CN113888887A - Road network traffic signal control system and method - Google Patents
Road network traffic signal control system and method Download PDFInfo
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Abstract
The invention provides a control system and a control method for road network traffic signals. The system comprises a master control device and slave control devices, wherein each master control device and at least two slave control devices form a control body; configuring a traffic signal indicator light from a control device; and the master control device in the control body controls the state of the traffic signal indicator lamp of the slave control device in the same control body based on the generated regulation and control signal. The method comprises the steps of arranging slave control devices at the positions of all preset intersections of a road network, moving the master control device to a target intersection, generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flow of different traffic directions in different time periods, and taking the next intersection needing traffic signal control as the target intersection. The invention realizes the distributed dynamic control of road traffic by a dynamic wireless ad hoc network mode and saves the hardware cost.
Description
Technical Field
The invention belongs to the technical field of wireless control and road traffic, and particularly relates to a control system and a control method for road network road traffic signals, control equipment and a computer-readable storage medium.
Background
In recent years, with the rapid development of global economy and the acceleration of urban rhythm, the traditional traffic control technology and method can not effectively solve the increasingly serious traffic problem, the contradiction between urban traffic and economic development becomes more and more acute, and higher requirements are put forward on the urban traffic control technology. The development of urban traffic control technology is promoted by the increasingly perfection of computer technology, network technology, information technology and intelligent control technology. The road traffic signal control is developed along with the development of modern industrial control technology, and the road traffic signal control goes through the development process from manual work to automatic work, and most of the traffic control can adopt an intelligent traffic system nowadays.
In the intelligent traffic system, traffic intersection vehicle information detection is mainly needed to be carried out, data acquisition is completed and is transmitted back to the control center, and traffic signals are directly controlled through data analysis and processing.
However, the inventor finds that the current intelligent traffic system needs to be provided with a large number of flow monitoring and control devices at each intersection, and the use cost of hardware is high; in addition, the flow monitoring result obtained by analyzing the current intersection data is rough, and the energy consumption cannot be reduced while the accuracy is ensured.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a control system and a control method for road network traffic signals, a control device and a computer readable storage medium.
In a first aspect of the present invention, a control system for road network traffic signals is provided, which comprises a master control device and a slave control device.
Wherein, the master control device and the slave control device are both provided with a wireless communication component, and the master control device and the slave control device communicate through the wireless communication component.
In particular, as a first improvement suitable for the inventive scenario, the master control device is a mobile device and the slave control device is a fixed device.
Therefore, as a first corresponding technical means of the above improvement, the wireless communication component is a ZigBee communication unit; the master control device and the slave control device communicate through a wireless ad hoc network.
Because the master control device is a movable device, in the technical scheme of the invention, based on a wireless ad hoc network mode, the master control device can autonomously establish a wireless communication network with the slave control device in the moving process, which is one of the bright points of the invention.
Further, in the above technical solution of the present invention, there is at least one master control device, and there are at least two slave control devices;
each master control device and each at least two slave control devices form a control body;
each slave control device is provided with a traffic signal indicator lamp;
each main control device is provided with a flow monitoring assembly, and a regulation and control signal is generated based on the flow monitoring assembly;
and the master control device in the control body controls the state of the traffic signal indicator lamp of the slave control device in the same control body based on the generated regulation and control signal.
As a specific application mode, after the control body is arranged at the current intersection, the flow monitoring assembly is started through a main control device in the control body, and the traffic flow of the current intersection in different traffic directions in different time periods is monitored through the flow monitoring assembly in a first preset time period;
generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flows in different traffic directions in different time periods;
based on the regulation and control signals, the states of traffic signal indicator lamps of the slave control devices corresponding to the different traffic directions are adjusted;
after the first preset time period, moving the main control device in the control body to the next intersection.
It can be seen that, in the present invention, unlike the prior art, the master control device is a mobile device. When the road network range is small, only one main control device can be configured to move at different target intersections in the road network range, so that the cost is obviously reduced; of course, to improve efficiency, multiple limited master control devices may be configured to move to multiple target intersections simultaneously. However, it will be appreciated that the number of master control devices can be significantly less than the number of target intersections within the road network, as one master control device can be moved to multiple target intersections. Therefore, compared with the method that a main controller needs to be arranged at each intersection in the prior art, the technical scheme of the invention can obviously reduce the use cost of hardware.
As a more specific implementation, the flow monitoring assembly comprises an image acquisition device and a laser radar; the image acquisition device also comprises a photosensitive assembly;
and when the photosensitive assembly detects that the light environment of the current intersection meets the preset condition, activating the laser radar, otherwise, closing the laser radar.
By the aid of the method, under necessary conditions, the identification precision can be ensured, and meanwhile, hardware energy consumption is reduced.
Executing target detection based on the intersection image data obtained by the image acquisition device to obtain intersection flow monitoring data;
or generating target point cloud data based on intersection image data obtained by the image acquisition device and laser radar detection data obtained by the laser radar, and determining target flow data after performing voxelization on the target point cloud data.
As a more specific implementation manner, the main control device is configured with an edge computing chip, and the edge computing chip determines the target flow data after executing a target monitoring model on the target point cloud data.
Specifically, the target detection model acquires first target point cloud data in a first passing direction and second target point cloud data in a second passing direction of the same intersection;
performing first pixelization operation on the first target point cloud data to obtain a first feature;
performing a second pixelation for the second target point cloud based on the first feature, determining target flow data for the second travel direction based on a second pixelation result;
the first passing direction and the second passing direction are opposite to each other.
The target identification is carried out based on the result of the second voxelization in a secondary voxelization mode, so that the target identification precision is effectively ensured, and the determination of the target flow data is more accurate.
In a second aspect of the present invention, a method for controlling road network traffic signals is further provided, where the method includes the following steps:
s701: arranging slave control devices at each preset intersection position of a road network, wherein the slave control devices comprise traffic signal indicating lamps;
s702: moving the main control device to a target intersection, and monitoring the traffic flows of the current target intersection in different traffic directions in different time periods within a first preset time period;
s703: generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flows in different traffic directions in different time periods;
s704: the slave control devices corresponding to different passing directions change the states of the traffic signal indicator lamps on the basis of the regulating signals;
s705: taking the next intersection needing traffic signal control as a target intersection, and returning to the step S702;
the master control device and the slave control device are both provided with ZigBee communication units, and form a control body through a wireless ad hoc network communication mode.
As a specific implementation manner of the method, the main control device is a traffic monitoring unmanned aerial vehicle;
the flow monitoring assembly comprises an image acquisition device and a laser radar;
the image acquisition device also comprises a photosensitive assembly;
and when the photosensitive assembly detects that the light environment of the current intersection meets the preset condition, activating the laser radar, otherwise, closing the laser radar.
The step S702 specifically includes:
the main control device acquires image data of a first passing direction and a second passing direction of the current target intersection through the image acquisition device;
determining regulation and control signals of the slave control device corresponding to the first traffic direction and the second traffic direction based on the image data of the first traffic direction and the second traffic direction;
the first passing direction and the second passing direction are opposite to each other.
Further, the step S702 includes:
executing target detection based on the intersection image data obtained by the image acquisition device to obtain target flow data;
or generating target point cloud data based on intersection image data obtained by the image acquisition device and laser radar detection data obtained by the laser radar, and determining target flow data after performing voxelization on the target point cloud data;
and determining the regulating and controlling signals of the slave control devices corresponding to the different passing directions based on the target flow data.
As a further improvement, the step S702 further includes:
acquiring first target point cloud data of a first passing direction and second target point cloud data of a second passing direction of the same intersection;
performing first pixelization operation on the second target point cloud data to obtain first features;
and performing second gelatinization on the first target point cloud based on the first characteristic, and determining target flow data of the first passing direction based on a second gelatinization result.
In a third aspect of the present invention, a control device is provided, which may be a data processing apparatus, comprising a controller comprising a processor and a memory, the memory storing a data processing program, the data processing program being executed by the processor for implementing the steps of the aforementioned control method.
In a fourth aspect of the present invention, the present invention also provides a computer device, which includes a controller, a memory, and a controller, wherein the memory stores machine-readable instructions executable by the controller, and the controller is configured to execute the machine-readable instructions stored in the memory, and when the machine-readable instructions are executed by the controller, the machine-readable instructions are executed by the controller to execute the steps of the aforementioned control method.
In a fifth aspect of the present invention, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed, performs the steps of the control method of the second aspect described above.
The present invention is preferred over the prior art at least in that:
(1) the main control device is a movable device. When the road network range is small, only one main control device can be configured to move at different target intersections in the road network range, so that the cost is obviously reduced;
(2) even if a plurality of limited main control devices are configured to simultaneously move to a plurality of target intersections in order to improve the efficiency, the number of the main control devices is obviously smaller than that of the target intersections in the road network range, and because one main control device can move to a plurality of target intersections, the use cost of hardware can still be reduced;
(3) and when the photosensitive assembly detects that the luminous environment of the current intersection meets the preset condition, activating the laser radar, otherwise, closing the laser radar. By the aid of the method, under necessary conditions, the identification precision can be ensured, and meanwhile, hardware energy consumption is reduced.
(4) Through a secondary voxelization mode, target identification is carried out based on a secondary voxelization result, and target identification precision is effectively ensured, so that the determination of target flow data is more accurate.
Further advantages of the invention will be apparent in the detailed description section in conjunction with the drawings attached hereto.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a control system for road network traffic signals according to an embodiment of the present invention;
FIG. 2 is an internal schematic view of a master control device in the control system of FIG. 1;
FIG. 3 is a schematic external view of one embodiment of the master control device of FIG. 2;
FIG. 4 is a schematic layout of slave control devices in the control system of FIG. 1;
FIG. 5 is a schematic diagram of an actual scene layout of a control system for road network traffic signals according to an embodiment of the present invention;
FIG. 6 is a flow chart of a method for controlling road network traffic signals according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a data processing apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a computer device of one embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
Referring to fig. 1, a schematic structural diagram of a control system for road network traffic signals according to an embodiment of the present invention is shown.
In fig. 1, the control system includes a master control apparatus and a slave control apparatus, each of which is configured with a wireless communication component through which the master control apparatus and the slave control apparatus communicate.
The number of the master control devices is at least one, and the number of the slave control devices is at least two. Each master control device and each of the at least two slave control devices form a control body.
See fig. 1 as an illustrative example. Depending on the scenario, a master control device may be configured with a different number of slave control devices.
At a two-way traffic control intersection, one master control device is provided with two slave control devices; in a four-way intersection, four slave control devices are arranged in one master control device.
It is understood that "configuration" here should be understood as "control" in the present invention, i.e., if one control body is composed of "one master control device and two slave control devices", then the states of the two slave control devices in the control body are "controlled" by the master control device at this time. If a control body consists of "one master control device and four slave control devices", the master control device "controls" the state of the four slave control devices in the control body at this time.
It should be noted that, in the present invention, the control body combination is dynamic rather than static, because the "master control device" in one control body is movable and can be multiplexed by a plurality of "control bodies", thereby reducing the hardware cost.
In particular, see fig. 2. Fig. 2 is an internal schematic view of a main control device in the control system of fig. 1.
In fig. 2, the wireless communication component is shown as a ZigBee communication unit.
The master control device and the slave control device communicate through a wireless ad hoc network; the master control device is a movable device, and the slave control device is a fixed device.
It is worth pointing out that, precisely in the context of the present invention, the master control device is mobile, and therefore must be able to implement a wireless ad hoc communication, rather than other communication methods, such as bluetooth, NFC, etc.
Referring to fig. 2, the main control device 1 includes a ZigBee communication unit 11, an image acquisition device 12, a laser radar assembly 13, a photosensitive assembly 14, an edge calculation chip 15, and a target detection model 16.
After the control body is arranged at the current intersection, the flow monitoring assembly is started through the main control device 1 in the control body, and the traffic flow of the current intersection in different traffic directions in different time periods is monitored through the flow monitoring assembly in a first preset time period;
generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flows in different traffic directions in different time periods;
based on the regulation and control signals, the states of traffic signal indicator lamps of the slave control devices corresponding to the different traffic directions are adjusted;
after the first preset time period, moving the main control device in the control body to the next intersection.
On the basis of fig. 2, further reference is made to fig. 3. Fig. 3 is an external view of an embodiment of the main control device shown in fig. 2.
In fig. 2 and 3, like reference numerals denote like parts.
Fig. 3 shows that the main control device is a traffic monitoring unmanned aerial vehicle, which also includes a ZigBee communication unit 11, an image acquisition device 12, a lidar component 13, a photosensitive component 14, an edge calculation chip 15, and a target detection model (not shown in fig. 3).
Specifically, the traffic monitoring unmanned aerial vehicle flow monitoring assembly comprises an image acquisition device 12 and a laser radar assembly 13;
when the photosensitive component 14 detects that the light environment of the current intersection meets a preset condition, activating the laser radar component 13, otherwise, closing the laser radar component 13;
based on the intersection image data obtained by the image acquisition device 12, target detection is executed to obtain intersection flow monitoring data;
or, based on the intersection image data obtained by the image acquisition device 12 and the lidar detection data obtained by the lidar component 13, target point cloud data is generated, and after the voxelization is performed on the target point cloud data, target flow data is determined.
Fig. 4 is a schematic layout of slave control devices in the control system of fig. 1.
In fig. 4, there are two slave control devices in different directions, and the traffic monitoring drone generates regulation and control signals of the slave control devices corresponding to different traffic directions based on the monitored flow in the two different directions.
Referring to fig. 4, each slave control device is provided with a traffic signal indicating lamp; each main control device can be a traffic monitoring unmanned aerial vehicle, a flow monitoring component is configured, and a regulation and control signal is generated based on the flow monitoring component; and the traffic monitoring unmanned aerial vehicle controls the state of a traffic signal indicator lamp of a slave control device in the same control body based on the generated regulation and control signal, and then moves the traffic monitoring unmanned aerial vehicle to the next target intersection.
In the present invention, target flow data is obtained in two ways:
(1) target detection is executed based on the intersection image data obtained by the image acquisition device to obtain intersection flow monitoring data, and at the moment, a laser radar does not need to be started;
(2) generating target point cloud data based on intersection image data obtained by the image acquisition device and laser radar detection data obtained by the laser radar, and determining target flow data after performing voxelization on the target point cloud data; at this time, the laser radar is turned on.
In the second case, the traffic monitoring drone is configured with an edge computing chip, and the edge computing chip determines the target flow data after executing a target monitoring model on the target point cloud data.
More specifically, as a further preferred option, the target detection model obtains first target point cloud data in a first passing direction and second target point cloud data in a second passing direction of the same intersection; performing first pixelization operation on the first target point cloud data to obtain a first feature; performing a second pixelation for the second target point cloud based on the first feature, determining target flow data for the second travel direction based on a second pixelation result; the first passing direction and the second passing direction are opposite to each other.
Voxelization (Voxelization) is the conversion of a geometric representation of an object into a voxel representation closest to the object, resulting in a volume data set that contains not only surface information of the model, but also internal properties of the model.
Obviously, at this time, since the radar point cloud data is generated, the present invention can perform accurate target recognition, such as vehicle or people flow recognition, by sufficiently using the target point cloud data in different directions, thereby determining target traffic data. Moreover, it is worth pointing out that the present invention is performed on the basis of obtaining target point cloud data of two different directions, not only considering one direction.
Specifically, after first target point cloud data in a first traffic direction and second target point cloud data in a second traffic direction of the same intersection are obtained, direct voxelization in the first traffic direction and the second traffic direction is performed according to different voxelization directions:
the first passing direction: performing first pixelization operation on the second target point cloud data to obtain first features; and performing second gelatinization on the first target point cloud based on the first characteristic, and determining target flow data of the first passing direction based on a second gelatinization result.
The second traffic direction: performing first pixelization operation on the first target point cloud data to obtain a first feature; and performing second pixelation on the second target point cloud based on the first feature, and determining target flow data of the second passing direction based on a second pixelation result.
The first characteristic after the voxelization may be a voxelization viewing angle, a dimension of each voxelization unit, a number of included target points, and the like, and the present invention does not specifically limit this, as long as a reference index can be provided for the second voxelization.
After target flow data in different passing directions are obtained, regulating signals of the slave control device corresponding to the first passing direction and the second passing direction are determined.
Taking fig. 4 as an example, the first traffic direction and the second traffic direction are opposite directions, for example, at a two-way traffic intersection, the first traffic direction is from south to north, and the second traffic direction is from north to south.
Of course, as mentioned above, in the intersection controlled by two-way traffic, one master control device is provided with two slave control devices; in a four-way intersection, four slave control devices are arranged in one master control device.
For the latter scenario, see fig. 5.
The generation of the control signals in four directions in fig. 5 can refer to the two directions in fig. 4, and the implementation principle is similar, and those skilled in the art can easily derive the embodiment based on fig. 4, which is not described herein for brevity.
Referring to fig. 6, a flowchart of a method for controlling road network traffic signals according to an embodiment of the present invention is shown based on the hardware structure or the implementation principle of fig. 1 to 5.
In fig. 6, the method includes steps S1-S5, and each step is implemented as follows:
s1: arranging slave control devices at each preset intersection position of a road network, wherein the slave control devices comprise traffic signal indicating lamps;
s2: moving the main control device to a target intersection, and monitoring the traffic flows of the current target intersection in different traffic directions in different time periods within a first preset time period;
s3: generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flows in different traffic directions in different time periods;
s4: the slave control devices corresponding to different passing directions change the states of the traffic signal indicator lamps on the basis of the regulating signals;
s5: taking the next intersection needing traffic signal control as a target intersection, and returning to the step S2;
the master control device and the slave control device are both provided with ZigBee communication units, and form a control body through a wireless ad hoc network communication mode.
The main control device comprises an image acquisition device;
the step S702 specifically includes:
the main control device acquires image data of a first passing direction and a second passing direction of the current target intersection through the image acquisition device;
determining regulation and control signals of the slave control device corresponding to the first traffic direction and the second traffic direction based on the image data of the first traffic direction and the second traffic direction;
the first passing direction and the second passing direction are opposite to each other.
The main control device comprises an image acquisition device and a laser radar;
the image acquisition device also comprises a photosensitive assembly;
when the photosensitive assembly detects that the luminous environment of the current intersection meets a preset condition, activating the laser radar, otherwise, closing the laser radar;
executing target detection based on the intersection image data obtained by the image acquisition device to obtain target flow data;
or generating target point cloud data based on intersection image data obtained by the image acquisition device and laser radar detection data obtained by the laser radar, and determining target flow data after performing voxelization on the target point cloud data;
the step S702 includes:
and determining the regulating and controlling signals of the slave control devices corresponding to the different passing directions based on the target flow data.
The step S702 further includes:
acquiring first target point cloud data of a first passing direction and second target point cloud data of a second passing direction of the same intersection;
performing first pixelization operation on the second target point cloud data to obtain first features;
and performing second gelatinization on the first target point cloud based on the first characteristic, and determining target flow data of the first passing direction based on a second gelatinization result.
Or,
performing first pixelization operation on the first target point cloud data to obtain a first feature;
and performing second pixelation on the second target point cloud based on the first feature, and determining target flow data of the second passing direction based on a second pixelation result.
And determining the regulating and controlling signals of the slave control devices corresponding to the different passing directions based on the target flow data.
Fig. 6 shows a data processing device for carrying out the method according to the invention, which may be a control device comprising a controller and comprising a processor and a memory, which stores a data processing program that is executed by the processor for carrying out the steps of the control method according to fig. 5, and a bus.
Fig. 7 is a schematic structural diagram of a computer device provided in an embodiment of the present disclosure, which includes a controller 910 and a memory 920. The memory 920 stores machine-readable instructions executable by the controller 910, and the controller 910 is configured to execute the machine-readable instructions stored in the memory 920. When the machine readable instructions are executed by the controller 910, the controller 910 performs the aforementioned steps S1-S6 or S11-S16.
The storage 920 includes a memory 921 and an external storage 922; the memory 921 is also referred to as an internal memory, and temporarily stores operation data in the controller 910 and data exchanged with an external memory 922 such as a hard disk, and the controller 910 exchanges data with the external memory 922 through the memory 921.
The computer device provided by the embodiment of the present disclosure may include an intelligent terminal such as a mobile phone, or may also be other devices, servers, and the like that have a camera and can perform image processing, and is not limited herein.
The embodiments of the present disclosure also provide a computer program product, where the computer program product carries a program code, and instructions included in the program code may be used to execute the steps of the data processing method in the foregoing method embodiments, which may be referred to specifically in the foregoing method embodiments, and are not described herein again.
The computer program product may be implemented by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
Therefore, in the invention, movable equipment is used as a main control device, when the road network range is small, only one main control device can be configured to move at different target intersections in the road network range, so that the cost is obviously reduced; in order to improve the efficiency, a plurality of limited main control devices can be configured and can be moved to a plurality of target intersections simultaneously, but the number of the main control devices is also obviously smaller than that of the target intersections in the road network range, and because one main control device can be moved to a plurality of target intersections, the use cost of hardware can still be reduced; and when the photosensitive assembly detects that the luminous environment of the current intersection meets the preset condition, activating the laser radar, otherwise, closing the laser radar. By the aid of the method, under necessary conditions, the identification precision can be ensured, and meanwhile, hardware energy consumption is reduced. Through a secondary voxelization mode, target identification is carried out based on a secondary voxelization result, and target identification precision is effectively ensured, so that the determination of target flow data is more accurate.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
The present invention is not limited to the specific module structure described in the prior art. The prior art mentioned in the background section can be used as part of the invention to understand the meaning of some technical features or parameters. The scope of the present invention is defined by the claims.
Claims (10)
1. A control system of road network traffic signals, the control system comprises a master control device and a slave control device, and is characterized in that:
the master control device and the slave control device are both provided with wireless communication components, and the master control device and the slave control device communicate through the wireless communication components;
the number of the master control devices is at least one, and the number of the slave control devices is at least two;
each master control device and each at least two slave control devices form a control body;
each slave control device is provided with a traffic signal indicator lamp;
each main control device is provided with a flow monitoring assembly, and a regulation and control signal is generated based on the flow monitoring assembly;
and the master control device in the control body controls the state of the traffic signal indicator lamp of the slave control device in the same control body based on the generated regulation and control signal.
2. The road network traffic signal control system according to claim 1, wherein:
the wireless communication component is a ZigBee communication unit;
the master control device and the slave control device communicate through a wireless ad hoc network;
the master control device is a movable device, and the slave control device is a fixed device.
3. A control system for road network traffic signals according to claim 1 or 2, characterized by:
after the control body is arranged at the current intersection, the flow monitoring assembly is started through a main control device in the control body, and the traffic flow of the current intersection in different traffic directions in different time periods is monitored through the flow monitoring assembly in a first preset time period;
generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flows in different traffic directions in different time periods;
based on the regulation and control signals, the states of traffic signal indicator lamps of the slave control devices corresponding to the different traffic directions are adjusted;
after the first preset time period, moving the main control device in the control body to the next intersection.
4. The system for controlling road network traffic signals according to claim 2, wherein said system further comprises:
the main control device is a traffic monitoring unmanned aerial vehicle;
the flow monitoring assembly comprises an image acquisition device and a laser radar;
the image acquisition device also comprises a photosensitive assembly;
when the photosensitive assembly detects that the luminous environment of the current intersection meets a preset condition, activating the laser radar, otherwise, closing the laser radar;
executing target detection based on the intersection image data obtained by the image acquisition device to obtain intersection flow monitoring data;
or generating target point cloud data based on intersection image data obtained by the image acquisition device and laser radar detection data obtained by the laser radar, and determining target flow data after performing voxelization on the target point cloud data.
5. The road network traffic signal control system according to claim 4, wherein:
the traffic monitoring unmanned aerial vehicle is provided with an edge computing chip, and the edge computing chip executes a target monitoring model aiming at the target point cloud data and then determines the target flow data.
6. The road network traffic signal control system according to claim 5, wherein:
the target detection model acquires first target point cloud data in a first passing direction and second target point cloud data in a second passing direction of the same intersection;
performing first pixelization operation on the first target point cloud data to obtain a first feature;
performing a second pixelation for the second target point cloud based on the first feature, determining target flow data for the second travel direction based on a second pixelation result;
the first passing direction and the second passing direction are opposite to each other.
7. A control method of road network traffic signals comprises the following steps:
s701: arranging slave control devices at each preset intersection position of a road network, wherein the slave control devices comprise traffic signal indicating lamps;
s702: moving the main control device to a target intersection, and monitoring the traffic flows of the current target intersection in different traffic directions in different time periods within a first preset time period;
s703: generating regulation and control signals of the slave control devices corresponding to different traffic directions based on the traffic flows in different traffic directions in different time periods;
s704: the slave control devices corresponding to different passing directions change the states of the traffic signal indicator lamps on the basis of the regulating signals;
s705: taking the next intersection needing traffic signal control as a target intersection, and returning to the step S702;
the master control device and the slave control device are both provided with ZigBee communication units, and form a control body through a wireless ad hoc network communication mode.
8. The method for controlling road network traffic signals according to claim 7, wherein said method comprises the steps of:
the main control device comprises an image acquisition device;
the step S702 specifically includes:
the main control device acquires image data of a first passing direction and a second passing direction of the current target intersection through the image acquisition device;
determining regulation and control signals of the slave control device corresponding to the first traffic direction and the second traffic direction based on the image data of the first traffic direction and the second traffic direction;
the first passing direction and the second passing direction are opposite to each other.
9. The method for controlling road network traffic signals according to claim 7, wherein said method comprises the steps of: the main control device comprises an image acquisition device and a laser radar;
the image acquisition device also comprises a photosensitive assembly;
when the photosensitive assembly detects that the luminous environment of the current intersection meets a preset condition, activating the laser radar, otherwise, closing the laser radar;
executing target detection based on the intersection image data obtained by the image acquisition device to obtain target flow data;
or generating target point cloud data based on intersection image data obtained by the image acquisition device and laser radar detection data obtained by the laser radar, and determining target flow data after performing voxelization on the target point cloud data;
the step S702 includes:
and determining the regulating and controlling signals of the slave control devices corresponding to the different passing directions based on the target flow data.
10. The method for controlling road network traffic signals according to claim 9, wherein said method comprises the steps of:
the step S702 further includes:
acquiring first target point cloud data of a first passing direction and second target point cloud data of a second passing direction of the same intersection;
performing first pixelization operation on the second target point cloud data to obtain first features;
and performing second gelatinization on the first target point cloud based on the first characteristic, and determining target flow data of the first passing direction based on a second gelatinization result.
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