CN114267187B

CN114267187B - Signal lamp control method and device, computer equipment and storage medium

Info

Publication number: CN114267187B
Application number: CN202210184763.0A
Authority: CN
Inventors: 罗云辉; 韦佳; 毛应萍; 蒋金勇; 孙烨垚
Original assignee: Shenzhen Intelligent Transport Technology Co ltd; Shenzhen Urban Transport Planning Center Co Ltd
Current assignee: Shenzhen Intelligent Transport Technology Co ltd; Shenzhen Urban Transport Planning Center Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-07-12
Anticipated expiration: 2042-02-28
Also published as: CN114267187A

Abstract

The application relates to a signal lamp control method, a signal lamp control device, computer equipment and a storage medium. The method comprises the following steps: if any vehicle in the vehicles entering the dilemma area continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction; acquiring a conflict phase of a protection phase; signal lamps of the protection phase are adjusted according to the protection direction; adjusting signal lamps of conflict phases according to conflict directions; judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase; the signal cycle comprises a plurality of phases, the linkage phase is all phases from the ending time of the conflict phase to the ending time of the current signal cycle, and the protection direction is one direction in the bidirectional coordination direction. The management and control of vehicles in the dilemma area can be realized, and the bidirectional coordination driving efficiency of the trunk line can be also considered.

Description

Signal lamp control method and device, computer equipment and storage medium

Technical Field

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

Background

When a vehicle runs on a highway at a current phase, at the moment when a yellow light of a traffic signal lamp at the current phase is turned on, the vehicle cannot safely stop before a stop line of the current road before a red light is turned on due to the fact that the current speed is too high even if the vehicle decelerates, and meanwhile, even if the vehicle overtakes the traffic light in an overspeed manner, the vehicle cannot pass through an intersection at the opposite end when a green light in the next collision traffic flow direction is turned on, so that an emergency stop rear-end collision accident is very easy to happen near the intersection or a collision accident happens to the released vehicle in the collision direction. This state of the vehicle is commonly referred to as a Dilemma Zone (DZ) or Dilemma state. The dilemma state is related to the speed of the speeding vehicle, and one speed at that time can be considered to correspond to one dilemma state.

Since the vehicle entering the dilemma state is the most frequently encountered vehicle at the intersection, there are various methods for reducing the occurrence of accidents for the vehicle entering the dilemma state, and the more common method is to control the traffic lights. The current common traffic signal lamp control method based on the dilemma area is to prolong the green light/yellow light duration of the direction of a vehicle entering the dilemma area, so that the vehicle can stop in a stop line or safely pass through an intersection before a red light is turned on, but because whether the vehicle decelerates and stops is difficult to judge, other vehicles which do not enter the dilemma state can be induced to enter the dilemma state in a green light/yellow light prolonged time period, and the accident probability is difficult to reduce by the method of prolonging the yellow light/green light duration of the direction of the vehicle. In addition, if the intersection is an intersection in the main line coordination, the method can also reduce the traffic efficiency of the main line coordination because the duration of the yellow light/green light in one direction is too long.

Therefore, in the prior art, the signal lamp control method based on the dilemma state/dilemma area is difficult to meet the requirements of coordinating the efficiency and the safety of the trunk line at the same time.

Disclosure of Invention

To solve the technical problem or at least partially solve the technical problem, the present application provides a signal lamp control method, an apparatus, a computer device and a storage medium.

In a first aspect, the present application provides a signal lamp control method, including:

if any vehicle in the vehicles entering the dilemma area continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction;

acquiring a collision phase of the protection phase;

adjusting the signal lamp of the protection phase according to the protection direction;

adjusting the signal lamp of the conflict phase according to the conflict direction;

judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase;

the signal cycle comprises a plurality of phases, the linkage phase is all phases from the end time of the conflict phase to the end time of the current signal cycle, the protection direction is one of the two-way coordination directions, and the conflict direction is a direction conflicting with the protection direction.

In this embodiment of the present application, the obtaining of the collision phase of the protection phase includes:

if the next phase of the protection phase comprises a collision direction, taking the next phase of the protection phase as a collision phase;

the signal lamp for adjusting the protection phase according to the protection direction comprises:

and prolonging the duration of the red light in the signal light of the protection phase to the full red stop time, wherein the full red stop time is the road right losing time of the protection phase.

In the embodiment of the present application, if the collision direction is a non-subtended coordination direction and the collision phase includes a subtended coordination direction,

the signal lamp for adjusting the collision phase according to the collision direction includes:

if the traffic flow in the non-opposite coordination direction is greater than or equal to a first threshold value, the signal lamp of the conflict phase adopts a first adjusting scheme;

wherein the first adjustment scheme is as follows: delaying the starting of the green light of the non-subtended coordination direction and redistributing the duration of the green light of the non-subtended coordination direction, keeping the starting time of the green light of the subtended coordination direction unchanged, and increasing the duration of the green light of the subtended coordination direction.

In the embodiment of the application, if the traffic flow in the non-opposite coordination direction is smaller than a first threshold, a second adjustment scheme is adopted for the conflict phase;

wherein the second adjustment scheme is as follows: and delaying the starting of the green light in the non-subtended coordination direction and compressing the duration of the green light in the non-subtended coordination direction, and keeping the starting time and the duration of the green light in the subtended coordination direction unchanged.

In the embodiment of the application, according to the signal lamp of the conflict phase place after the adjustment, judge whether need adjust the signal lamp of linkage phase place, include:

if the signal lamp of the conflict phase adopts a first adjusting scheme, judging the signal lamp of which the linkage phase needs to be adjusted;

and if the signal lamp of the conflict phase adopts a second adjusting scheme, judging the signal lamp without adjusting the linkage phase.

In the embodiment of the present application, if the collision direction is a non-opposite direction coordination direction, the collision phase does not include an opposite direction coordination direction, the linkage phase does not include an opposite direction coordination direction,

delaying starting of green lights in the signal lights in the non-subtended coordination direction in the conflict phase, and reallocating the green light duration of the conflict phase;

according to the signal lamp of the conflict phase place after the adjustment, judge whether need adjust the signal lamp of linkage phase place, if need adjust the signal lamp of linkage phase place, then adjust the signal lamp of linkage phase place, include:

and judging the signal lamp of the linkage phase to be adjusted, and redistributing the starting time and duration of the green lamp of the linkage phase.

In this embodiment of the application, if the collision direction is a non-opposite direction coordination direction, the collision phase does not include an opposite direction coordination direction, the Z-th linkage phase after the collision phase includes an opposite direction coordination direction, and if Z is equal to 1:

the signal lamp for adjusting the conflict phase according to the conflict direction comprises:

delaying starting of green lights in the non-subtend coordination direction of the conflict phase and compressing duration of the green lights in the non-subtend coordination direction;

according to the signal lamp of the conflict phase place after the adjustment, judge whether need the signal lamp of the linkage phase place of adjustment, include:

and judging the signal lamp without adjusting the linkage phase.

In the embodiment of the present application, if Z is greater than 1:

the signal lamp for adjusting the conflict phase according to the protection direction comprises:

delaying to start the green light in the non-opposite coordination direction of the conflict phase, and reallocating the duration of the green light of the conflict phase;

the signal lamp of other linkage phase between the conflict phase and the Z-th linkage phase is judged to be adjusted,

and reallocating the starting time and the duration of the green lamps of other linkage phases between the conflict phase and the Z-th linkage phase, and keeping the starting time and the duration of the green lamps of the Z-th and the subsequent linkage phases unchanged.

In the embodiment of the present application, obtaining the adjusted duration of the green light includes:

acquiring a delay starting time according to the maximum full red time, wherein the full red time is the time between the preset stop time of the red light of the protection phase and the full red stop time;

acquiring the green light duration of the current phase according to the delayed start time, the green signal ratio, the signal period, the start time of the two-way coordination direction and the total green light duration;

the total green light duration is the sum of preset green light durations of all phases of which the green light duration needs to be adjusted in the current signal period.

In the embodiment of the application, if the conflict direction is the pedestrian crossing direction and the conflict phase only comprises the opposite direction coordination direction,

delaying to start the green light of the pedestrian crossing direction of the conflict phase, and compressing the duration of the green light of the pedestrian crossing direction;

then according to the signal lamp of the conflict phase place after the adjustment, judge whether need the signal lamp of the phase place of adjustment linkage, include:

and judging the signal lamp without adjusting the linkage phase.

In a second aspect, the present application provides a signal lamp control apparatus, the apparatus comprising:

the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a protection direction and a protection phase in a current signal period according to a preset bidirectional coordination direction if any vehicle in vehicles entering a dilemma area continues to run;

the obtaining unit is further configured to obtain a collision phase of the guard phase;

the adjusting unit is used for adjusting the signal lamp of the protection phase according to the protection direction;

the adjusting unit is also used for adjusting the signal lamp of the conflict phase according to the conflict direction;

the processing unit is used for judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and enabling the adjusting unit to adjust the signal lamp of the linkage phase if the signal lamp of the linkage phase needs to be adjusted;

In a third aspect, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the signal light control method when executing the computer program.

In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned signal lamp control method.

The embodiment of the application provides a signal lamp control method, which comprises the following steps: if any vehicle in the vehicles entering the dilemma area continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction; acquiring a collision phase of a protection phase; signal lamps of the protection phase are adjusted according to the protection direction; adjusting the signal lamp of the conflict phase according to the conflict direction; judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase; the signal cycle comprises a plurality of phases, the linkage phase is all phases from the ending time of the conflict phase to the ending time of the current signal cycle, the protection direction is one of two-way coordination directions, and the conflict direction is a direction which conflicts with the protection direction. According to the method, the signal lamps of the conflict phase and the linkage phase are adjusted through the protection phase and the protection direction, so that the protection of the dilemma area can be realized, and the bidirectional coordination driving efficiency of the trunk line is considered.

Drawings

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

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the 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 diagram illustrating an application environment of a signal lamp control method according to an embodiment of the present application; fig. 2 is a flowchart illustrating a signal lamp control method according to an embodiment of the present application;

fig. 3 to 9 are schematic diagrams showing a plurality of phases in one signal cycle and a passing direction of each phase;

fig. 10 is a block diagram showing the construction of a signal lamp control device according to an embodiment of the present invention;

fig. 11 is an internal structural diagram of a computer device in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a diagram illustrating an application environment of a signal lamp control method according to an embodiment of the present application. Referring to fig. 1, the signal lamp method is applied to a signal lamp control system, that is, the signal lamp control method is applied to a traffic light system.

Signal lights can be classified by color into red, yellow, and green lights. The signal lights may be classified into a vehicle signal light and a pedestrian signal light according to an object, wherein the pedestrian signal light is also called a zebra crossing signal light or a sidewalk signal light. The signal lamps are distinguished according to the control direction and can comprise straight lamps and turn lamps; in some application scenarios, the signal lamp group does not distinguish between the straight running lamp and the turning lamp, and the straight running lamp and the turning lamp are controlled simultaneously by the signal lamp group.

According to the international general mode, a red light indicates stop, a green light indicates pass, and a yellow light indicates warning stop.

Fig. 1 shows a signal light system of an intersection, which is a four-way two-way lane, i.e. includes four roads, 110, 120, 130 and 140. Each road is a bidirectional lane. The intersection includes four sets of signal lights, such as 111, 121, 131 and 141 in fig. 1. The traffic light is set in a position related to traffic regulations, and vehicles are driven to the right in most countries and regions, so that the traffic light is set on the right side of each road as viewed in the driving direction, for example, the road 110 is a north-south road, and when the vehicle is driven on the road 110 from the south to the north, the traffic light 111 is set on the right side (east side) of the road 110, that is, the traffic light should be set on an exit lane in general; the road 130 is also a north-south road, and when the vehicle travels from north to south on the road 130, the signal lamp 131 is also arranged on the right side (west side) of the road 130.

As shown in fig. 1, 111, 121, 131 and 141 are all vehicle signal lamps. If the road 110 is provided with the zebra crossing 150,

pedestrian signal lights

151 and 152 may be further provided. Pedestrian signal lights 151 are used to control pedestrians passing through the zebra crossing from east to west and pedestrian signal lights 152 are used to control pedestrians passing through the zebra crossing from west to east. Stop lines are provided on each road entry way, such as stop line 112 on road 110 and stop line 122 on road 120.

Fig. 2 is a flowchart illustrating a signal lamp control method according to an embodiment of the present application, and as shown in fig. 2, the method includes:

step 210, if any vehicle in the vehicles entering the dilemma continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction;

step 220, obtaining a collision phase of the protection phase;

step 230, adjusting the signal lamp of the protection phase according to the protection direction;

step 240, adjusting the signal lamps of the conflict phases according to the conflict directions;

step 250, judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase;

According to the method, the signal lamps of the conflict phase and the linkage phase are adjusted through the protection phase and the protection direction, so that the protection of the dilemma area can be realized, and the bidirectional coordination driving efficiency of the trunk line is considered.

In the embodiment of the application, the trunk line bidirectional coordination means that the traffic signals in the bidirectional driving directions of a plurality of continuous intersections on the traffic trunk line are coordinated and controlled, and the effect of 'green wave' is often pursued, namely, the vehicles continuously obtain green light signals one by one in the process of traveling along a certain main line, so that the vehicles smoothly pass through a plurality of intersections and travel along the opposite direction of a road.

Prior to step 210, the method further comprises:

and judging whether a vehicle enters a dilemma area or not.

As shown in fig. 1, a common method of determining whether a vehicle enters a dilemma area is based on a vehicle speed. The real-time speed of the vehicle is obtained at the yellow light turning-on moment by setting a sampling position and a sampling moment, and the position of the theoretical stop position and the stopping position of the vehicle if the vehicle stops at the red light turning-on moment are calculated according to the real-time speed, the brake parameters and the intersection width, and if the theoretical stop position of the vehicle does not exceed the stopping line of the current road, such as the vehicle A running on the road 110, the theoretical stop position is B1, and the stopping line 112 is not exceeded, the vehicle A is judged not to enter the dilemma area. If the vehicle a is not braking at the current speed, the theoretical maximum travel distance at the red light on time exceeds the distance between the current position and the opposite end stop line, e.g., vehicle a traveling on road 110 with the destination direction being road 130, the position at the sampling time being B2, the opposite end stop line being 132, and the vehicle a will not enter the dilemma if the maximum travel distance is greater than or equal to the distance B2 through 132. If the maximum travel distance is less than the distance B2-132, then vehicle A may enter a dilemma.

The brake parameters can be general theoretical values and are suitable for all vehicles; or individual theoretical values may be set according to road conditions, vehicle types, and the like, and brake parameters of different vehicle types and different road conditions are different, which is not described herein again.

On the road 110, a plurality of sampling points can be arranged, and the vehicle speed is sampled and calculated for a plurality of times at the set sampling time to predict whether the vehicle enters the dilemma area, so that the prediction accuracy of the dilemma area can be improved.

In the embodiment of the application, a plurality of sampling points and sampling moments are set based on the dynamic distribution theory of the dilemma area, and the method and the device can also be used for early warning vehicles which possibly enter the dilemma area. For example, at a certain sampling point, according to the current speed of a certain vehicle, if the vehicle is predicted to possibly enter a dilemma area, an early warning signal can be sent to the vehicle-mounted communicator, so that the vehicle can be decelerated, and the vehicle is prevented from entering the dilemma area.

If the vehicle is predicted to possibly enter the dilemma area, the vehicle can be informed in a holographic information or roadside and road information screen lamp mode or other modes, and details are not repeated herein.

In fact, a vehicle entering a dilemma area may choose to stop the vehicle and continue traveling. Potential safety hazards caused by the vehicles which enter the dilemma area and select to stop cannot be managed and controlled through a method of commonly controlling signal lamps, and therefore the application scenario is not considered in the application.

In this application, a crossing includes a plurality of signal lights, such as 111, 121, 131, and 141 shown in fig. 1, each signal light being cycled according to a signal period. Each signal cycle includes a plurality of phases, and phase is a concept of space-time. The signal lamp of each phase refers to a combined display mode of the signal lamps in all directions, and the combined display mode comprises the lighting time and duration of the signal lamp of each color.

For example, as shown in fig. 1, an intersection has four directions of

roads

110, 120, 130 and 140, and in an intersection with a signal period of 70S, the signal lamps 111 of the road 110 may include a green lamp, a yellow lamp and a red lamp which are sequentially turned on, and specifically, the green lamp is turned off after turning on for 30S, the yellow lamp is turned on after turning off the green lamp and is turned off after turning on for 3S, and the red lamp is turned on after turning off the yellow lamp and is turned off after turning on for 37S. And in the same phase, the signal light 131 of the road 130 may be the same as 111, and the signal light 121 of the road 120 may be different from 111, and the same as 141, may be that the red light is turned on for 33S and then turned off, then the green light is turned on after the red light is turned off and turned off after the red light is turned on for 34S, and the yellow light is turned on after the green light is turned off and turned off after the yellow light is turned on for 3S. Different signal lamp display modes can be provided for different intersections and different vehicle flows.

For example, in one signal period, the signal lamps 111 of the highway 110 may include green lamps, yellow lamps and red lamps which are sequentially lighted, and the signal lamps 121 of the highway 120 may include red lamps, green lamps and yellow lamps which are sequentially lighted, so that the passing and the non-passing of a certain time period in multiple directions can be controlled according to the starting time and the duration of each color signal lamp.

Fig. 3 is a schematic diagram showing a plurality of phases in one signal cycle and the passing direction of each phase, in which phase 310 in fig. 3 passes in the north-south direction and the north-south direction, and the east and west entrances do not pass; in the next phase 320, the north and south entries are not cleared, and the east to west and west to east traffic. Fig. 3 is an exemplary display only, and is not a complete phase situation at the intersection.

As described above, the signal lights may include a straight light and a turn light, which control a straight passage and a turn passage, respectively. In some applications, the signal lamp does not distinguish between a straight running light and a turn light, and in the embodiment shown in FIG. 3, in phase 330, it indicates that the same signal lamp set is released for straight running left turning

Fig. 3 shows, for exemplary purposes only, a part of the phases in a signal cycle, which may also comprise further phases, which are not shown in fig. 3.

In step 210, if any vehicle in the vehicles entering the dilemma continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction;

in the present embodiment, the bidirectional coordination directions include two opposite directions, such as a straight direction from east to west and a straight direction from west to east.

In this embodiment of the application, the bidirectional coordination direction and the protection direction may be preset, or may be selected according to a requirement, or may be selected according to a preset rule, and will not be described herein again.

In the embodiment of the present application, the bidirectional coordination direction refers to a direction for a vehicle, the non-opposing coordination direction refers to a direction for a vehicle, and the collision direction is a direction that collides with the protection direction, and the direction may be a direction for a vehicle or a pedestrian crossing direction.

As shown in fig. 4, the bi-directional coordination direction is the east-west direction and the west-east rectilinear direction, wherein the protection direction is the west-east rectilinear direction. One signal cycle includes a plurality of

phases

410, 420, 430, and 440. Including the west-to-east forward direction is phase 420, so the guard phase is 420 and the guard direction is 421.

In step 220, the obtaining of the collision phase of the protection phase includes:

wherein the collision direction is a direction that collides with the protection direction.

As described above, the direction of conflict may include a direction for a vehicle, or may include a pedestrian crossing direction.

As shown in fig. 4, phase 420 is used as a guard phase, and the guard direction is 421 and indicated by an open arrow. The phase 430 includes

collision directions

431 and 432, which are indicated by arrows filled with oblique lines, and thus the phase 430 serves as a collision phase.

In step 230, the signal lamp for adjusting the protection phase according to the protection direction includes:

As shown in fig. 4, in the phase 420, the protection direction is the west-east straight line direction, and in the preset rule, the duration of the phase 420 is from time T1 to time T2, and between times T1 and T2, the traffic lights in the west-east straight line direction and the east-west straight line direction are green/yellow, so that the west-east traffic is allowed; between time T1 and time T2, all other directions are red lights, and all other directions cannot pass through. At time T2, the west-east craspedodrome direction and east-west craspedodrome direction change from green to red, the west-east direction being prohibited from passing; at time T2, the north entrances in the north-to-south and north-to-east directions are left straight to pass from red to green, and the north-to-south and north-to-east directions are allowed to pass.

The duration of phase 430 is from time T2 to time T3,

however, since the vehicles entering the dilemma in the west-east straight-going direction in the phase 420 still pass through the intersection at the time point T2, and the vehicles entering the north-south direction at the time point T2 start to pass through the intersection, the vehicles in the west-east straight-going direction still pass through the intersection in the previous phase collide with the vehicles in the dilemma in the west-east straight-going direction in the previous phase in the time periods T2 and T3, and there is a collision risk

Prolonging the duration of a red light in a signal lamp of the protection phase to a full red stop time, wherein the full red stop time is the road right losing time of the protection phase;

Namely, the red lamps in all directions except the protective phase in the west-east straight-going direction are prolonged to be turned on until the full red stop time.

The full-red stop time can be T2 ', vehicles in the phase position of the protective direction pass in the time period from T2 to T2', and vehicles entering the dilemma area can completely pass through the intersection to avoid traffic accidents, wherein the vehicles in the phase position are prohibited from passing through the red light in other directions.

In fact, the full red stop time T2' is a time period that has been in the next phase according to a preset rule. Since the stop time T2' occupies the next phase, i.e., the time period of the collision phase, the timing and operation scheme of the collision phase need to be adjusted. The adjustment of the signal lamp can comprise the adjustment of the starting time and the duration of each color signal lamp.

In the embodiment of the application, the condition that all directions of the intersection with the protection phase positions in a period of time are all red is realized, vehicles in the dilemma area can be enabled to be in the condition that no vehicles exist in other directions, collision between the vehicles in the dilemma area and other vehicles is avoided through the stop line of the opposite end, and the light running accident in the dilemma area is avoided.

then, in step 240, the signal lamp for adjusting the collision phase according to the collision direction includes: if the traffic flow in the non-opposite coordination direction is greater than or equal to a first threshold value, the signal lamp of the conflict phase adopts a first adjusting scheme;

If the traffic flow in the non-opposite coordination direction is smaller than a first threshold value, adopting a second adjustment scheme for the conflict phase;

wherein the second adjustment scheme is: and delaying the starting of the green light in the non-subtended coordination direction and compressing the duration of the green light in the non-subtended coordination direction, and keeping the starting time and the duration of the green light in the subtended coordination direction unchanged.

In the embodiment of the present application, the bidirectional coordination direction includes two directions, one of which is a protection direction, the other of which is an opposite coordination direction, and the other of which is a non-opposite coordination direction. Both the bi-directional coordinated direction and the non-opposing coordinated direction are for the direction of travel. For example, in fig. 5, the guard direction is 511, the guard phase is 510, the non-opposing coordination direction is 521, the 521 is also the collision direction, the collision phase is 520, and the collision phase includes the opposing coordination direction 522.

In the embodiment shown in FIG. 5, the determination of how to adjust the winkers is based on the traffic in the non-oncoming coordination direction 521.

If the traffic flow is larger than or equal to a first threshold value, the signal lamp of the conflict phase adopts a first adjusting scheme; and if the traffic flow in the non-opposite coordination direction is smaller than a first threshold value, adopting a second adjustment scheme for the conflict phase.

The first adjustment scheme is as follows: delaying the start of the green light of the non-coordinated-direction 521 and redistributing the duration of the green light of the non-coordinated-direction 521, keeping the start time of the green light of the coordinated-direction 522 constant and increasing the duration of the green light of the coordinated-direction 522.

Wherein the second adjustment scheme is: the start of the green light of the non-subtended coordinated directions 521 is delayed and the duration of the green light of the non-subtended coordinated directions 521 is compressed, keeping the start time and duration of the green light of the subtended coordinated directions 522 unchanged.

The first adjustment scheme or the second adjustment scheme is adopted and is judged according to the traffic flow, and the traffic in other directions can be influenced when the traffic in the dilemma area in the protection direction is ensured to pass.

When the flow is larger, the duration of the green light in the non-subtended coordination direction 521 is redistributed, so that the duration of the green light in the non-subtended coordination direction 521 can be kept unchanged or close to be unchanged, more vehicles can pass through the non-subtended coordination direction 521, and the risk of traffic jam is reduced. When the flow is small, the green light can be compressed for a long time, and the traffic of the later phase cannot be influenced.

The duration of the green light in a certain direction is positively correlated with the passing vehicles in the direction, and if the duration of the green light is longer, the more passing vehicles in the direction are. Therefore, the method designs a coordination intersection signal lamp adjusting method for protecting vehicles in the two-difficulty area by keeping the phase starting time, the phase difference and the period of the two-way coordination direction unchanged and not compressing the green-to-traffic ratio of the coordination direction, and completes the signal lamp adjustment of the coordination intersection through flow prediction, thereby realizing the safety and efficiency guarantee of the two-way coordination trunk line.

The duration of each signal period is fixed, the lighting time of the green light of a certain phase in the signal period is delayed, and the duration is consistent with the preset duration, if the green lights behind the phase are all delayed to be lit, and the duration is consistent with the preset duration, the duration of the signal period exceeds the preset duration of the signal period, and the traffic control of the intersection and even the trunk line coordination is influenced. Therefore, in the embodiment of the present application, after the signal lamps in the protection phase and the collision phase are adjusted, the signal lamps in the linked phase may need to be adjusted.

As shown in fig. 5, phase 530 and phase 540 are linked phases, and if the first adjustment scheme is adopted, the signal lights of

phases

530 and 540 need to be adjusted; if the second adjustment scheme is employed, the signal lights of

phases

530 and 540 do not need to be adjusted.

In the embodiment of the application, after a vehicle enters the dilemma area, the vehicle protection in the dilemma area can be realized by prolonging the full red; in the embodiment of the application, the influence of the full red time on the green light starting time and the duration time in the subsequent phase is also considered, so that the green light starting time and the duration time of the conflict phase and the linkage phase are adjusted, the influence on the vehicle passing in other directions, particularly on a road coordination trunk line, is reduced, and the passing efficiency can be improved.

delaying starting of green lights in signal lights in non-opposite coordination directions in the conflict phases, and reallocating the green light duration of the conflict phases;

judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase, wherein the method comprises the following steps:

Fig. 6 is a schematic phase diagram of an embodiment of the present application, and as shown in fig. 6, a signal cycle includes 4

phases

610, 620, 630, and 640. Where the west-to-east direction 621 is the guard direction and the phase 620 is the guard phase. The phase 630 includes

collision directions

631 and 632, and the

collision directions

631 and 632 are also non-subtended coordination directions, so the phase 630 is a collision phase. Collision phase 630 and interlocking phase 640 do not include a straight-ahead direction from east to west, i.e., no subtended coordination direction is included in the collision phase, nor does the subtended coordination direction be included in the interlocking phase.

In the embodiment shown in fig. 6, the activation of the green lights of the beacons of the non-subtended

coordinated directions

631 and 632 in the conflicting phase 630 is delayed, and the green duration of the conflicting phase is reallocated; meanwhile, the signal lamps of the linkage phase 640 need to be adjusted, and the starting time and duration of the green lamps of the linkage phase 640 are redistributed.

In this embodiment of the present application, if the collision direction is a non-opposite direction coordination direction, the collision phase does not include an opposite direction coordination direction, the Z-th linkage phase after the collision phase includes an opposite direction coordination direction, and if Z is equal to 1, then:

according to the signal lamp of the conflict phase place after the adjustment, judge whether need the signal lamp of the adjustment linkage phase place, include:

and judging the signal lamp without adjusting the linkage phase.

In the embodiment of the application, the green light in the non-opposite coordination direction of the conflict phase is started in a delayed mode, the duration of the green light in the non-opposite coordination direction is compressed, and the signal lamp scheme of the Z-th linkage phase can be guaranteed to be unchanged.

In the embodiment of the present application, if Z is greater than 1:

delaying starting of green lights in the non-subtending coordination direction of the conflict phase, and reallocating the duration of the green lights of the conflict phase;

Z =1, i.e. the phase following the collision phase includes the opposite coordination direction, as shown in fig. 7, including 4

phases

710, 720, 730, and 740, respectively, wherein the protection direction is 711 and the protection phase is 710. The collision directions, i.e., non-subtended coordination directions, are 721 and 722, and the collision phase is 720; the collision phase 720 does not include the counter-coordination direction (east-west forward direction), but the interlocking phase 730 following the collision phase 720 includes the counter-coordination direction 731 in the east-west forward direction.

In the embodiment shown in fig. 7, the activation of the green lights of the non-subtended

coordinated directions

721, 722 of the conflicting phases is delayed and the duration of the green lights of the non-subtended

coordinated directions

721, 722 is compressed; the semaphores of

phases

730 and 740 need not be adjusted.

Z >1, i.e. there are other phases between the burst phase and the phase that follows the opposite coordination direction, as shown in fig. 8, which includes 4

phases

810, 820, 830 and 840, respectively, wherein the guard direction is 811 and the guard phase is 810. The collision directions, i.e., non-subtended coordinated directions, are 821 and 822, and the collision phase is 820; conflict phase 820 does not include a counter-coordination direction (east-west forward direction), and interlock phase 840, which is one phase away from conflict phase 820, includes a counter-coordination direction 841.

In the embodiment shown in FIG. 8, the green lights of the conflicting directions, i.e., non-subtended

coordinated directions

821 and 822, of the conflicting phases are delayed from being activated, and the green light durations of the conflicting phases are reallocated; and judge the signal lamp that needs to adjust linkage phase 830, the concrete way is: the green light actuation time and duration of coordinated phase 830 are reassigned, and the green light actuation time and duration of coordinated phase 840 are maintained.

In the embodiment of the present application, the adjusting of the green light duration may include compressing, restarting, reallocating, and the like.

The split is the ratio of the total duration of the green light to the duration of the signal period in the signal period, and there may be a split in each direction, which reflects the time that the vehicle in that direction can pass, and which may be set by empirical values or predicted traffic flow in each direction.

In the embodiment of the present application, the duration of obtaining full red is:

indicating the current vehicle

The total red time(s) required to pass through the intersection;

indicating the current vehicle

The distance (m) required to pass through the intersection;

representing the distance (m) that the current vehicle can travel in the remaining yellow light time;

indicating the current vehicle speed (km/h).

Obtaining a maximum full red duration

Comprises the following steps:

the delay start time is as follows:

obtaining the duration of green light of the current phase

The method comprises the following steps:

wherein the content of the first and second substances,

indicating the duration of the green light of the current phase, namely the duration of the green light after adjustment;

representing a preset green light time(s) corresponding to the green light time needing to be adjusted;

g represents the sum(s) of the preset green light time of a plurality of phases of all the green light time lengths needing to be adjusted;

indicating green time.

If there are both the opposite coordination direction and the non-opposite coordination direction, the extension time of the collision phase, i.e. the extension time of the opposite coordination direction

:

The method provided by the embodiment of the application can ensure that the phase difference starting time of the two-way coordination direction is not changed, the coordination direction split green ratio is not compressed, and the coordination intersection period is not changed, so that the safety problem of vehicles in a dilemma area can be solved, and the main line coordination driving efficiency can be considered.

In the above embodiment of the present application, since the signal lamp adjustment is performed based on the vehicle in the dilemma area, the signal lamp for protecting the direction is the vehicle signal lamp. The direction that collides with the protection direction may be a vehicle direction or a pedestrian direction.

In the embodiment of the present application, if the conflict direction is the pedestrian crossing direction and the conflict phase includes only the opposite coordination direction,

and judging the signal lamp without adjusting the linkage phase.

In the embodiment of the present application, as shown in fig. 9, the west-east straight direction 911 in the phase 910 is a protection direction, and the phase 910 is a protection phase. 921 is the collision direction, which is the pedestrian crossing direction, and the phase 920 is the collision phase.

In the embodiment of FIG. 9, the pedestrian crossing direction 921 green light of the conflict phase 920 is delayed from being activated and the pedestrian crossing direction 921 green light is compressed for a duration while the vehicle turn signal light scheme of the phase 920 remains unchanged; the signal lights of linked

phases

930, 940 and 950 are determined not to need to be adjusted.

In the embodiment shown in fig. 9, if the pedestrian crossing direction 921 is not included in the phase 920, the phase 920 and the

subsequent phases

930, 940 and 950 are not conflict phases, and the signal lights of the intersection are all kept unchanged.

Fig. 2 is a schematic flow chart of a signal lamp control method in one embodiment. It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Corresponding to the signal lamp control method, the embodiment of the present application further discloses a signal lamp control device, as shown in fig. 10, the device includes:

an obtaining unit 1010, configured to obtain a protection direction and a protection phase in a current signal period according to a preset bidirectional coordination direction if any vehicle in vehicles entering a dilemma area continues to run;

the obtaining unit 1010 is further configured to obtain a collision phase of the guard phases;

an adjusting unit 1020, configured to adjust the signal lamp of the protection phase according to the protection direction;

the adjusting unit 1020 is further configured to adjust the signal lamps of the collision phases according to the collision directions;

the processing unit 1030 is configured to determine whether the signal lamp of the linkage phase needs to be adjusted according to the adjusted signal lamp of the collision phase, and if the signal lamp of the linkage phase needs to be adjusted, enable the adjusting unit to adjust 1020 the signal lamp of the linkage phase;

In this embodiment of the application, the obtaining unit 1010 is further configured to:

the adjusting unit 1020 is further configured to:

In this embodiment of the application, the adjusting unit 1020 is further configured to:

if the traffic flow in the non-opposite direction coordination direction is smaller than a first threshold value, adopting a second adjustment scheme for the conflict phase;

In this embodiment of the application, the processing unit 1030 is further configured to:

the adjusting unit 1020 is further configured to:

the processing unit 1030 is further configured to:

the adjusting unit 1020 is further configured to:

the processing unit 1030 is further configured to:

and judging the signal lamp without adjusting the linkage phase.

In the embodiment of the present application, if Z is greater than 1:

the adjusting unit 1020 is further configured to:

the processing unit 1030 is further configured to:

and reallocating the starting time and the duration of the green lamps of other linkage phases between the conflict phase and the Z-th linkage phase, and keeping the starting time and the duration of the green lamps of the Z-th and later linkage phases unchanged.

the total green light duration is the sum of all preset green light durations of phases of which the green light duration needs to be adjusted in the current signal period.

the adjusting unit 1020 is further configured to:

the processing unit 1030 is further configured to:

and judging the signal lamp without adjusting the linkage phase.

The device of the embodiment of the application can give consideration to the driving efficiency of trunk line coordination under the condition of realizing the protection of the dilemma area.

FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the signal light control apparatus in fig. 11. As shown in fig. 11, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement the signal light control method. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform the beacon control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: if any vehicle in the vehicles entering the dilemma area continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction; acquiring a collision phase of a protection phase; signal lamps of the protection phase are adjusted according to the protection direction; adjusting the signal lamp of the conflict phase according to the conflict direction; judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase; the signal period comprises a plurality of phases, the linkage phase is all the phases from the ending time of the conflict phase to the ending time of the current signal period, the protection direction is one of the two-way coordination directions, and the conflict direction is the direction conflicting with the protection direction.

In an embodiment, the processor when executing the computer program may further implement the steps of the signal light control method described above.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

if any vehicle in the vehicles entering the dilemma area continues to run, acquiring a protection direction and a protection phase in the current signal period according to a preset bidirectional coordination direction; acquiring a conflict phase of a protection phase; signal lamps of the protection phase are adjusted according to the protection direction; adjusting signal lamps of conflict phases according to conflict directions; judging whether the signal lamp of the linkage phase needs to be adjusted or not according to the adjusted signal lamp of the conflict phase, and if the signal lamp of the linkage phase needs to be adjusted, adjusting the signal lamp of the linkage phase; the signal cycle comprises a plurality of phases, the linkage phase is all phases from the ending time of the conflict phase to the ending time of the current signal cycle, the protection direction is one of two-way coordination directions, and the conflict direction is a direction which conflicts with the protection direction.

In an embodiment, the computer program, when being executed by the processor, further realizes the steps of the signal light control method described above.

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

It is noted that, in this document, relational terms such as "first" and "second," and the like, are 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 invention, which enable those skilled in the art to understand or practice the present invention. 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 invention. Thus, the present invention 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 signal lamp control method, characterized in that the method comprises:

acquiring a collision phase of the protection phase;

the signal cycle comprises a plurality of phases, the linkage phase is all phases from the end time of the conflict phase to the end time of the current signal cycle, the protection direction is one direction in the bidirectional coordination directions, and the conflict direction is a direction conflicting with the protection direction;

the obtaining of the collision phase of the guard phase includes:

if the conflict direction is a non-opposite direction coordination direction and the conflict phase includes an opposite direction coordination direction, the signal lamp for adjusting the conflict phase according to the conflict direction includes:

if the traffic flow in the non-opposite coordination direction is greater than or equal to a first threshold value, the signal lamp of the conflict phase adopts a first adjusting scheme,

2. The method of claim 1, wherein said adjusting the signal lamp of the protection phase according to the protection direction comprises:

3. The method of claim 1, wherein if the traffic flow in the non-subtended coordinated direction is less than a first threshold, then the conflict phase employs a second adjustment scheme;

4. The method of claim 3, wherein determining whether the beacon signal of the linked phase needs to be adjusted according to the beacon signal of the adjusted collision phase comprises:

5. The method of claim 2, wherein if the conflicting direction is a non-subtended coordinated direction, the conflicting phase does not include a subtended coordinated direction, the linked phase does not include a subtended coordinated direction,

6. The method of claim 2, wherein if the collision direction is a non-subtended coordination direction, the collision phase does not include a subtended coordination direction, the Z-th coordinated phase following the collision phase includes a subtended coordination direction, and if Z is equal to 1:

and judging the signal lamp without adjusting the linkage phase.

7. The method of claim 6, wherein if Z is greater than 1:

judging signal lamps of other linkage phases between the conflict phase and the Z-th linkage phase which need to be adjusted,

8. The method of any one of claims 1 to 7, wherein obtaining the adjusted green light duration comprises:

9. The method of claim 2, wherein if the conflicting direction is a pedestrian crossing direction and the conflicting phases include only an opposing coordination direction,

and judging the signal lamp without adjusting the linkage phase.

10. A signal lamp control apparatus, characterized in that the apparatus comprises:

the signal cycle comprises a plurality of phases, the linkage phase is all phases from the ending time of the conflict phase to the ending time of the current signal cycle, the protection direction is one direction in the bidirectional coordination direction, and the conflict direction is a direction conflicting with the protection direction;

the acquisition unit is further configured to:

if the conflicting direction is a non-subtended coordinated direction and the conflicting phase comprises a subtended coordinated direction,

the adjustment unit is further configured to:

wherein the first adjustment scheme is: delaying the starting of the green light of the non-subtended coordination direction and redistributing the duration of the green light of the non-subtended coordination direction, keeping the starting time of the green light of the subtended coordination direction unchanged, and increasing the duration of the green light of the subtended coordination direction.

11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 9 are implemented when the computer program is executed by the processor.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.