CN114664097A - Radar data-based green light dynamic extension method, device, equipment and medium - Google Patents
Radar data-based green light dynamic extension method, device, equipment and medium Download PDFInfo
- Publication number
- CN114664097A CN114664097A CN202210571678.XA CN202210571678A CN114664097A CN 114664097 A CN114664097 A CN 114664097A CN 202210571678 A CN202210571678 A CN 202210571678A CN 114664097 A CN114664097 A CN 114664097A
- Authority
- CN
- China
- Prior art keywords
- signal lamp
- traffic signal
- data
- green light
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000008859 change Effects 0.000 claims description 21
- 230000035484 reaction time Effects 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000004422 calculation algorithm Methods 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010021033 Hypomenorrhoea Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000007418 data mining Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for dynamically prolonging a green light based on radar data. The method is executed by electronic equipment with a dynamically prolonged green light, and the electronic equipment is connected with an intersection annunciator; the method comprises the following steps: if the current traffic signal lamp is a green lamp and the residual time length meets the dynamic extension trigger condition, performing radar data acquisition on a predetermined decision area based on a radar; if the radar data is identified as the vehicle, determining whether the traffic signal lamp reaches a preset maximum green light duration; and if not, issuing an instruction for controlling the traffic signal lamp to prolong the remaining time to the intersection signal machine. This technical scheme, through the long dynamic extension of time to the green light of traffic lights, for the driving safety of intersection department provides better guarantee, reduce road traffic potential safety hazard.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a method, a device, equipment and a medium for dynamically prolonging a green light based on radar data.
Background
The intersection is a high incidence area of the focus of urban traffic accidents, wherein the behaviors of running red light and emergently braking are one of the main inducements. At the time of switching the light colors, part of drivers may face a dilemma in a decision-making area, namely, the remaining time of the yellow light signal is too short to pass through the intersection before the red light is turned on, and the drivers cannot safely stop in front of the stop line because the yellow light signal is too close to the intersection. The microscopic traffic phenomenon is very easy to cause the side collision of vehicles running red light and colliding directions or rear-end collision of vehicles following the vehicles due to emergency braking.
Most of the current traffic lights adopt two working modes, one is a fixed lighting mode, namely, the respective time of a green light, a green light twinkling, a yellow light and a red light is fixed; the other is a light-up mode which can display the remaining time of the current light color.
However, the existing traffic signal light display mode only passively helps drivers to judge whether the driver can pass through the intersection before the yellow light is finished, the drivers still need to judge whether the driver can pass through the intersection smoothly by themselves, and the situation of improper judgment still exists in a large quantity.
Disclosure of Invention
The invention provides a method, a device, equipment and a medium for dynamically prolonging a green light based on radar data, which are used for overcoming the defects in the prior art, realizing the dynamic prolongation of the green light duration of a traffic light, providing better guarantee for the driving safety at a crossing and reducing the potential safety hazard of road traffic.
According to an aspect of the present invention, there is provided a method for dynamically extending a green light based on radar data, the method being performed by an electronic device for dynamically extending a green light, the electronic device being connected to an intersection annunciator; the method comprises the following steps:
if the current traffic signal lamp is a green lamp and the residual time length meets the dynamic extension trigger condition, performing radar data acquisition on a predetermined decision area based on a radar;
if the radar data is identified as the vehicle, determining whether the traffic signal lamp reaches a preset maximum green light duration;
and if not, issuing an instruction for controlling the traffic signal lamp to prolong the remaining time to the intersection signal machine.
According to another aspect of the present invention, there is provided a dynamic green light extension apparatus based on radar data, the apparatus is configured to an electronic device for dynamically extending green light, the electronic device is connected to an intersection annunciator; the method comprises the following steps:
the data acquisition module is used for acquiring radar data of a predetermined decision area if the current traffic signal lamp is a green lamp and the residual time length meets the dynamic extension trigger condition; the judging module is used for determining whether the traffic signal lamp reaches the preset maximum green light duration or not if the radar data identification result indicates that the vehicle exists; and the residual time length prolonging module is used for issuing an instruction for controlling the traffic signal lamp to prolong the residual time length to the intersection annunciator.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the radar data based green light dynamic lengthening method of any embodiment of the invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the radar-data-based green light dynamic elongation method according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, whether the residual time of the current traffic signal lamp meets the dynamic extension trigger condition is determined, and if yes, radar data acquisition is carried out on a predetermined decision area based on a radar; if the recognition result of the radar data is that the vehicle exists, determining whether the traffic signal lamp reaches a preset maximum green lamp duration or not; and if not, issuing an instruction for controlling the traffic signal lamp to prolong the remaining time to the intersection signal machine. This technical scheme, through the long dynamic extension of time to the green light of traffic lights, for the driving safety of intersection department provides better guarantee, reduce road traffic potential safety hazard.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for dynamically extending a green light based on radar data according to an embodiment of the present invention;
FIG. 2 is a flow chart of decision region determination provided according to a second embodiment of the invention;
FIG. 3 is a schematic flowchart of a clustering algorithm provided in accordance with a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a radar data-based green light dynamic extension apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a radar-data-based green light dynamic extending method according to an embodiment of the present invention, where this embodiment is applicable to a situation of controlling a traffic signal light, and the method can be executed by a radar-data-based green light dynamic extending apparatus, which can be implemented in a hardware and/or software manner, and can be configured in an electronic device with data processing capability. As shown in fig. 1, the method includes:
and S110, if the current traffic signal lamp is green and the residual time length meets the dynamic extension trigger condition, performing radar data acquisition on a predetermined decision area based on a radar.
The traffic signal lamp is a signal lamp for commanding traffic operation, generally consists of a red lamp, a green lamp and a yellow lamp, and specifically can be a motor vehicle signal lamp, a lane signal lamp, a flashing signal lamp and a road and railway plane crossing signal lamp. The remaining time period may be a green light remaining time period. The radar is an electronic device for detecting a target by using electromagnetic waves, and includes, but is not limited to, a millimeter wave radar and a laser radar. The radar data may be signal data acquired by a radar, for example, the radar scans a decision area, and the obtained dynamic data is radar data. The decision area can be an area where vehicles hardly pass through the intersection smoothly, and is a dynamic area which is determined by the vehicle speed, the time period and the vehicle flow.
Specifically, the current traffic signal lamp is a green lamp, and the remaining time length satisfies the dynamic extension triggering condition, where the remaining time length of the green lamp is less than a certain fixed time length, for example, the remaining time length of the green lamp is 3 seconds, 5 seconds, or other time, and then the dynamic extension triggering condition is satisfied. The radar data collection may collect data for the presence or absence of a vehicle in the decision area, for example, a receiver of the radar may receive detection data returned from the decision area to determine whether dynamic data meeting the vehicle operation condition exists in the decision area.
And S120, if the radar data are identified as vehicles, determining whether the traffic signal lamp reaches a preset maximum green time.
The identification result may be a conclusion after the radar data is determined, for example, there are two results, one is that there is a vehicle in the decision area, and the other is that there is no vehicle in the decision area. The maximum green light duration may be the longest time of the green light period, may be a fixed value, and may also vary with different periods.
Specifically, after radar data is identified, if a vehicle exists, it is determined whether the current green light reaches a preset maximum green light duration, and if the vehicle does not exist, the green light duration is not changed.
And S130, if the time does not reach the preset time, sending an instruction for controlling the traffic signal lamp to prolong the remaining time to the intersection signal machine.
The intersection signal machine can control one or more intersections, and can comprise a plurality of traffic signal lamps for controlling different branches, for example, an intersection has four traffic signal lamps, and each traffic signal lamp comprises indicator lamps in left-turning direction, right-turning direction and straight-going direction.
Specifically, the issuing of the instruction for controlling the traffic signal lamp to prolong the remaining time may be that the current green time does not reach a preset maximum green time, and if a vehicle exists in the decision area, the issuing of the instruction for prolonging the remaining green time of a certain signal lamp is performed to an intersection annunciator, so that the vehicle in the decision area can pass through the intersection.
According to the technical scheme of the embodiment of the invention, whether the residual time of the current traffic signal lamp meets the dynamic extension trigger condition is determined, and if yes, radar data acquisition is carried out on a predetermined decision area based on a radar; if the recognition result of the radar data is that the vehicle exists, determining whether the traffic signal lamp reaches a preset maximum green lamp duration or not; and if not, issuing an instruction for controlling the traffic signal lamp to prolong the remaining time to the intersection signal machine. This technical scheme, through the long dynamic extension of time to the green light of traffic lights, for the driving safety of intersection department provides better guarantee, reduce road traffic potential safety hazard.
On the basis of the above scheme, preferably, if the traffic signal lamp has reached the preset maximum green time, the traffic signal lamp is controlled to switch the light color according to the remaining time. The traffic signal lamp has the advantages that the traffic demands of vehicles in other traffic directions at the intersection are met, the driving experience is improved, and the traffic signal lamp is more humanized in design.
Example two
Fig. 2 is a flowchart of determining a decision region according to a second embodiment of the present invention, which is optimized based on the second embodiment. The specific optimization is as follows: the decision area determination process comprises the following steps: acquiring historical data aiming at a preset range in front of a current traffic signal lamp; the historical data comprises track data, flow data and timing data of traffic lights; determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp according to the historical data; constructing a decision area model of the current traffic signal lamp according to the minimum parking distance and the maximum passing distance; the decision area model is used for identifying a decision area of a target road section of the current traffic signal lamp. The method specifically comprises the following steps:
s210, collecting historical data aiming at a preset range in front of a current traffic signal lamp; the historical data comprises track data, flow data and timing data of traffic lights;
the preset range may be a part of a current traffic signal lamp control road section, and specifically may be a decision area and an intersection. The history data may be traffic information before a certain time point within a preset range. The trajectory data may be data collected according to a vehicle trajectory, and may specifically be a trajectory of the vehicle passing through the intersection, in particular a position of the vehicle immediately before the end of the green light. The traffic data may be traffic flow information, and specifically may be how many vehicles pass through at a certain intersection in the green time, and how many vehicles turn left, go straight, and turn right, respectively. The timing data of the traffic signal lamp can be the red light time, the green light time, the yellow light time and the light color turning-on time, such as the green light time of 40 seconds, the yellow light time of 3 seconds and the red light time of 40 seconds.
S220, determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp according to the historical data;
the target road segment may be a road segment controlled by a current signal lamp, for example, a west road segment controlled by a signal lamp at the east of the intersection. The minimum parking distance can be the sum of the braking distance of the vehicle and the driving distance of the vehicle in the reaction time, and whether the stop line is pressed when the vehicle is braked and stopped can be seen. The maximum passing distance is the time when the traffic signal lamp changes to the red light and whether the vehicle is still in the intersection or not by subtracting the intersection width and the vehicle body length from the running distance of the vehicle within the yellow light duration.
Preferably, after collecting the historical data for a preset range in front of the current traffic light, the method further comprises: dividing the historical data into at least two time periods in each day by adopting a clustering algorithm; and determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp in each time period according to the historical data.
The clustering algorithm can be a statistical analysis method for researching sample or index classification problems, and is also an important algorithm for data mining, including but not limited to k-means algorithm, Clara algorithm and Clarans algorithm.
Fig. 3 is a schematic flow chart of a clustering algorithm according to a second embodiment of the present invention. Specifically, time interval division is performed according to the historical data, 24-hour flow data of a corresponding phase of the target lane can be acquired at intervals of 15 minutes, and then time interval division is performed through a clustering algorithm. The clustering process is illustrated in figure 3 of the drawings,
is as follows
The flow rate samples for each of the time periods,
represent
The value of the traffic flow at the moment,
is shown as
The cluster center of the class, i.e. second
Mean value of class sample data;
is shown as
Euclidean distance from a sample point of a class to the center; after clustering is started, an initial clustering center is set, all sample points are distributed to corresponding categories according to the judgment conditions shown in fig. 3, then a new clustering center is calculated, and convergence is judged and then the process is finished.
The historical data is divided into time intervals, so that the obtained minimum parking distance and the maximum passing distance are suitable for different traffic flow conditions, and the actual conditions are better met.
Preferably, determining the minimum stopping distance and the maximum passing distance of the target road section of the current traffic signal lamp according to the historical data comprises: determining the reaction time of the driver when the current traffic signal lamp changes according to the historical data; and according to the response time, counting the obtained acceleration characteristic or deceleration characteristic of the driver and the instantaneous speed of the vehicle at the moment of the change of the light color, and determining the minimum parking distance and the maximum passing distance.
The reaction time may be a time from a signal light change moment to a vehicle starting to accelerate or decelerate, for example, a neural reaction time from a driver seeing a signal light change to a specific measure. The acceleration characteristic may be vehicle acceleration, for example, when the vehicle is about to pass quickly through an intersection before the signal lights turn red, there may be an acceleration process, and the acceleration at that time is the acceleration characteristic. The deceleration characteristic may be a vehicle acceleration, for example, when the vehicle is intended to stop at a stop before a stop line, there is a deceleration process, and the acceleration at that moment is the deceleration characteristic. The instantaneous speed of the vehicle at the moment of the change of the light color can be the running speed of the vehicle, and particularly can be the instantaneous speed of the vehicle at the moment of the change of the green light to the yellow light of a traffic signal lamp. The reaction time, the acceleration characteristic, the deceleration characteristic and the instantaneous speed of the vehicle at the moment of the change of the light color are obtained through statistics, the average value of most drivers is reflected, and the calculated minimum parking distance and the calculated maximum passing distance are more practical.
Further, the reaction time of the driver when the current traffic light changes is determined based on the current time of the change of the traffic light and the time of deceleration of the vehicle. Wherein the signal light change time point may be subtracted from the time point at which the vehicle starts to decelerate. Specifically, when the driver feels the color switching of the intersection light, a reaction lag time exists, and the corresponding speed can have obvious acceleration and deceleration changes. Through traversing the track data of the entrance road, the time difference between the change of the light color and the braking of the vehicle is screened, and the time difference under different traffic scenes is subjected to linear fitting to construct a reaction time model.
Wherein
Representing the reaction time of the driver, which is represented as the time difference (in s) from the time when the light color changes to the braking of the vehicle;
representing the vehicle speed (km/h) at the moment of the change of the lamp color;
is a linear fit function.
The reaction time obtained by the vehicle deceleration moment and the traffic signal lamp change moment is more accurate, and the influence of the driver on the reaction time caused by the fact that the driver accelerates and passes through the intersection is avoided.
Preferably, the minimum parking distance is determined using the following formula:
wherein,
in order to minimize the parking distance,
the instantaneous speed of the vehicle at the moment of the change of the light color,
the reaction time of the driver when the current signal lamp changes,
a deceleration feature;
the maximum passing distance is determined by adopting the following formula:
wherein,
in order to be the maximum distance of passage,
the instantaneous speed of the vehicle at the moment of the change of the light color,
the reaction time of the driver when the current signal lamp changes,
in order to be of an accelerating nature,
the time duration is configured for the yellow light,
the width of the intersection is the width of the intersection,
is the length of the car body.
The minimum parking distance and the maximum passing distance are accurately calculated by the two formulas, and a guarantee is provided for the determination of the decision-making area.
S230, constructing a decision area model of the current traffic signal lamp according to the minimum parking distance and the maximum passing distance; the decision area model is used for identifying a decision area of a target road section of the current traffic signal lamp.
Specifically, the decision area model can determine the decision area of the current traffic signal lamp according to the minimum parking distance and the maximum passing distance.
According to the technical scheme of the embodiment of the invention, historical data is obtained by collecting flow data, traffic signal lamp phase data and vehicle track data, and then traversal and analysis are carried out on the historical data to obtain the minimum parking distance and the maximum passing distance, so that a decision area model is constructed, the decision area of the current traffic signal lamp is identified, the problem that the decision areas of all intersections are fixed and unchanged is solved, the purpose of accurately determining the decision area is achieved, and the decision area is more reasonable.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a radar data-based green light dynamic extension apparatus according to a third embodiment of the present invention, which is capable of executing the radar data-based green light dynamic extension method according to any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. As shown in fig. 4, the apparatus includes:
the data acquisition module 310 is configured to acquire radar data of a predetermined decision area if the current traffic signal lamp is a green lamp and the remaining time length meets the dynamic extension trigger condition;
the judging module 320 is configured to determine whether the traffic signal lamp reaches a preset maximum green time if the radar data indicates that a vehicle exists;
and the residual time length prolonging module 330 is used for sending an instruction for controlling the traffic signal lamp to prolong the residual time length to the intersection signal machine.
Optionally, the apparatus further comprises: a decision region determination module, the decision region determination module comprising:
the historical data acquisition unit is used for acquiring historical data aiming at a preset range in front of the current traffic signal lamp; the historical data comprises track data, flow data and timing data of traffic lights;
the distance statistical unit is used for determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp according to the historical data;
the decision area calculation unit is used for constructing a decision area model of the current traffic signal lamp according to the minimum parking distance and the maximum passing distance; the decision area model is used for identifying a decision area of a target road section of the current traffic signal lamp.
Optionally, the decision area determining module further includes:
the time interval dividing unit is used for dividing the historical data into at least two time intervals in each day by adopting a clustering algorithm;
correspondingly, the distance statistic unit is specifically configured to:
and determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp in each time period according to the historical data.
Optionally, the distance statistic unit includes:
the response time determining subunit is used for determining the response time of the driver when the current traffic signal lamp changes according to the historical data;
and the distance counting subunit is used for counting the obtained acceleration characteristic or deceleration characteristic of the driver and the instantaneous speed of the vehicle at the moment of the change of the light color according to the reaction time, and determining the minimum parking distance and the maximum passing distance.
Optionally, the minimum parking distance is determined by using the following formula:
wherein,
in order to minimize the parking distance,
the instantaneous speed of the vehicle at the moment of the change of the light color,
the reaction time of the driver when the current signal lamp changes,
to reduceA speed feature;
the maximum passing distance is determined by adopting the following formula:
wherein,
in order to be the maximum distance of passage,
the instantaneous speed of the vehicle at the moment of the change of the light color,
the reaction time of the driver when the current signal lamp changes,
in order to be of an accelerating nature,
the time duration is configured for the yellow light,
the width of the intersection is the width of the intersection,
is the length of the car body.
Optionally, the reaction time of the driver when the current traffic light changes is determined based on the current time of the change of the traffic light and the deceleration time of the vehicle.
Optionally, the apparatus further comprises:
and the light color switching module is used for controlling the traffic signal lamp to switch the light colors according to the remaining time length if the time length reaches the preset time length.
The radar data-based green light dynamic extension device provided by the embodiment of the invention can execute the radar data-based green light dynamic extension method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention, as shown in fig. 5, the electronic device includes a processor 40, a memory 41, an input device 42, an output device 43, and a radar device 44; the number of the processors 40 in the electronic device may be one or more, and one processor 40 is taken as an example in fig. 4; the processor 40, the memory 41, the input device 42, the output device 43 and the radar device 44 in the electronic apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The memory 41 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as a module corresponding to the method for dynamically extending green light based on radar data in the embodiment of the present invention. The processor 40 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the memory 41, namely, the method for dynamically extending green light based on radar data is realized.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the electronic apparatus. The output device 43 may include a traffic light or other display device.
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method for dynamic extension of green light based on radar data, the method comprising:
if the current traffic signal lamp is a green lamp and the residual time length meets the dynamic extension trigger condition, performing radar data acquisition on a predetermined decision area based on a radar;
if the radar data is identified as the vehicle, determining whether the traffic signal lamp reaches a preset maximum green light duration;
and if not, issuing a command for controlling the traffic signal lamp to prolong the residual time to the intersection signal machine.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in a radar data based green light dynamic lengthening method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for dynamically prolonging a green light based on radar data is characterized in that the method is executed by electronic equipment for dynamically prolonging the green light, and the electronic equipment is connected with an intersection annunciator; the method comprises the following steps:
if the current traffic signal lamp is a green lamp and the residual time length meets the dynamic extension trigger condition, performing radar data acquisition on a predetermined decision area based on a radar;
if the radar data is identified as the vehicle, determining whether the traffic signal lamp reaches a preset maximum green light duration;
and if not, issuing an instruction for controlling the traffic signal lamp to prolong the remaining time to the intersection signal machine.
2. The method of claim 1, wherein the determining the decision region comprises:
acquiring historical data aiming at a preset range in front of a current traffic signal lamp; the historical data comprises track data, flow data and timing data of traffic lights;
determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp according to the historical data;
constructing a decision area model of the current traffic signal lamp according to the minimum parking distance and the maximum passing distance; the decision area model is used for identifying a decision area of a target road section of the current traffic signal lamp.
3. The method of claim 2, wherein after collecting historical data for a preset range in front of a current traffic light, the method further comprises:
dividing the historical data into at least two time periods in each day by adopting a clustering algorithm;
correspondingly, according to the historical data, determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp comprises the following steps:
and determining the minimum parking distance and the maximum passing distance of the target road section of the current traffic signal lamp in each time period according to the historical data.
4. The method of claim 2, wherein determining the minimum stopping distance and the maximum passing distance for the target road segment of the current traffic signal from the historical data comprises:
determining the reaction time of a driver when the current traffic signal lamp changes according to the historical data;
and according to the response time, counting the obtained acceleration characteristic or deceleration characteristic of the driver and the instantaneous speed of the vehicle at the moment of the change of the light color, and determining the minimum parking distance and the maximum passing distance.
5. The method of claim 4, wherein the minimum stopping distance is determined using the following equation:
wherein,
in order to minimize the parking distance,
the instantaneous speed of the vehicle at the moment of the change of the light color,
the reaction time of the driver when the current signal light changes,
a deceleration feature;
the maximum passing distance is determined by adopting the following formula:
wherein,
in order to achieve the maximum distance of passage,
the instantaneous speed of the vehicle at the moment of the change of the light color,
the reaction time of the driver when the current signal lamp changes,
in order to be of an accelerating nature,
the time duration is configured for the yellow light,
the width of the intersection is the width of the intersection,
is the length of the car body.
6. The method of claim 4, wherein the reaction time of the driver when the current traffic light changes is determined based on a current time of the light change and a time of vehicle deceleration.
7. The method of claim 1, wherein after determining whether the traffic signal lamp has reached a preset maximum green time period, the method further comprises:
and if so, controlling the traffic signal lamp to switch the light color according to the remaining time length.
8. A green light dynamic extension device based on radar data is characterized in that the device is configured on an electronic device for green light dynamic extension, and the electronic device is connected with an intersection annunciator; the device comprises:
the data acquisition module is used for acquiring radar data of a predetermined decision area if the current traffic signal lamp is a green lamp and the residual time length meets the dynamic extension trigger condition;
the judging module is used for determining whether the traffic signal lamp reaches the preset maximum green light duration or not if the radar data identification result indicates that the vehicle exists;
and the residual time length prolonging module is used for issuing an instruction for controlling the traffic signal lamp to prolong the residual time length to the intersection annunciator.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the radar data based green light dynamic lengthening method of any of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the radar-data based green light dynamic lengthening method of any one of claims 1-7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210571678.XA CN114664097B (en) | 2022-05-25 | 2022-05-25 | Radar data-based green light dynamic extension method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210571678.XA CN114664097B (en) | 2022-05-25 | 2022-05-25 | Radar data-based green light dynamic extension method, device, equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114664097A true CN114664097A (en) | 2022-06-24 |
| CN114664097B CN114664097B (en) | 2022-09-20 |
Family
ID=82038434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210571678.XA Active CN114664097B (en) | 2022-05-25 | 2022-05-25 | Radar data-based green light dynamic extension method, device, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114664097B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116721548A (en) * | 2023-08-07 | 2023-09-08 | 深圳市城市交通规划设计研究中心股份有限公司 | Signal control method for safety switching of cross-period scheme |
| CN117475653A (en) * | 2023-12-27 | 2024-01-30 | 山东华夏高科信息股份有限公司 | Intelligent traffic signal lamp management system based on remote control |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106997673A (en) * | 2017-06-05 | 2017-08-01 | 南通大学 | Determine the method and system of the traffic lights redundancy duration in track |
| CN110728844A (en) * | 2019-09-11 | 2020-01-24 | 平安科技（深圳）有限公司 | Traffic light self-adaptive control method and device, traffic control equipment and storage medium |
| CN112489456A (en) * | 2020-12-01 | 2021-03-12 | 山东交通学院 | Signal lamp regulation and control method and system based on urban trunk line vehicle queuing length |
| CN112581775A (en) * | 2020-12-08 | 2021-03-30 | 平安国际智慧城市科技股份有限公司 | Bus priority passing control method and system of signal lamp and storage medium |
| CN113516857A (en) * | 2021-04-19 | 2021-10-19 | 安徽达尔智能控制系统股份有限公司 | Intersection signal timing dynamic allocation method and system based on radar monitoring |
-
2022
- 2022-05-25 CN CN202210571678.XA patent/CN114664097B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106997673A (en) * | 2017-06-05 | 2017-08-01 | 南通大学 | Determine the method and system of the traffic lights redundancy duration in track |
| CN110728844A (en) * | 2019-09-11 | 2020-01-24 | 平安科技（深圳）有限公司 | Traffic light self-adaptive control method and device, traffic control equipment and storage medium |
| CN112489456A (en) * | 2020-12-01 | 2021-03-12 | 山东交通学院 | Signal lamp regulation and control method and system based on urban trunk line vehicle queuing length |
| CN112581775A (en) * | 2020-12-08 | 2021-03-30 | 平安国际智慧城市科技股份有限公司 | Bus priority passing control method and system of signal lamp and storage medium |
| CN113516857A (en) * | 2021-04-19 | 2021-10-19 | 安徽达尔智能控制系统股份有限公司 | Intersection signal timing dynamic allocation method and system based on radar monitoring |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116721548A (en) * | 2023-08-07 | 2023-09-08 | 深圳市城市交通规划设计研究中心股份有限公司 | Signal control method for safety switching of cross-period scheme |
| CN116721548B (en) * | 2023-08-07 | 2023-12-26 | 深圳市城市交通规划设计研究中心股份有限公司 | Signal control method for safety switching of cross-period scheme |
| CN117475653A (en) * | 2023-12-27 | 2024-01-30 | 山东华夏高科信息股份有限公司 | Intelligent traffic signal lamp management system based on remote control |
| CN117475653B (en) * | 2023-12-27 | 2024-03-26 | 山东华夏高科信息股份有限公司 | Intelligent traffic signal lamp management system based on remote control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114664097B (en) | 2022-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114664097B (en) | Radar data-based green light dynamic extension method, device, equipment and medium | |
| CN112416004B (en) | Control method and device based on automatic driving, vehicle and related equipment | |
| CN112562326A (en) | Vehicle speed guiding method, server and readable storage medium | |
| US20190143992A1 (en) | Self-driving learning apparatus and method using driving experience information | |
| CN102800214A (en) | Vehicle lane change conflict resolution method under vehicle information interaction condition | |
| CN111731294B (en) | Travel control device, travel control method, and storage medium storing program | |
| CN113830086B (en) | Adaptive cruise control method, apparatus and storage medium | |
| CN114194193B (en) | Method for controlling lane change of vehicle | |
| CN108597252B (en) | Traffic light intersection pedestrian and vehicle safe passing intelligent judgment system and method | |
| WO2022213542A1 (en) | Method and system for clearing information-controlled intersection on basis of lidar and trajectory prediction | |
| CN113470407B (en) | Vehicle speed guiding method for multi-intersection passing, server and readable storage medium | |
| CN110503832B (en) | Instruction processing method, device, equipment and medium based on intelligent traffic system | |
| CN112562333A (en) | Road congestion processing method and device based on intelligent traffic | |
| CN114067569B (en) | Vehicle left-turning auxiliary early warning method in V2X vehicle networking environment | |
| CN107476920B (en) | Engine automatic start-stop triggering method and system based on traveling road condition analyzing | |
| CN111402614A (en) | Vehicle driving decision adjustment method and device and vehicle-mounted terminal | |
| WO2022127647A1 (en) | Method and system for outputting driving prompt information, and vehicle | |
| CN113050615A (en) | Driving safety control method and device, electronic equipment and storage medium | |
| CN109472732B (en) | Intelligent high-speed comprehensive management and control method and management and control platform | |
| CN113370972B (en) | Travel control device, travel control method, and computer-readable storage medium storing program | |
| CN110155007A (en) | Brake control method, mobile unit and the braking control device of vehicle | |
| CN116811854A (en) | Method and device for determining running track of automobile, automobile and storage medium | |
| CN113353087B (en) | Driving assistance method, device and system | |
| CN115257722A (en) | Pedestrian avoidance method and device oriented to safety and efficiency | |
| CN115171401A (en) | Ramp afflux method, device and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |