CN114708740B - Traffic light control method, system, device and equipment - Google Patents
Traffic light control method, system, device and equipment Download PDFInfo
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- CN114708740B CN114708740B CN202210392140.2A CN202210392140A CN114708740B CN 114708740 B CN114708740 B CN 114708740B CN 202210392140 A CN202210392140 A CN 202210392140A CN 114708740 B CN114708740 B CN 114708740B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- 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
Abstract
The invention discloses a traffic light control method, a traffic light control system, a traffic light control device and traffic light control equipment. When the time is within a set period, acquiring the current working state of the traffic light; wherein the working state comprises an opening state or a closing state; judging whether a target object approaches an intersection where a traffic light is positioned; and if so, adjusting the working state of the traffic light. According to the technical scheme, in the set period, the mode of automatically adjusting the working state of the traffic light by judging whether the target object is close to the intersection where the traffic light is located can be adopted, so that the purpose of effectively saving energy can be achieved on the basis of ensuring traffic safety.
Description
Technical Field
The present invention relates to the field of traffic light control technologies, and in particular, to a method, a system, an apparatus, and a device for controlling a traffic light.
Background
Traffic lights are devices that provide for the orderly and safe passage of pedestrians and vehicles. However, at night, for example, in early morning, the traffic flow is greatly reduced compared with the traffic flow in the daytime, and if the traffic light is always on, the problem of electricity waste exists, or if the traffic light is always off, the problem of traffic safety may exist.
Disclosure of Invention
The invention provides a control method, a system, a device and equipment of a traffic light, which are used for solving the problems of electricity waste and safety of traffic lights at night.
According to an aspect of the present invention, there is provided a control method of a traffic light, including:
when the time is within a set period, acquiring the current working state of the traffic light; wherein the working state comprises an opening state or a closing state;
judging whether a target object approaches an intersection where a traffic light is positioned;
and if so, adjusting the working state of the traffic light.
According to another aspect of the present invention, there is provided a traffic light control system, which performs a traffic light control method according to any one of the embodiments of the present invention; the system comprises sensing equipment, an edge calculation module, a communication module and a control module; the sensing equipment, the edge computing module, the communication module and the control module are sequentially connected;
the sensing equipment is used for collecting target sensing data and sending the target sensing data to the edge computing module;
the edge calculation module is used for processing the target perception data and generating motion data of a target object according to a processing result;
the communication module is used for receiving the motion data of the target object sent by the edge calculation module, generating a control signal according to the motion data of the target object, and forwarding the control signal to the control module; receiving target perception data sent by adjacent traffic lights;
and the control module is used for controlling the on and off of the traffic light according to the control signal.
According to another aspect of the present invention, there is provided a control device of a traffic light, including:
the acquisition module is used for acquiring the current working state of the traffic light when the time is within a set period; wherein the working state comprises an opening state or a closing state;
the judging module is used for judging whether a target object approaches an intersection where the traffic light is positioned;
and the adjusting module is used for adjusting the working state of the traffic light if the traffic light exists.
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 liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of controlling a traffic light according to any one of the embodiments of the present invention.
According to the technical scheme, when the time is within the set period, the current working state of the traffic light is obtained; wherein the working state comprises an opening state or a closing state; judging whether a target object approaches an intersection where a traffic light is positioned; and if so, adjusting the working state of the traffic light. According to the technical scheme, in the set period, the mode of automatically adjusting the working state of the traffic light by judging whether the target object is close to the intersection where the traffic light is located can be adopted, so that the purpose of effectively saving energy can be achieved on the basis of ensuring traffic safety.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for controlling a traffic light according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a control system of a traffic light according to a second embodiment of the present invention;
FIG. 3 is a flowchart of another method for controlling traffic lights according to an embodiment of the present invention;
fig. 4 is a flowchart showing interaction between a communication module and a control module in a traffic light control system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a traffic light control device according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 1
Fig. 1 is a flowchart of a traffic light control method according to an embodiment of the present invention, where the method may be performed by a traffic light control device, and the traffic light control device may be implemented in hardware and/or software, and the traffic light control device may be configured in a server, where the traffic light control method is applicable to a situation that the traffic light is automatically adjusted at night according to whether a pedestrian or a vehicle approaches an intersection where the traffic light is located. As shown in fig. 1, the method includes:
s110, when the time is within a set period, the current working state of the traffic light is obtained.
Wherein the operating state includes an on state or an off state.
The set time period may be night, and the embodiment of the invention is not limited to specific time Duan Ben, for example, 0 a.m. to 3 a.m. or 1 a.m. to 4 a.m..
According to the embodiment of the invention, when the time is in the set period, the working state of the current traffic light is acquired, so that the working state of the traffic light can be conveniently adjusted according to the condition of the intersection where the traffic light is located.
S120, judging whether a target object approaches an intersection where a traffic light is located.
Wherein the target object may be a pedestrian and/or a vehicle. The intersection can be the current intersection or an adjacent intersection.
Specifically, whether the target object approaches the intersection where the traffic light is located can be judged through the sensing data collected by the sensing equipment, and whether the target object approaches the intersection where the traffic light is located can also be judged according to the received sensing data collected by the adjacent intersection sensing equipment. Wherein the sensing device comprises a camera, a radar and the like. The perception data comprises image data and/or radar data.
And S130, if the traffic light exists, adjusting the working state of the traffic light.
According to the embodiment of the invention, if the approach of the target object is judged through the acquired perception data, the working state of the traffic light is adjusted. For example, if the current working state of the traffic light is an off state, when the target object approaches the intersection where the traffic light is located, the working state of the traffic light is adjusted to be an on state so as to control the on working of the traffic light; if the current working state of the traffic light is an on state, when the target object leaves the intersection where the traffic light is located, the working state of the traffic light is adjusted to be an off state so as to control the traffic light to be off.
According to the technical scheme, when the time is within the set period, the current working state of the traffic light is obtained; the working state comprises an opening state or a closing state; judging whether a target object approaches an intersection where a traffic light is positioned; and if so, adjusting the working state of the traffic light. According to the technical scheme, in the set period, the mode of automatically adjusting the working state of the traffic light by judging whether the target object is close to the intersection where the traffic light is located can be adopted, so that the purpose of effectively saving energy can be achieved on the basis of ensuring traffic safety.
Further, on the basis of the above embodiment, if the current working state of the traffic light is the off state, the adjusting the working state of the traffic light includes:
a1, determining a first moment when the target object reaches the intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located.
The first moment represents the specific time when the target object reaches the intersection where the traffic light is located. The second time represents a specific time when the target object leaves the intersection where the traffic light is located.
Specifically, the first moment when the target object reaches the intersection where the traffic light is located and the second moment when the target object leaves the intersection where the traffic light is located can be calculated through the perception data acquired by the camera and the perception data acquired by the radar.
b1, determining the starting time of the traffic light according to the first time and determining the closing time according to the second time; wherein the closing time is later than the opening time.
The start time may refer to a time before the first time, for example, based on the first 10 seconds of the first time. The closing time may refer to a time after the second time, e.g. based on the last 10 seconds of the second time.
Specifically, the first few seconds at the first time may be regarded as the turn-on time of the traffic light, the second few seconds at the second time may be regarded as the turn-off time of the traffic light, for example, the time obtained by subtracting 10 seconds from the time at the first time may be regarded as the turn-on time of the traffic light, and the time obtained by adding 10 seconds to the time at the second time may be regarded as the turn-off time of the traffic light.
And c1, controlling the traffic light to be started when the time reaches the starting moment, and controlling the traffic light to be closed when the time reaches the closing moment.
Specifically, if the time reaches the starting moment, the running direction of the target object is judged according to the course angle in the perception data, so that the traffic lights in the corresponding directions of the intersections are controlled to start, and if the time reaches the closing moment, the corresponding traffic lights are controlled to close.
Further, on the basis of the above embodiment, if the current working state is an on state, the adjusting the working state of the traffic light includes:
and when the time reaches the closing time, controlling the traffic light to be closed.
Specifically, if the current working state is an on state and the time reaches the off time, the traffic light in the corresponding direction of the corresponding intersection is controlled to be turned off.
Further, on the basis of the above embodiment, determining whether the target object approaches the intersection where the traffic light is located includes:
judging whether a target object approaches an intersection where a traffic light is located according to the collected target perception data; or judging whether the target object approaches the intersection where the traffic light is located according to the received target perception data; wherein the target awareness data comprises image data and/or radar data.
The image data may be, among other things, a picture or video containing pedestrians and/or vehicles. The radar data may be travel speed, position, direction angle of the pedestrian and/or the vehicle, and distance information of the pedestrian and/or the vehicle from the radar. In addition, the image data and the radar data are data acquired by a camera and a radar, respectively.
According to the embodiment of the invention, whether the target object is close to the intersection where the traffic light is located or not can be judged according to the target perception data acquired by the perception equipment of the intersection and the target perception data sent by the last adjacent intersection, and of course, the target perception data of the intersection can also be sent to the next adjacent intersection so as to improve the accuracy of judging whether the target object is close or not.
Further, on the basis of the above embodiment, determining whether the target object approaches the intersection where the traffic light is located includes:
a2, determining motion data of the target object according to the target perception data.
The motion data comprises speed, direction angle, position information and distance between the motion data and the intersection.
Wherein the speed may be the speed of travel of the pedestrian and/or vehicle. The direction angle may be used to represent the direction of the intersection, for example, by which four directions in the intersection may be identified. The location information may be latitude and longitude information, or lane information. The distance is the distance between the target object and the intersection.
Specifically, a target object in the image data can be identified through a deep learning algorithm, radar data is identified through a clustering and tracking technology, errors when the two are combined are compensated through a filtering means, and finally motion data of the target object are obtained.
And b2, judging whether the target object approaches the intersection where the traffic light is located based on the motion data.
According to the embodiment of the invention, whether the target object approaches the intersection where the traffic light is located is judged according to the speed, the direction angle, the position information and the distance between the target object and the intersection.
For example, if there is only one target object and the distance from the intersection where the traffic light is located is 200 meters, it is pre-determined whether the target object passes through the intersection where the traffic light is located according to the speed, the direction angle, the position information of the target object and the distance from the intersection where the traffic light is located. And judging that the target object is positioned in a specific direction of the intersection according to the direction angle, and if the target object is positioned in the southwest direction, considering that the target object is positioned in the southwest direction and is close to the intersection where the traffic light is positioned, so that the working state of the traffic light in the southwest direction can be adjusted.
If the target object is located in the right lane according to the speed, the direction angle and the position information of the target object and the distance between the target object and the intersection where the traffic light is located, if the target object is located in the right lane according to the position information, the target object can be considered to be located in the right lane and close to the intersection where the traffic light is located, and therefore the working state of the traffic light can be adjusted, and the working state of the traffic light can be adjusted.
For example, if there are multiple target objects and the distance from the intersection where the traffic light is located is 200 meters, it is pre-determined whether the target object passes the intersection where the traffic light is located according to the speed, the direction angle, the position information of the target object and the distance from the intersection where the traffic light is located. If the target object exists in each direction of the intersection, the target object is considered to be close to the intersection where the traffic light exists in all directions of the intersection, so that the working state of the traffic light in all directions can be adjusted.
Further, on the basis of the above embodiment, determining the first time when the target object reaches the intersection where the traffic light is located and the second time when the target object leaves the intersection where the traffic light is located includes:
and determining a first moment when the target object reaches the intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the motion data.
Specifically, the first moment when the target object reaches the intersection where the traffic light is located and the second moment when the target object leaves the intersection where the traffic light is located in all directions of the intersection can be calculated through the speed, the direction angle and the position information of the target object and the distance between the target object and the intersection.
Further, on the basis of the above embodiment, the method further includes:
and sending the target perception data to the adjacent traffic lights.
Wherein the adjacent traffic light is a traffic light of an adjacent intersection.
According to the embodiment of the invention, the target perception data is sent to the adjacent traffic lights, so that the traffic lights at the adjacent intersections can make pre-judgment in advance according to the target perception data acquired by the last intersection perception equipment, and the traffic lights at the adjacent intersections are ready for adjusting the working states of the traffic lights in advance.
Example two
Fig. 2 is a schematic diagram of a control system of a traffic light according to a second embodiment of the present invention. As shown in fig. 2, the traffic light control system 20 includes: the system comprises a sensing device 201, an edge calculation module 202, a communication module 203 and a control module 204.
The sensing device 201, the edge computing module 202, the communication module 203 and the control module 204 are sequentially connected, and the connection mode is not limited in this aspect of the embodiment of the present invention, and the communication connection may be established through a local area network, or may be a wired connection.
The sensing device 201 is configured to collect target sensing data and send the target sensing data to the edge calculation module 202.
The sensing equipment comprises a camera and a radar, and can be deployed on the cross bar of the intersection. The camera can be gun type camera or fish-eye camera, and the radar can be microwave radar or laser radar. The target awareness data includes image data and/or radar data.
The edge calculation module 202 is configured to process the target perception data, and generate motion data of the target object according to a processing result.
The edge calculation module 202 provides an edge calculation, which can be deployed in a road side chassis to perform fusion calculation on image data and/or radar data.
Specifically, a target object in the image data can be identified through a deep learning algorithm, radar data is identified through a clustering and tracking technology, errors when the two are combined are compensated through a filtering means, and finally motion data of the target object are obtained.
The communication module 203 is configured to receive the motion data of the target object sent by the edge calculation module 202, generate a control signal according to the motion data of the target object, and forward the control signal to the control module 204; and receiving target perception data sent by the adjacent traffic lights.
The communication module 203 may be a Road Side Unit (RSU). The movement data includes speed, direction angle, position information and distance from the intersection.
Specifically, the communication module 203 determines whether the target object approaches the intersection where the traffic light is located according to the speed, the direction angle, the position information and the distance between the target object and the intersection, determines a first time when the target object reaches the intersection where the traffic light is located and a second time when the target object leaves the intersection where the traffic light is located, determines the turn-on time of the traffic light according to the first time, and determines the turn-off time according to the second time, thereby generating the control signal of the traffic light.
The control module 204 is used for controlling the on and off of the traffic lights according to the control signals.
The control module may be a traffic signal, and may be configured to receive a control signal sent by the communication module 203, and control on/off of the traffic light according to the control signal.
Fig. 3 is a flowchart of another control method of a traffic light according to an embodiment of the present invention, as shown in fig. 3.
S301, the sensing device collects target sensing data and sends the target sensing data to the edge computing module.
S302, the edge calculation module processes the target perception data and generates movement data of the target object according to a processing result.
S303, the communication module receives the motion data of the target object sent by the edge calculation module, generates a control signal according to the motion data of the target object, and forwards the control signal to the control module; and receiving target perception data sent by the adjacent traffic lights.
S304, the control module controls the on and off of the traffic light according to the control signal.
Fig. 4 is a flowchart illustrating interaction between a communication module and a control module in a control system of a traffic light according to an embodiment of the present invention, as shown in fig. 4.
S401, the communication module judges whether the target object approaches the intersection where the traffic light is located according to the motion data of the target object, if yes, S402 is executed, and if not, the step is executed continuously.
S402, the communication module determines a first moment when the target object reaches the intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the motion data of the target object.
S403, the communication module determines the starting time of the traffic light according to the first time and determines the closing time according to the second time.
S404, the communication module generates a control signal for turning on the traffic light according to the turning-on time of the traffic light, generates a control signal for turning off the traffic light according to the turning-off time of the traffic light, and forwards the control signal to the control module.
S405, the control module controls the on and off of the traffic light according to the control signal.
Example III
Fig. 5 is a schematic structural diagram of a traffic light control device according to a third embodiment of the present invention. As shown in fig. 5, the apparatus includes: an acquisition module 501, a judgment module 502 and an adjustment module 503.
The obtaining module 501 is configured to obtain a current working state of the traffic light when the time is within a set period; the working state comprises an opening state or a closing state;
a judging module 502, configured to judge whether a target object approaches an intersection where a traffic light is located;
the adjusting module 503 is configured to adjust the working state of the traffic light, if any.
According to the technical scheme, when the time is within the set period, the current working state of the traffic light is obtained; the working state comprises an opening state or a closing state; judging whether a target object approaches an intersection where a traffic light is positioned; and if so, adjusting the working state of the traffic light. According to the technical scheme, in the set period, the mode of automatically adjusting the working state of the traffic light by judging whether the target object is close to the intersection where the traffic light is located can be adopted, so that the purpose of effectively saving energy can be achieved on the basis of ensuring traffic safety.
Further, on the basis of the foregoing embodiment, if the current working state of the traffic light is a closed state, the adjusting module includes:
the time determining unit is used for determining a first time when the target object reaches an intersection where the traffic light is located and a second time when the target object leaves the intersection where the traffic light is located;
the control moment determining unit is used for determining the starting moment of the traffic light according to the first moment and determining the closing moment according to the second moment; wherein the closing time is later than the opening time;
and the control unit is used for controlling the traffic light to be started when the time reaches the starting moment and controlling the traffic light to be closed when the time reaches the closing moment.
Further, on the basis of the foregoing embodiment, if the current working state is an on state, the adjusting module is specifically configured to:
and when the time reaches the closing time, controlling the traffic light to be closed.
Further, on the basis of the foregoing embodiment, the determining module is specifically configured to:
judging whether a target object approaches an intersection where the traffic light is located according to the collected target perception data; or judging whether a target object approaches an intersection where the traffic light is located according to the received target perception data; wherein the target awareness data comprises image data and/or radar data.
Further, on the basis of the foregoing embodiment, the determining module is further configured to:
determining motion data of the target object according to the target perception data; the motion data comprise speed, direction angle and position information and distance between the motion data and the intersection;
and judging whether a target object approaches an intersection where the traffic light is located or not based on the motion data.
Further, on the basis of the foregoing embodiment, the time determining unit is specifically configured to:
and determining a first moment when the target object reaches the intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the motion data.
Further, on the basis of the foregoing embodiment, the determining module is further configured to:
and sending the target perception data to adjacent traffic lights.
The traffic light control device provided by the embodiment of the invention can execute the traffic light control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as control of the method traffic lights.
In some embodiments, control of the method traffic light may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above-described method of controlling traffic lights may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform control of the method traffic light in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server typically leave each other and interact typically through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (6)
1. A method of controlling a traffic light, comprising:
when the time is within a set period, acquiring the current working state of the traffic light; wherein the working state comprises an opening state or a closing state;
judging whether a target object approaches an intersection where a traffic light is positioned;
if yes, adjusting the working state of the traffic light;
if the current working state of the traffic light is a closing state, the working state of the traffic light is adjusted, including:
determining a first moment when the target object reaches an intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located;
the determining the first moment when the target object reaches the intersection where the traffic light is located and the second moment when the target object leaves the intersection where the traffic light is located includes: calculating a first moment when a target object reaches an intersection where a traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the perception data acquired by the camera and the perception data acquired by the radar;
determining the starting time of the traffic light according to the first time, and determining the closing time according to the second time; wherein the closing time is later than the opening time;
when the time reaches the starting time, controlling the traffic light to start working, and when the time reaches the closing time, controlling the traffic light to close;
the judging whether the target object approaches the intersection where the traffic light is located comprises the following steps:
judging whether a target object approaches an intersection where the traffic light is located according to the collected target perception data; or judging whether a target object approaches an intersection where the traffic light is located according to the received target perception data; wherein the target awareness data comprises image data and/or radar data;
the judging whether the target object approaches the intersection where the traffic light is located comprises the following steps:
determining motion data of the target object according to the target perception data; the motion data comprise speed, direction angle and position information and distance between the motion data and the intersection;
judging whether a target object approaches an intersection where the traffic light is located or not based on the motion data;
the determining the first moment when the target object reaches the intersection where the traffic light is located and the second moment when the target object leaves the intersection where the traffic light is located includes:
and determining a first moment when the target object reaches the intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the motion data.
2. The method of claim 1, wherein adjusting the operating state of the traffic light if the current operating state is an on state comprises:
and when the time reaches the closing time, controlling the traffic light to be closed.
3. The method as recited in claim 1, further comprising:
and sending the target perception data to adjacent traffic lights.
4. A control system for traffic lights, characterized in that the system performs the method according to any of claims 1-3; the system comprises sensing equipment, an edge calculation module, a communication module and a control module; the sensing equipment, the edge computing module, the communication module and the control module are sequentially connected;
the sensing equipment is used for collecting target sensing data and sending the target sensing data to the edge computing module;
the edge calculation module is used for processing the target perception data and generating motion data of a target object according to a processing result;
the communication module is used for receiving the motion data of the target object sent by the edge calculation module, generating a control signal according to the motion data of the target object, and forwarding the control signal to the control module; receiving target perception data sent by adjacent traffic lights;
and the control module is used for controlling the on and off of the traffic light according to the control signal.
5. A traffic light control apparatus, comprising:
the acquisition module is used for acquiring the current working state of the traffic light when the time is within a set period; wherein the working state comprises an opening state or a closing state;
the judging module is used for judging whether a target object approaches an intersection where the traffic light is positioned;
the adjusting module is used for adjusting the working state of the traffic light if the traffic light exists;
if the current working state of the traffic light is a closed state, the adjusting module comprises:
the time determining unit is used for determining a first time when the target object reaches an intersection where the traffic light is located and a second time when the target object leaves the intersection where the traffic light is located;
the determining the first moment when the target object reaches the intersection where the traffic light is located and the second moment when the target object leaves the intersection where the traffic light is located includes: calculating a first moment when a target object reaches an intersection where a traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the perception data acquired by the camera and the perception data acquired by the radar;
the control moment determining unit is used for determining the starting moment of the traffic light according to the first moment and determining the closing moment according to the second moment; wherein the closing time is later than the opening time;
the control unit is used for controlling the traffic light to be started when the time reaches the starting moment and controlling the traffic light to be closed when the time reaches the closing moment;
the judging module is specifically configured to:
judging whether a target object approaches an intersection where the traffic light is located according to the collected target perception data; or judging whether a target object approaches an intersection where the traffic light is located according to the received target perception data; wherein the target awareness data comprises image data and/or radar data;
the judging module is further configured to:
determining motion data of the target object according to the target perception data; the motion data comprise speed, direction angle and position information and distance between the motion data and the intersection;
judging whether a target object approaches an intersection where the traffic light is located or not based on the motion data;
the time determining unit is specifically configured to:
and determining a first moment when the target object reaches the intersection where the traffic light is located and a second moment when the target object leaves the intersection where the traffic light is located according to the motion data.
6. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of controlling a traffic light according to any one of claims 1-3.
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