CN114333365B

CN114333365B - Road traffic control method and device based on positioning data and storage medium

Info

Publication number: CN114333365B
Application number: CN202210055404.5A
Authority: CN
Inventors: 孙威巍; 梁小英
Original assignee: Guangzhou Fangwei Smart Brain Research And Development Co ltd
Current assignee: Guangzhou Fangwei Smart Brain Research And Development Co ltd
Priority date: 2022-01-18
Filing date: 2022-01-18
Publication date: 2023-01-17
Anticipated expiration: 2042-01-18
Also published as: CN114333365A

Abstract

The invention discloses a road traffic control method based on positioning data, a computer device and a storage medium, wherein the road traffic control method based on the positioning data comprises the steps of determining a first target path according to a target starting point and a target end point of a target vehicle, and matching in a second electronic map to obtain a second target path; and determining a second predicted arrival time according to the second installation position information and the real-time position information, and controlling the second traffic control equipment to display a traffic permission signal at the second predicted arrival time. The invention can enable the second traffic control equipment to display the traffic permission signal at a proper time before the target vehicle arrives, so that the vehicle in front of the target vehicle can pass, thereby creating a smooth traffic passage for the target vehicle, reducing the influence of road traffic control on traffic order, and being beneficial to realizing the effect of road priority traffic control aiming at the specific target vehicle on the basis of keeping the traffic order smooth. The invention is widely applied to the technical field of traffic control.

Description

Road traffic control method and device based on positioning data and storage medium

Technical Field

The invention relates to the technical field of traffic control, in particular to a road traffic control method based on positioning data, a computer device and a storage medium.

Background

As special vehicles such as ambulances, fire trucks and private cars meeting emergent conditions, and the like, have emergency requirements which are very strict on the passing time, emergency behaviors such as running red light and the like can be performed in the road running process in order to save time, and greater safety risks exist. At present, the emergency requirements of the vehicles are mainly solved through ways of driving in front vehicles and the like, but the problems of large control time fluctuation and large influence on the whole traffic still exist. For example, citizens have developed a good habit of following traffic regulations and indicating driving according to traffic lights, and when driving ahead, the citizens need to spend a large communication cost of the ahead to explain the situation, so that the risk of not driving ahead exists, and even if the emergency vehicles can be driven ahead finally, a large amount of precious time is wasted, and the consequences such as traffic accidents and the like are caused.

Disclosure of Invention

The invention aims to provide a road traffic control method based on positioning data, a computer device and a storage medium, aiming at solving at least one technical problem that emergency vehicles are difficult to open roads at present.

In one aspect, an embodiment of the present invention includes a method for controlling road traffic based on positioning data, including:

acquiring a target starting point and a target end point of a target vehicle;

determining a first target path according to the target starting point and the target end point;

according to the first target path, a second target path is obtained in a second electronic map in a matching mode;

inquiring second installation position information; the second installation position information indicates an installation position of a second traffic control apparatus located on the second target path;

acquiring real-time position information of the target vehicle;

determining a second expected arrival time according to the second installation position information and the real-time position information; the second predicted arrival time is a time at which the target vehicle is predicted to arrive at the second traffic control apparatus;

and controlling the second traffic control device to display a traffic-allowed signal at the second expected arrival time.

Further, the determining a first target path according to the target starting point and the target ending point includes:

and planning a path in a first electronic map according to the target starting point and the target end point, so as to obtain the first target path.

Further, the matching in the second electronic map according to the first target path to obtain a second target path includes:

acquiring a plurality of first target sites positioned on the first target path;

when the first target locus is located in the road network in the second electronic map corresponding to the locus at the same position, taking the first target locus as a second target locus;

when the first target locus is not located in the road network at the position corresponding to the same position in the second electronic map, moving the first target locus to the road network, and taking the moved first target locus as a second target locus;

ligating each of said second target sites to thereby form said second target pathway.

Further, the moving the first target site into the road network includes:

dynamically adjusting the position of the first target locus in a road network;

recording the moving distance of the first target locus;

recording the sum of the distances between the first target locus and the adjacent first target locus after the first target locus moves;

and stopping the adjustment of the position of the first target locus when the sum of the moving distance and the distance sum is minimum.

Further, the determining a second estimated arrival time according to the second installation location information and the real-time location information includes:

determining second real-time distance information between the target vehicle and the second traffic control device according to the second installation position information and the real-time position information;

acquiring the current moment and the real-time speed information of the target vehicle;

calculating the quotient of the second real-time distance information and the real-time speed information to obtain a second estimated arrival time;

and calculating the sum of the current time and the second estimated arrival time to obtain the second estimated arrival time.

Further, the determining second real-time distance information between the target vehicle and the second traffic control device according to the second installation position information and the real-time position information includes:

calculating a partial length of the second target path between the second installation location information and the real-time location information;

setting a length allowance;

and subtracting the length margin from the partial length to obtain the second real-time distance information.

Further, the method for controlling road traffic based on positioning data further comprises:

inquiring first installation position information; the first installation location information represents an installation location of a first traffic control device located on the first target route;

determining a first expected arrival time according to the first installation position information and the real-time position information; the first expected arrival time is the time when the target vehicle is expected to arrive at the first traffic control device;

controlling the first traffic control device to display a traffic-allowed signal at the first expected arrival time.

Further, the road traffic control method based on the positioning data further comprises the following steps:

controlling the second traffic control device to continue displaying the traffic-allowing signal in a first time period after the target vehicle passes through the second traffic control device;

controlling the second traffic control device to stop displaying the clear traffic signal for a second time period after the first time period; the second time period is longer than the first time period.

In another aspect, the present invention further includes a computer device, including a memory for storing at least one program and a processor for loading the at least one program to execute the method for controlling road passage based on positioning data in the embodiment.

In another aspect, the present invention further includes a storage medium, in which a processor-executable program is stored, and the processor-executable program is used to execute the positioning data-based road traffic control method in the embodiment when executed by a processor.

The beneficial effects of the invention are: according to the road traffic control method based on the positioning data, the second traffic control device arranged at the second installation position is controlled to display the traffic-allowing signal at the second expected arrival moment, so that the second traffic control device can display the traffic-allowing signal at a proper time before the arrival of the target vehicle, the vehicle in front of the target vehicle can pass through, and a smooth traffic channel is created for the target vehicle; because the control on the road passage is still carried out by the passage control equipment, the original communication control mode is not changed, the influence of the road passage control on the traffic order can be reduced, and the effect of the road priority passage control on a specific target vehicle can be realized on the basis of keeping the traffic order smooth.

Drawings

FIG. 1 is a flowchart of a method for controlling road traffic based on positioning data according to an embodiment;

FIG. 2 is a diagram of a second electronic map according to an embodiment;

fig. 3 is a schematic diagram of a step of obtaining a second target route by matching in a second electronic map in the embodiment.

Detailed Description

In this embodiment, referring to fig. 1, the method for controlling road traffic based on positioning data includes the following steps:

s1, acquiring a target starting point and a target end point of a target vehicle;

s2, determining a first target path according to a target starting point and a target end point;

s3, according to the first target path, matching in a second electronic map to obtain a second target path;

s4, inquiring second installation position information; the second installation position information indicates an installation position of a second traffic control apparatus located on a second target path;

s5, acquiring real-time position information of the target vehicle;

s6, determining a second expected arrival moment according to the second installation position information and the real-time position information; the second predicted arrival time is a time at which the target vehicle is predicted to arrive at the second traffic control apparatus;

and S7, controlling the second traffic control equipment to display a traffic permission signal at the first expected arrival time.

In this embodiment, the target vehicle may be an ambulance, fire truck, or other vehicle requiring emergency access. The target vehicle is provided with a communication device with GPS and Beidou positioning functions, so that positioning data such as real-time position information and real-time speed information can be acquired, and the data are sent out. If such a communication device is not installed on the subject vehicle, a cellular phone carried by a passenger on the subject vehicle may serve as such a communication device.

In this embodiment, steps S1 to S7 may be executed by a background server.

In step S1, a passenger in a target vehicle sets a target start point and a target end point via a communication device in the vehicle or a mobile phone carried by the passenger. The target starting point is a point where the target vehicle is currently departing or is about to arrive, and the target ending point is a point where the target vehicle is expected to finally arrive. The target vehicle can set the specific positions of the target starting point and the target ending point according to the requirements of the target vehicle, for example, if the target vehicle wants to apply for preferential passing in a certain road section, the starting point of the road section can be set as the target starting point, and the ending point of the road section can be set as the target ending point. Both the target start point and the target end point may be represented by respective latitude and longitude coordinates. After the target starting point and the target destination are set, the communication device or the mobile phone installed on the target vehicle sends the longitude and latitude coordinates of the target starting point and the target destination to the background server.

When the background server executes step S2, that is, determines the first target path according to the target starting point and the target ending point, the following steps may be specifically executed:

s201, planning a path in the first electronic map according to the target starting point and the target end point, and accordingly obtaining a first target path.

In step S201, the backend server may call an interface of the third-party map service provider, send coordinate information of the target start point and the target end point to the third-party map service provider, perform route planning in a first electronic map of the third-party map service provider, and the map service provider returns a series of first target sites, where the first target sites have latitude and longitude coordinate information as shown in table 1, and the first target sites can form a route starting from the target start point and ending at the target end point, that is, a first target route.

TABLE 1

Target site number	Latitude	Longitude (G)
			1	23.15124	113.29420
2	23.13507	113.32887

By executing the step S201 to call the existing map service interface, additional configuration of hardware or software resources required for path planning can be avoided, and the burden of the background server is reduced.

The background server itself may configure a second electronic map, where the second electronic map may be an electronic map different from the first electronic map used by the third-party map service provider, for example, the second electronic map may be an electronic map recording less road network or landmark information, so that the amount of electronic map data to be run by the background server is low, and the burden of the background server may be further reduced.

In this embodiment, the target location such as the first target location has corresponding unique latitude and longitude information, which is positioning data measured by a positioning system such as a GPS or a beidou positioning system, and the position of the target location is unrelated to the used electronic map without performing a change operation on the position of the target location.

The situation shown in fig. 2 may occur because the second electronic map may not be the same electronic map as the first electronic map, for example, a road section or a road network that is not recorded in the second electronic map may be recorded in the first electronic map. In fig. 2, each straight line represents a road network in the second electronic map operated by the backend server, where a continuous line segment may represent a road, an intersection of the line segments may represent an intersection, which is an intersection of the roads, and fig. 2 includes 9 intersections a, B, C, D, E, F, G, H, I, and the like. The

dots

1, 2, 3, 4, 5, 6, 7, 8, 9 in fig. 2 represent 9 different first target sites, wherein the

first target sites

1, 2, 3, 5, 6, 7, 8, 9 are located in the road network of the second electronic map, while the first target site 4 is located in the road network of the first electronic map but not in the road network of the second electronic map due to the deviation between the first electronic map and the second electronic map.

When the background server executes step S3, that is, the step of obtaining the second target path by matching in the second electronic map according to the first target path, the following steps may be specifically executed:

s301, acquiring a plurality of first target sites located on a first target path;

s302, when the first target locus corresponds to a locus in the same position in the second electronic map and is located in a road network, taking the first target locus as a second target locus;

s303, when the first target site is not located in the road network in the second electronic map corresponding to the site at the same position, moving the first target site to the road network, and taking the moved first target site as a second target site;

and S304, connecting the second target sites to form a second target path.

In step S301, referring to fig. 3, longitude and latitude coordinate information of the

first target site

1, 2, 3, 4, 5, 6, 7, 8, 9, etc. is acquired.

In step S302, the

first target sites

1, 2, 3, 5, 6, 7, 8, 9, etc. already located in the road network of the second electronic map may be directly the second target sites, that is, the

target sites

1, 2, 3, 5, 6, 7, 8, 9, etc. also represent the second target sites.

In step S303, referring to fig. 3, for a first target location 4 not located in the road network of the second electronic map, the position of the first target location may be dynamically adjusted in the road network, and 4 'in fig. 3 indicates that the first target location 4 in dynamic adjustment should be kept 4' in the road network of the second electronic map.

Recording the moving distance d of the first target site 4', the distance L1 between the first target site 4' and the adjacent first target site 5, and the distance L2 between the first target site 4 'and the adjacent first target site 3, when d + L1+ L2 is the minimum, stopping adjusting the position of the first target site 4', fixing the position of the first target site 4', and using the fixed position of the first target site 4' as the second target site.

In FIG. 3, the path of the

second target site

1, 2, 3, 4', 5, 6, 7, 8, 9 is the second target path.

By executing steps S301 to S304, the deviation between the first electronic map and the second electronic map can be corrected, so that the second target path substantially retains the track of the first target path, that is, the result of map planning is retained, and the second target path can be completely located in the road network of the second electronic map.

In step S4, the background server inquires the installation position of the second traffic control device located on the second target path 1-2-3-4' -5-6-7-8-9. In this embodiment, the second traffic control device may refer to a traffic light, a traffic signal, or the like having a device that displays a traffic-permitted signal (green light) or a traffic-prohibited signal (red light), and the second traffic control device may be installed at a, D, E, F, or the like, in a road network of the second electronic map through which the second target route 1-2-3-4' -5-6-7-8-9 passes, and the second installation location information may be a link number of the a, D, E, F, or the like, and may be in a format as shown in table 2.

TABLE 2

Signaler numbering	Direction of signal machine	Traffic signal corresponding lane	Entry road segment number	Exit road segment numbering
					1	East	Straight going	1001	1002
2	East	Left turn	1001	1003

In step S5, the positioning device of the target vehicle uploads the positioning data with the format shown in table 3 to the backend server, and the backend server can analyze the real-time position information of the target vehicle, which is represented by the current latitude and longitude.

TABLE 3

When the background server executes step S6, that is, the step of determining the second expected arrival time according to the second installation location information and the real-time location information, the following steps may be specifically executed:

s601, determining second real-time distance information between the target vehicle and the second traffic control device according to the second installation position information and the real-time position information;

s602, acquiring the current moment and the real-time speed information of the target vehicle;

s603, calculating the quotient of the real-time distance information and the real-time speed information to obtain a second estimated arrival time;

and S604, calculating the sum of the current time and the second expected arrival time to obtain a second expected arrival time.

Steps S601 to S604 will be described by taking the second installation position information as the E-point position in fig. 2 or fig. 3 and the real-time position information as the 4' point position in fig. 2 or fig. 3 as an example.

In step S601, the length of the portion of the second target path 1-2-3-4' -5-6-7-8-9 between point E and point 4', i.e., the length of segment 4' -D-5-6-E in FIG. 2 or FIG. 3, is calculated. It is also possible to set a length margin of 100m or other values, and subtract 100m from the length of the segment 4' -D-5-6-E as the second real-time distance information D2. The second real-time distance information means the distance that the target vehicle travels from the current position point 4' to the second traffic control device installed at the point E (minus the length margin 100m means that the target vehicle is regarded as the target vehicle arriving at the point E when the distance from the point E is 100m, to leave the second traffic control device installed at the point E to react to the distance).

In step S602, the background server reads the current time t0 from the clock, and acquires the real-time speed information v0 thereof from the target vehicle.

In step S603, the background server calculates a quotient of the second real-time distance information d2 and the real-time speed information v0, and obtains a second expected arrival time Te = d2/vo. The second predicted arrival time Te means the time it takes to complete the 4' -D-5-6-E segment (100 m ahead) if the target vehicle is traveling at the current speed.

In step S604, the sum t2= t0+ Te of the current time t0 and the second expected arrival time Te is calculated, and the second expected arrival time t2 is obtained. The second estimated arrival time t2 means a time when the target vehicle travels 100m before the point E if the target vehicle is traveling at the current speed.

In step S7, the background server controls the second traffic control device arranged at point E in fig. 2 or fig. 3 to display the traffic permission signal at the second predicted arrival time t2. For example, when the second traffic control device arranged at point E in fig. 2 or fig. 3 is a traffic light, at the second expected arrival time, the target vehicle will arrive at a position near 100m before point E in fig. 2 or fig. 3, the background server controls the target vehicle to display a green light at the second expected arrival time t2, that is, the background server controls the traffic light to display a green light at a proper time before the target vehicle arrives, so that the vehicle in front of the target vehicle can pass through, thereby creating a smooth traffic channel for the target vehicle, and achieving the road passing control effect for the specific target vehicle.

In this embodiment, the road traffic control method based on the positioning data further includes the following steps:

s8, inquiring first installation position information; the first installation position information indicates an installation position of the first passage control device located on the first target route;

s9, determining a first predicted arrival moment according to the first installation position information and the real-time position information; the first predicted arrival time is the time at which the target vehicle is predicted to arrive at the first traffic control device;

and S10, controlling the first traffic control equipment to display a traffic permission signal at the expected arrival time.

The principle of step S8 is the same as step S4, the principle of step S9 is the same as step S6, and the principle of step S10 is the same as step S7. Referring to fig. 3, the second target path is 1-2-3-4'-5-6-7-8-9 and the first target path is 1-2-3-4-5-6-7-8-9, i.e., the deviation between the first target path and the second target path occurs between segments 3-4' -5 and 3-4-5.

By performing steps S1-S7, the target vehicle may be directed to travel the second target route 1-2-3-4'-5-6-7-8-9, and the target vehicle will generally not travel the segments 3-4' -5 of the first target route that do not coincide with the second target route. By executing steps S8 to S10, it can be assumed that the target vehicle, in a case where the travel of the link 3-4'-5 of the first target path that does not coincide with the second target path is selected, controls the first passage control device in the link 3-4' -5 of the first target path that does not coincide with the second target path to display the passage permission signal at an appropriate timing, thereby, in a case where the target vehicle encounters an emergency and cannot travel completely along the second target path, and indeed enters the travel of the link 3-4'-5 of the first target path that does not coincide with the second target path, releasing the passage of the vehicle ahead of the target vehicle in the link 3-4' -5 in advance, thereby creating a smooth traffic passage for the target vehicle, achieving a road passage control effect for a specific target vehicle, and further creating favorable conditions for the preferential passage of the target vehicle.

In this embodiment, the method for controlling road traffic based on positioning data further includes the following steps:

s11, controlling second traffic control equipment to continuously display a traffic permission signal in a first time period after the target vehicle passes through the second traffic control equipment;

s12, controlling second traffic control equipment to stop displaying the traffic permission signal in a second time period after the first time period; the second time period is longer than the first time period.

Steps S11-S12 may be performed after steps S1-S7 or steps S1-S10 have been performed. For example, after step S7 is executed, after the background server controls the traffic light to display a green light at the second expected arrival time T2, the background server continuously acquires the position data of the target vehicle, and starts timing when the target vehicle passes through the second traffic control device until the first time period T1, the background server controls the second traffic control device to continuously display the permission signal, that is, the traffic light is kept to continuously display the green light within the shorter first time period T1, so that traffic confusion caused by the fact that the second traffic control device quickly becomes a red light after the target vehicle passes through the second traffic control device can be avoided. After the first time period is finished by T1, the background server controls the second traffic control equipment to stop displaying the traffic permission signal, namely the background server controls the traffic light not to display the green light any more and switches to display the red light; and in a longer second time period T2 after the first time period T1, controlling the second traffic control equipment to stop displaying the traffic permission signal, namely controlling the traffic light to display the red light by the background server, so that the adverse effect on the passing of the target vehicle caused by too many vehicles passing along with the target vehicle after the target vehicle passes is avoided.

The same technical effects as those of the positioning data-based road traffic control method in the embodiments can be achieved by writing a computer program for executing the positioning data-based road traffic control method in the embodiments, writing the computer program into a computer device or a storage medium, and executing the positioning data-based road traffic control method in the embodiments when the computer program is read out to run.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, etc. used in the present disclosure are only relative to the mutual positional relationship of the constituent parts of the present disclosure in the drawings. As used in this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. In addition, unless defined otherwise, all technical and scientific terms used in this example have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description of the embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this embodiment, the term "and/or" includes any combination of one or more of the associated listed items.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one type of element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language ("e.g.," such as "etc.), provided with the present embodiment is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.

It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.

Further, the operations of the processes described in this embodiment can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described in this embodiment (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.

Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated onto a computing platform, such as a hard disk, optically read and/or write storage media, RAM, ROM, etc., so that it is readable by a programmable computer, which when read by the computer can be used to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described in this embodiment includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.

A computer program can be applied to input data to perform the functions described in the present embodiment to convert the input data to generate output data that is stored to a non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.

The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.

Claims

1. A road traffic control method based on positioning data is characterized by comprising the following steps:

acquiring a target starting point and a target end point of a target vehicle;

acquiring real-time position information of the target vehicle;

controlling the second traffic control device to display a traffic-allowed signal at the second expected arrival time;

the step of obtaining a second target path in a second electronic map by matching according to the first target path comprises the following steps:

2. The method for controlling road traffic based on positioning data of claim 1, wherein the determining a first target route according to the target starting point and the target ending point comprises:

3. The method for controlling road traffic based on positioning data of claim 1, wherein the moving the first target location to the road network comprises:

dynamically adjusting the position of the first target locus in a road network;

recording the moving distance of the first target locus;

and when the sum of the moving distance and the distance sum is minimum, stopping adjusting the position of the first target locus.

4. The method for controlling road traffic based on positioning data according to claim 1, wherein the determining a second predicted arrival time based on the second installation location information and the real-time location information comprises:

5. The method for controlling road passage based on positioning data of claim 4, wherein the determining second real-time distance information between the target vehicle and the second passage control device according to the second installation position information and the real-time position information includes:

setting a length allowance;

6. The method for controlling passage of road based on positioning data as claimed in claim 1, further comprising:

inquiring first installation position information; the first installation position information represents an installation position of a first traffic control device located on the first target route;

controlling the first traffic control device to display a clear traffic signal at the first expected arrival time.

7. The method for controlling road traffic based on positioning data according to claim 1, further comprising:

controlling the second traffic control device to continue displaying the traffic-permitting signal in a first time period after the target vehicle passes through the second traffic control device;

controlling the second traffic control device to stop displaying the traffic-allowing signal during a second time period after the first time period; the second time period is longer than the first time period.

8. A computer device, characterized in that it comprises a memory for storing at least one program and a processor for loading said at least one program to execute the method for controlling the passage of roads based on positioning data according to any one of claims 1 to 7.

9. A storage medium in which a program executable by a processor is stored, wherein the program executable by the processor is configured to execute the method for controlling road passage based on positioning data according to any one of claims 1 to 7 when executed by the processor.