CN113990086A

CN113990086A - Traffic control method and device and electronic equipment

Info

Publication number: CN113990086A
Application number: CN202010732464.7A
Authority: CN
Inventors: 肖楠; 于津强; 余亮; 张茂雷
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2022-01-28

Abstract

The specification discloses a traffic control method, a traffic control device and electronic equipment, wherein the method comprises the following steps: acquiring control parameters of a target phase of a target intersection; acquiring traffic information of the target intersection in the process of carrying out traffic control on the target intersection according to the control parameters of the target phase; and adjusting the control parameter of the target phase according to the traffic information.

Description

Traffic control method and device and electronic equipment

Technical Field

The present disclosure relates to the field of traffic control technologies, and more particularly, to a traffic control method, a traffic control apparatus, an electronic device, and a computer-readable medium.

Background

With the continuous development of economy, more and more vehicles run on roads, and the problem of traffic jam is increasingly highlighted, so that the elimination of the jam phenomenon in the traffic network by adjusting timing information of intersections is an important issue in the traffic field.

In the prior art, generally, the traffic flow situation of a target time interval is predicted according to the historical traffic flow situation in a road, the timing information of an intersection is set according to the prediction result, and the traffic control is performed on the intersection according to the fixed timing information.

However, the two traffic control methods have poor real-time performance and cannot adapt to the traffic fluctuation situation in a real scene.

Disclosure of Invention

It is an object of the present description to provide a new solution for traffic control.

According to a first aspect of the present specification, there is provided a traffic control method comprising:

acquiring control parameters of a target phase of a target intersection;

acquiring traffic information of the target intersection in the process of carrying out traffic control on the target intersection according to the control parameters of the target phase;

and adjusting the control parameter of the target phase according to the traffic information.

Optionally, the obtaining of the control parameter of the target phase of the target intersection includes:

acquiring the predicted average arrival rate of vehicles of each lane corresponding to the target intersection in the prediction period of the target phase; the target passing lane is a passing lane corresponding to the target phase;

and determining the control parameter according to the predicted average arrival rate of the vehicle.

Optionally, the obtaining of the predicted average vehicle arrival rate of the target lane in the prediction period of the target phase includes:

acquiring the average arrival rate of the target vehicles of the target lane in the target observation period of the target phase; the target lane is any lane corresponding to the target intersection;

and determining the predicted vehicle average arrival rate of the target lane in the prediction period according to the target vehicle average arrival rate of the target lane in the target observation period.

Optionally, the obtaining the average arrival rate of the target vehicle in the target observation period of the target lane at the target phase includes:

acquiring the number of first vehicles in the target lane when the green light corresponding to the target lane in the target observation period is finished;

acquiring the number of second vehicles in the target lane when the green light corresponding to the target phase is finished in the last observation period of the target observation period;

determining a third number of vehicles exiting the target intersection through the target lane within the target observation period;

determining a target period duration of the target lane in the target observation period;

and determining the average arrival rate of the target vehicles of the target lane in the target observation period according to the first number of vehicles, the second number of vehicles, the third number of vehicles and the target period duration.

Optionally, the control parameter includes a target green light duration of the target phase;

said determining said control parameter based on said predicted average vehicle arrival rate comprises:

obtaining the loss duration, the fixed maximum green light constraint, the fixed minimum green light constraint and the saturation flow rate of each lane of each phase of the target intersection;

determining a prediction period duration of each lane within the prediction period;

acquiring the number of third vehicles leaving the target intersection through each lane in the target observation period;

determining a target green light duration for the target phase based on the loss duration, the fixed maximum green light constraint, the fixed minimum green light constraint, the predicted cycle duration, the third vehicle number, the saturation flow rate, and the predicted vehicle average arrival rate.

Optionally, the control reference comprises a floating maximum green light constraint for the target phase,

determining a target green light duration of the target phase according to the predicted average arrival rate of the floating vehicles;

obtaining a fixed maximum green light constraint for the target phase;

and determining the floating maximum green light constraint of the target phase according to the target green light duration of the target phase and the fixed maximum green light constraint.

Optionally, the control reference comprises a floating minimum green light constraint for the target phase,

acquiring the number of fourth vehicles in the corresponding lane when the green light corresponding to each lane starts in the prediction period;

and obtaining the floating minimum green light constraint of the target phase according to the loss duration, the fixed maximum green light constraint, the fixed minimum green light constraint, the saturation flow rate, the fourth vehicle number and the predicted vehicle average arrival rate.

Optionally, the control reference comprises a green light delay time of the target phase,

determining a floating minimum green light constraint of the target phase and the target green light duration according to the predicted average arrival rate of the vehicle;

and determining the green light delay time of the target phase according to the floating minimum green light constraint of the target phase, the target green light duration of the target phase and the predicted vehicle average arrival rate of the lane corresponding to the target phase in the prediction period.

Optionally, the traffic information includes whether a downstream exit lane corresponding to the target phase overflows or not;

the adjusting the control parameter of the target phase according to the traffic information includes:

and in the case of overflow of any one downstream exit lane, controlling the target phase to end.

Optionally, the traffic information further includes a fifth number of vehicles in a lane where the target phase allows passing;

the adjusting the control parameter of the target phase according to the traffic information further comprises:

and under the condition that the traffic information includes that the downstream exit lane corresponding to the target phase does not overflow and the fifth vehicle number is less than or equal to a preset number threshold, controlling the target phase to end.

Optionally, the method further includes:

and under the condition that the traffic information of the target intersection cannot be acquired, carrying out traffic control on the target intersection according to the target green light time of the target phase.

According to a second aspect of the present specification, there is provided a traffic control device comprising:

the control parameter acquisition module is used for acquiring control parameters of a target phase of the target intersection;

the traffic information acquisition module is used for acquiring the traffic information of the target intersection in the process of carrying out traffic control on the target intersection according to the control parameter of the target phase;

and the control parameter adjusting module is used for adjusting the control parameters of the target phase according to the traffic information.

According to a third aspect of the present specification, there is provided an electronic apparatus comprising:

the apparatus of the second aspect of the present description; or,

a processor and a memory for storing executable instructions for controlling the processor to perform the method according to the first aspect of the specification.

According to a fourth aspect of the present description, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method according to the first aspect of the present description.

Through the embodiments of the present description, in the process of controlling the target intersection according to the control parameter of the target phase, the control parameter is dynamically updated in a self-adaptive manner according to the traffic information of the target intersection, and the real-time performance of signal lamp timing control and the adaptive capacity to traffic flow fluctuation can be greatly improved.

Other features of the present description and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description, serve to explain the principles of the specification.

Fig. 1 is a block diagram of one example of a hardware configuration of an electronic device that can be used to implement embodiments of the present description.

FIG. 2 is a block diagram of another example of a hardware configuration of an electronic device that may be used to implement embodiments of the present description;

FIG. 3 is a flow diagram of a traffic control method according to an embodiment of the present description;

FIG. 4 is a schematic diagram of a cycle according to an embodiment of the present description;

fig. 5 is a schematic diagram of an application scenario of a traffic control method according to an embodiment of the present specification;

FIG. 6 is a flow diagram illustrating an example of a traffic control method according to an embodiment of the present description;

FIG. 7 is a block schematic diagram of a traffic control device according to an embodiment of the present description;

FIG. 8 is a functional block diagram of an electronic device provided in accordance with a first embodiment of the present description;

fig. 9 is a schematic diagram of a hardware structure of an electronic device according to a second embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present specification unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< hardware configuration >

Fig. 1 and 2 are block diagrams of hardware configurations of an electronic apparatus 1000 that can be used to implement the traffic control method of any embodiment of the present specification.

In one embodiment, as shown in FIG. 1, the electronic device 1000 may be a server 1100.

The server 1100 provides the computers for processing, databases, and communications facilities. The server 1100 can be a unitary server or a distributed server across multiple computers or computer data centers. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In this embodiment, the server 1100 may include a processor 1110, a memory 1120, an interface device 1130, a communication device 1140, a display device 1150, and an input device 1160, as shown in fig. 1.

In this embodiment, the server 1100 may also include a speaker, a microphone, and the like, which are not limited herein.

The processor 1110 may be a dedicated server processor, or may be a desktop processor, a mobile version processor, or the like that meets performance requirements, and is not limited herein. The memory 1120 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1130 includes various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. The communication device 1140 is capable of wired or wireless communication, for example. The display device 1150 is, for example, a liquid crystal display panel, an LED display panel touch display panel, or the like. Input devices 1160 may include, for example, a touch screen, a keyboard, and the like.

In this embodiment, the memory 1120 of the server 1100 is configured to store instructions for controlling the processor 1110 to operate at least to perform a traffic control method according to any embodiment of the present description. The skilled person can design the instructions according to the solution disclosed in the present specification. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

Although a number of devices are shown in fig. 1 for server 1100, this description may refer to only some of the devices, for example, server 1100 may refer to only memory 1120 and processor 1110.

In one embodiment, the electronic device 1000 may be a terminal device 1200 such as a PC, a notebook computer, or the like used by an operator, which is not limited herein.

In this embodiment, referring to fig. 2, the terminal apparatus 1200 may include a processor 1210, a memory 1220, an interface device 1230, a communication device 1240, a display device 1250, an input device 1260, a speaker 1270, a microphone 1280, and the like.

The processor 1210 may be a mobile version processor. The memory 1220 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1230 includes, for example, a USB interface, a headphone interface, and the like. The communication device 1240 may be capable of wired or wireless communication, for example, the communication device 1240 may include a short-range communication device, such as any device that performs short-range wireless communication based on short-range wireless communication protocols, such as the Hilink protocol, WiFi (IEEE 802.11 protocol), Mesh, bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, and the like, and the communication device 1240 may also include a long-range communication device, such as any device that performs WLAN, GPRS, 2G/3G/4G/5G long-range communication. The display device 1250 is, for example, a liquid crystal display, a touch display, or the like. The input device 1260 may include, for example, a touch screen, a keyboard, and the like. A user can input/output voice information through the speaker 1270 and the microphone 1280.

In this embodiment, the memory 1220 of the terminal device 1200 is configured to store instructions for controlling the processor 1210 to operate at least to perform a traffic control method according to any of the embodiments of the present description. The skilled person can design the instructions according to the solution disclosed in the present specification. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

Although a plurality of devices of the terminal apparatus 1200 are shown in fig. 2, the present specification may refer to only some of the devices, for example, the terminal apparatus 1200 refers to only the memory 1220, the processor 1210 and the display device 1250.

< method examples >

In the present embodiment, a traffic control method is provided. The method may be implemented by an electronic device. The electronic device may be the server 1100 as shown in fig. 1 or the terminal device 1200 as shown in fig. 2.

As shown in fig. 3, the traffic control method of the present embodiment may include the following steps S1000 to S3000:

step S1000, control parameters of the target phase of the target intersection are obtained.

In an embodiment of the present specification, in a case that a control parameter of a target phase of a target intersection is obtained, the control parameter of the target phase may be stored, so that traffic control is performed on the target phase of the target intersection according to the control parameter, and the control parameter is adjusted.

In an embodiment of the present specification, in a case of obtaining a control parameter of a target phase at a target intersection, the control parameter of the target phase may also be displayed for a user to know.

In one embodiment of the present description, the control parameters may include at least one of a target green light duration for the target phase, a floating maximum green light constraint for the target phase, and a floating minimum green light constraint for the target phase.

The phase of the signal in the present invention is known in the art. For example, it may include that within a signal cycle, a sequence of signal states of one or several traffic flows with the same signal light color is called a signal phase. The signal phases are divided according to the time sequence of the signal display obtained by the traffic flow, and there are several phases according to different time sequence arrangements. Each control state corresponds to a different set of lamp color combinations, called a phase. In short, one phase is also referred to as one control state. For another example, the signal display states corresponding to a group of traffic flows which do not conflict with each other and simultaneously obtain the right of way may be referred to as signal phases. It can be seen that the signal phases are divided according to the alternation of the right of way in the intersection within one signal cycle.

In one embodiment of the present specification, the acquiring of the control parameter of the target phase of the target intersection may include steps S1100 to S1200 as follows:

step S1100, obtaining the average arrival rate of the vehicles predicted by each lane corresponding to the target intersection in the prediction period of the target phase.

The lane corresponding to the target intersection is a lane which is connected with the target intersection and can enter or leave the target intersection.

The lane corresponding to the target intersection can be a specified part of roads on land, water channels, flight routes, logistics vehicle running routes, tracks and the like. Under the condition that the lane corresponding to the target intersection is a road, the traffic object moving in the lane corresponding to the target intersection can comprise at least one of vehicles such as cars, buses, logistics vehicles, bicycles, electric vehicles, motorcycles and the like, and can also comprise pedestrians. In the case where the lane corresponding to the target intersection is an aquatic channel, the traffic object moving in the lane corresponding to the target intersection may be a ship. Under the condition that the lane corresponding to the target intersection is an airplane air route, the traffic object moving in the lane corresponding to the target intersection can be an airplane, an unmanned aerial vehicle and/or an aircraft. Under the condition that the lane corresponding to the target intersection is the logistics vehicle running line, the traffic object moving in the lane corresponding to the target intersection can be the logistics vehicle. In the case that the lane corresponding to the target intersection is a track, the traffic object moving in the lane corresponding to the target intersection may be a subway, a light rail and/or a train.

In this specification, the traffic control method will be described by taking a lane corresponding to a target intersection as a road and a traffic object as a vehicle as an example.

In the embodiment of the present specification, the predicted average vehicle arrival rate of the lane j in the prediction period of the target phase may specifically be the average number of vehicles arriving at the lane j per second in the prediction period.

In this embodiment, the prediction period of the target phase is a period in which the target phase is the first phase.

As shown in fig. 4, in the case where the phase within one period includes the phase A, B, C, D, if the target phase is the phase a, the phases within the predicted period of the target phase a may include the phase a, the phase B, the phase C, and the phase D in order of precedence. If the target phase is phase B, the phases in the prediction period of the target phase B may include phase B, phase C, phase D, and phase a in order. If the target phase is phase C, the phases in the prediction period of the target phase C may include phase C, phase D, phase a, and phase B in order. If the target phase is phase D, the phases in the prediction period of the target phase D may include phase D, phase a, phase B, and phase C in order.

In an embodiment of the present disclosure, a new near-field sensing device, such as a video, a radar, and a 5G device, deployed near a target intersection or deployed in a lane corresponding to the target intersection may monitor a tail of a vehicle queue in one of the lanes, and then the near-field sensing device may provide monitoring data of the monitored lane to an electronic device executing the embodiment of the present disclosure, and the electronic device determines a predicted vehicle average arrival rate of the lane in a prediction period according to the monitoring data.

In another embodiment of the present specification, the monitoring range of the near-field sensing device is limited, and the average arrival rate of the vehicle in the prediction period of the target lane cannot be directly obtained, where the target lane is any lane corresponding to the target intersection. Then, obtaining the predicted average arrival rate of the vehicle of the target lane within the prediction period of the target phase may include steps S1110 to S1120 as follows:

in step S1110, the average arrival rate of the target vehicle in the target observation period of the target lane at the target phase is obtained.

In this embodiment, the target observation period of the target phase is a period in which the target phase is the last phase.

As shown in fig. 4, in the case where the phase within one period includes the phase A, B, C, D, if the target phase is the phase a, the phase within the target observation period of the target phase a may include the phase B, the phase C, the phase D, and the target phase a in order of precedence. If the target phase is phase B, the phases in the target observation period of the target phase B may include phase C, phase D, phase a, and target phase B in order. If the target phase is phase C, the phases in the target observation period of the target phase C may include phase D, phase a, phase B, and phase C in order. If the target phase is phase D, the phases in the target observation period of the target phase D may include phase a, phase B, phase C, and target phase D in order.

In one embodiment of the present specification, acquiring the target vehicle average arrival rate of the target traffic lane in the target observation period of the target phase may include steps S1111 to S1115 shown as follows:

in step S1111, the first number of vehicles in the target lane at the end of the green light corresponding to the target lane in the target observation period is acquired.

The first vehicle number may be obtained by a near-field induction device disposed at a target intersection or deployed in a target lane and provided to the electronic device of the embodiment for storage, so as to be obtained by the electronic device.

In the present embodiment, the green light corresponding to the target lane may be a green light that can allow the vehicle in the target lane to pass. The first number of vehicles in the target lane j at the end of the green light corresponding to the target lane j within the target observation period k

Specifically, the number of remaining vehicles in the target lane j that do not pass through the target intersection.

In step S1112, the number of second vehicles in the target lane at the end of the green light corresponding to the target lane in the last observation period of the target observation period is acquired.

The second number of vehicles may be obtained by the near-field sensing device disposed at the target intersection or disposed in the target lane and provided to the electronic device of the embodiment for storage, so as to be obtained by the electronic device.

In this embodiment, the number of second vehicles in the target lane j at the end of the green light corresponding to the target lane j in the previous observation period k-1

Step S1113, determining the number of third vehicles leaving the target intersection through the target lane in the target observation period.

The third vehicle number may be obtained by a near-field induction device disposed at the target intersection or disposed in the target lane and provided to the electronic device of the embodiment for storage, so as to be obtained by the electronic device.

In this embodiment, the number of third vehicles leaving the target intersection through the target lane j in the target observation period k can be represented as d_j,k。

In step S1114, a target period duration of the target lane within the target observation period is determined.

Specifically, the target period duration c of the target lane j in the target observation period_j,kThe time period may be a time period between a first time when the green light corresponding to the target lane ends in the last observation period and a second time when the green light corresponding to the target lane ends in the target observation period.

And S1115, determining the average arrival rate of the target vehicles of the target lane in the target observation period according to the first vehicle number, the second vehicle number, the third vehicle number and the target period duration.

As can be seen from the law of conservation of queues,

therefore, the average target vehicle arrival rate λ of the target lane j in the target observation period k_j,kCan be determined by the following formula:

step S1120, determining the predicted average vehicle arrival rate of the target lane in the prediction period according to the average target vehicle arrival rate of the target lane in the target observation period.

In one embodiment of the present specification, the target vehicle average arrival rate λ of the target lane in the target observation period may be_j,kDirectly as the predicted average arrival rate of the vehicle in the target observation period of the target lane

Namely, it is

In another embodiment of the present specification, a machine learning model may be constructed by combining traffic flow, queue, and timing information of a target intersection and an intersection adjacent to the target intersection, and the predicted average arrival rate of the vehicle may be predicted according to the machine learning model.

And step S1200, determining a control parameter of the target phase according to the predicted vehicle average arrival rate.

In a first embodiment of the present description, the control parameter comprises a target green light duration for a target phase. Then, the control parameter for determining the target phase based on the predicted vehicle average arrival rate may include steps S1211 to S1214 as follows:

step S1211, obtaining a loss duration of each phase of the target intersection, a fixed maximum green light constraint, a fixed minimum green light constraint, and a saturation flow rate of each lane corresponding to the target intersection.

In the present embodiment, the loss duration L of each phase_iThis may include summing the corresponding phase penalty durations for the start and the corresponding phase penalty durations for the clear.

Fixed maximum green light constraint per phase

Fixed minimum green light constraint

May be preset according to application scenario or specific requirement.

Saturation flow rate S per lane j_jMay be predetermined in advance according to the corresponding lane.

In step S1212, a prediction cycle duration of each lane in the prediction cycle is determined.

In the embodiments of the present specification, the manner of determining the prediction period duration of each lane in the prediction period may be the same, and the present specification takes one lane j as an example.

Predicted cycle duration of lane j within predicted cycle

May be a time period between a second time when the green light corresponding to the lane j ends within the target observation period to a third time when the green light corresponding to the lane j ends within the prediction period.

Step S1213, a third number of vehicles leaving the target intersection through each lane in the target observation period is acquired.

In this embodiment, the third number of vehicles leaving the target intersection through lane j in the target observation period may be represented as

The third vehicle number may be obtained by a near-field sensing device disposed at the target intersection or deployed in the target lane and provided to the electronic device of the embodiment for storage, so as to be obtained by the electronic device.

Step S1214, determining the target green light duration of the target phase according to the loss duration, the fixed maximum green light constraint, the fixed minimum green light constraint, the prediction period duration, the third vehicle number, the saturation flow rate and the predicted vehicle average arrival rate.

In the embodiment of the present specification, the loss period L according to the phase i_iFixed maximum green light constraint for phase i

Fixed minimum green light constraint for phase i

Predicted cycle duration of lane j within predicted cycle

A third number of vehicles leaving the target intersection via lane j within the target observation period

Saturated flow rate S of lane j_jAnd the predicted average arrival rate of the vehicle in the predicted period of the lane j

The target green time of phase i can be obtained based on the following formula

Where PHP ∈ (0,1), to satisfy the peak coefficient of traffic demand when the traffic fluctuates, for example, PHP may be 0.85. Alpha is alpha_i,j1 denotes lane j allowed to pass in phase i, α_i,jAnd 0 represents that the lane j is prohibited from passing in the phase i. Gamma ray_i,j1 indicates that the lane j in the phase i is prohibited from passing in the next phase, and gamma_i,jAnd 0 represents that the lane j in the phase i is allowed to pass in the next phase.

By the above formula, the target green light duration for each phase in the prediction period can be obtained. And obtaining the target green light duration of the target phase in the prediction period.

In a second embodiment of the present description, the control parameter includes a floating maximum green light constraint for the target phase. Then, the control parameter for determining the target phase based on the predicted average arrival rate of the vehicle may include steps S1221 to S1223 shown below:

and step S1221, determining the target green light duration of the target phase according to the predicted average arrival rate of the floating vehicles.

In an embodiment of the present specification, the manner of determining the target green duration of the target phase according to the predicted average arrival rate of the floating vehicle may refer to steps S1211 to S1214 in the foregoing first embodiment, and details thereof are not repeated herein. In the present embodiment, the target green light duration of the target phase may be expressed as

Step S1222, a fixed maximum green light constraint for the target phase is obtained.

The fixed maximum green light constraint for the target phase may be expressed as

And step S1223, determining a floating maximum green light constraint of the target phase according to the target green light duration of the target phase and the fixed maximum green light constraint.

Floating maximum green light constraint for target phase m

May be determined by the following formula:

in this embodiment, the floating maximum green light constraint may be τ times the target green light duration, where τ may range from [1.25, 1.5 ].

In the third embodiment of the present specification, the control parameter includes a floating minimum green light constraint of the target phase, and then, the determining the control parameter of the target phase according to the predicted vehicle average arrival rate may include steps S1231 to S1233 as follows:

step S1231, obtain the loss duration of each phase of the target intersection, the fixed maximum green light constraint, the fixed minimum green light constraint, and the saturation flow rate of each lane.

Fixed maximum green light constraint per phase

Fixed minimum green light constraint

May be preset according to application scenario or specific requirement.

In step S1232, the number of fourth vehicles in the corresponding lane is acquired when the green light corresponding to each lane starts in the prediction cycle.

In an embodiment of the present disclosure, the tail of the vehicle queue in any lane can be monitored by using a novel near-field sensing device, such as a video, a radar, and a 5G device, deployed near the target intersection or deployed in a lane corresponding to the target intersection, so that the number of fourth vehicles in the lane in the prediction period can be directly monitored by using the near-field sensing device, and the number of the fourth vehicles in the lane can be provided to the electronic device of the present embodiment for storage, so as to be acquired by the electronic device.

In another embodiment of the present specification, the monitoring range of the near-field sensing device is limited, and the fourth number of vehicles in the lane j in the prediction period cannot be directly obtained, where the lane j is any lane corresponding to the target intersection. Then, the step of acquiring the fourth number of vehicles in the lane j at the start of the green light corresponding to the lane j in the prediction period may include:

acquiring the third vehicle number of the lane j in the target observation period

Lane j in predicted weekPredicted average vehicle arrival rate over time

And the time length from the green light ending time corresponding to the lane j in the target observation period to the green light starting time corresponding to the lane j in the prediction period

According to the third vehicle number of the lane j in the target observation period

Predicted average vehicle arrival rate of lane j in prediction period

The fourth vehicle number of the lane j in the prediction period can be obtained

Comprises the following steps:

and step S1233, obtaining the floating minimum green light constraint of the target phase according to the loss duration, the fixed maximum green light constraint, the fixed minimum green light constraint, the saturation flow rate, the fourth vehicle number and the predicted vehicle average arrival rate.

Wherein,

the first phase combination in the prediction cycle.

For phase combination

All phases of the lane in which traffic is allowed. Alpha is alpha_i,j1 denotes lane j allowed to pass in phase i, α_i,jAnd 0 represents that the lane j is prohibited from passing in the phase i. Gamma ray_i,j1 indicates that the lane j in the phase i is prohibited from passing in the next phase, and gamma_i,jAnd 0 represents that the lane j in the phase i is allowed to pass in the next phase.

The first phase in the prediction period is the target phase, and the first phase in the prediction period is combined

Including at least the target phase. In the case where at least one same lane exists in the lane where the target phase allows passage and the lane where the next phase of the target phase allows passage, the first phase combination in the prediction cycle

Also includes the next phase of the target lane.

In the present embodiment, to clear the lane

In the vehicle queueFor the target, a floating minimum green light constraint for the target phase is determined.

In the fourth embodiment of the present specification, the control parameter includes the green light delay time of the target phase, and then, the determining of the control parameter of the target phase according to the predicted vehicle average arrival rate may include steps S1241 to S1242 as follows:

step S1241, according to the predicted average arrival rate of the vehicle, determining the floating minimum green light constraint of the target phase and the target green light duration.

In this embodiment, the method of determining the floating minimum green light constraint of the target phase according to the predicted vehicle average arrival rate may refer to steps S1231 to S1233 in the aforementioned third embodiment, and will not be described herein again. The steps S1211 to S1214 in the first embodiment can be referred to for determining the target green duration of the target phase according to the predicted average arrival rate of the vehicle, and will not be described herein again.

Step S1242, determining the green light delay time of the target phase according to the floating minimum green light constraint of the target phase, the target green light duration of the target phase and the predicted vehicle average arrival rate of the lane corresponding to the target phase in the prediction period.

The green light delay time aims to clear the number of vehicles in the lane corresponding to the target phase when the target green light duration of the target phase is finished. Predicting intra-cycle lanes

The vehicle arrival coincidence average arrival rate of

In the cedar process, the headway time accords with negative exponential distribution, and the green light delay time of which the headway time is larger than the target phase appears for the first time

The expectation of the headway number is

The expected green light duration should be satisfied

Thus, the green light delay time of the target phase

Can be determined by the following formula:

and S2000, acquiring traffic information of the target intersection in the process of controlling the traffic of the target intersection according to the control parameters of the target phase.

In an embodiment of the present disclosure, the traffic information of the target intersection may be obtained by a novel near-field sensing device, such as a video, a radar, and 5G, deployed near the target intersection or in a lane corresponding to the target intersection, and provided to the electronic device of the present embodiment for storage, so as to be acquired by the electronic device.

In the process of performing traffic control on the target intersection according to the control parameter of the target phase, if the near-field sensing device cuts off the flow, that is, the traffic information of the target intersection cannot be acquired, the traffic control on the target intersection can be performed according to the target green light duration of the target phase.

Under the condition that the near-field induction equipment can normally acquire traffic information of a target intersection, the target phase meets the floating minimum green light constraint and the floating maximum green light constraint. Namely, the time length for controlling the target crossing according to the target phase is greater than or equal to the floating minimum green light constraint and less than or equal to the floating maximum green light constraint.

And under the condition that the time length for controlling the target intersection according to the target phase does not reach the floating minimum green light constraint, the target phase cannot be ended. And under the condition that the time length for controlling the target intersection according to the target phase reaches the maximum floating green light constraint, automatically ending the target phase.

The traffic information may include whether the downstream exit lane corresponding to the target phase overflows and/or the number of fifth vehicles in the lane that the target phase allows to pass.

The downstream exit lane corresponding to the target phase is specifically a lane which can be reached by a vehicle in a lane allowed to pass by the target phase through the target intersection in the process of controlling the target intersection according to the target phase. The overflow of the downstream exit lane may be the occurrence of congestion in the downstream exit lane, and the tail of the vehicle queue exceeds a specified position in the downstream exit lane. The designated position may be set in advance according to an application scenario or a specific requirement, and may be, for example, a connection point between the downstream exit lane and the target intersection.

In this embodiment, the fifth number of vehicles may be the number of vehicles to the target intersection at a position in the corresponding lane at a set distance from the target intersection. The set distance may be set in advance according to an application scenario or a specific requirement, and for example, the set distance may be 100 m.

The fifth vehicle number may be acquired by a novel near-field sensing device such as a video, a radar, and 5G deployed near the target intersection or in a lane corresponding to the target intersection, and is provided to the electronic device of this embodiment for storage, so as to be acquired by the electronic device.

In one embodiment of the present description, the method may further comprise: and displaying the traffic information of the target intersection for a user to check and know the basis for adjusting the control parameters of the target phase.

And step S3000, adjusting the control parameters of the target phase according to the traffic information.

In an embodiment of the present specification, the traffic information may include whether a downstream exit lane corresponding to the target phase overflows, and adjusting the control parameter of the target phase according to the traffic information may include: in the event of an overflow of either downstream exit lane, the control target phase ends.

In another embodiment of the present description, the traffic information may include a fifth number of vehicles in a lane where the target phase is allowed to pass, and the adjusting the control parameter of the target phase according to the traffic information may include: in the case where the fifth vehicle number is less than or equal to the preset number threshold, the control target phase ends.

The number threshold may be set in advance according to an application scenario or a specific requirement, and for example, the number threshold may be 0.

In this embodiment, in the process of performing traffic control on the target intersection according to the target phase, the control target phase is ended when the number of fifth vehicles per lane allowed to pass by the target phase is simultaneously less than or equal to the number threshold. The control method can also be used for controlling the end of the target phase under the condition that the fifth vehicle number of each lane allowing the target phase to pass is successively smaller than or equal to the number threshold.

In an embodiment of the present specification, the control parameter of the target phase is adjusted, specifically, the traffic signal controller of the target intersection is correspondingly controlled, so that the traffic signal controller controls the target phase of the target intersection to end.

In a further embodiment of the present specification, the traffic information may include whether a downstream exit lane corresponding to the target phase overflows or not, and a fifth number of vehicles in a lane through which the target phase is allowed to pass, and the adjusting the control parameter of the target phase according to the traffic information may include:

under the condition that any downstream exit lane overflows, the control target phase is ended;

under the condition that all the downstream exit lanes do not overflow, if the fifth vehicle number is less than or equal to a preset number threshold value, the control target phase is ended;

under the condition that all the downstream exit lanes do not overflow, if the number of the fifth vehicles is greater than the number threshold, the target phase is ended when the time length of traffic control on the target intersection according to the target phase reaches the floating maximum green light constraint of the target phase.

In one embodiment of the present specification, in a case where the target phase is ended, it may be determined whether the target phase is associated with the next phase. Determining that the target phase is associated with the next phase if the target phase and the next phase allow at least one same lane in the lanes; and if the target phase and the next phase are different from the allowed lane, determining that the target phase and the next phase are not related.

In the case where the target phase is associated with a next phase, determining whether to skip the next phase; and if the next phase is skipped, acquiring the control parameter of the next phase, and carrying out traffic control on the target intersection according to the control parameter of the phase. And if the next phase is not skipped, the control parameter of the next phase can be acquired, and the traffic control is carried out on the target intersection according to the control parameter of the next phase.

In the process of acquiring the control parameter of the target phase, the target green light duration and the floating maximum green light constraint of the next phase can be simultaneously obtained, so that when the next phase is not skipped and the control parameter of the next phase is acquired, only the floating minimum green light constraint and the green light delay time of the next phase can be acquired.

In one embodiment of the present description, the method may further comprise:

in response to the request for automatic control of the traffic signal at the target intersection, steps S1000 to S3000 of the present embodiment are executed to dynamically and adaptively adjust the control parameter of the target phase at the target intersection.

The request for automatically controlling the traffic signal at the target intersection may be automatically triggered when the set time is reached, or may be triggered when the user performs a predetermined operation. The designated operation may be set in advance according to an application scenario or a specific requirement. For example, the specified operation may be clicking a preset button in the electronic device.

The following describes a process implemented by the traffic control method in the embodiment of the present specification by an example shown in fig. 5.

The electronic equipment executing the embodiment of the description obtains the control parameter of the target phase of the target intersection, and performs traffic control on the target intersection according to the control parameter of the target phase. Specifically, the traffic signal controller at the target intersection may be controlled, so that the traffic signal controller controls the signal lamps at the target intersection according to the control parameter of the target phase.

In the process of carrying out traffic control on the target intersection according to the control parameters of the target phase, the novel near-field sensing equipment such as videos, radars and 5G which are arranged near the target intersection or in a lane corresponding to the target intersection can acquire traffic information of the target intersection and upload the traffic information to the electronic equipment for storage so as to acquire the traffic information by the electronic equipment.

The electronic equipment adjusts the control parameter of the target phase according to the traffic information and controls the traffic signal controller of the target intersection, so that the traffic signal controller controls the signal lamp of the target intersection according to the control parameter after the target phase is adjusted.

< example >

Fig. 6 is a flowchart illustrating an example of a traffic control method in the embodiment of the present disclosure.

As shown in fig. 6, the method may include:

in step S6001, the predicted average arrival rate of the vehicle in each lane in the prediction period is determined.

May be the average arrival rate λ of the target vehicles in the lane j in the target observation period_j,kDirectly as the predicted average arrival rate of the vehicle in the target observation period of the lane j

Namely, it is

Wherein,

the first number of vehicles in lane j at the end of the green light corresponding to lane j within target observation period k.

The second number of vehicles in lane j at the end of the green light corresponding to lane j in the last observation period k-1 of the target observation period. d_j,kIs the third number of vehicles leaving the target intersection through lane j during the target observation period k. c. C_j,kThe target period duration of the lane j in the target observation period k is specifically the duration between a first time when a green light corresponding to the target lane ends in the last observation period and a second time when the green light corresponding to the target lane ends in the target observation period.

And step 6002, determining a target green light duration of the target phase according to the predicted vehicle average arrival rate.

Duration of loss L according to phase i_iFixed maximum green light constraint for phase i

Fixed minimum green light constraint for phase i

Predicted cycle duration of lane j within predicted cycle

The target green time of phase i can be obtained based on the following formula

Step S6003, determining a floating maximum green light constraint of the target phase according to the target green light duration of the target phase and a preset fixed maximum green light constraint.

Floating maximum green light constraint for target phase m

May be determined by the following formula:

wherein,

a fixed maximum green light constraint for the target phase,

the preset value range of τ may be [1.25, 1.5] for the target green duration of the target phase]The numerical value of (c).

Step S6004, determine a floating minimum green light constraint for the target phase based on the predicted vehicle average arrival rate.

Floating minimum green light constraint for target phase

Can be determined by:

wherein,

is the third number of vehicles in lane j within the target observation period,

the predicted average arrival rate of vehicles for lane j within the prediction period,

the time length from the green light ending time corresponding to the lane j in the target observation period to the green light starting time corresponding to the lane j in the prediction period is obtained;

for a fixed maximum green light constraint for phase i,

a fixed minimum green constraint for phase i; l is_iFor the duration of the loss of phase i, S_jIs the saturation flow rate of lane j.

The first phase combination in the prediction cycle.

For phase combination

Step 6005, determining the green light delay time of the target phase according to the floating minimum green light constraint of the target phase, the target green light duration, and the predicted average vehicle arrival rate of the lane corresponding to the target phase in the prediction period.

Green light delay time of target phase

Can be determined by the following formula:

step 6006, determining whether the near field induction device is cut off, if yes, executing step 6012; if not, step S6007 is executed.

Step S6007, determining whether the time duration for controlling the target intersection according to the target phase exceeds the floating minimum green light constraint, if yes, executing step S6008, and if no, continuing to execute step S6007.

Step 6008, determining whether the downstream exit lane corresponding to the target phase overflows, if so, executing step 6011; if not, step S6009 is executed.

Step 6009, determining whether the number of fifth vehicles in the lane allowing the target phase to pass through is less than or equal to a preset number threshold, if so, executing step 6011; if not, executing step S6010.

Step S6010, determining whether the time length for controlling the target intersection according to the target phase reaches the maximum green light constraint, if so, executing step S6011; if not, the process continues to step S6008.

Step S6011, the target phase is ended.

And step S6012, traffic control is carried out on the target intersection according to the target green light time length of the target phase.

Step S6013, the next phase of the target phase is set as the target phase.

In one example, the foregoing steps S6001 to S6013 may be repeatedly performed.

< apparatus embodiment >

In the present embodiment, a traffic control apparatus 7000 is provided, as shown in fig. 7, including a control parameter obtaining module 7100, a traffic information obtaining module 7200, and a control parameter adjusting module 7300. The control parameter acquisition module 7100 is used for acquiring control parameters of a target phase of a target intersection; the traffic information acquisition module 7200 is configured to acquire traffic information of a target intersection in a process of performing traffic control on the target intersection according to a control parameter of a target phase; the control parameter adjusting module 7300 is used to adjust the control parameter of the target phase according to the traffic information.

In one embodiment of the present description, the control parameter acquisition module 7100 may also be configured to:

acquiring the average arrival rate of the predicted vehicles of each lane corresponding to the target intersection in the prediction period of the target phase; the target traffic lane is a traffic lane corresponding to the target phase;

and determining a control parameter according to the predicted average arrival rate of the vehicle.

In one embodiment of the present specification, the obtaining of the predicted vehicle average arrival rate of the target lane within the prediction period of the target phase comprises:

acquiring the average arrival rate of target vehicles of a target lane in a target observation period of a target phase; the target lane is any lane corresponding to the target intersection;

In one embodiment of the present specification, the obtaining the average arrival rate of the target vehicle for each lane in the target observation period of the target phase includes:

acquiring the number of first vehicles in a target lane when a green light corresponding to the target lane is finished in a target observation period;

determining a third number of vehicles leaving the target intersection through the target lane in the target observation period;

determining the target period duration of a target lane in a target observation period;

and determining the average arrival rate of the target vehicles of the target lane in the target observation period according to the first vehicle number, the second vehicle number, the third vehicle number and the target period duration.

In one embodiment of the present description, the control parameter includes a target green light duration for the target phase;

determining the control parameter based on the predicted average vehicle arrival rate comprises:

obtaining the loss duration of each phase of the target intersection, the fixed maximum green light constraint, the fixed minimum green light constraint and the saturation flow rate of each lane;

determining the prediction period duration of each lane in the prediction period;

acquiring the number of third vehicles which leave the target intersection through each lane in the target observation period;

and determining the target green light time of the target phase according to the loss time length, the fixed maximum green light constraint, the fixed minimum green light constraint, the prediction period time length, the third vehicle number, the saturation flow rate and the predicted vehicle average arrival rate.

In one embodiment of the present description, the control reference includes a floating maximum green light constraint for the target phase,

determining the target green light duration of the target phase according to the predicted average arrival rate of the floating vehicles;

obtaining a fixed maximum green light constraint of a target phase;

In one embodiment of the present description, the control reference includes a floating minimum green light constraint for the target phase,

and obtaining the floating minimum green light constraint of the target phase according to the loss duration, the fixed maximum green light constraint, the fixed minimum green light constraint, the saturation flow rate, the number of the fourth vehicles and the predicted average vehicle arrival rate.

In one embodiment of the present description, the control reference comprises a green light delay time for the target phase,

determining the floating minimum green light constraint and the target green light duration of the target phase according to the predicted average arrival rate of the vehicle;

In one embodiment of the present description, the traffic information includes whether a downstream exit lane corresponding to the target phase overflows;

the control parameter adjustment module 7300 may also be configured to:

in the event of an overflow of either downstream exit lane, the control target phase ends.

In one embodiment of the present description, the traffic information may further include a fifth number of vehicles in the lane where the target phase allows passage;

the control parameter adjustment module 7300 may also be configured to:

and under the condition that the traffic information includes that the downstream exit lane corresponding to the target phase does not overflow and the fifth vehicle number is less than or equal to the preset number threshold, controlling the target phase to end.

In one embodiment of the present specification, the traffic control apparatus 7000 may further include:

and the module is used for carrying out traffic control on the target intersection according to the target green light duration of the target phase under the condition that the traffic information of the target intersection cannot be acquired.

It will be apparent to those skilled in the art that the traffic control device 7000 can be implemented in various ways. For example, the traffic control device 7000 may be implemented by an instruction configuration processor. For example, the traffic control apparatus 7000 may be implemented by storing instructions in a ROM and reading the instructions from the ROM into a programmable device when starting the device. For example, the traffic control device 7000 may be cured into a dedicated device (e.g. an ASIC). The traffic control device 7000 may be divided into units independent of each other, or may be implemented by combining them together. The traffic control device 7000 can be realized by one of the various implementations described above, or can be realized by a combination of two or more of the various implementations described above.

In this embodiment, the traffic control device 7000 can have various implementation forms, for example, the traffic control device 7000 can be any functional module running in a software product or application providing traffic control service, or a peripheral insert, a plug-in, a patch, etc. of the software product or application, and can also be the software product or application itself.

< electronic apparatus >

In this embodiment, an electronic device 1000 is also provided. The electronic device 1000 may be the server 1100 shown in fig. 1, or may be the terminal device 1200 shown in fig. 2.

In one aspect, as shown in fig. 8, the electronic device 1000 may include the aforementioned traffic control apparatus 7000 for implementing the traffic control method of any embodiment of the present specification.

In another aspect, as shown in fig. 9, the electronic device 1000 may further include a processor 1300 and a memory 1300, the memory 1300 being configured to store executable instructions; the processor 1300 is configured to operate the electronic device 1000 to perform a traffic control method according to any embodiment of the present description according to the control of the instructions.

< computer-readable storage Medium >

In this embodiment, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a traffic control method according to any of the embodiments of the present specification.

The present description may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the specification.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present specification may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), can execute computer-readable program instructions to implement various aspects of the present description by utilizing state information of the computer-readable program instructions to personalize the electronic circuit.

Aspects of the present description are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the description. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present description. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.

The foregoing description of the embodiments of the present specification has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the intended application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present description is defined by the appended claims.

Claims

1. A traffic control method, comprising:

acquiring control parameters of a target phase of a target intersection;

2. The method of claim 1, the obtaining control parameters for a target phase at a target intersection comprising:

3. The method of claim 2, obtaining a predicted average arrival rate of vehicles for a target lane within a prediction period of the target phase comprises:

4. The method of claim 3, the obtaining a target vehicle average arrival rate of a target lane within a target observation period of the target phase comprising:

5. The method of claim 2, the control parameter comprising a target green light duration for the target phase;

6. The method of claim 2, the control reference comprising a floating maximum green light constraint of the target phase,

obtaining a fixed maximum green light constraint for the target phase;

7. The method of claim 2, the control reference comprising a floating minimum green light constraint of the target phase,

8. The method of claim 2, the control reference comprising a green light delay time of the target phase,

9. The method of claim 1, the traffic information comprising whether a downstream exit lane corresponding to the target phase is overflowing;

10. The method of claim 9, the traffic information further comprising a fifth number of vehicles in a lane that the target phase is allowed to pass;

11. The method of claim 1, further comprising:

12. A traffic control device comprising:

13. An electronic device, comprising:

the apparatus of claim 12; or,

a processor and a memory for storing executable instructions for controlling the processor to perform the method of any one of claims 1 to 11.

14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 11.