquiring a high-precision map, and constructing a simulation scene according to the high-precision map, wherein the high-precision map comprises lanes, stop lines and traffic signal lamps; the lane, the stop line and the traffic signal lamp are in an incidence relation, and the stop line carries position information;

acquiring the position information of the vehicle in the driving process of the vehicle in the simulation scene;

determining a driving lane of the vehicle according to the position information of the vehicle, and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship;

calculating to obtain the distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line;

and adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

A traffic signal control apparatus comprising:

the simulation scene building module is used for obtaining a high-precision map and building a simulation scene according to the high-precision map, wherein the high-precision map comprises a lane, a stop line and a traffic signal lamp; the lane, the stop line and the traffic signal lamp are in an incidence relation, and the stop line carries position information;

the position information acquisition module is used for acquiring the position information of the vehicle in the driving process of the vehicle in the simulation scene;

the relation determining module is used for determining a driving lane of the vehicle according to the position information of the vehicle and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the incidence relation;

the distance calculation module is used for calculating the distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line;

and the traffic signal lamp state conversion module is used for adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

A computer device comprising a memory in which a computer program is stored and a processor, which when executing the computer program performs the steps in the above-described method embodiments.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

According to the traffic signal lamp control method, the traffic signal lamp control device, the computer equipment and the storage medium, the high-precision map is obtained, and the simulation scene is built according to the high-precision map, wherein the high-precision map comprises the lane, the stop line and the traffic signal lamp; the lane, the stop line and the traffic signal lamp are in an association relationship, and the stop line carries position information; acquiring position information of a vehicle in a driving process of the vehicle in a simulation scene; determining a driving lane of the vehicle according to the position information of the vehicle, and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship; calculating the distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line; and adjusting the state of the corresponding traffic signal lamp according to the distance between the vehicle and the target stop line, so that the reasonability of lane allocation is improved, and the resource waste is reduced.

Drawings

FIG. 1 is a schematic diagram of an application environment of a traffic light control method in one embodiment;

FIG. 2 is a schematic flow chart diagram illustrating a traffic light control method according to one embodiment;

FIG. 3 is a comparison of a distance between a vehicle and a target stop line in one embodiment;

FIG. 4 is a diagram illustrating a method for calculating a travel distance of a vehicle within a target travel zone according to an embodiment;

FIG. 5 is a schematic flow chart illustrating a traffic light control method according to another embodiment;

FIG. 6 is a block diagram showing the construction of a traffic signal control apparatus according to an embodiment;

FIG. 7 is a diagram showing an internal configuration of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The traffic signal lamp control method provided by the application can be applied to the application environment shown in fig. 1. Wherein the server 110 and the simulator terminal 120 communicate through a network. The simulation scenario of the simulator terminal includes a lane 122, a stop line 124, a traffic light 126, and a vehicle 128. The server 110 stores therein a high-precision map including a lane 122, a stop line 124, and a traffic light 126. The lane 122, the stop line 124 and the traffic light 126 are in an association relationship, and the stop line 124 carries position information. The simulator terminal 120 acquires the high-precision map and builds a simulation scene according to the high-precision map. During the driving process of the vehicle 128 in the simulation scene, the simulator terminal 120 acquires the position information of the vehicle 128, determines the driving lane 122 of the vehicle 128 according to the position information of the vehicle 128, and determines the target stop line 124 and the target traffic light 126 corresponding to the driving lane 122 of the vehicle 128 according to the association relationship among the lane 122, the stop line 124 and the traffic light 126. The simulator terminal 120 calculates the distance between the vehicle 128 and the target stop line 124 based on the position information of the vehicle 128 and the position information of the target stop line 124. The simulator terminal 120 adjusts the state of the target traffic light 126 according to the distance between the vehicle 128 and the target stop line 124. The server 110 may be a single server or a server cluster, and the simulator terminal 120 may be a smart phone, a tablet computer, a wearable device, a personal digital assistant, or the like.

In one embodiment, as shown in fig. 2, a traffic signal lamp control method is provided, which is described by taking the method as an example applied to the simulator terminal in fig. 1, and includes the following steps:

step 202, acquiring a high-precision map, and building a simulation scene according to the high-precision map, wherein the high-precision map comprises lanes, stop lines and traffic lights, the lanes, the stop lines and the traffic lights have an association relationship, and the stop lines carry position information.

The high-precision map is a high-precision and fine defined map, and the precision of the high-precision map is accurate to centimeter level. Compared with the traditional map with meter-level precision, the high-precision map can distinguish each lane; and contains various traffic elements in the traffic scene, such as lanes, stop lines, and traffic lights. The traffic signal lamp is a signal lamp for commanding traffic operation and generally consists of a red lamp, a green lamp and a yellow lamp. The red light indicates no passage, the green light indicates passable, and the yellow light indicates warning.

Specifically, the vehicle-mounted sensor of the unmanned vehicle can acquire data of a real road to obtain high-precision map data including lane data, stop line data and traffic signal lamp data. And the unmanned vehicle sends the high-precision map data to the server, and a high-precision map file is generated on the server.

Further, the simulator terminal acquires the high-precision map file, establishes the incidence relation among the lanes, the stop lines and the traffic lights, namely marks the stop line on each lane and marks the traffic light to be observed for each stop line. And the simulator terminal builds a simulation scene according to the high-precision map after the incidence relation is established.

In other embodiments, the server may establish an association relationship among the lanes, the stop lines and the traffic lights after obtaining the high-precision map data, and generate the high-precision map file after establishing the association relationship. And the simulator terminal directly acquires the high-precision map file after the incidence relation is established, and builds a simulation scene according to the high-precision map after the incidence relation is established.

And step 204, acquiring the position information of the vehicle in the running process of the vehicle in the simulation scene.

And the simulation scene is built by the simulator terminal according to the high-precision map after the incidence relation is established. The simulation scene comprises lanes, stop lines and traffic lights, and the lanes, the stop lines and the traffic lights are in an incidence relation.

Specifically, in the simulation scene, the simulator terminal obtains the position information of the vehicle during the driving process of the vehicle. The position information of the vehicle includes information such as position coordinates and direction of the vehicle.

And step 206, determining a driving lane of the vehicle according to the position information of the vehicle, and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship.

Wherein the driving lane is a lane in which the vehicle is currently driving.

Specifically, after obtaining the position information of the vehicle, the simulator terminal may determine the lane in which the vehicle is currently traveling, i.e., the traveling lane, according to the position information of the vehicle. According to the incidence relation among the lanes, the stop lines and the traffic signal lamps, the simulator terminal can determine the target stop lines and the target traffic signal lamps corresponding to the driving lanes. The target stop line is a stop line on a driving lane, and the target traffic signal lamp is a traffic signal lamp to which the target stop line needs to comply. That is, when the vehicle travels near the target stop line in the traveling lane, it is necessary to adjust the traveling state of the vehicle according to the state of the target traffic signal. For example, when the vehicle travels to the vicinity of the target stop line and the state of the target traffic signal is the no-passage state (red light), the vehicle must stop traveling until the state of the target traffic signal is the passable state (green light).

And step 208, calculating the distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line.

Wherein the position information of the target stop line includes position coordinates and a direction of the target stop line.

Specifically, the position information of each stop line and the lane driving direction of each lane are stored in the high-precision map, so that after the simulator terminal acquires the position information of the vehicle, the distance between the vehicle and the target stop line can be calculated according to the position information of the vehicle and the position information of the target stop line on the basis of the lane driving direction of the driving lane.

And step 210, adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

The states of the target traffic signal lamp include a passable state (green light) and a no-passage state (red light), among others.

Specifically, the simulator terminal may demarcate a parking line monitoring field in the vicinity of each parking line. After the distance between the vehicle and the target stop line is calculated, the simulator terminal can judge whether the vehicle is in the monitoring area of the target stop line according to the distance between the vehicle and the target stop line, so as to adjust the state of the target traffic signal lamp. For example, when the vehicle is in the monitoring area of the target stop line, the state of the target traffic signal lamp is adjusted to a passable state so as to ensure that the vehicle passes smoothly; when the vehicle is not in the monitoring area of the target stop line, the state of the target traffic signal lamp is adjusted to the no-pass state, so that lane resources are prevented from being occupied, and resource waste is prevented.

In one embodiment, the target traffic signal may be an inductive traffic signal. The induction type signal lamp can judge whether the vehicle is in a monitoring area of the target stop line according to the distance between the vehicle and the target stop line, so that the state of the induction type signal lamp is adjusted.

In one embodiment, the status of the target traffic light may also include a warning status (yellow light).

According to the traffic signal lamp control method, a high-precision map is obtained, and a simulation scene is built according to the high-precision map, wherein the high-precision map comprises lanes, stop lines and traffic signal lamps; the lane, the stop line and the traffic signal lamp are in an association relationship, and the stop line carries position information; acquiring position information of a vehicle in a driving process of the vehicle in a simulation scene; determining a driving lane of the vehicle according to the position information of the vehicle, and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship; calculating the distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line; and adjusting the state of the corresponding traffic signal lamp according to the distance between the vehicle and the target stop line, improving the reasonability of lane allocation and reducing resource waste.

In one embodiment, the driving lane includes a lane driving direction and a lane center line, and step 208 includes: according to the road type of the driving lane, carrying out region division on the driving lane to obtain a plurality of driving sections, wherein each driving section comprises a section boundary line; taking the intersection point of the lane center line and each interval boundary line as an interval boundary point to obtain an interval boundary point set, taking any one interval boundary point in the interval boundary point set as a reference point, wherein the interval boundary point carries position information; calculating the distance from the vehicle to the reference point according to the position information of the vehicle and the position information of the reference point on the basis of the driving direction of the lane; calculating the distance from the target stop line to the reference point according to the position information of the target stop line and the position information of the reference point on the basis of the driving direction of the lane; and calculating the difference between the distance from the vehicle to the reference point and the distance from the target stop line to the reference point to obtain the distance from the vehicle to the target stop line.

Wherein the road types of the driving lanes comprise a straight lane and a curved lane. As shown in fig. 3, when the driving lane is a curved lane, the distance between the vehicle and the target stop line calculated directly from the position coordinates of the vehicle and the position coordinates of the target stop line is inaccurate. Therefore, the simulator terminal needs to perform area division on the driving lane to obtain a plurality of driving sections, and the distance between the vehicle and the target stop line can be calculated more accurately by using the driving sections.

Specifically, the simulator terminal may perform region division on the driving lane according to a road type of the driving lane to obtain a plurality of driving sections, each driving section including a section boundary line. The simulator terminal takes the intersection point of the lane end point of the driving lane and each interval boundary line as an interval boundary point to obtain an interval boundary point set. The simulator terminal may use any one section boundary point in the section boundary point set as a reference point when calculating the distance between the vehicle and the target stop line. The section boundary points carry position information, including position coordinates of the section boundary points and distances from the section boundary points to the start positions of the lanes.

Further, based on the lane driving direction, the simulator terminal may calculate a distance from the vehicle to the reference point according to the position information of the vehicle and the position information of the reference point, and calculate a distance from the target stop line to the reference point according to the position information of the target stop line and the position information of the reference point. And then, the simulator terminal calculates the difference between the distance from the vehicle to the reference point and the distance from the target stop line to the reference point to obtain the distance from the vehicle to the target stop line.

In one embodiment, the driving lane includes a lane start position, the position information carried by the section boundary points includes position coordinates of the section boundary points and distances from the section boundary points to the lane start position, the position information of the vehicle includes position coordinates of the vehicle, and the distance from the vehicle to the reference point is calculated according to the position information of the vehicle and the position information of the reference point based on a driving direction of the lane, and the method includes: determining a target running interval of the vehicle according to the position coordinates of the vehicle, and determining a target interval boundary point of the vehicle according to the target running interval of the vehicle; calculating the running distance of the vehicle in the target running zone of the vehicle according to the position coordinates of the vehicle and the position coordinates of the boundary point of the target zone of the vehicle; calculating the distance from the vehicle to the initial position of the lane according to the driving distance of the vehicle in the target driving interval of the vehicle and the distance from the boundary point of the target interval of the vehicle to the initial position of the lane; and calculating the difference between the distance from the vehicle to the starting position of the lane and the distance from the reference point to the starting position of the lane to obtain the distance from the vehicle to the reference point.

One driving interval comprises two interval boundary points, and the driving interval can be divided into an interval lower boundary point and an interval upper boundary point according to the driving direction of a lane. The lane starting position is located at the starting position of the driving lane, and based on the driving direction of the lane, the lane starting position is a lower section boundary point of the first driving section.

Specifically, the simulator terminal may determine a section boundary point closest to the vehicle from the position coordinates of the vehicle. And a certain section boundary point connects two adjacent driving sections, and may be an upper section boundary point of a previous section or a lower section boundary point of a next section. Therefore, the simulator terminal can obtain a vehicle position line segment according to the position coordinate of the vehicle and the position coordinate of the interval boundary point closest to the vehicle, then respectively connect the upper and lower interval boundary points of two adjacent driving intervals to obtain two lane centerline line segments, calculate the projection of the vehicle position line segment on the two lane centerline line segments, and determine the target driving interval of the vehicle according to the positive and negative values of the projection, thereby obtaining the vehicle target interval boundary point.

For example, as shown in fig. 4, point m is a position where the vehicle is located, point c is a section boundary point closest to point m, and point c may be an upper section boundary point of the traveling section (b, c) or a lower section boundary point of the traveling section (c, d). Therefore, connecting point m and point c, a vehicle position vector is obtained

Respectively connecting the point b with the point c, and connecting the point c with the point d to obtain a lane centerline vector

Sum vector

Respectively calculate

Can obtain the value of

The value of (a) is positive,

the value of (b) is negative, and therefore, it can be determined that the target travel section of the vehicle corresponding to the point m is the travel section (b, c), the target section lower boundary point is b, and the target section upper boundary point is c.

In one embodiment, based on the lane driving direction, the simulator terminal may calculate a driving distance of the vehicle within the target driving section of the vehicle from the position coordinates of the vehicle and the position coordinates of the lower boundary point of the target section of the vehicle. The simulator terminal adds the driving distance of the vehicle in the target driving section of the vehicle and the distance from the lower boundary point of the target section of the vehicle to the starting position of the lane, so that the distance from the vehicle to the starting position of the lane is calculated.

In one embodiment, based on the lane traveling direction, the simulator terminal may calculate a difference between a section length of the target traveling section and a traveling distance of the vehicle within the target traveling section of the vehicle, based on the position coordinates of the vehicle and the position coordinates of the boundary point on the target section of the vehicle. The simulator terminal may subtract the difference from the distance between the boundary point on the target section of the vehicle and the start position of the lane, thereby calculating the distance between the vehicle and the start position of the lane.

Further, the simulator terminal obtains the distance of the vehicle from the reference point by calculating a difference between the distance of the vehicle from the start position of the lane and the distance of the reference point from the start position of the lane.

In one embodiment, the lane start position may be used as a reference point.

In one embodiment, calculating a travel distance of the vehicle within the target travel zone of the vehicle based on the position coordinates of the vehicle and the position coordinates of the target zone boundary point of the vehicle includes: projecting the position coordinates of the vehicle to a lane central line, and calculating to obtain the position coordinates of a projection point of the vehicle; and calculating the running distance of the vehicle in the target running section of the vehicle according to the position coordinates of the projection point of the vehicle and the position coordinates of the boundary point of the target section of the vehicle.

Specifically, the simulator terminal connects an upper boundary point and a lower boundary point of a target interval of the vehicle to obtain a lane center line segment corresponding to the target driving interval. The simulator terminal projects the position coordinates of the vehicle onto the lane center line segment corresponding to the target driving section, and the position coordinates of the projected point of the vehicle can be obtained through calculation. Based on the lane driving direction, the simulator terminal subtracts the position coordinates of the lower boundary point of the target section of the vehicle from the position coordinates of the projected point of the vehicle, thereby calculating the driving distance of the vehicle in the target driving section of the vehicle.

In one embodiment, based on the lane traveling direction, the simulator terminal subtracts the position coordinates of the projected point of the vehicle from the position coordinates of the boundary point on the target section of the vehicle, thereby calculating a difference between the section length of the target traveling section and the traveling distance of the vehicle within the target traveling section of the vehicle.

In one embodiment, the target stop line includes a target stop line midpoint, the position information of the target stop line includes position coordinates of the target stop line midpoint, and the distance from the target stop line to the reference point is calculated based on the lane driving direction according to the position information of the target stop line and the position information of the reference point, including: determining a target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line, and determining a target interval boundary point of the midpoint of the target stop line according to the target driving interval of the midpoint of the target stop line; calculating to obtain the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line and the position coordinates of the boundary point of the target interval of the midpoint of the target stop line; calculating to obtain the distance from the midpoint of the target stop line to the initial position of the lane according to the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the target stop line and the distance from the boundary point of the target interval of the midpoint of the target stop line to the initial position of the lane; and calculating the difference between the distance from the midpoint of the target stop line to the starting position of the lane and the distance from the reference point to the starting position of the lane to obtain the distance from the target stop line to the reference point.

And the middle point of the target stop line is positioned on the target stop line and is the central point of the target stop line.

Specifically, the simulator terminal may calculate the distance from the target stop line to the reference point according to the position coordinate of the midpoint of the target stop line and the position coordinate of the reference point, and the calculation method is the same as the calculation method of the distance from the vehicle to the reference point, which is not described herein again.

In one embodiment, calculating the travel distance of the midpoint of the target stop line in the target travel zone of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line and the position coordinates of the boundary point of the target zone of the midpoint of the target stop line comprises: projecting the position coordinates of the middle point of the target stop line onto the middle line of the lane, and calculating to obtain the position coordinates of the projection point of the middle point of the target stop line; and calculating the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the stop line according to the position coordinates of the projection point of the midpoint of the target stop line and the position coordinates of the boundary point of the target interval of the midpoint of the target stop line.

Specifically, the simulator terminal may calculate the travel distance of the midpoint of the target stop line in the target travel zone of the midpoint of the target stop line according to the position coordinate of the midpoint of the target stop line and the position coordinate of the boundary point of the target zone of the midpoint of the target stop line, and the calculation method is the same as the calculation method of the travel distance of the vehicle in the target travel zone of the vehicle, which is not repeated herein.

In the embodiment, the distance between the vehicle and the target stop line is calculated by respectively calculating the distance between the vehicle and the reference point and the distance between the target stop line and the reference point, so that the error caused by directly calculating the distance between the vehicle and the target stop line by using the position coordinates of the vehicle and the target stop line in a curved lane is avoided, and the accuracy of calculating the distance between the vehicle and the target stop line is improved.

In one embodiment, step 210 includes: when the distance between the vehicle and the target stop line is smaller than a preset distance threshold value, the state of the target traffic signal lamp is adjusted to be a passable state; and when the distance between the vehicle and the target stop line is greater than a preset distance threshold value, adjusting the state of the target traffic signal lamp to be in a no-pass state.

The preset distance threshold is used for defining a monitoring domain of the stop line.

Specifically, when the distance between the vehicle and the target stop line is smaller than a preset distance threshold, it indicates that the vehicle is located in the monitoring area of the target stop line, and at this time, the simulator terminal may adjust the state of the target traffic signal lamp to a passable state. When the distance between the vehicle and the target stop line is larger than a preset distance threshold value, the fact that the vehicle is located outside a monitoring domain of the target stop line and does not need to pass through a traffic intersection controlled by a target traffic signal lamp is indicated, and in order to avoid resource waste, the simulator terminal can adjust the state of the target traffic signal lamp to a no-pass state.

In one embodiment, the target traffic light may be an inductive traffic light that may sense the presence of vehicles within the monitored area of the target stop line. When vehicles exist in the monitoring area of the target stop line, the induction type traffic signal lamp can adjust the state of the induction type traffic signal lamp to be a passable state; when no vehicle exists in the monitoring area of the target stop line, the induction type traffic signal lamp can adjust the state of the induction type traffic signal lamp to be a no-passing state.

In one embodiment, when the distance between the vehicle and the target stop line is greater than a preset distance threshold, adjusting the state of the target traffic signal lamp to a no-pass state includes: when the distance between the vehicle and the target stop line is larger than a preset distance threshold value, the state of the target traffic signal lamp is adjusted to be a warning state; after a certain time interval, the alarm state is changed to a no-pass state.

Specifically, after the vehicle passes through the traffic intersection controlled by the target traffic signal lamp, no vehicle is located in the monitoring area of the target stop line for a certain time interval, and then the state of the traffic signal lamp can be changed from the passable state to the warning state. And after a certain time interval, if no vehicle still exists in the monitoring area of the target stop line, changing the state of the target traffic signal lamp from the warning state to the no-pass state.

In the embodiment, when the vehicle is located in the monitoring domain of the target stop line, the state of the target traffic signal lamp is adjusted to be in a passable state, when no vehicle exists in the monitoring domain of the target stop line, the state of the target traffic signal lamp is adjusted to be in a warning state, and after a certain time interval, the state of the target traffic signal lamp is changed to be in a non-passable state, so that the reasonability of lane assignment is ensured, and the condition that the traffic jam is caused by the fact that a plurality of vehicles exist in the monitoring domain of the target stop line and the state of the target traffic signal lamp is in a communication-forbidden state is avoided.

In one embodiment, the method further comprises: and acquiring the traffic condition of each lane in the simulation scene, and determining the priority level of each traffic signal lamp according to the traffic condition of each lane. Step 210 comprises: acquiring the priority level of a traffic signal lamp conflicting with the direction of a target traffic signal lamp; when the priority level of the traffic signal lamp with the direction conflict is higher than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp according to the state of the traffic signal lamp with the direction conflict; and when the priority level of the traffic signal lamp with the conflicting direction is lower than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

The traffic light conflicting with the target traffic light direction refers to a traffic light on a lane conflicting with a driving lane direction, for example, at a crossroad, vehicles on lanes in a lateral direction and a straight direction cannot simultaneously drive, otherwise a collision event may occur.

Specifically, in order to further rationalize lane traffic distribution, the simulator terminal acquires traffic conditions of all lanes in the simulation scene, and determines the priority level of each traffic signal lamp according to the traffic conditions of all the lanes. For example, the lane in the transverse direction may lead to school, and the lane in the straight direction may lead to mall, and then the traffic lights of the lane in the transverse direction may be set as the first priority in the time period of going up and down, and the traffic lights of the lane in the straight direction may be set as the first priority in the other time periods.

Further, the simulator terminal may acquire a priority level of a traffic signal light having a direction conflict with a target traffic signal light, and may directly adjust a state of the target traffic signal light according to a distance between the vehicle and the target stop line when the priority level of the traffic signal light having the direction conflict is lower than the target traffic signal light.

In one embodiment, when the priority level of the traffic signal light with the direction conflict is higher than that of the target traffic signal light, adjusting the state of the target traffic signal light according to the state of the traffic signal light with the direction conflict comprises: acquiring the states of traffic lights with conflicting directions; when the traffic signal lamp with the conflicting direction is in a passable state or a warning state, adjusting the state of the target traffic signal lamp to a no-passage state; and when the state of the traffic light with the conflicting direction is the no-passing state, adjusting the state of the target traffic light to be the passable state.

Specifically, when the priority level of the traffic signal light having the direction conflict is higher than that of the target traffic signal light, the simulator terminal needs to check the state of the traffic signal light having the direction conflict before adjusting the state of the target traffic signal light according to the distance between the vehicle and the target stop line. The simulator terminal obtains the state of the traffic signal lamp with the direction conflict, when the state of the traffic signal lamp with the direction conflict is a passable state or a warning state, the state of the target traffic signal lamp is adjusted to a no-passage state even if the distance between the vehicle and the target stop line is smaller than a distance threshold value, accidents are avoided, and the state of the target traffic signal lamp can be adjusted to the passable state until the state of the traffic signal lamp with the direction conflict is the no-passage state.

In one embodiment, the target traffic light may be an inductive traffic light, and the inductive traffic light may check the status of the traffic light with the conflicting directions and adjust the status thereof according to the status of the traffic light with the conflicting directions.

In the embodiment, the priority level of the traffic signal lamp of each lane is determined according to the traffic condition of the lane, when a vehicle exists in the monitoring domain of the target stop line, the priority level and the state of the traffic signal lamp with the conflicting direction need to be checked first, when the priority level of the traffic signal lamp with the conflicting direction is higher than that of the target traffic signal lamp, the state of the target traffic signal lamp can be adjusted to be a passable state when the state of the traffic signal lamp with the conflicting direction is a no-passage state, traffic accidents are avoided, the safety of lane traffic is improved, and the priority level of the traffic signal lamp of each lane is determined according to the traffic condition of the lane, so that the reasonability of lane resource allocation is further ensured.

In one embodiment, as shown in fig. 5, another traffic signal control method is provided, which is described by taking the example that the method is applied to the simulator terminal in fig. 1, and comprises the following steps:

502, acquiring a high-precision map, and building a simulation scene according to the high-precision map, wherein the high-precision map comprises lanes, a stop line and traffic lights, the lanes, the stop line and the traffic lights are in an incidence relation, and the stop line carries position information;

step 504, acquiring position information of the vehicle in the running process of the vehicle in the simulation scene;

step 506, determining a driving lane of the vehicle according to the position information of the vehicle, and determining a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship;

step 508, according to the road type of the driving lane, carrying out region division on the driving lane to obtain a plurality of driving intervals, wherein each driving interval comprises an interval boundary line; taking the intersection point of the lane central line and each interval boundary line as an interval boundary point, wherein the interval boundary point carries position information, and the position information of the interval boundary point comprises the position coordinate of the interval boundary point and the distance from the interval boundary point to the initial position of the lane;

step 510, determining a target interval boundary point of the vehicle and a target driving interval of the vehicle according to the position coordinates of the vehicle;

step 512, projecting a connecting line between the vehicle and a target interval boundary point of the vehicle onto a target driving interval of the vehicle, and calculating to obtain a driving distance of the vehicle in the target driving interval of the vehicle according to the position coordinate of the vehicle and the position coordinate of the target interval boundary point of the vehicle;

step 514, adding the driving distance of the vehicle in the target driving interval of the vehicle and the distance from the lower boundary point of the target interval of the vehicle to the starting position of the lane to obtain the distance from the vehicle to the starting position of the lane;

step 516, acquiring the middle point of the target stop line, and determining a target interval boundary point of the middle point of the target stop line and a target driving interval of the middle point of the target stop line according to the position coordinates of the middle point of the target stop line;

step 518, projecting a connecting line of the midpoint of the target stop line and a target interval boundary point of the midpoint of the target stop line onto a target driving interval of the midpoint of the target stop line, and calculating to obtain a driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line and the position coordinates of the target interval boundary point of the midpoint of the target stop line;

step 520, adding the driving distance of the middle point of the target stop line in the target driving interval of the middle point of the target stop line and the distance from the lower boundary point of the target interval of the middle point of the target stop line to the starting position of the lane to obtain the distance from the target stop line to the starting position of the lane;

step 522, calculating the difference between the distance from the vehicle to the starting position of the lane and the distance from the target stop line to the starting position of the lane to obtain the distance from the vehicle to the target stop line;

step 524, acquiring the traffic condition of each lane in the simulation scene, and determining the priority level of each traffic signal lamp according to the traffic condition of each lane;

step 526, when the distance between the vehicle and the target stop line is greater than a preset distance threshold, adjusting the state of the target traffic signal lamp to be in a warning state; after a certain time interval, the warning state is changed into a no-pass state;

step 528, when the distance between the vehicle and the target stop line is smaller than a preset distance threshold, acquiring the priority level of the traffic signal lamp conflicting with the direction of the target traffic signal lamp;

step 530, when the priority level of the traffic signal lamp with the conflicting direction is lower than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp to be in a passable state;

step 532, when the priority level of the traffic signal lamp with the direction conflict is higher than that of the target traffic signal lamp, acquiring the state of the traffic signal lamp with the direction conflict;

step 534, when the traffic light with the conflicting direction is in a passable state or a warning state, adjusting the state of the target traffic light to a no-passage state;

in step 536, when the traffic light of the direction conflict is in the no-pass state, the state of the target traffic light is adjusted to be in the passable state.

In the embodiment, the distance between the lane and the target stop line is obtained by respectively calculating the distance between the vehicle and the initial position of the lane and the distance between the target stop line and the initial position of the lane, so that the error caused by directly calculating the distance according to the position coordinates of the vehicle and the target stop line in a bent lane is avoided, the accuracy of calculating the distance between the lane and the target stop line is improved, and the state of the target traffic signal lamp is adjusted according to the distance between the lane and the target stop line; the priority of the traffic signal lamps of each lane is determined according to the traffic condition of each lane, when the distance between the vehicle and the target stop line is smaller than a distance threshold value (the vehicle is positioned in a monitoring domain of the target stop line), the priority level and the state of the traffic signal lamps with conflicting directions are checked first, when the priority level of the traffic signal lamps with conflicting directions is higher than that of the target traffic signal lamps, the state of the target traffic signal lamps can be adjusted to be a passable state when the state of the traffic signal lamps with conflicting directions is a no-passage state, traffic accidents are avoided, the safety of lane traffic is improved, and the priority level of the traffic signal lamps of each lane is determined according to the traffic condition of the lane, so that the reasonability of lane resource allocation is ensured.

It should be understood that, although the steps in the flowcharts of fig. 2 and 5 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 5 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 6, there is provided a traffic signal control apparatus 600 including: the system comprises a simulation scene building module 602, a position information acquisition module 604, a relation determination module 606, a distance calculation module 608 and a traffic signal lamp state conversion module 610. Wherein:

the simulation scene building module 602 is configured to obtain a high-precision map, and build a simulation scene according to the high-precision map, where the high-precision map includes a lane, a stop line, and a traffic signal lamp; the lane, the stop line and the traffic signal lamp are in an incidence relation, and the stop line carries position information;

a position information obtaining module 604, configured to obtain position information of a vehicle in the simulation scene during a driving process of the vehicle;

a relationship determination module 606, configured to determine a driving lane of the vehicle according to the position information of the vehicle, and determine a target stop line and a target traffic signal lamp corresponding to the driving lane of the vehicle according to the association relationship;

a distance calculating module 608, configured to calculate a distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line;

and the traffic signal lamp state conversion module 610 is configured to adjust the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

In one embodiment, the distance calculation module 608 is further configured to perform region division on the driving lane according to a road type of the driving lane, so as to obtain a plurality of driving zones, where each driving zone includes a zone boundary line; taking the intersection point of the lane center line and each interval boundary line as an interval boundary point to obtain an interval boundary point set, taking any one interval boundary point in the interval boundary point set as a reference point, wherein the interval boundary point carries position information; calculating the distance from the vehicle to the reference point according to the position information of the vehicle and the position information of the reference point based on the driving direction of the lane; calculating the distance from the target stop line to the reference point according to the position information of the target stop line and the position information of the reference point on the basis of the driving direction of the lane; and calculating the difference between the distance from the vehicle to the reference point and the distance from the target stop line to the reference point to obtain the distance between the vehicle and the target stop line.

In one embodiment, the distance calculation module 608 is further configured to determine a target driving interval of the vehicle according to the position coordinates of the vehicle, and determine a target interval boundary point of the vehicle according to the target driving interval of the vehicle; calculating the running distance of the vehicle in the target running zone of the vehicle according to the position coordinates of the vehicle and the position coordinates of the boundary point of the target zone of the vehicle; calculating the distance from the vehicle to the initial position of the lane according to the driving distance of the vehicle in the target driving interval of the vehicle and the distance from the boundary point of the target interval of the vehicle to the initial position of the lane; and calculating the difference between the distance from the vehicle to the starting position of the lane and the distance from the reference point to the starting position of the lane to obtain the distance from the vehicle to the reference point.

In one embodiment, the distance calculation module 608 is further configured to project the position coordinates of the vehicle onto a lane central line, and calculate the position coordinates of the projected point of the vehicle; and calculating the running distance of the vehicle in the target running section of the vehicle according to the position coordinates of the projection point of the vehicle and the position coordinates of the boundary point of the target section of the vehicle.

In one embodiment, the distance calculation module 608 is further configured to determine a target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line, and determine a target interval boundary point of the midpoint of the target stop line according to the target driving interval of the midpoint of the target stop line; calculating to obtain the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line and the position coordinates of the boundary point of the target interval of the midpoint of the target stop line; calculating to obtain the distance from the midpoint of the target stop line to the initial position of the lane according to the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the target stop line and the distance from the boundary point of the target interval of the midpoint of the target stop line to the initial position of the lane; and calculating the difference between the distance from the midpoint of the target stop line to the starting position of the lane and the distance from the reference point to the starting position of the lane to obtain the distance from the target stop line to the reference point.

In one embodiment, the distance calculating module 608 is further configured to project the position coordinates of the midpoint of the target stop line onto the lane center line, and calculate the position coordinates of the projected point of the midpoint of the target stop line; and calculating the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the stop line according to the position coordinates of the projection point of the midpoint of the target stop line and the position coordinates of the boundary point of the target interval of the midpoint of the target stop line.

In one embodiment, the traffic signal light state conversion module 610 is further configured to adjust the state of the target traffic signal light to a passable state when the distance between the vehicle and the target stop line is less than a preset distance threshold; and when the distance between the vehicle and the target stop line is greater than a preset distance threshold value, adjusting the state of the target traffic signal lamp to be in a no-pass state.

In one embodiment, the traffic signal status conversion module 610 is further configured to adjust the status of the target traffic signal to a warning status when the distance between the vehicle and the target stop line is greater than a preset distance threshold; after a certain time interval, the alarm state is changed to a no-pass state.

In one embodiment, the traffic signal status conversion module 610 is further configured to obtain a priority level of a traffic signal conflicting with a target traffic signal direction; when the priority level of the traffic signal lamp with the direction conflict is higher than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp according to the state of the traffic signal lamp with the direction conflict; and when the priority level of the traffic signal lamp with the direction conflict is lower than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

In one embodiment, the traffic light state converting module 610 is further configured to obtain the state of the traffic light of the direction conflict; when the traffic signal lamp with the conflicting direction is in a passable state or a warning state, adjusting the state of the target traffic signal lamp to a no-passage state; and when the state of the traffic light with the conflicting direction is the no-passing state, adjusting the state of the target traffic light to be the passable state.

For specific limitations of the traffic light control device, reference may be made to the above limitations of the traffic light control method, which are not described herein again. All or part of each module in the traffic signal lamp control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute the steps corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores a system of steps and a computer program. The internal memory provides an environment for the execution of the system of steps and the computer program in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a traffic signal control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A traffic signal light control method is characterized by comprising the following steps:

and defining a stop line monitoring domain near the target stop line, and adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line, wherein the step of adjusting the state of the target traffic signal lamp to be in a passable state when the vehicle is in the stop line monitoring domain, and the step of adjusting the state of the target traffic signal lamp to be in a non-passable state when the vehicle is not in the stop line monitoring domain.

2. The method of claim 1, wherein the driving lane comprises a lane driving direction and a lane center line, and the calculating a distance between the vehicle and the target stop line according to the position information of the vehicle and the position information of the target stop line comprises:

according to the road type of the driving lane, carrying out region division on the driving lane to obtain a plurality of driving intervals, wherein each driving interval comprises an interval boundary line;

taking the intersection point of the lane central line and each interval boundary line as an interval boundary point to obtain an interval boundary point set, and taking any one interval boundary point in the interval boundary point set as a reference point, wherein the interval boundary point carries position information;

calculating the distance from the vehicle to the reference point according to the position information of the vehicle and the position information of the reference point on the basis of the lane driving direction;

calculating the distance from the target stop line to the reference point according to the position information of the target stop line and the position information of the reference point on the basis of the lane driving direction;

and calculating the difference between the distance from the vehicle to the reference point and the distance from the target stop line to the reference point to obtain the distance from the vehicle to the target stop line.

3. The method of claim 2, wherein the driving lane includes a lane start position, the position information carried by the zone boundary points includes position coordinates of the zone boundary points and distances from the zone boundary points to the lane start position, the position information of the vehicle includes position coordinates of the vehicle, and the calculating the distance from the vehicle to the reference point according to the position information of the vehicle and the position information of the reference point based on the lane driving direction includes:

determining a target driving interval of the vehicle according to the position coordinates of the vehicle, and determining a target interval boundary point of the vehicle according to the target driving interval of the vehicle;

calculating the running distance of the vehicle in the target running interval of the vehicle according to the position coordinates of the vehicle and the position coordinates of the boundary point of the target interval of the vehicle;

calculating the distance from the vehicle to the lane starting position according to the driving distance of the vehicle in the target driving interval of the vehicle and the distance from the boundary point of the target interval of the vehicle to the lane starting position;

and calculating the difference between the distance from the vehicle to the starting position of the lane and the distance from the reference point to the starting position of the lane to obtain the distance from the vehicle to the reference point.

4. The method according to claim 3, wherein the calculating a travel distance of the vehicle within the target travel zone of the vehicle from the position coordinates of the vehicle and the position coordinates of the target zone boundary point of the vehicle comprises:

projecting the position coordinates of the vehicle onto the lane central line, and calculating to obtain the position coordinates of the projection points of the vehicle;

and calculating the running distance of the vehicle in the target running section of the vehicle according to the position coordinates of the projection point of the vehicle and the position coordinates of the boundary point of the target section of the vehicle.

5. The method according to claim 3, wherein the target stop line includes a target stop line midpoint, the position information of the target stop line includes position coordinates of the target stop line midpoint, and the calculating of the distance from the target stop line to the reference point from the position information of the target stop line and the position information of the reference point based on the lane traveling direction includes:

determining a target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line, and determining a target interval boundary point of the midpoint of the target stop line according to the target driving interval of the midpoint of the target stop line;

calculating to obtain the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the target stop line according to the position coordinates of the midpoint of the target stop line and the position coordinates of the boundary point of the target interval of the midpoint of the target stop line;

calculating to obtain the distance from the midpoint of the target stop line to the starting position of the lane according to the running distance of the midpoint of the target stop line in the target running interval of the midpoint of the target stop line and the distance from the boundary point of the target interval of the midpoint of the target stop line to the starting position of the lane;

and calculating the difference between the distance from the midpoint of the target stop line to the starting position of the lane and the distance from the reference point to the starting position of the lane to obtain the distance from the target stop line to the reference point.

6. The method according to claim 5, wherein calculating the travel distance of the target stop line midpoint within the target travel zone of the target stop line midpoint according to the position coordinates of the target stop line midpoint and the position coordinates of the target zone boundary point of the target stop line midpoint comprises:

projecting the position coordinates of the middle point of the target stop line onto the lane middle line, and calculating to obtain the position coordinates of the projection point of the middle point of the target stop line;

and calculating the driving distance of the midpoint of the target stop line in the target driving interval of the midpoint of the stop line according to the position coordinates of the projection point of the midpoint of the target stop line and the position coordinates of the boundary point of the target interval of the midpoint of the target stop line.

7. The method of claim 1, wherein the adjusting the state of the target traffic signal light as a function of the distance between the vehicle and the target stop line comprises:

when the distance between the vehicle and the target stop line is smaller than a preset distance threshold value, the state of the target traffic signal lamp is adjusted to be a passable state;

and when the distance between the vehicle and the target stop line is greater than a preset distance threshold value, adjusting the state of the target traffic signal lamp to be in a no-pass state.

8. The method of claim 7, wherein the adjusting the state of the target traffic signal lamp to a no-pass state when the distance between the vehicle and the target stop line is greater than a preset distance threshold comprises:

when the distance between the vehicle and the target stop line is larger than a preset distance threshold value, the state of the target traffic signal lamp is adjusted to be a warning state;

and after a certain time interval, the warning state is converted into a traffic prohibition state.

9. The method of claim 1, further comprising:

acquiring the traffic condition of each lane in the simulation scene, and determining the priority level of each traffic signal lamp according to the traffic condition of each lane;

the adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line comprises:

acquiring the priority level of the traffic signal lamp conflicting with the direction of the target traffic signal lamp;

when the priority level of the traffic signal lamp with the direction conflict is higher than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp according to the state of the traffic signal lamp with the direction conflict;

and when the priority level of the traffic signal lamp with the direction conflict is lower than that of the target traffic signal lamp, adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line.

10. The method of claim 9, wherein the adjusting the status of the target traffic light according to the status of the direction-conflicting traffic light when the priority level of the direction-conflicting traffic light is higher than the target traffic light comprises:

acquiring the states of traffic lights with conflicting directions;

when the state of the traffic signal lamp with the direction conflict is a passable state or a warning state, adjusting the state of the target traffic signal lamp to a no-passage state;

and when the state of the traffic signal lamp with the direction conflict is the no-passing state, adjusting the state of the target traffic signal lamp to be the passable state.

11. A traffic signal control apparatus, comprising:

and the traffic signal lamp state conversion module is used for defining a stop line monitoring domain near the target stop line and adjusting the state of the target traffic signal lamp according to the distance between the vehicle and the target stop line, wherein the traffic signal lamp state is adjusted to be in a passable state when the vehicle is in the stop line monitoring domain, and the traffic signal lamp state is adjusted to be in a non-passable state when the vehicle is not in the stop line monitoring domain.

12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 10 when executing the computer program.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 10.