CN114120629A

CN114120629A - Vehicle control method, device, equipment and medium based on traffic control equipment

Info

Publication number: CN114120629A
Application number: CN202111194481.0A
Authority: CN
Inventors: 董强; 崔勇; 康海军; 王振文; 李雪; 刘茹
Original assignee: China Railway Construction Electrification Bureau Group Co Ltd
Current assignee: China Railway Construction Electrification Bureau Group Co Ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2022-03-01

Abstract

The present disclosure relates to a vehicle control method, apparatus, device and medium based on a traffic control device, wherein the method comprises: acquiring radar information, image information and geomagnetic pressure information of vehicles passing through each lane in a current period according to the radar device, the photoelectric device and the geomagnetic induction and pressure device respectively; determining a first number, a second number, and a third number of passing vehicles according to the radar information, the image information, and the geomagnetic pressure information, respectively; determining the target number of passing vehicles in each lane in the current period according to the first number, the second number and the third number; and generating traffic control instructions according to the target quantity so as to control the vehicles on each lane to pass according to the traffic control instructions. The embodiment of the disclosure reduces human resources spent on traffic guidance, and realizes efficient traffic guidance at the same time.

Description

Vehicle control method, device, equipment and medium based on traffic control equipment

Technical Field

The present disclosure relates to the field of traffic control technologies, and in particular, to a vehicle control method, apparatus, device, and medium based on a traffic control device.

Background

With the development of the transportation industry, the number of vehicles running on roads is increased, and the situation of traffic jam is more serious.

In the related art, in order to alleviate the traffic congestion problem, human resources are generally increased to perform traffic regulation propaganda education, traffic dispersion and the like, and a new road is also constructed to alleviate the congestion.

However, the above method consumes a lot of manpower, and how to efficiently direct traffic with low cost of human resources based on the existing road resources is a problem to be solved at present.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, the present disclosure provides a vehicle control method, apparatus, device and medium based on a traffic control device.

In a first aspect, the present disclosure provides a vehicle control method based on a traffic control device, in which the traffic control device is disposed on both sides of a target road, the target road including at least one lane, the traffic control device including a radar apparatus, a photoelectric apparatus, a geomagnetic induction and a pressure apparatus, the method including the steps of:

acquiring radar information, image information and geomagnetic pressure information of vehicles passing through each lane in a current period according to the radar device, the photoelectric device and the geomagnetic induction and pressure device respectively;

determining a first number, a second number and a third number of passing vehicles according to the radar information, the image information and the geomagnetic pressure information respectively;

determining the target number of passing vehicles in each lane in the current period according to the first number, the second number and the third number;

and generating a traffic control instruction according to the target number so as to control the vehicles on each lane to pass according to the traffic control instruction.

In an optional embodiment, the acquiring radar information, image information and geomagnetic pressure information of vehicles passing through each lane in a current cycle according to the radar device, the photoelectric device and the geomagnetic induction and pressure device respectively comprises:

controlling the radar device to emit radar signals in the width direction of each lane in the current period according to a preset emission frequency;

acquiring radar reflection signals of the traffic flow in each lane to the radar signals, and acquiring reflection time points and reflection signal strength of the radar reflection signals as the radar information;

shooting a plurality of candidate image frames corresponding to a plurality of shooting frequencies in the current period as the image information according to a preset shooting frequency;

acquiring a preset sampling frequency, and acquiring a plurality of magnetic fluxes and a plurality of pressure values corresponding to the plurality of sampling frequencies in the current period as the geomagnetic pressure information.

In an optional embodiment, the determining a first number, a second number, and a third number of passing vehicles according to the radar information, the image information, and the geomagnetic pressure information, respectively, includes:

determining a radar reflected signal set belonging to the same candidate vehicle according to the reflected signal intensity and the reflection time point;

acquiring the reflection time point, determining the radar reflection time length of each radar reflection signal set, and calculating the product of the preset vehicle speed of each lane and the radar reflection time length to acquire a candidate vehicle length;

counting the number of the candidate vehicles with the candidate vehicle length larger than the preset length as a first number of the passing vehicles;

extracting vehicle contour information in each candidate image frame, and screening out a target image frame containing complete vehicle contour information;

determining the second number according to vehicle contour information contained in the target image frame;

screening at least one candidate magnetic flux belonging to a preset magnetic flux range from the plurality of magnetic fluxes, and determining a pressure value corresponding to the candidate magnetic flux;

and determining the target sampling frequency of the pressure value larger than the preset pressure value, and determining the number of the target sampling frequencies as the third number.

In an alternative embodiment, the determining the target number of vehicles passing through each lane in the current cycle according to the first number, the second number and the third number includes:

judging whether the first quantity, the second quantity and the third quantity are the same;

if at least two of the first quantity, the second quantity and the third quantity are the same, determining the same quantity as the target quantity;

and if the first quantity, the second quantity and the third quantity are different from each other, deleting the minimum value or the maximum value of the first quantity, the second quantity and the third quantity, and calculating the average value of the residual quantities to be the target quantity.

In an optional implementation, the generating traffic control instructions according to the target number to control the vehicle passing on each lane according to the traffic control instructions includes:

judging the difference value between the target quantity and a preset quantity;

if the difference is larger than a preset difference threshold, inquiring a preset database to obtain the passing delay time matched with the difference;

and prolonging the time length of the traffic signal lamp of each lane according to the traffic time length.

In an optional embodiment, the traffic control apparatus further includes a projection device, and the method further includes:

judging whether the passing vehicle has a first target vehicle with vehicle damage according to the image information;

if the first target vehicle exists, license plate number information of the first target vehicle is extracted according to the image information;

and generating warning information carrying the license plate number information, and displaying the warning information in a preset area in a projection manner through the projection device.

In an optional embodiment, the method further comprises:

extracting vehicle edge information, turn light information and lane direction guide line information of each lane of the passing vehicle according to the image information;

determining the corresponding advancing direction of the passing vehicle according to the vehicle edge information and the lane direction guide line information;

and acquiring traffic prompt information of the lanes associated with each lane according to the advancing direction, and displaying the traffic prompt information in a projection manner in a preset area through the projection device.

In an optional embodiment, if the lane direction guiding line information is stop line information, the determining a traveling direction of the passing vehicle according to the vehicle edge information and the lane direction guiding line information includes:

calculating an included angle between the vehicle edge information and the stop line information;

and determining the traveling direction of the passing vehicle according to the included angle.

In an optional embodiment, the method further comprises:

determining the parking time of the passing vehicle according to the radar information, the image information and the geomagnetic pressure information;

determining second target vehicles with the parking duration being larger than a preset threshold value, and judging whether the number of the second target vehicles is larger than a preset number threshold value or not;

if the number of the second target vehicles is not larger than the preset number threshold, generating fault alarm information of the second target vehicle;

and if the number of the lanes is larger than the preset number threshold, generating lane congestion warning information of the corresponding lane.

In a second aspect, the present disclosure also provides a vehicle control apparatus based on a traffic control device, the traffic control device being disposed on both sides of a target road, the target road including at least one lane, the traffic control device including a radar device, a photoelectric device, a geomagnetic induction, and a pressure device, the apparatus including:

the acquisition module is used for acquiring radar information, image information and geomagnetic pressure information of vehicles passing through each lane in the current period according to the radar device, the photoelectric device and the geomagnetic induction and pressure device respectively;

a first determining module, configured to determine a first number, a second number, and a third number of passing vehicles according to the radar information, the image information, and the geomagnetic pressure information, respectively;

a second determining module, configured to determine, according to the first number, the second number, and the third number, the target number of vehicles passing through each lane in the current cycle;

and the control module is used for generating traffic control instructions according to the target quantity so as to control the vehicles on each lane to pass according to the traffic control instructions.

In a third aspect, the present disclosure provides a computer-readable storage medium having stored therein instructions that, when run on a terminal device, cause the terminal device to implement the above-mentioned method.

In a fourth aspect, the present disclosure provides an electronic device comprising: a processor; a memory for storing the processor-executable instructions; the processor is used for reading the executable instructions from the memory and executing the instructions to realize the method.

In a fifth aspect, the present disclosure provides a computer program product comprising computer programs/instructions which, when executed by a processor, implement the method described above.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the vehicle control method based on the traffic control device of the disclosed embodiment determines the first number by the radar information acquired by the radar apparatus, determining a second number from the image information obtained by the photoelectric device, determining a third number from the geomagnetic pressure information obtained by the geomagnetic induction and pressure device, thereby determining the number of targets from the first number, the second number, and the third number, the method generates traffic control instructions for controlling the passing of vehicles according to the target quantity, acquires the quantity of passing vehicles by an automatic method, acquires the quantity by adopting various methods, the accuracy of the obtained vehicle quantity is guaranteed while the human resources are saved, traffic control instructions are generated based on the vehicle quantity, human resources are prevented from being spent for conducting traffic guidance, and therefore traffic is efficiently guided on the basis of the existing road.

Drawings

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

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a vehicle control method based on a traffic control device according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a traffic control device according to an embodiment of the present disclosure;

fig. 3 is a schematic position diagram of a rod body and a geomagnetic sensing and pressure device in a crossroad according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of another traffic control device provided in the embodiment of the present disclosure;

FIG. 5 is a schematic flow chart of another vehicle control method based on a traffic control device according to an embodiment of the disclosure;

FIG. 6 is a schematic flow chart of another vehicle control method based on a traffic control device according to an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart illustrating a further vehicle control method based on a traffic control device according to an embodiment of the present disclosure;

FIG. 8 is a schematic flow chart illustrating a further vehicle control method based on a traffic control device according to an embodiment of the present disclosure;

fig. 9 is a schematic flow chart of another vehicle control method based on a traffic control device according to an embodiment of the present disclosure;

fig. 10 is a schematic flow chart of a further vehicle control method based on a traffic control device according to an embodiment of the present disclosure;

FIG. 11 is a schematic diagram illustrating a method for determining a direction of travel of a vehicle based on stop-line information according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a vehicle control device based on a traffic control device according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

Fig. 1 is a schematic flow chart of a vehicle control method based on a traffic control device according to an embodiment of the present disclosure. The method can be carried out by a vehicle control device based on a traffic control device, wherein the device can be implemented in software and/or hardware, and can be integrated in an electronic device in general.

It should be noted that the vehicle control method is implemented based on a traffic control device, and fig. 2 is a schematic structural diagram of a traffic control device provided in an embodiment of the present disclosure, as shown in fig. 2, the traffic control device includes:

the rod body 201 is vertically arranged on one side of the target road and can be a hollow rod body, so that cables can penetrate through the hollow part of the rod body, and wiring of the traffic control equipment is more attractive.

In this embodiment, the rod body may not be disposed relative to the two sides of the target road, for example: the target road is a linear road, 1 rod body is arranged on the left side of the linear road, and 2 rod bodies are arranged on the right side of the linear road; in order to make the data detected by the traffic control device more accurate, the rods may also be arranged oppositely with respect to two sides of the target road, so that the traffic control device is arranged oppositely on two sides of the target road, which is exemplified by taking the target road as an intersection, see fig. 3, in fig. 3, each pair of solid circles in a dashed frame represents a pair of the rods, the rods are arranged oppositely with respect to two sides of the road, it should be noted that the rod arranged on each road may be a pair or multiple pairs, and this embodiment is not limited.

And a geomagnetic induction and pressure device 202, disposed in each lane of the target road, for acquiring geomagnetic pressure information of each lane. Taking an intersection as an example, as shown in fig. 3, the hollow ellipses are the positions where the device can be arranged, and as can be seen from fig. 3, each hollow ellipse is positioned in each lane.

In some application scenes, a horizontal telescopic module can be arranged on the rod body, the telescopic direction of the horizontal telescopic module is the vertical direction of a lane, one section of the horizontal telescopic module is connected with the middle position of the rod body, the other end of the horizontal telescopic module is connected with a multimedia module, and the multimedia module can realize functions of video shooting, voice acquisition, voice playing and the like, so that the acquisition of the condition of stopping a vehicle is realized. For example, if it is detected that the stop duration of the vehicle is greater than the preset duration threshold, the telescopic module extends horizontally, and the vehicle approaches the stop to perform shooting or language question answering, so as to obtain the condition of the stop vehicle.

In an optional implementation manner, the geomagnetic sensing and pressure device is composed of an electromagnetic sensor and a pressure sensor, wherein the electromagnetic sensor is configured to obtain a magnetic flux value, and in order to ensure that a current exists in a closed circuit in the electromagnetic sensor, the geomagnetic sensing and pressure device further includes a power supply module, and the power supply module is connected to a power supply module of the traffic control device, so that the power supply module can be powered by the power supply module of the traffic control device. The electromagnetic sensors may also be in groups, wherein each group of electromagnetic sensors is arranged in the form of a toroidal coil beneath each of said lanes, so that if a conductor passes through the lane, a corresponding change in magnetic flux is produced.

The pressure sensor is used for acquiring a pressure value corresponding to the magnetic flux, the bicycle, the pedestrian with metal and the like are prevented from being recognized as the automobile by mistake in order to ensure that the quantity of the passing vehicles is counted correctly, the pressure sensor can be used for assisting in counting the quantity of the passing vehicles, and the pressure sensor is arranged in an area where the corresponding electromagnetic sensor is located.

Radar device 203, radar apparatus set up in the below of the body of rod, and radar apparatus highly lies in the range of predetermineeing the height from the ground, and this radar apparatus is used for gathering the radar information of passing through the vehicle in every lane.

In order to ensure that the radar signal which can be reflected back by a vehicle in the lane is reflected, the radar device is arranged below the rod body, and the height of the radar device from the ground is within a preset height range, wherein the preset height range can ensure that the vehicle body can reflect the radar signal, and specifically, the preset height range is not lower than the lowest point of the height of the vehicle body of most vehicle types, and is not higher than the highest point of the height of the vehicle body of most vehicle types, for example: the preset height may range from 0.6 meters to 1.6 meters. This radar installation is carrying out the in-process through vehicle quantity statistics, and radar installations launches radar signal, and this radar signal is received by radar installation through the vehicle reflection to can carry out the statistics through vehicle quantity. The intensity of the radar signal emitted by the radar device is strong enough to detect passing vehicles in lanes adjacent to the radar device, and also to detect passing vehicles in lanes distant from the radar device.

A top support 204 disposed on top of the mast body, the top support being positioned above the target roadway. Other means for acquiring information of vehicles passing through the lane are required for the top support, which is located above the target road, as shown in fig. 2, i.e., the top support is located on top of the rod body and protrudes to a certain length in the direction of the target road.

And a photoelectric device 205 provided on the roof support for capturing image information of the passing vehicle in each lane.

The viewing range of the optoelectronic device faces the lane, and image information containing passing vehicles can be captured by the optoelectronic device. In an alternative embodiment, in order to ensure that the image information of the passing vehicle can still be captured in the case of insufficient light, the optoelectronic device comprises an infrared camera in addition to the RGB camera. The infrared camera shoots when the ambient light intensity is lower than a preset light intensity threshold value.

In some application scenes, the photoelectric device also has functions of panoramic monitoring, picture magnification amplification and the like, the traffic control equipment also can comprise a vertical telescopic model module, one section of the vertical telescopic module is connected to the top support, the other end of the vertical telescopic module is connected to the photoelectric device, and the vertical telescopic module can enable the photoelectric device to move downwards so as to be closer to a lane for shooting. For example, if an accident occurs in a passing vehicle, in order to see the situation of people in the accident vehicle more clearly, the telescopic model extends downwards, so that the distance between the photoelectric device and the accident vehicle is closer, and the more detailed situation of the accident vehicle is obtained.

And the processor is used for receiving the geomagnetic pressure information, the radar information and the image information and calculating the target number of vehicles passing through each lane according to the geomagnetic pressure information, the radar information and the image information. It should be noted that the processor may be located in the mast or the top support, or may be located at a remote location and communicate with the geomagnetic sensing and pressure device, the radar device, or the optoelectronic device via wireless communication techniques. The processor can acquire geomagnetic pressure information, radar information and image information acquired by the device, and perform calculation processing on the acquired information, so as to determine the number of targets passing through vehicles on each lane. In an alternative embodiment, the processor may be based on image processing technology, and the following effects are achieved: recognizing the number plate and condition of passing vehicles, recognizing the steering of passing vehicles, recognizing the number of passing vehicles, recognizing the lane and condition, etc

Based on the above embodiment, as shown in fig. 4, the traffic control apparatus may further include:

a lighting device 406, disposed on the top support, for illuminating the target road. The lighting device can be used for lighting a target road, and meanwhile, the phenomenon that a shot picture is too dark due to insufficient ambient brightness of the photoelectric device is avoided. In addition, the brightness of the lighting device can be set according to the requirements of a user.

And the projection device 407 is arranged on the top support and used for projecting and displaying the projection information sent by the processor in a preset area. The traffic vehicle guidance can be realized through the projection information projected by the projection device, for example, in some application scenes, the processor analyzes and determines that an accident occurs in a certain lane, and then generates corresponding projection information, and sends the projection information to the projection device, and the projection device can analyze the projection information, project traffic marks in the corresponding lane, and guide the vehicle to enter other lanes, so that the occurrence of vehicle congestion is avoided.

As shown in fig. 1, the vehicle control method based on the traffic control apparatus may include:

step 101, acquiring radar information, image information and geomagnetic pressure information of vehicles passing through each lane in a current period according to a radar device, a photoelectric device and a geomagnetic induction and pressure device.

In this embodiment, statistics may be performed on the information collected by the traffic control device periodically, for example, with a period of 30 seconds, the radar information collected by the radar device in the traffic control device, the image information collected by the photoelectric device, and the geomagnetic pressure information collected by the geomagnetic induction and pressure device are counted every 30 seconds.

In the present embodiment, the radar information, the image information, and the geomagnetic pressure information can all be used to separately calculate the number of vehicles in the period. The radar information may include: radar signal transmitting time points, radar signal receiving time points, radar signal reflection intensity and the like; the image information may include: image capturing time, image capturing interval, captured image, and the like; the geomagnetic pressure information may include: the change law of magnetic flux and pressure value, etc.

In an alternative embodiment, as shown in fig. 5, the obtaining of the radar information, the image information, and the geomagnetic pressure information includes:

step 501, controlling the radar device to emit radar signals according to a preset emission frequency in the width direction of each lane in the current period.

Step 502, obtaining radar reflection signals of the traffic flow in each lane to the radar signals, and obtaining reflection time points and reflection signal strength of the radar reflection signals as radar information.

In the present embodiment, as shown in fig. 2, in order to enable the radar signal to be reflected by the flow of the traffic in the lane, the radar device is installed at a lower position in the traffic control apparatus, for example, the installation position of the radar device may be a position of a half height of the vehicle, and the direction in which the radar device transmits the radar signal is the same as the width direction of the lane, which is the direction perpendicular to the lane, as shown in fig. 2. And then transmit the radar signal according to predetermined transmitting frequency, wherein the transmitting frequency can be based on the vehicle speed of this highway section and pass through the experiment and calibrate, can avoid the number of leaking of vehicle according to this frequency transmitting signal, can suitably reduce the consumption because of the radar signal causes moreover.

It can be understood that the radar signal is reflected when meeting the traffic flow, and then the radar reflection signal of the traffic flow in each lane to the radar signal can be obtained. And acquiring the transmitting time of the radar signal and the receiving time of the radar reflection signal, further averaging the transmitting time and the receiving time, and determining the reflection time point of the radar signal. In addition, since different vehicles have the reflection effect of the corresponding radar signals, the reflected signal strength of the radar reflection signal is acquired in order to determine whether the reflection is caused by the same vehicle.

Step 503, capturing a plurality of candidate image frames corresponding to a plurality of capturing frequencies in the current period as image information according to a preset capturing frequency.

In this example, the shooting frequency may be calibrated based on the vehicle running speed and according to an experiment, and shooting the image frames according to the shooting frequency can avoid the missing number of the vehicle and can appropriately reduce the power consumption caused by shooting the image information.

In the current period, shooting is carried out according to the preset shooting frequency, and a plurality of candidate image frames can be obtained and used as image information acquired by the photoelectric equipment.

Step 504, acquiring a preset sampling frequency, and acquiring a plurality of magnetic fluxes and a plurality of pressure values corresponding to the plurality of sampling frequencies in the current period as geomagnetic pressure information.

In this example, the geomagnetic induction and pressure device may be disposed below a road surface, the device may be powered by a street lamp power supply system, a geomagnetic induction portion in the device may be implemented based on an energized loop coil, and when a vehicle passes through the road surface embedded with the coil or stays on the road surface, the collected magnetic flux may change due to iron contained in the vehicle. It is understood that the pressure portion of the geomagnetic sensing and pressure device may be implemented based on a pressure sensor, and the pressure sensor can obtain a corresponding pressure value change when the vehicle passes through or stays on a road surface embedded with the pressure sensor. In the current period, sampling is performed according to a preset sampling frequency, so that geomagnetic pressure information containing magnetic flux and pressure values in the previous period is acquired.

In some application scenes, can also acquire the light intensity of environment through photoelectric device, because illumination is not enough, can make image information dark on the contrary, unclear, can use photoelectric device to acquire the light intensity of environment, if this environment light intensity is less than preset light intensity threshold value, then explain this environment light intensity and hang down, can use the lighting apparatus among the traffic control equipment to throw light on for environment light intensity is greater than preset light intensity. It is understood that the lighting device can also be used as a street lamp, and the lighting time and the lighting brightness of the lighting device can be adjusted according to the needs of users, such as: illuminating at a first brightness from 00:00 to 8:00 due to fewer vehicles and fewer pedestrians; the illumination is not carried out at 8:00-17:00 because the sunlight is sufficient, and the illumination is carried out at 17:00-24:00 because more vehicles and pedestrians exist, wherein the first brightness is darker than the second brightness.

After the radar information, the image information, and the geomagnetic pressure information of the passing vehicle are acquired, the following step 102 is continuously performed.

And 102, determining a first quantity, a second quantity and a third quantity of passing vehicles according to the radar information, the image information and the geomagnetic pressure information respectively.

In this embodiment, the corresponding number of passing vehicles is respectively obtained from three dimensions of radar information, image information and geomagnetic pressure information, where the number of passing vehicles obtained according to the radar information is a first number, the number of passing vehicles obtained according to the image information is a second number, and the number of passing vehicles obtained according to the geomagnetic pressure information is a third number.

In an alternative embodiment, a corresponding radar is installed for each lane, and the radar can be used for counting the number of vehicles, so that the radar information is the number of vehicles acquired by the radar corresponding to each lane, and thus the number of vehicles can be used as the first number. And the image information acquired by the photoelectric device is a video, vehicles in the video are identified through an artificial intelligence technology, and the number of vehicles which exit the video viewing range in the period is taken as a second number. Further, a magnetic flux change threshold value is set, and a change in magnetic flux greater than the magnetic flux change threshold value is regarded as one vehicle pass, so that the number of times that the change in magnetic flux in the cycle is greater than the magnetic flux change threshold value can be regarded as the third number.

In another alternative embodiment, the radar information includes a reflection time point and a reflection signal strength of a radar reflection signal, the image information includes candidate image frames, and the geomagnetic pressure information includes a magnetic flux and a pressure value, so that as shown in fig. 6, the first number, the second number, and the third number of passing vehicles in the current period may be obtained by:

step 601, determining a radar reflected signal set belonging to the same candidate vehicle according to the reflected signal intensity and the reflection time point.

And step 602, acquiring a reflection time point, determining the radar reflection time length of each radar reflection signal set, and calculating the product of the preset vehicle speed and the radar reflection time length of each lane to acquire a candidate vehicle length.

It can be understood that the intensities of the radar reflection signals reflected by the same candidate vehicle are similar, and the reflection time points corresponding to the radar reflection signals reflected by the candidate vehicle are also similar, so that a radar reflection signal set belonging to the same candidate vehicle can be determined according to the intensities of the reflection signals and the reflection time points.

It should be noted that the lane to which the candidate vehicle belongs may be determined based on a time difference between a transmission time point of the radar signal and a reception time point of the radar reflection signal, and it is understood that the farther the lane is located from the radar device, the longer the distance traveled by the radar signal when the radar signal is reflected, and thus the greater the time difference between the corresponding transmission time point of the radar signal and the reception time point of the radar reflection signal, and the lane to which the candidate vehicle belongs may be determined based on the time difference. Therefore, the radar device can not only count the number of passing vehicles in the lanes adjacent to the radar device, but also count the number of passing vehicles in the lanes separated from the radar device.

The radar reflection time length of the radar reflection signal set can be determined according to the first reflection time point and the last reflection time point in the reflection signal set, and the vehicle length of the candidate vehicle can be obtained by performing product operation on the radar reflection time length and a preset vehicle speed, wherein the preset vehicle speed can be obtained in various manners, and in an optional implementation manner, the average vehicle speed of the road section can be used as the preset vehicle speed.

For example, assuming that the reflected signal intensity of the reflection time point in the range of 1.8-2 seconds is 1, the radar reflected signal with the reflected signal intensity of 1 is taken as the radar reflected signal set of the candidate vehicle, the radar reflection time length is 0.2 seconds, and the preset vehicle speed is 15 meters per second, then the candidate vehicle length is 0.2 seconds multiplied by 15 meters per second, and the candidate vehicle length is 3 meters.

Step 603, counting the number of candidate vehicles with the candidate vehicle length greater than the preset length as a first number of passing vehicles.

It can be understood that, in some application scenarios, situations such as the electric bicycle reflecting radar reflected signals may occur, and in order to avoid the situations being counted into the first number, a preset length may be set, and candidate vehicles having a vehicle length greater than the preset length may be considered as vehicles, and then, the number of candidate vehicles having a vehicle length greater than the preset length is counted as the first number of passing vehicles.

For example, when there are 5 candidate vehicles, 2 of the candidate vehicles have vehicle lengths of 0.5 and 0.4 m, another 3 of the candidate vehicles have vehicle lengths of 2.4 m, 3 m and 2.8 m, and the preset length is 1 m, so that since the number of candidate vehicles having vehicle lengths greater than 1 m is 3, it is determined that the corresponding first number is 3.

And step 604, extracting the vehicle contour information in each candidate image frame, and screening out a target image frame containing complete vehicle contour information.

Step 605, determining a second number according to the vehicle contour information contained in the target image frame.

In the embodiment, the vehicle contour information can be extracted from each candidate image frame based on a deep learning technology, and it can be understood that at least one complete vehicle contour is not captured in some candidate image frames, so that at least one complete vehicle contour information is not included in the vehicle contour information extracted based on such candidate image frames; at least one complete vehicle contour is shot in some candidate image frames, so that the vehicle contour information extracted based on the candidate image frames comprises at least one complete vehicle contour information, and the image frames comprising at least one complete vehicle contour information are used as target image frames.

Further, the second number is determined based on vehicle contour information contained in the target image frame. In an alternative embodiment, a yolo (young Only Look one) algorithm may be used to obtain the corresponding second number according to the target image frame.

In some application scenarios, lane division may also be obtained according to a target image frame, specifically, the target image frame is subjected to binarization processing to perform color classification, if white intervals in the color classification are regularly arranged, the white area is considered as a boundary of the lane, and the lane is divided according to the white area, for example: if the number of lanes in the driving direction of the vehicle is 2, wherein the left lane is a straight lane or a left-turn lane, and the right lane is a right-turn lane; if the number of lanes in the driving direction of the vehicle is 3, wherein the left lane is a straight lane or a left-turn lane, the middle lane is a straight lane, and the right lane is a right-turn lane; if the number of lanes in the driving direction of the vehicle is 4, the left lane is a straight lane or a left-turn lane, the two middle lanes are straight lanes, and the right lane is a right-turn lane.

And 606, screening at least one candidate magnetic flux belonging to a preset magnetic flux range from the plurality of magnetic fluxes, and determining a pressure value corresponding to the candidate magnetic flux.

Step 607, determining the target sampling frequency of the pressure value larger than the preset pressure value, and determining the number of the target sampling frequencies to be the third number.

It is understood that, since the conductor passing through the geomagnetic induction and pressure device may be an electric bicycle, a pedestrian carrying metal, a vehicle, or the like, and since the conductors are different, the magnetic fluxes generated by the movement of the conductor may be different, in the present embodiment, in order to exclude other conductors than the vehicle, a magnetic flux range may be preset, and at least one candidate magnetic flux belonging to the preset magnetic flux range may be screened out among the plurality of magnetic fluxes.

In order to further avoid misjudging the bicycle, the electric bicycle and the like as the vehicle, the pressure value corresponding to the candidate magnetic flux can be determined, and a third number of passing vehicles is determined according to the magnetic flux and the corresponding pressure value thereof, wherein the third number can be confirmed in various ways, and an optional implementation mode comprises the following steps:

setting an independent induction coil and a pressure sensor in each lane, wherein the magnetic flux generated by each induction coil and the pressure value generated by the pressure sensor both carry corresponding lane marks, when the magnetic flux variation in the induction coil is greater than the preset magnetic flux variation, acquiring the pressure variation of the pressure sensor corresponding to the induction coil, and if the pressure variation is also greater than the preset pressure variation, determining the sampling frequency corresponding to the magnetic flux variation and the pressure variation as a target sampling frequency, which also carries the lane marks, counting the number of the target sampling frequencies in the period, thereby determining the third number of the passing vehicles measured by the geomagnetic induction and pressure device.

And 103, determining the target number of passing vehicles in each lane in the current period according to the first number, the second number and the third number.

In the above steps, a first number of passing vehicles recorded by the radar means, a second number of passing vehicles recorded by the photoelectric means, and a third number of passing vehicles recorded by the geomagnetic induction and pressure means are acquired.

It can be understood that the target number of vehicles passing through each lane in the current cycle can be determined according to the number acquired by the three devices, the determination method of the target number is various, and may be designed according to application scenarios, and the present embodiment is not limited, and the following examples are illustrated:

in an optional implementation manner, variances of the first number, the second number, and the third number are calculated, whether the variance is greater than a preset number variance threshold is determined, if the variance is greater than the preset variance threshold, an average of the first number, the second number, and the third number is used as a target number, and if the variance is not greater than the preset variance threshold, a median of the first number, the second number, and the third number is used as the target number.

In another alternative embodiment, the target number is determined by judging the same number of the first number, the second number, and the third number, specifically, as shown in fig. 7, the method includes the following steps:

step 701, determining whether the first quantity, the second quantity and the third quantity are the same.

In step 702, if at least two of the first number, the second number, and the third number are the same, the same number is determined as the target number.

In step 703, if the first number, the second number, and the third number are different from each other, deleting a minimum value or a maximum value of the first number, the second number, and the third number, and calculating an average value of the remaining numbers as a target number.

In this embodiment, the first number, the second number, and the third number are determined, and if at least two of the numbers are the same, the same two numbers are considered to be accurate, so that the same numbers can be taken as the target numbers.

If the first number, the second number, and the third number are different from each other, in order to obtain an accurate number of passing vehicles, a maximum value or a minimum value of the first number, the second number, and the third number may be deleted, and a mean value of the remaining numbers is calculated as the target number. For example, if the first number is 10, the second number is 8, and the third number is 9, in one embodiment, the largest number of the three numbers is removed, the average value of 8 and 9 is 8.5, 8.5 may be used as the target number, or 8.5 may be further rounded up to 9, and 9 may be used as the target number; in another embodiment, the smallest 8 of the three numbers is removed, the average of 10 and 9 is 9.5, 9.5 may be used as the target number, or 9.5 may be further rounded up to 10, and 10 is used as the target number.

And 104, generating traffic control instructions according to the target quantity so as to control the vehicles on each lane to pass according to the traffic control instructions.

In this embodiment, traffic conditions may be determined based on the target quantity to generate traffic control instructions including, but not limited to, lane marker changes and/or traffic light control changes.

In an optional implementation manner, the target number may be analyzed, the number of passing vehicles corresponding to each lane is obtained, the number of passing vehicles corresponding to each lane is compared with a preset number threshold, a target lane larger than the preset number threshold is determined, and the traffic indicator is changed, so that traffic dispersion for the target lane is realized. For example, if there are three lanes, wherein the left lane is a left turn lane, the corresponding traffic indicator is a left turn; the right lane is a right-turn lane, and the corresponding traffic indication sign is a right turn; the middle lane is a straight lane, and the corresponding traffic indication sign is straight. If the number of the vehicles corresponding to the middle lane is larger than the preset number threshold, the number of the vehicles passing through the middle lane is excessive, so that the traffic indication sign corresponding to the right lane can be changed from right turn to right turn straight, namely, the vehicles in the lane are allowed to go straight or turn right, and the passing pressure of the middle lane is reduced.

In another optional implementation manner, the determining the time length of the traffic signal lamp according to the difference between the target number and the preset number specifically includes:

and judging the difference between the target quantity and the preset quantity, namely in the embodiment, the preset quantity can represent the quantity of the passing vehicles adapted to the current passing signal lamp time length, and in order to judge whether the current passing signal lamp time length is adapted to the target quantity of the current passing vehicles, the difference between the target quantity and the preset quantity is further judged.

And if the difference is larger than the preset difference threshold, inquiring a preset database to obtain the passing delay time matched with the difference.

The passage delay time length can be calibrated according to experimental data.

And finally, prolonging the time length of the traffic signal lamp of each lane according to the traffic time length.

In this embodiment, if the difference is greater than the preset difference threshold, it indicates that the difference between the target number of the vehicles passing by currently and the preset number adapted to the current traffic signal lamp is large, and therefore the lamp length of the traffic signal lamp of the lane needs to be adjusted, and the corresponding relationship between the difference and the traffic delay time length may be stored in the preset database, where the corresponding relationship may be calibrated according to experience and/or experiment. Furthermore, the preset database can be queried according to the difference value between the target number and the preset number, and the time length of the same-row time delay matched with the difference value is obtained, so that the time length of the same-row signal lamp of each lane is prolonged according to the time length of the same-row signal lamp.

If the difference is not larger than the preset difference threshold, the time length of the same-row signal lamp of the current lane can be kept.

In summary, the vehicle control method based on the traffic control device according to the embodiment of the disclosure determines the first number according to the radar information acquired by the radar apparatus, determining a second number from the image information obtained by the photoelectric device, determining a third number from the geomagnetic pressure information obtained by the geomagnetic induction and pressure device, thereby determining the number of targets from the first number, the second number, and the third number, the method generates traffic control instructions for controlling the passing of vehicles according to the target quantity, acquires the quantity of passing vehicles by an automatic method, acquires the quantity by adopting various methods, the accuracy of the obtained vehicle quantity is guaranteed while the human resources are saved, traffic control instructions are generated based on the vehicle quantity, human resources are prevented from being spent for conducting traffic guidance, and therefore traffic is efficiently guided on the basis of the existing road.

Based on the above embodiment, it may also be determined whether the vehicle has an accident or is jammed according to the radar information, the image information, and the geomagnetic information, and specifically, as shown in fig. 8, the method includes:

step 801, determining the parking time of the passing vehicle according to the radar information, the image information and the geomagnetic pressure information.

In this embodiment, the parking duration of the passing vehicle may be determined according to the radar information, the image information, and the geomagnetic pressure information, and there are various methods for determining the parking duration, which may be designed according to application scenarios.

Step 802, determining a second target vehicle with the parking duration being greater than a preset threshold, and judging whether the number of the second target vehicles is greater than a preset number threshold.

In this embodiment, the second target vehicle with the parking duration longer than the preset threshold is a vehicle with an excessively long parking time, and the second vehicle is determined, and in order to determine whether the cause of the parking of the vehicle is a vehicle fault or a traffic jam, it may be determined whether the number of the second target vehicles is greater than the preset number threshold.

And 803, if the number of the second target vehicles is not greater than the preset number threshold, generating fault alarm information of the second target vehicle.

If the number of the second target vehicles is not greater than the preset number threshold, the number of the second target vehicles is small, so that the possibility that the vehicles stop due to vehicle congestion cost is low, the vehicles stop due to faults of the second target vehicles is determined, fault alarm information of the second target vehicles is generated, and the fault alarm information can be sent to a department in charge of traffic management so as to rescue the faults of the vehicles, and therefore the parking and road occupying time caused by the faults of the vehicles is reduced.

And step 804, if the number is larger than the preset number threshold, generating lane congestion warning information of the corresponding lane.

If the number of the second target vehicles is larger than the preset number threshold, the number of the second target vehicles is larger, so that the possibility that the vehicles stop due to vehicle congestion is higher, the vehicles stop due to congestion of lanes, lane congestion warning information of corresponding lanes is generated, the lane congestion information can be sent to a department in charge of traffic management, so that the lane congestion is dredged conveniently, the parking and road occupying time caused by the lane congestion is reduced, the lane congestion information can also be sent to a navigation platform, fewer vehicles are navigated to pass through the road section based on the navigation platform, and the vehicle congestion of the road section is dredged.

In summary, the vehicle control method based on the traffic control device of the embodiment determines the cause of the lane congestion based on the number of the second target vehicles with the parking time length greater than the preset threshold value, and generates corresponding information. Therefore, the automatic judgment of the traffic jam reason is realized, and the labor cost for judging the road jam reason is reduced.

Based on the above embodiment, with continuing reference to fig. 4, the traffic control apparatus may further include a projection device 407, which may be configured to project warning information about vehicle damage in a preset projection area, as shown in fig. 9, specifically including:

and step 901, judging whether the passing vehicle has a first target vehicle with vehicle damage according to the image information.

In the embodiment, it can be determined whether the passing vehicle is the first target vehicle with vehicle damage according to the image information, and the determination method includes, but is not limited to, the following two methods:

in an optional mode, graying is conducted on image information, a vehicle contour is extracted, the vehicle contour is compared with each standard vehicle contour in a database, when the comparison similarity result of the vehicle contour and one of the standard vehicle contours is larger than a similarity threshold value, the vehicle is considered to be matched with the vehicle type of the standard vehicle contour, then area filling is conducted on the part, which is not successfully matched with the standard vehicle contour, of the vehicle contour, filling area is calculated, and if the filling area is larger than a preset filling area threshold value, the vehicle is considered to be damaged. Wherein, the similarity threshold may be 80%. Based on the steps, the brand and the model of the vehicle can be obtained at the same time, so that the highest running speed of the vehicle is determined.

If the comparison similarity result between the vehicle contour and each standard vehicle contour is not greater than the similarity threshold, whether the vehicle is damaged or not can be judged manually.

In another optional implementation, the degree of light reflection of the passing vehicle in the image information is determined, and if there is an obvious non-light reflection condition in a certain part of the passing vehicle, the passing vehicle is considered as a first target vehicle with vehicle damage.

In addition, the above two embodiments may be combined, and at least one of the two embodiments may determine that the vehicle is damaged, and may determine that the vehicle is the first target vehicle.

And step 902, if the first target vehicle exists, license plate number information of the first target vehicle is extracted according to the image information.

If the first target vehicle exists, license plate number information of the first target vehicle can be extracted according to the image information, and in an optional implementation mode, the license plate number information obtaining method comprises the following steps:

the image information is segmented by using an image segmentation technology in deep learning to obtain a license plate picture containing a license plate, in order to avoid the influence of illumination on the license plate picture, the license plate picture is subjected to gray processing, in order to avoid the influence of a digital inclination condition on license plate identification, the numbers in the license plate picture are corrected, furthermore, each character is segmented by using a character segmentation method, each segmented character is matched with a template in a database, and the license plate information of a corresponding first target vehicle is obtained according to a matching result.

If the first target vehicle cannot extract the license plate number information, in order to alarm the abnormal phenomenon, the missing abnormality of the license plate number is recorded in the warning information sent in the subsequent steps.

And 903, generating warning information carrying license plate number information, and displaying the warning information in a preset area in a projection manner through the projection device.

After determining the license plate number information of the first target vehicle, further, generating warning information carrying the license plate number information (if there is no license plate number information, the warning information carries license plate number missing abnormal information), where the warning information may further include information such as a vehicle type of the vehicle, a geographic position of the vehicle, and a speed of the vehicle when the vehicle is traveling, and the embodiment is not limited, and further, the warning information is projected on a preset area through a projection device, and the preset area may be selected according to an application scenario, for example: the warning device is arranged in a lane area and used for commanding traffic, or arranged on a vehicle window of a vehicle and used for warning other drivers of the vehicle of damage to a first target vehicle, or arranged on a display screen, wherein the display screen is arranged at an intersection of the road section and used for warning a driver of the vehicle about to enter the road section to pay attention to the road condition of the road section.

Optionally, the method may further obtain a traveling direction of the passing vehicle based on the image information, as shown in fig. 10, specifically including the following steps:

step 1001, vehicle edge information, turn signal information, and lane direction guide line information of each lane of a passing vehicle are extracted from the image information.

In the embodiment, vehicle edge information of a passing vehicle can be extracted from the image information through a deep learning technology, and the vehicle edge information can reflect the outline of the vehicle; the turn signal identification information can be extracted from the image information based on the flashing rule of the turn signal and/or the color of the turn signal, and understandably, the turn signal information can represent the rotating direction of the vehicle; the lane direction guiding line information of each lane may also be extracted from the image information, where the division of the lane is similar to that in the above embodiment, which is not described again in this embodiment, and further, after the division of the lane is determined, the lane direction guiding line information of each lane is extracted based on an image processing technique, where the lane direction guiding line information includes but is not limited to: vehicle steering guide line information and/or stop line information.

Step 1002, determining a corresponding traveling direction of the passing vehicle according to the vehicle edge information and the lane direction guiding line information.

Further, based on the acquired vehicle edge information and the lane direction guide line information, a corresponding traveling direction of the vehicle is determined.

In some application scenarios, the lane direction guiding line information is vehicle steering guiding line information, an included angle between the vehicle edge information and the vehicle steering guiding line information is calculated, and a traveling direction of a passing vehicle is determined according to the included angle.

In other application scenes, the lane direction guide line information is stop line information, an included angle between the vehicle edge information and the stop line information is calculated, and the traveling direction of the passing vehicle is determined according to the included angle. For example, as shown in fig. 11, if the included angle between the vehicle edge information and the stop line information is 75 degrees, the traveling direction of the vehicle can be determined as a left turn, and if the included angle between the vehicle edge information and the stop line information is 105 degrees, the traveling direction of the vehicle can be determined as a right turn.

And 1003, acquiring traffic prompt information of the lanes related to each lane according to the traveling direction, and displaying the traffic prompt information in a projection mode in a preset area through a projection device.

After determining the traveling direction of the passing vehicle, a related lane related to the traveling direction may be determined according to the traveling direction, and further, traffic guidance information of the related lane for guiding the vehicle congestion condition in the related lane is determined, and the traffic guidance information is projected and displayed in a preset area through a projection device in order to make the driver know the traffic guidance information. The preset area may be selected according to an application scenario, which is not described in detail in this embodiment. For example, if the traveling direction of the vehicle is a left turn and the lane associated with the lane is determined to be a left turn lane, the traffic guidance information for prohibiting entry is projected by the projection device in the left turn lane.

In an optional implementation manner, the time length of the vehicle occupying the stop line may also be obtained, if the time length is greater than a preset time threshold, it is determined whether there is no vehicle in the first distance in front of the vehicle in the image information, and if there is a vehicle, it is determined that traffic jam occurs. If no vehicle exists in the image information within the first distance in front of the vehicle, the number of the stopped vehicles in the image information is judged, if the stopped vehicles are greater than or equal to 2, the occurrence of multi-vehicle accidents on the current road section is determined, and if the stopped vehicles are smaller than 2, the occurrence of single vehicle accidents on the current stopped vehicles is determined.

In summary, the vehicle control method based on the traffic control device according to the embodiment of the disclosure can determine whether the passing vehicle is damaged according to the image information, and if the passing vehicle is damaged, obtain the license plate number information of the passing vehicle and project the warning information to the preset area through the projection device. Automatic realization to the discernment of vehicle harm, reduced the manpower resources that judge the accident and spend, with warning information projection in predetermineeing the region simultaneously, improved the efficiency and the validity of carrying out traffic guidance.

Fig. 12 is a schematic structural diagram of a vehicle control device based on a traffic control device according to an embodiment of the present disclosure, where the vehicle control device may be implemented by software and/or hardware, and may be generally integrated in an electronic device. The traffic control device is disposed on both sides of a target road including at least one lane, the traffic control device includes a radar apparatus, a photoelectric apparatus, a geomagnetic induction and pressure apparatus, as shown in fig. 12, and the vehicle control apparatus 1200 based on the traffic control device includes:

an obtaining module 1201, configured to obtain radar information, image information, and geomagnetic pressure information of vehicles passing through each lane in a current period according to the radar device, the photoelectric device, and the geomagnetic induction and pressure device, respectively;

a first determining module 1202, configured to determine a first number, a second number, and a third number of passing vehicles according to the radar information, the image information, and the geomagnetic pressure information, respectively;

a second determining module 1203, configured to determine, according to the first number, the second number, and the third number, the target number of vehicles passing through each lane in the current period;

and the control module 1204 is configured to generate a traffic control instruction according to the target number, so as to control the vehicles on each lane to pass through according to the traffic control instruction.

Optionally, the obtaining module 1201 is configured to:

Optionally, the first determining module 1202 is configured to:

Optionally, the second determining module 1203 is configured to:

Optionally, if the first number, the second number, and the third number are different from each other, a variance of the first number, the second number, and the third number may be calculated, and the variance is used as the target number.

Optionally, the control module 1204 is configured to:

judging the difference value between the target quantity and a preset quantity;

Optionally, the traffic control device further includes a projection device, and the device further includes:

the judging module is used for judging whether the passing vehicle has a first target vehicle with vehicle damage according to the image information;

the first extraction module is used for extracting license plate number information of the first target vehicle according to the image information if the first target vehicle exists;

and the first display module is used for generating warning information carrying the license plate number information and displaying the warning information in a projection manner in a preset area through the projection device.

Optionally, the apparatus further comprises:

the second extraction module is used for extracting vehicle edge information, turn light information and lane direction guide line information of each lane of the passing vehicle according to the image information;

the third determining module is used for determining the corresponding advancing direction of the passing vehicle according to the vehicle edge information and the lane direction guide line information;

and the second display module is used for acquiring traffic prompt information of the lanes related to each lane according to the advancing direction and displaying the traffic prompt information in a projection manner in a preset area through the projection device.

Optionally, if the lane direction guiding line information is stop line information, the third determining module is configured to:

Optionally, the apparatus further comprises:

a fourth determining module, configured to determine a parking duration of the passing vehicle according to the radar information, the image information, and the geomagnetic pressure information;

the fifth determining module is used for determining a second target vehicle of which the parking time is greater than a preset threshold value and judging whether the number of the second target vehicles is greater than a preset number threshold value or not;

the first generation module is used for generating fault alarm information of the second target vehicle if the number of the second target vehicles is not greater than the preset number threshold;

and the second generation module is used for generating the lane congestion warning information of the corresponding lane if the number of the lanes is larger than the preset number threshold.

In addition to the method and the device, the embodiment of the present disclosure further provides a computer-readable storage medium, where instructions are stored, and when the instructions are executed on a terminal device, the terminal device is caused to implement the vehicle control method based on the traffic control device according to the embodiment of the present disclosure.

The disclosed embodiments also provide a computer program product comprising a computer program/instructions which, when executed by a processor, implement the traffic control device based vehicle control method provided by any of the disclosed embodiments.

Referring now specifically to fig. 13, a schematic diagram of an electronic device 1300 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device 1300 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as a mobile phone, a notebook computer, a digital broadcast receiver, a personal digital assistant, a tablet computer, a portable multimedia player, a vehicle-mounted terminal (e.g., a car navigation terminal), and the like, and fixed terminals such as a digital television, a desktop computer, and the like. The electronic device shown in fig. 13 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 13, electronic device 1300 may include a processing means (e.g., central processing unit, graphics processor, etc.) 1301 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1302 or a program loaded from storage device 1308 into a Random Access Memory (RAM) 1303. In the RAM 1303, various programs and data necessary for the operation of the electronic apparatus 1300 are also stored. The processing device 1301, the ROM 1302, and the RAM 1303 are connected to each other via a bus 1304. An input/output (I/O) interface 1305 is also connected to bus 1304.

Generally, the following devices may be connected to the I/O interface 1305: input devices 1306 including, for example, touch screens, touch pads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, and the like; an output device 1307 including, for example, a Liquid Crystal Display (LCD), speaker, vibrator, etc.; storage devices 1308 including, for example, magnetic tape, hard disk, etc.; and a communication device 1309. The communications device 1309 may allow the electronic device 1300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 13 illustrates an electronic device 1300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 1309, or installed from the storage device 1308, or installed from the ROM 1302. The computer program, when executed by the processing device 1301, performs the above-described functions defined in the traffic control apparatus-based vehicle control method of the embodiment of the present disclosure.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, 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), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.

The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring radar information, image information and geomagnetic pressure information of vehicles passing through each lane in a current period according to the radar device, the photoelectric device and the geomagnetic induction and pressure device respectively; determining a first number, a second number, and a third number of passing vehicles according to the radar information, the image information, and the geomagnetic pressure information, respectively; determining the target number of passing vehicles in each lane in the current period according to the first number, the second number and the third number; and generating traffic control instructions according to the target quantity so as to control the vehicles on each lane to pass according to the traffic control instructions. The embodiment of the disclosure reduces human resources spent on traffic guidance, and realizes efficient traffic guidance at the same time.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code 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).

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 disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, 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.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, 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), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method based on a traffic control apparatus, characterized in that the traffic control apparatus is provided on both sides of a target road including at least one lane, the traffic control apparatus includes a radar device, a photoelectric device, a geomagnetic induction and a pressure device, the method includes the steps of:

determining a first number, a second number, and a third number of passing vehicles according to the radar information, the image information, and the geomagnetic pressure information, respectively;

2. The method according to claim 1, wherein the acquiring radar information, image information, and geomagnetic pressure information of passing vehicles in each lane in a current cycle based on the radar apparatus, the photoelectric apparatus, and the geomagnetic induction and pressure apparatus, respectively, comprises:

3. The method of claim 2, wherein the determining a first number, a second number, and a third number of passing vehicles based on the radar information, the image information, and the geomagnetic pressure information, respectively, comprises:

4. The method of claim 1, wherein said determining the target number of vehicles in each of the lanes in the current cycle based on the first number, the second number, and the third number comprises:

5. The method of claim 1, wherein the generating traffic control instructions according to the target number to control passage of vehicles on the each lane according to the traffic control instructions comprises:

judging the difference value between the target quantity and a preset quantity;

6. The method of claim 1, further comprising a projection device in the traffic control device, the method further comprising:

7. The method of claim 6, further comprising:

8. The method of claim 7, wherein if the lane direction guideline information is stop-line information, the determining a corresponding direction of travel of the passing vehicle based on the vehicle edge information and the lane direction guideline information comprises:

9. The method of claim 1, further comprising:

10. A vehicle control apparatus based on a traffic control device, the traffic control device being provided on both sides of a target road including at least one lane, the traffic control device including a radar device, a photoelectric device, a geomagnetic induction and a pressure device, the apparatus comprising: