CN114973696A

CN114973696A - Priority passing control method and device, road side equipment and traffic signal control equipment

Info

Publication number: CN114973696A
Application number: CN202110222764.5A
Authority: CN
Inventors: 魏吉敏; 张长隆; 马潍; 刘智伟; 韩发荣
Original assignee: Changsha Intelligent Driving Research Institute Co Ltd
Current assignee: Changsha Intelligent Driving Research Institute Co Ltd
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2022-08-30
Anticipated expiration: 2041-02-26
Also published as: CN114973696B

Abstract

The embodiment of the application discloses a priority traffic control method and device, road side equipment and traffic signal control equipment, wherein the method comprises the following steps: the method comprises the steps that a first road side device obtains vehicle information of a target device from a first vehicle-mounted device; the method comprises the steps that first road side equipment obtains dynamic traffic information of a first road junction; the first road side equipment acquires current traffic light timing information of each intersection in the intersection from the traffic signal control equipment through data frame transmission; the first road side equipment acquires dynamic traffic information from a second intersection through data frame transmission; the first road side equipment determines priority traffic strategy information aiming at a target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the multiple pieces of current traffic light timing information; the traffic signal control equipment acquires the priority traffic strategy information from the first road side equipment through data frame transmission, so that priority traffic control is realized, and the traffic efficiency and traffic safety of the intersection are improved.

Description

Priority passing control method and device, road side equipment and traffic signal control equipment

Technical Field

The application relates to the field of intelligent transportation, in particular to a priority traffic control method and device, road side equipment and traffic signal control equipment.

Background

With the increasing number of living people in cities and the increasing keeping quantity of vehicles such as motor vehicles and non-motor vehicles, the cities face the problems of traffic jam, traffic safety risks and the like. Therefore, further research is needed to realize priority traffic control in intelligent traffic, continuously optimize the right of vehicle priority traffic, improve priority traffic order, improve intersection traffic capacity and efficiency, reduce traffic safety risks, and improve the carrying capacity of urban road networks.

Disclosure of Invention

The embodiment of the application provides a priority traffic control method and device, roadside equipment and traffic signal control equipment, so that the priority traffic control is realized by transmitting information through data frames, and the traffic efficiency and the traffic safety of intersections are improved by participating dynamic traffic information and a plurality of current traffic light timing information of each intersection into a priority traffic strategy.

In a first aspect, an embodiment of the present application provides a priority traffic control method, which is applied to a first road side device in a priority traffic control system; the priority traffic control system comprises first road side equipment, traffic signal control equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the method comprises the following steps:

acquiring vehicle information of a target vehicle from the first on-board device;

acquiring dynamic traffic information of the first intersection;

acquiring current traffic light timing information of each intersection in the intersections from the traffic signal control equipment through data frame transmission;

acquiring dynamic traffic information of the second intersection from the second road side equipment through the data frame transmission;

and determining priority traffic strategy information aiming at the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the plurality of pieces of current traffic light timing information, wherein the priority traffic strategy information is used for adjusting or maintaining the plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

In a second aspect, an embodiment of the present application provides a priority traffic control method, which is applied to a traffic signal control device in a priority traffic control system; the priority traffic control system comprises the traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the method comprises the following steps:

transmitting current traffic light timing information of each intersection in the intersection to the first road side equipment through data frame transmission;

and obtaining priority traffic policy information aiming at the target vehicle from the first road side equipment through the data frame transmission, wherein the priority traffic policy information is used for adjusting or maintaining a plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

In a third aspect, an embodiment of the present application provides a priority traffic control apparatus, which is applied to a first road side device in a priority traffic control system; the priority traffic control system comprises first road side equipment, traffic signal control equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the apparatus comprises a processing unit and a communication unit, the processing unit being configured to:

acquiring, by the communication unit, vehicle information of a target vehicle from the first in-vehicle device;

acquiring dynamic traffic information of the first intersection through the communication unit;

transmitting a data frame through the communication unit to acquire current traffic light timing information from the traffic signal control device for each intersection in the intersection;

transmitting the data frame through the communication unit to acquire dynamic traffic information of the second intersection from the second roadside device;

In a fourth aspect, an embodiment of the present application provides a priority traffic control apparatus, which is applied to a traffic signal control device in a priority traffic control system; the priority traffic control system comprises the traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the apparatus comprises a processing unit and a communication unit, the processing unit being configured to:

transmitting a data frame through the communication unit to send current traffic light timing information for each intersection in the intersection to the first roadside device;

transmitting the data frame through the communication unit to acquire priority traffic policy information for the target vehicle from the first roadside device, the priority traffic policy information being used to adjust or maintain the plurality of current traffic light timing information so that the target vehicle preferentially passes through the intersection.

In a fifth aspect, an embodiment of the present application provides a roadside apparatus, which is a first roadside apparatus and includes a processor, a memory and a communication interface, where the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs are used for executing the instructions of the steps in the first aspect of the embodiment of the present application.

In a sixth aspect, embodiments of the present application provide a traffic signal control device, comprising a processor, a memory and a communication interface, the memory storing one or more programs, and the one or more programs being executed by the processor, the one or more programs being for executing the instructions of the steps in the second aspect of the embodiments of the present application.

It can be seen that, in the embodiment of the present application, first, a first road side device acquires vehicle information of a target device from a first vehicle-mounted device; secondly, the first road side equipment acquires dynamic traffic information of a first road junction; thirdly, the traffic signal control equipment transmits the current traffic light timing information of each intersection in the intersection to the first road side equipment through data frame transmission; then, the first road side equipment transmits through a data frame to obtain the current traffic light timing information of each intersection in the intersections from the traffic signal control equipment; then, the first road side equipment determines priority traffic strategy information aiming at the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the multiple pieces of current traffic light timing information; and finally, the traffic signal control equipment acquires the priority traffic strategy information from the first road side equipment through data frame transmission. The dynamic traffic information and the priority traffic strategy information of each intersection can be transmitted among the devices in the priority traffic control system of the embodiment of the application through the data frame, the priority traffic strategy information of the target vehicle is determined through the vehicle information, the dynamic traffic information of each intersection and the current traffic light timing information to ensure that the vehicle can pass preferentially, so that the priority traffic control is realized through the data frame transmission information, and the traffic efficiency and the traffic safety of the intersection are improved by participating the dynamic traffic information of each intersection and the current traffic light timing information into the priority traffic strategy.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention. It is also possible for a person skilled in the art to derive other figures from these figures without inventive effort.

Fig. 1 is a schematic structural diagram of a priority traffic control system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a priority traffic control method according to an embodiment of the present application;

fig. 3 is a block diagram of functional units of a priority traffic control device according to an embodiment of the present application;

FIG. 4 is a block diagram of functional units of another priority traffic control apparatus provided in the embodiments of the present application;

fig. 5 is a schematic structural diagram of a first roadside device provided by an embodiment of the present application;

fig. 6 is a schematic structural diagram of a traffic signal control device according to an embodiment of the present application.

Detailed Description

In order to better understand the technical solutions of the present application, the following description is given for clarity and completeness in conjunction with the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the description of the embodiments of the present application without inventive step, are within the scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, software, product or apparatus that comprises a list of steps or elements is not limited to those listed but may alternatively include other steps or elements not listed or inherent to such process, method, product or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Before describing the technical solution of the embodiment of the present application, the following description will be made on related concepts, a priority traffic control system, software and hardware structures of electronic devices, and the like, which may be involved in the present application.

The priority traffic control system of the embodiment of the application can comprise a bus detection module, a dynamic traffic information acquisition module, a priority traffic decision module, a priority traffic result display module and the like. The method comprises the following specific steps:

a vehicle detection module: the passenger carrying rate of the vehicle, the position of the vehicle, the speed of the vehicle and the like are detected through vehicle-to-anything interconnection (V2X) technology.

The dynamic traffic information acquisition module: the method mainly comprises the steps of obtaining raw data of pedestrians, non-motor vehicles, motor vehicles and the like of the whole intersection through intelligent sensors (such as laser radars, cameras and the like) of the intersection, and obtaining dynamic traffic information and the like of the whole intersection according to the raw data.

A priority passage decision module: the method mainly comprises the step of generating a vehicle priority traffic strategy according to the time when a vehicle arrives at an intersection, dynamic traffic information, a current timing scheme, the passenger carrying rate of the vehicle and the like.

The prior passing result display module: on one hand, the vehicle priority passing result is displayed to a driver and passengers on an in-vehicle display screen of the vehicle with the priority passing right; on the other hand, the vehicle priority passing result is informed to other vehicles at the intersection through a traffic prompt screen of the intersection so as to remind the other vehicles of carefully driving at the intersection.

In addition, the priority traffic control system according to the embodiment of the present application may specifically include an on-board unit (OBU), a Road Side Unit (RSU), a Traffic Signal Controller (TSC), a traffic prompt screen (or called as an intersection prompt screen), a tail screen, an in-vehicle display screen, a passenger statistic device, an intelligent sensor, and an edge calculation unit.

(1) Vehicle-mounted unit

The vehicle-mounted unit is mounted on a vehicle, and can realize V2X communication and support a hardware unit of V2X application. The OBU can acquire information of a vehicle detection module on the vehicle (such as the passenger carrying rate of the vehicle, the position of the vehicle, the speed of the vehicle, and the like), and transmit the information to the road side unit in a broadcasting manner. In addition, the OBU may also be referred to as an in-vehicle device.

The on-board unit can obtain the real-time accurate position, speed and passenger carrying quantity of the vehicle. When the vehicle is about to arrive at the intersection, the on-board unit and the roadside unit may communicate via DSRC/LTE-V/NR-V2X. Therefore, the roadside unit can acquire identification information of the vehicle, travel route information, position information of the vehicle, load factor information of the vehicle, and the like through communication with the on-board unit.

(2) Road side unit

The road side unit is installed at an intersection, and can realize V2X communication and support a hardware unit of V2X application. The RSU can receive the information sent by the OBU, and the edge computing unit has the capacity of sensing dynamic traffic information of the intersection. In addition, the RSU may also be referred to as a roadside device.

The roadside unit stores lane-level map information of the intersection. When the vehicle is about to reach the intersection, the corresponding table of the intersection map and the signal phase in the road side unit can be inquired through map matching and the course angle information (the OBU can be acquired through the built-in GPS module and the GPS antenna) of the vehicle, so that the signal phase information required by the vehicle can be accurately acquired.

The correspondence table is set in advance according to the actual situation of the intersection. Each driving direction of each intersection corresponds to the signal phase of one traffic signal lamp. When the driving route of the vehicle is fixed, the driving direction is fixed at each intersection, so it queries its corresponding required signal phase.

It should be noted that the traffic signal lamp in the embodiment of the present application may be referred to as a traffic light, and the signal phase information may be referred to as phase information of the traffic light, a traffic light phase, or phase information, and the like, which is not limited specifically.

(3) Traffic signal controller

The traffic signal controller is installed at the intersection, and can change the sequence of the road traffic signals, adjust the timing and control the operation of the road traffic signal lamps (such as controlling the phase and the period of the signals). In addition, the TSC may also be referred to as a traffic signal control device.

(4) Traffic prompting screen

The traffic prompt screen is arranged in each direction of the intersection and used for displaying the result of the prior passing of the vehicles, the time length of the traffic lights passing the vehicle with the priority and other information.

The road side unit can communicate with traffic prompt screens installed at all intersections of the intersection. Therefore, the traffic prompt screen can display the intersection direction of the vehicle passing preferentially, the time length of the traffic light passing preferentially and the like so as to inform other vehicles without the function of passing preferentially in advance, thereby being beneficial to improving the passing safety and the passing efficiency of the whole intersection and reducing the influence of the preferential passing of the vehicle on other vehicles.

(5) Vehicle tail screen and vehicle interior display screen

The tail screen is installed at the tail of the vehicle, and the display interface of the tail screen faces the outside of the vehicle and is used for prompting other vehicles behind the vehicle. The display screen in the vehicle can display the light color of the traffic signal lamp, the remaining display time of the light color, the time length of the traffic light which is used for the vehicle to pass preferentially, and the like, and is used for prompting a driver of the vehicle and passengers in the vehicle, so that the driving safety of the driver and the riding experience of the passengers are improved.

The road side unit can broadcast information including the ID of the vehicle passing preferentially, the direction of the intersection passing preferentially, the duration of the traffic light passing preferentially and the like to the vehicles at the whole intersection. The vehicles at the whole intersection are matched with the vehicle ID of the vehicle for priority passing through the vehicle-mounted unit to determine whether the vehicle is the vehicle for priority passing. If the vehicle is a vehicle which is preferentially passed, the vehicle-mounted unit displays information such as the intersection direction in which the vehicle preferentially passes, the traffic light time length in which the vehicle preferentially passes and the like on a display screen in the vehicle in a wired or wireless communication mode, so that the safety of a driver passing through the intersection is improved, and the riding experience of passengers on the vehicle is improved.

The vehicle-mounted unit can be connected with the tail screen at the tail of the vehicle in a wired or wireless communication mode, and can display signal phases (such as lamp colors) of traffic signals of a plurality of directions (such as left-turn, straight-going, right-turn, head-off and the like) of the vehicle passing through the intersection, countdown information and the like on the tail screen, so that the situation that the red light rushes through due to the fact that the traffic light of the intersection is shielded by the vehicle in front of the rear vehicle is avoided, and the safety of other vehicles passing through the intersection is further improved.

The on-board unit can be connected with an in-vehicle display screen of the vehicle in a wired or wireless communication mode. And displaying the result of the prior passing of the vehicle (such as displaying a prior passing strategy, the time length of a traffic light for the prior passing and the like) through pictures on a display screen in the vehicle, and performing language reporting (such as reporting the prior passing strategy, the time length of the traffic light for the prior passing and the like). Through the show or the report of display screen in the car, not only guarantee that the driver knows the preferential current result of vehicle, be favorable to bus driver to make a decision in advance to and promote the passenger and take the experience of vehicle.

(6) Passenger carrying statistical equipment

The passenger carrying statistical equipment is installed at the door position of the bus (such as the front door position and the rear door position of the bus), the condition that passengers get on or off the bus is obtained through the detection of the camera, and finally the number of the passengers on the bus is obtained.

For example, passenger counting devices are installed at the positions of passengers getting on and off the front and rear doors of a bus, respectively, and the number of passengers getting on and off the front and rear doors is counted. The two passenger carrying statistical devices are respectively connected with the vehicle-mounted unit through a wired network or a wireless network, and the vehicle-mounted unit collects the passenger carrying number counted by the two passenger carrying statistical devices, so that the passenger carrying rate of the bus is obtained. In the driving process of the bus, in order to avoid the occurrence of errors in passenger carrying statistics caused by the positions of passengers at the front door and the rear door of the bus, the fact that the passenger carrying rate of statistics is kept unchanged by the vehicle-mounted unit when the doors of the bus are closed is considered, and the situation that the passenger carrying rate is changed due to the fact that the passengers stand in detection areas at the front door and the rear door of the bus in the driving process of the bus, and the decision of bus priority is influenced is avoided.

(7) Intelligent sensor

The intelligent sensor is arranged at the intersection and used for detecting the original data of motor vehicles, pedestrians, non-motor vehicles and the like at the intersection and uploading the original data to the edge computing unit.

The intelligent sensor may include a laser radar and a camera, among others. The laser radar can obtain point cloud data of each intersection in the intersection, and the camera can obtain images and video information of each intersection in the intersection.

It should be noted that the intelligent sensor can not only acquire the passing vehicle information on the lane, but also acquire the passing information of pedestrians and non-motor vehicles at the intersection, so that the information of all traffic participants at the intersection can be fully sensed, the aim of enabling the vehicles to pass preferentially can be achieved more accurately, and the passing efficiency of the intersection is improved.

(8) Edge calculation unit

The edge calculation unit is arranged at the intersection and used for receiving the original data from the laser radar and the camera, processing the original data, fusing the data of the multiple sensors and the like, and thus obtaining the structured dynamic traffic information of the intersection. In addition, the edge calculation unit may also be referred to as an edge calculation device.

The edge calculation unit can perform point cloud ROI extraction, point cloud clustering, target tracking and other processing on the acquired point cloud data, so as to acquire information such as the position, speed, type, course angle and the like of a target object (such as a pedestrian, a non-motor vehicle, a motor vehicle and the like).

The edge calculation unit may perform target detection, identification, and other processing on the acquired image and video information, so as to obtain a type, a position, a speed, a lane where the vehicle is located, a vehicle queue length corresponding to each lane, a traffic volume of each lane, a vehicle type, and the like of the target detection.

The vehicle queuing length of each lane can be obtained by calculating the distance from the vehicle farthest in each lane to the intersection stop line of the lane through image and video information; the number n of vehicles passing through the stop line of each lane in a preset time (such as 10 minutes) is counted through the image and video information, so that the corresponding traffic flow of each lane is 6n (pcu/h).

Illustratively, as shown in fig. 1, the priority traffic control system includes an in-vehicle device 1101, a vehicle rear screen 1102, an in-vehicle display screen 1103, a passenger statistical device 1104, a passenger statistical device 1105, a roadside device 1201, a traffic signal control device 1202, a traffic signal lamp 1203, an edge computing device 1204, a laser radar 1205, a camera 1206, and a traffic prompt screen 1207.

In conjunction with the above description, the execution steps of the priority traffic control method will be described below from the perspective of a method example, please refer to fig. 2. Fig. 2 is a schematic flow chart of a priority traffic control method provided in an embodiment of the present application, where the method is applied to a priority traffic control system, where the system includes a first roadside device, a traffic signal control device, at least one second roadside device, a first vehicle-mounted device, at least one second vehicle-mounted device, and at least one first traffic prompt screen, where the traffic signal control device is installed at an intersection, the first vehicle-mounted device is installed at a first intersection in the intersection, the second roadside device is installed at a second intersection in the intersection, the first intersection is an intersection where a target vehicle currently passes, the second vehicle-mounted device is installed on the first vehicle, and the first traffic prompt screen is installed at an intersection in the intersection; the method comprises the following steps:

s201, the first vehicle-mounted device acquires vehicle information of a target vehicle and sends the vehicle information to the first road-side device.

Wherein the vehicle information may include at least one of: the occupancy of the target vehicle, the travel route information of the target vehicle, the identification information of the target vehicle, the location information of the target vehicle, the speed information of the target vehicle, the vehicle type of the target vehicle.

First, the first vehicle-mounted device is mounted on the target vehicle, and the first road-side device is mounted at a first intersection in the intersections, where the target vehicle currently passes through. The target vehicle may include a bus, an ambulance, a fire truck, a police car, a private car, and the like. The first intersection may include at least one of at least one straight lane, at least one left turn lane, and at least one right turn lane. That is, the first intersection may include one or more lanes.

Second, the vehicle information may be carried in the priority pass request information. The priority traffic request information is used for requesting execution of priority traffic judgment for the target vehicle. Therefore, when the target vehicle is about to reach the intersection, if the target vehicle needs to pass through the intersection preferentially, the target vehicle may first send the preferential passage request information to the first road side device through the first vehicle-mounted device, and then the first road side device may determine whether to perform the preferential passage for the target vehicle.

Finally, the first vehicle-mounted device CAN acquire the passenger carrying rate of the target vehicle through a wired network or a wireless network (such as Ethernet, Wi-Fi, Controller Area Network (CAN) and the like) between the first vehicle-mounted device and the passenger carrying statistical device on the target vehicle. The first vehicle-mounted device may acquire the position information of the target vehicle through a wired network or a wireless network with a global satellite navigation system (e.g., GPS, GLONASS, GALILEO, BDS, etc.) on the target vehicle. The first vehicle-mounted device may acquire the speed information of the target vehicle through a wired network or a wireless network with a sensor (e.g., a hall sensor, a wheel speed sensor, etc.) on the target vehicle. The vehicle type of the target vehicle may be used to indicate which type of bus, ambulance, fire truck, police car, private car, etc. the target vehicle is. The identification information of the target vehicle may be used to indicate a unique Identification (ID) of the target vehicle. When the target vehicle is not a vehicle having a fixed travel route like a bus, the first in-vehicle device may acquire travel route information of the target vehicle and the like by reading a travel route between a departure place and a destination set by a user in the navigation software.

S203, the first road side equipment acquires the vehicle information from the first vehicle-mounted equipment.

It should be noted that, since the first vehicle-mounted unit may obtain the vehicle information such as the real-time accurate position, the driving speed, the passenger carrying rate, and the like of the target vehicle, when the target vehicle is about to reach the intersection and the target vehicle needs to preferentially pass through the intersection, the first vehicle-mounted device and the first road-side device may communicate with each other through a dedicated short-range communication technology (DSRC), a long-term evolution-vehicle technology (LTE-V), a new wireless V2X technology (new radio-V2X, NR-V2X), and the like, so that the first road-side device obtains the vehicle information from the first vehicle-mounted device.

S205, the first road side equipment acquires the dynamic traffic information of the first intersection.

Specifically, the step of acquiring the dynamic traffic information of the first intersection by the first road side device may include the following steps: the first roadside device obtains dynamic traffic information from a first intersection of the edge computing device.

It should be noted that, first, the edge computing device may obtain point cloud data from the laser radar at each intersection of the intersection, and perform processing such as point cloud ROI extraction, point cloud clustering, target tracking, and the like on the point cloud data, thereby obtaining information such as a position, a speed, a type, a heading angle, and the like of a target object (such as a pedestrian, a non-motor vehicle, a motor vehicle, and the like).

In addition, the edge computing equipment can acquire images and video information from the camera at each intersection of the intersection, and acquire the type, position and speed of a target object (such as a pedestrian, a non-motor vehicle, a motor vehicle and the like) by carrying out artificial intelligence algorithm (such as a YOLO algorithm, a regional convolution neural network R-CNN algorithm, a rapid R-CNN algorithm and the like) on the images and the video information; counting the number of vehicles passing through the intersection stop line of each lane within preset time (such as 10 minutes) through the image and video information to obtain the traffic flow corresponding to each lane; counting the number of target objects through image and video information; and calculating the distance from the vehicle farthest in each lane to the intersection stop line of the lane through the image and video information to obtain the vehicle queue length of each lane and the like.

Specifically, the dynamic traffic information of the first intersection may include at least one of: pedestrian information at the first intersection, non-motor vehicle information at the first intersection and motor vehicle information at the first intersection.

Further, the pedestrian information at the first intersection comprises at least one of position information of each pedestrian at the first intersection and pedestrian number information at the first intersection.

It should be noted that the edge computing device may obtain, through the laser radar and/or the camera, the pedestrian position, the pedestrian number, and the like near the first intersection (including on the pedestrian crossing safety island of the first intersection, on the pedestrian crossing at the first intersection, and the like).

Further, the non-motor vehicle information of the first intersection may include at least one of: the position information of the non-motor vehicles at the first intersection, the speed information of the non-motor vehicles at the first intersection, the number information of the non-motor vehicles at the first intersection and the driving direction information of the non-motor vehicles at the first intersection.

It should be noted that the edge computing device may obtain the position, speed, driving direction, etc. of the non-motor vehicle near the first intersection (including on the lane of the first intersection, the crosswalk of the first intersection, etc.) through the laser radar and/or the camera.

Further, the vehicle information at the first intersection may include at least one of: the vehicle type information of the motor vehicles at the first intersection, the lane information of the motor vehicles at the first intersection, the vehicle queuing length information corresponding to each lane of the first intersection and the vehicle flow of each lane of the first intersection.

It should be noted that, the edge computing device may obtain, through the laser radar and/or the camera, the position and the lane where the motor vehicle is located at the first intersection (including on each lane of the first intersection), the vehicle queue length corresponding to each lane, the traffic volume of each lane, the vehicle type, the driving speed, and the like.

Therefore, the embodiment of the application can obtain the motor vehicle information of each intersection in the intersection and can also obtain the pedestrian information and the non-motor vehicle information of each intersection in the intersection through the intelligent sensors (such as the laser radar, the camera and the like) arranged at the intersections, so that the holographic sensing of all traffic participant information of the intersections is realized, the aim of realizing the prior passing of vehicles more accurately is fulfilled, and the passing efficiency of the intersections is improved.

S207, the traffic signal control equipment acquires the current traffic light timing information of each intersection in the intersection, and transmits the current traffic light timing information of each intersection in the intersection to the first road side equipment through data frame transmission.

The current traffic light timing information may include current signal phase information and remaining display time of the current signal phase information.

It should be noted that the current signal phase information may be understood as a signal phase currently displayed by a traffic signal at each intersection at the time when the first vehicle-mounted device initiates the vehicle priority request information to the first road-side device. In addition, the current signal phase information may be a green light phase or a red light phase. Therefore, the first roadside device may judge the phase information of the traffic lights when the target vehicle finally reaches the intersection, from the current signal phase information, the time when the target vehicle is about to reach the intersection, and the remaining display time of the current signal phase information.

For example, if the current signal phase information is a green light phase and the time when the target vehicle is about to arrive at the intersection is longer than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally arrives at the intersection is a red light phase, that is, the green light is changed into the red light, so that the target vehicle cannot pass through the intersection preferentially.

The following embodiments of the present application will specifically describe a data frame.

In one possible example, the frame format of the data frame may include at least one of the following fields: a start field, a type field, a control field, a length field, a data field, a check field and an end field.

Note that the data frame is a basic unit for transmitting information. The data frame may be composed of 7 fields, a start field, a type field, a control field, a length field, a data field, a check field, and an end field, where the length of each field is in bytes.

Specifically, the start field may be used to indicate start flags of data frames, each of which is composed of one byte, and the start flag value may be 68H.

Therefore, the field information can be analyzed from the start mark indicated by the start domain by defining the start domain, so that the data frame can be accurately analyzed.

Further, the start field may include a first start field and a second start field, the first start field having a length of 1 byte, and the second start field having a length of 1 byte.

It should be noted that, in the embodiment of the present application, by setting two start domains, it is avoided that field information cannot be correctly analyzed due to loss of a single start domain, so that it is beneficial to increase reliability of data transmission.

Specifically, the type field may be used to indicate a device type and a device address, the type field is located after the start field, and the length of the type field may be 2 bytes. Wherein the device type may be used to indicate the device type of the priority traffic control system. For example, the device type is used to indicate a roadside device or a traffic signal control device.

It should be noted that, for the type field, one byte is used for storing the device type and one byte is used for storing the device address. Where the device type byte precedes the device address byte succeeds. In addition, for the roadside device, the type value of its device type may be fixed to 11H, and the address value of its device address may be fixed to 01H. The type value of the device type thereof may be fixed to 01H for other than the roadside device.

Illustratively, the values of the type field are shown in Table 1.

Further, the type field is located between the first start field and the second start field.

Therefore, the device type and the device address of the device for transmitting the data frame can be clearly indicated by defining the type field, and the data frame transmitted by the device is prevented from being known, so that the data frame is correctly analyzed through the type field, and the accuracy and the efficiency of the data frame transmission process are improved.

TABLE 1

Type of device	Device address	Description of the invention
			01H/11H	01H	---

Specifically, the control field may be used to indicate a frame type and an information Identifier (ID) of the data frame, and the control field is located after the type field, and the length of the control field is 2 bytes.

It should be noted that, for the control field, one byte is used for storing the frame type and one byte is used for storing the information ID. Where the frame type byte precedes the information ID byte. In addition, the frame type of the data frame may include a setup frame, a setup response frame, a query response frame, and the like.

Illustratively, the values of the control field are shown in table 2.

TABLE 2

Therefore, the embodiment of the application can clearly indicate the frame type and the information identifier of the transmitted data frame by defining the control domain, and avoids the situation that the function of the transmitted data frame is unknown (namely, the query message or the state message), so that the data frame is correctly analyzed through the control domain, and the accuracy and the efficiency of the data frame transmission process are improved.

Specifically, the length field may be used to indicate the length of the data field, and the length field is located after the control field, and the length of the length field is 2 bytes.

Therefore, the length of the data field of the data frame to be transmitted can be clearly indicated by defining the length field, and the condition that the length of the data field of the data frame to be transmitted is unknown is avoided, so that the data field is correctly analyzed through the length field, and the accuracy and the efficiency of the data frame transmission process are improved.

In particular, the data field may be used for transmitting information data, and the data field is located after the length field, and the length of the data field is variable.

Therefore, the length of the data field is set to be variable, so that information data with different lengths are transmitted according to different communication scene requirements, and the flexibility of data frame setting is improved.

Specifically, the check field may be used to indicate an exclusive or result of all data starting from the type field and before the check field, where the check field is located after the data field, and the length of the check field is 1 byte.

It should be noted that the check field may be used to store the check code.

Therefore, the embodiment of the application can realize the verification of other domains in the data frame by defining the verification domain, so that the data frame is correctly analyzed through the verification domain, and the accuracy of the data frame transmission process is improved.

Specifically, the end field may be used to indicate an end flag of the data frame, and the end field is located after the check field, and the length of the end field is 1 byte.

Therefore, the data frame can be correctly analyzed by defining the end domain, and the accuracy and efficiency of the data frame transmission process are improved.

In summary, in the embodiment of the present application, the data frame transmitted between the devices in the priority traffic control system is divided into different domains, and the data frame is correctly analyzed through the functions, the number of bytes, and the positions of the different domains, so as to improve the accuracy and the efficiency of the data frame transmission process. The frame format of the data frame is illustrated as shown in table 3.

TABLE 3

Domain	Number of bytes	Numerical value	Description of the invention
				First start field	1	68H	Frame start flag 1
Type field	2	--	Device type and device address
				Second start field	1	68H	Frame start flag 2
Control domain	2	--	Frame type and information ID
				Length field	2	--	Indicating data field length, in bytes
Data field	Variable	--	Data of
				Check field	1	--	For verifying whether the information is correct or not
Ending field	1	16H	End of frame flag

In one possible example, the frame types of the data frame include a query frame L and a query response frame R; the traffic signal control device transmits current traffic light timing information of each intersection in the intersection to the first road side device through data frame transmission, and may include the steps of: the traffic signal control equipment acquires a query frame L from first road side equipment, wherein the query frame L is used for requesting the traffic signal control equipment to issue current traffic light timing information of each intersection in the intersections; and the traffic signal control equipment sends an inquiry response frame R to the first road side equipment, and a data field in the inquiry response frame R is used for bearing a plurality of pieces of current traffic light timing information.

It should be noted that the first roadside device may actively send the query frame L to the traffic signal control device in a fixed time interval manner. After the traffic signal control device receives the query frame L, the traffic signal control device can reply a query response frame R carrying a plurality of current traffic light timing information to the first road side device, so that the information is transmitted through the data frame to realize the priority traffic control.

For example, the frame format of the query frame L in the embodiment of the present application is shown in table 4.

TABLE 4

It should be noted that the frame format of the query frame L related subsequently may refer to the frame format of the query frame L shown in table 4, which is not described in detail again.

For example, the frame format of the query response frame R in the embodiment of the present application is shown in table 5.

TABLE 5

It should be noted that the frame format of the query response frame related subsequently may refer to the frame format of the query response frame R shown in table 5, which is not described in detail again.

S209, the first road side equipment transmits through the data frame to acquire the current traffic light timing information of each intersection in the intersection from the traffic signal control equipment.

In one possible example, the frame types of the data frame include a query frame L and a query response frame R; the first road side device transmits through the data frame to acquire current traffic light timing information from the traffic signal control device for each intersection in the intersection, and may include the following steps: the first road side equipment sends a query frame L to the traffic signal control equipment, and the query frame L is used for requesting the traffic signal control equipment to issue current traffic light timing information of each intersection in the intersection; the first road side acquires an inquiry response frame R from the traffic signal control equipment, and a data field in the inquiry response frame S is used for bearing a plurality of current traffic light timing information.

It should be noted that the first road side device may actively send the query frame L to the traffic signal control device in a fixed time interval manner. After the traffic signal control device receives the query frame L, the traffic signal control device can reply a query response frame R carrying a plurality of current traffic light timing information to the first road side device, so that the information is transmitted through the data frame to realize the priority traffic control.

S211, the second road side equipment acquires the dynamic traffic information of the second road junction and transmits the dynamic traffic information of the second road junction to the first road side equipment through data frame transmission.

Specifically, the step of acquiring the dynamic traffic information of the second intersection by the second roadside device may include the following steps: the second roadside device obtains dynamic traffic information from a second intersection of the edge computing device.

It should be noted that, as can be seen from the above description, the edge computing device can acquire point cloud data from the laser radar in each intersection of the intersection, and the edge computing device can acquire image and video information from the camera in each intersection of the intersection.

Specifically, the dynamic traffic information of the second intersection may include at least one of: pedestrian information at the second intersection, non-motor vehicle information at the second intersection, and motor vehicle information at the second intersection.

Further, the pedestrian information at the second intersection includes at least one of position information of each pedestrian at the second intersection and pedestrian number information at the second intersection.

Further, the non-motor vehicle information of the second intersection may include at least one of: the position information of the non-motor vehicles at the second intersection, the speed information of the non-motor vehicles at the second intersection and the driving direction information of the non-motor vehicles at the second intersection.

Further, the vehicle information at the second intersection may include at least one of: and at least one of the position information of the motor vehicle at the second intersection, the running speed information of the motor vehicle at the second intersection, the vehicle type information of the motor vehicle at the second intersection, the lane information of the motor vehicle at the second intersection, the vehicle queuing length information corresponding to each lane of the second intersection and the vehicle flow of each lane of the second intersection.

In one possible example, the frame types of the data frame include a query frame M and a query response frame S; the second road side device transmits the dynamic traffic information of the second intersection to the first road side device through the data frame, and the method can include the following steps: the second road side equipment acquires a query frame M from the first road side equipment, wherein the query frame M is used for requesting the second road side equipment to issue the dynamic traffic information of a second intersection; and the second road side equipment sends an inquiry response frame S to the first road side equipment, and a data field in the inquiry response frame S is used for bearing the dynamic traffic information of the second road junction.

It should be noted that the first roadside device may actively send the query frame M to the second roadside device in a fixed time interval manner. After the second road side device receives the query frame M, the second road side device may reply a query response frame S carrying the dynamic traffic information of the second intersection to the first road side device, so as to transmit information through the data frame to implement priority traffic control.

And S213, the first road side equipment transmits the data frames to acquire the dynamic traffic information of the second intersection from the second road side equipment.

In one possible example, the frame types of the data frame include a query frame M and a query response frame S; the first roadside device acquiring dynamic traffic information of a second intersection from a second roadside device through data frame transmission may include the following steps: the first road side equipment sends a query frame M to the second road side equipment, and the query frame M is used for requesting the second road side equipment to issue the dynamic traffic information of the second intersection; and the first road side equipment receives an inquiry response frame S from the second road side equipment, and a data field in the inquiry response frame S is used for bearing the dynamic traffic information of the second road junction.

S215, the first road side equipment determines the priority traffic strategy information aiming at the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the current traffic light timing information.

The priority traffic strategy information is used for adjusting or maintaining a plurality of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

In one possible example, the first road-side device determining the priority traffic policy information for the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection, and the plurality of current traffic light timing information may include the steps of: under the condition that the passenger carrying rate of a target vehicle in the vehicle information is larger than a preset threshold value, the first road side equipment determines the minimum green light duration of each intersection in the intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection; determining the time when the target vehicle is about to arrive at the intersection according to the vehicle information; and determining priority traffic strategy information aiming at the target vehicle according to the plurality of minimum green light time lengths, the time of the target vehicle to arrive at the intersection and the plurality of current traffic light timing information.

Specifically, the preset threshold may be a preset threshold obtained through big data statistics. Wherein, the preset threshold value can be one value in the value range of 5% -80%. For example, the preset threshold may be 5%, 10%, 20%, 30%, 50%, etc.

It should be noted that, when the passenger carrying rate of the target vehicle is smaller than the preset threshold, the first road side device does not execute the priority passing request of the target vehicle, so as to avoid waste of the priority passing time.

Specifically, determining the time when the target vehicle is about to arrive at the intersection according to the vehicle information may include the steps of: determining the distance L from the target vehicle to the intersection (or a stop line of the intersection, a zebra crossing of the intersection, a pedestrian crossing line of the intersection and the like) according to the position information of the target vehicle in the vehicle information; and calculating the time t of the target vehicle to arrive at the intersection according to the speed information v of the target vehicle and the distance L from the target vehicle to the intersection in the vehicle information.

Specifically, the priority traffic policy information includes one of phase hold, green light extension, and red light cutoff. The priority traffic policy information can ensure that the target vehicle passes through the intersection in a green light phase, thereby reducing the waiting time of the target vehicle at the intersection.

The following embodiment of the present application will specifically describe how to determine the minimum green light duration of each intersection in an intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection.

The first method is as follows:

if the dynamic traffic information of the first intersection comprises the motor vehicle information of the first intersection, the minimum green light time of the motor vehicle corresponding to the first intersection determined according to the dynamic traffic information of the first intersection meets the following formula:

T _i ＝ω ₁ *T _q +ω ₂ *T _p ,i∈{1,2,...,M}；

T _q ＝t _s +n*3600/S；

T _p ＝C*q/(S*D _s )；

T _l ＝max{T ₁ ,T ₂ ,...,T _M }；

wherein, T _i And M represents the total number of lanes of the first intersection. For example, the first intersection is a north-south traffic intersection, and there are 1 left-turn lane, 1 right-turn lane, and 2 straight lanes on the intersection, for a total of 4 lanes.

Wherein, ω is ₁ And ω ₂ Representing a predetermined weight coefficient, ω ₁ +ω ₂ 1. E.g. ω ₁ Take 0.5, omega ₂ And taking 0.5, and dynamically adjusting according to the actual situation.

Wherein, T _q The minimum green light duration of the vehicle queue length calculation is represented; t is t _s The starting time of the motor vehicle is preset, and the value is generally 0.3-0.5 second.

And n represents the number of vehicles on the ith lane which is converted into the standard, for example, n is equal to L/5.5, and L represents the vehicle queuing length corresponding to the ith lane and has the unit of meter (m). It should be noted that, first, the embodiment of the present application may count the number n of vehicles passing through the intersection stop line corresponding to the ith lane within a preset time (for example, 10 minutes), so as to obtain the traffic flow 6 × n (veh/h) corresponding to the ith lane, and the traffic flow may be obtained from the time when the target vehicle sends the vehicle priority traffic information. Secondly, the vehicle type on the ith lane may affect the calculation of the number of vehicles n, for example, n is 1.0 (number of cars + number of cars) +1.5 (number of buses + number of medium trucks) +2.0 number of large trucks. Finally, the vehicle queue length refers to the distance from the vehicle farthest in each lane to the lane stop line of the lane, and is acquired from the time when the target vehicle transmits the vehicle priority traffic information.

Wherein, T _p The minimum green light duration representing the vehicle flow calculation; s represents the saturation flow rate. If the ith lane is a straight lane, S can be 1650 pcu/h; if the ith lane is a left-turn lane, S can be 1500 pcu/h; if the ith lane is a right turn lane, S may be 1500 pcu/h. C denotes the phase period of the signal lights of the first crossing in seconds(s). And q represents the traffic flow corresponding to the ith lane, and the unit is veh/h. D _s The value of the conversion coefficient is 0.9.

Wherein, T _l Indicating that the first intersection corresponds to the minimum green time period of the motor vehicle. It can be understood that T _l The maximum value of the minimum green light time length of the motor lane corresponding to each lane in the first intersection is obtained. For example, if the first intersection is a north-south traffic intersection and the intersection has 4 lanes, the minimum green time of the motor vehicle corresponding to the intersection is equal to the maximum value of the minimum green time of the motor vehicle corresponding to the 4 lanes.

It should be noted that, in the embodiment of the present application, accurate vehicles in each lane in the intersection can be obtained in real time through an intelligent sensor, an edge computing device, and the likeThe number of vehicles (such as the number of vehicles on the ith lane) is ensured, so that the queuing length and the traffic flow calculated by the number of vehicles are more accurate, and the minimum green light duration (such as T) calculated by the queuing length and the traffic flow is ensured _l ) The method is more accurate, not only can achieve the aim of more accurate vehicle priority passing, but also can improve the passing efficiency of the intersection.

The second method comprises the following steps:

if the dynamic traffic information of the first intersection comprises the pedestrian information of the first intersection, the minimum green light time length of the pedestrian corresponding to the first intersection determined according to the dynamic traffic information of the first intersection meets the following formula:

wherein, T _m Representing the minimum green light duration of the pedestrian corresponding to the first intersection; l' represents the width of the first intersection (i.e., the length of the crosswalk corresponding to the first intersection); v represents the preset walking speed of the pedestrian, and generally takes the value of 1.0 m/s; κ denotes a preset multiple determined by the number of pedestrians at the first intersection, for example, as shown in table 6.

TABLE 6

Number of pedestrians	Preset multiple k
		Less than 5 persons	1.0
5 to 15 persons	1.5
		More than 15 people	2.0

It should be noted that, in the embodiment of the present application, the pedestrian number (for example, the pedestrian number at the first intersection) at each intersection in the accurate intersection can be obtained in real time through the intelligent sensor, the edge computing device, and the like, so as to ensure that the preset multiple (for example, κ) calculated by the pedestrian number is more accurate, and further ensure the minimum green light duration (for example, T) calculated by the preset multiple _m ) The method is more accurate, not only can achieve the aim of more accurate vehicle priority passing, but also can improve the passing efficiency of the intersection.

The third method comprises the following steps:

if the dynamic traffic information of the first intersection comprises the non-motor vehicle information of the first intersection, the minimum green light time length of the non-motor vehicle corresponding to the first intersection determined according to the dynamic traffic information of the first intersection meets the following formula:

wherein, T _n Representing the minimum green light time of the non-motor vehicle corresponding to the first intersection; l' represents the width of the first intersection (i.e., the length of the crosswalk corresponding to the first intersection); v' represents the speed of the non-motor vehicle, generally taking the value of 5.5 m/s; κ' represents a preset multiple determined by the number of non-motor vehicles at the first intersection. For example, as shown in table 7.

TABLE 7

Number of non-motor vehicles	Preset multiple k'
		5 or less	1.0
5～15	1.5
		Over 15	2.0

It should be noted that, in the embodiment of the present application, the number of non-motor vehicles at each intersection (for example, the number of non-motor vehicles at a first intersection) in an accurate intersection can be obtained in real time through an intelligent sensor, an edge computing device, and the like, so as to ensure that a preset multiple (for example, κ') calculated by the number of non-motor vehicles is more accurate, and further ensure that a minimum green light duration (for example, T) calculated by the preset multiple is ensured _n ) The method is more accurate, not only can achieve the aim of more accurate vehicle priority passing, but also can improve the passing efficiency of the intersection.

The method is as follows:

if the dynamic traffic information of the first intersection comprises motor vehicle information of the first intersection, non-motor vehicle information of the first intersection and pedestrian information of the first intersection, the minimum green light duration of the first intersection determined according to the dynamic traffic information of the first intersection meets the following formula:

T＝max{T _l ,T _m ,T _n }；

wherein T represents the minimum green light duration at the first intersection. It can be understood that T is the maximum value among the minimum green light duration of the motor vehicle corresponding to the first intersection, the minimum green light duration of the pedestrian corresponding to the first intersection, and the minimum green light duration of the non-motor vehicle corresponding to the first intersection.

With the above description, it can be known from the same principle that the minimum green light time of the second intersection is determined according to the dynamic traffic information of the second intersection, so that the minimum green light time of each intersection in the intersections is determined according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection.

The following embodiment of the present application specifically describes how to determine priority traffic policy information for a target vehicle according to a plurality of minimum green light durations, a time when the target vehicle is about to arrive at an intersection, and a plurality of traffic light timing information.

Specifically, the phase holding, the green light lengthening, and the red light cutting of the embodiment of the present application are specifically described as follows:

phase holding: if the current signal phase information is the green light phase and the time that the target vehicle is about to arrive at the intersection is less than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally arrives at the intersection is still the green light phase. Therefore, the traffic signal control device does not need to adjust the current signal phase information, namely, a phase guarantee mechanism is adopted. Or, if the current signal phase information is the red light phase and the time that the target vehicle is about to arrive at the intersection is longer than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally arrives at the intersection will be the green light phase. Therefore, the traffic signal control apparatus does not need to adjust the current signal phase information.

Prolonging the green light: if the current signal phase information is the green light phase and the time that the target vehicle is about to arrive at the intersection is longer than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally arrives at the intersection will be the red light phase. Therefore, the traffic signal control device needs to perform green light extension control on the current signal phase information, that is, adopt a green light extension mechanism.

The green light extension time is the time when the target vehicle is about to arrive at the intersection, and the remaining display time of the current signal phase information.

Cutting off the red light: if the current signal phase information is the red light phase and the time that the target vehicle is about to arrive at the intersection is less than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally arrives at the intersection is still the red light phase. Therefore, the traffic signal control apparatus needs to perform early red light control on the current signal phase information, i.e., compress the green light display time of other let-through directions (i.e., the other lanes except the lane of the first intersection where the target vehicle is located and all the lanes of the other intersections except the first intersection).

It should be noted that, if the target vehicle is at the i-th lane of the first intersection, and the first intersection is a north-south passing intersection, the other passing directions include the other lanes except the i-th lane of the north-south passing intersection and all the lanes of the east-west passing intersection. In addition, when the longer vehicle queuing length of a certain lane is detected, the green light time corresponding to the lane is not compressed or is less compressed, so that the intersection jam caused by the compression of the green light time is avoided; when the number of pedestrians and non-motor vehicles needing to pass through a certain intersection is detected to be large, the green light time corresponding to passerby passing and non-motor vehicle passing is reduced, and intersection congestion caused by the fact that the green light time is reduced is avoided.

The maximum duration of the red light cutoff is equal to the sum of the green light durations in other release directions and the sum of the minimum green light durations in other release directions. In addition, when the right-turn lane is always displaying green lights, it is necessary to exclude the right-turn lane from other release directions, and then calculate the sum of the green light time lengths of other release directions and the sum of the minimum green light time lengths of other release directions, which is not particularly limited.

In summary, the priority traffic policy information is determined according to the current signal phase information, the time when the target vehicle is about to arrive at the intersection, and the remaining display time of the current signal phase information. If the priority traffic strategy information comprises phase maintenance, the first road side equipment sends the priority traffic strategy information to the traffic signal control equipment, and the traffic signal control equipment maintains a plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially; or if the priority traffic strategy information comprises green light extension, the first road side equipment sends the priority traffic strategy information to the traffic signal control equipment, then the traffic signal control equipment determines green light extension time information according to the time when the target vehicle is about to reach the intersection and the residual display time of the current signal phase information, and adjusts the timing information of a plurality of current traffic lights according to the green light extension time information so that the target vehicle preferentially passes through the intersection; or if the priority traffic strategy information comprises red light truncation, the first road side equipment sends the priority traffic strategy information to the traffic signal control equipment, then the traffic signal control equipment determines the maximum time length information of the red light truncation according to the current traffic light timing information, and adjusts the current traffic light timing information according to the maximum time length information of the red light truncation so that the target vehicle can preferentially pass through the intersection.

Therefore, in the embodiment of the application, the dynamic traffic information of each intersection is obtained through the intelligent sensors (such as the laser radar and the camera) arranged at the intersections and the edge calculation unit, and then the road side equipment determines the priority traffic strategy information of the pair of target vehicles according to the dynamic traffic information, the vehicle information and the current traffic light timing information of each intersection. In addition, when the strategy of red light cutoff is adopted, the maximum red light time for which the vehicle can be cut off by priority traffic can be dynamically adjusted according to the actual situation of the intersection, so that the influence of the priority traffic of the target vehicle on other vehicles is reduced to the maximum extent.

In one possible example, after S215, the method may further include the steps of: the first road side device transmits priority traffic strategy information aiming at the target vehicle to the traffic signal control device through data frame transmission.

Specifically, the frame type of the data frame includes a query frame N and a query response frame T; the first road side device transmits priority traffic policy information for a target vehicle to the traffic signal control device through data frame transmission, and may include the steps of: the first road side equipment acquires a query frame N from the traffic signal control equipment, wherein the query frame N is used for requesting the first road side equipment to issue priority traffic strategy information; and the first road side equipment sends an inquiry response frame T to the traffic signal control equipment, and a data field in the inquiry response frame T is used for bearing the priority traffic strategy information.

It should be noted that the traffic signal control device may actively send the query frame N to the first roadside device in a fixed time interval manner. After the first road side device receives the query frame N, the first road side device may reply the query response frame T carrying the priority traffic policy information to the traffic signal control device, so as to transmit information through the data frame to implement priority traffic control.

In one possible example, after S215, the method may further include the steps of: the first road side device transmits priority traffic strategy information aiming at the target vehicle to the second road side device through data frame transmission.

Specifically, the frame types of the data frame include a query frame P and a query response frame W; the first road side device transmits the priority traffic policy information for the target vehicle to the second road side device through data frame transmission, and the method may include the following steps: the first road side equipment acquires a query frame P from the second road side equipment, wherein the query frame P is used for requesting the first road side equipment to issue first information, and the first information comprises at least one of the following information: the method comprises the following steps that identification information of a target vehicle, priority traffic strategy information, intersection direction of the target vehicle priority traffic and traffic light duration of the target vehicle priority traffic are obtained; and the first road side equipment sends an inquiry response frame W to the second road side equipment, and a data field in the inquiry response frame W is used for bearing the first information.

It should be noted that, because the second road-side device does not store the identification information of the target vehicle, the first road-side device needs to send the identification information of the target vehicle, the priority traffic policy information, the intersection direction where the target vehicle passes preferentially, the traffic light duration where the target vehicle passes preferentially, and the like, i.e., the first information, to the second road-side device. And then, the second road side equipment broadcasts the first information to the first vehicle-mounted equipment, the second vehicle-mounted equipment and the first traffic prompt screen. Wherein the purpose of broadcasting the identification information of the target vehicle is to: the first onboard apparatus and the second onboard apparatus may determine whether the own vehicle is the target vehicle by comparing the acquired identification information of the target vehicle with the identification information of the own vehicle.

In addition, the second road side device may actively send the query frame P to the first road side device in a fixed time interval manner. After the first roadside device receives the query frame P, the first roadside device may reply a query response frame W carrying the first information to the second roadside device, thereby transmitting the information through the data frame to implement priority traffic control.

In one possible example, if the priority traffic control system further includes at least one second vehicle-mounted device mounted on the first vehicle and at least one first traffic prompt screen mounted on an intersection in the intersection, after S215, the method may further include the steps of: the first road side broadcasts first information to the first vehicle-mounted equipment, the second vehicle-mounted equipment and the first traffic prompt screen.

It should be noted that the first road side device may communicate with at least one first traffic prompt screen, and broadcast information including the intersection direction where the target vehicle preferentially passes, the traffic light duration where the target vehicle preferentially passes, and the like to the first traffic prompt screen. Therefore, the first traffic prompt screen can display the intersection direction of the prior passing of the target vehicle and the traffic light duration of the prior passing of the target vehicle at the intersection so as to inform other vehicles without the prior passing function in advance, thereby being beneficial to improving the passing safety of the whole intersection and reducing the influence of the prior passing of the target vehicle on other vehicles.

In addition, the first road-side device may broadcast information including identification information of the target vehicle (i.e., the target vehicle ID), the direction of the intersection where the target vehicle preferentially passes, the length of time of the traffic light where the target vehicle preferentially passes, and the like, to the vehicles (including the target vehicle and the at least one first vehicle) at the entire intersection. The vehicles at the entire intersection determine whether the host vehicle is a priority passing vehicle (i.e., whether the host vehicle is a target vehicle) by matching the target vehicle ID with the vehicle ID of the host vehicle through the vehicle-mounted device.

If the vehicle is the target vehicle, the first vehicle-mounted device displays information such as the intersection direction where the target vehicle preferentially passes, the traffic light time length where the target vehicle preferentially passes and the like on a display screen in the vehicle of the target vehicle in a wired or wireless communication mode, so that the safety of a driver passing through the intersection is improved, and the riding experience of passengers on the vehicle is improved.

If the vehicle is the target vehicle, the first vehicle-mounted equipment displays information such as the intersection direction where the target vehicle passes preferentially, the time length of the traffic light where the target vehicle passes preferentially and the like on the tail screen of the target vehicle in a wired or wireless communication mode, so that the situation that the rear vehicle runs the red light due to the fact that the traffic light of the intersection is shielded by the target vehicle is avoided, and the safety of other vehicles passing through the intersection is improved.

S217, the traffic signal control device acquires the priority traffic strategy information aiming at the target vehicle from the first road side device through data frame transmission.

Specifically, the frame type of the data frame includes a query frame N and a query response frame T; the traffic signal control device acquires the priority traffic policy information for the target vehicle from the first roadside device through data frame transmission, and may include the steps of: the traffic signal control equipment sends a query frame N to the first road side equipment, and the query frame N is used for requesting the first road side equipment to issue priority traffic strategy information; the traffic signal control equipment acquires an inquiry response frame T from the first road side equipment, and a data field in the inquiry response frame T is used for bearing priority traffic strategy information.

In one possible example, after S217, the method may further include the steps of: the traffic signal control apparatus adjusts or maintains a plurality of current traffic light timing information according to the priority traffic policy information so that the target vehicle preferentially passes through the intersection.

It can be seen that, in the embodiment of the present application, first, a first road side device acquires vehicle information of a target device from a first vehicle-mounted device; secondly, the first road side equipment acquires dynamic traffic information of a first road junction; thirdly, the traffic signal control equipment transmits the current traffic light timing information of each intersection in the intersection to the first road side equipment through data frame transmission; then, the first road side equipment transmits through data frames to obtain current traffic light timing information of each intersection in the intersections from the traffic signal control equipment; then, the first road side equipment determines priority traffic strategy information aiming at the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the multiple pieces of current traffic light timing information; and finally, the traffic signal control equipment acquires the priority traffic strategy information from the first road side equipment through data frame transmission. The priority traffic control system comprises a plurality of devices, wherein the devices are connected with the devices through a data frame, the devices are connected with the data frame through a data transmission line, the devices in the priority traffic control system are connected with the data frame through a data transmission line, and the devices in the priority traffic control system are connected with the data frame through a data transmission line.

The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It is understood that, in order to implement the above functions, the roadside device and the traffic signal control device include hardware structures and/or software modules corresponding to the respective functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the various illustrative elements and algorithm steps described in connection with the embodiments provided herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the road side device and the traffic signal control device may be divided into the functional units according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the units in the embodiment of the present application is illustrative, and is only one division of the logic functions, and there may be another division in actual implementation.

In the case of an integrated unit, fig. 3 shows a block diagram of the functional units of a priority traffic control device. The priority passing control device 300 is applied to the first roadside device, and specifically includes: a processing unit 320 and a communication unit 330. The processing unit 320 is used to control and manage the actions of the first road side device, for example, the processing unit 320 is used to support the first road side device to perform some or all of the steps in fig. 2, and other processes for the techniques described herein. The communication unit 330 is configured to support communication between the first roadside device and other devices. The priority traffic control device 300 may further include a storage unit 310 for storing program codes and data of the priority traffic control device 300.

The processing unit 320 may be a processor or controller, such as a CPU, general purpose processor, DSP, ASIC, FPGA, transistor logic, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein. Additionally, processing unit 320 can also be a combination that performs computing functions, including, for example, one or more of a combination of microprocessors, a DSP, and a combination of microprocessors. The communication unit 330 may be a communication interface, a transceiver, a transceiving circuit, and the like. The storage unit 310 may be a memory. When the processing unit 320 is a processor, the communication unit 330 is a communication interface, and the storage unit 310 is a memory, the priority traffic control device 300 according to the embodiment of the present application may be the first roadside apparatus shown in fig. 5.

Specifically, the processing unit 320 is configured to perform any step performed by the first router device in the above method embodiments, and when performing data transmission such as sending, optionally invokes the communication unit 330 to complete the corresponding operation. The details will be described below.

The processing unit 320 is configured to: acquiring vehicle information of a target vehicle from first vehicle-mounted equipment; acquiring dynamic traffic information of a first intersection; acquiring current traffic light timing information of each intersection in the intersections from the traffic signal control equipment through data frame transmission; acquiring dynamic traffic information of a second intersection from second road side equipment through data frame transmission; and determining priority traffic strategy information aiming at the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the plurality of pieces of current traffic light timing information, wherein the priority traffic strategy information is used for adjusting or maintaining the plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

It should be noted that, for specific implementation of each operation performed by the priority traffic control device 300, reference may be made to the corresponding description of the method embodiment shown in fig. 2, and details are not described herein again.

In one possible example, the frame format of the data frame includes at least one of the following fields: a start field, a type field, a control field, a length field, a data field, a check field and an end field.

In one possible example, the start field is used to indicate a start flag of the data frame; or, the type field is used to indicate a device type and a device address, the type field is located after the start field, and the length of the type field is 2 bytes; or, the control field is used to indicate the frame type and the information identifier ID of the data frame, and the control field is located behind the type field, and the length of the control field is 2 bytes; or, the length field is used to indicate the length of the data field, and the length field is located after the control field and has a length of 2 bytes; or, the data field is located after the length field, and the length of the data field is variable; or, the check field is used to indicate an exclusive or result of all data starting from the type field to before the check field, the check field is located after the data field, and the length of the check field is 1 byte; or, the end field is used to indicate an end mark of the data frame, and the end field is located after the check field, and the length of the end field is 1 byte.

In one possible example the start field comprises a first start field of length 1 byte and a second start field of length 1 byte; the type field is located between the first start field and the second start field.

In one possible example, in the aspect of determining the priority traffic policy information for the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection, and the plurality of current traffic light timing information, the processing unit 320 is specifically configured to: under the condition that the passenger carrying rate of the target vehicle in the vehicle information is greater than a preset threshold value, determining the minimum green light duration of each intersection in the intersections according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection; determining the time when the target vehicle is about to reach the intersection according to the vehicle information; and determining priority traffic strategy information aiming at the target vehicle according to the plurality of minimum green light time lengths, the time of the target vehicle to arrive at the intersection and the plurality of current traffic light timing information.

In one possible example, the frame types of the data frame include a query frame L and a query response frame R; in the aspect of acquiring the current traffic light timing information from the traffic signal control device for each intersection in the intersection through data frame transmission, the processing unit 320 is specifically configured to: sending the query frame L to the traffic signal control equipment, wherein the query frame L is used for requesting the traffic signal control equipment to issue current traffic light timing information of each intersection in the intersections; and acquiring the query response frame R from the traffic signal control equipment, wherein a data field in the query response frame S is used for bearing a plurality of current traffic light timing information.

In one possible example, the frame types of the data frame include a query frame M and a query response frame S; in the aspect of acquiring the dynamic traffic information of the second intersection from the second roadside device through the data frame transmission, the processing unit 320 is specifically configured to: sending the query frame M to the second road side equipment, wherein the query frame M is used for requesting the second road side equipment to issue the dynamic traffic information of the second intersection; and acquiring the query response frame S from the second road side equipment, wherein a data field in the query response frame S is used for bearing the dynamic traffic information of the second road junction.

In one possible example, the frame types of the data frame include a query frame N and a query response frame T; after determining the priority traffic strategy information for the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and a plurality of pieces of current traffic light timing information, the processing unit 320 is further configured to: acquiring the query frame N from the traffic signal control equipment, wherein the query frame N is used for requesting the first road side equipment to issue the priority traffic strategy information; and sending the inquiry response frame T to the traffic signal control equipment, wherein a data field in the inquiry response frame T is used for bearing the priority traffic strategy information.

In one possible example, the frame types of the data frame include a query frame P and a query response frame W; after determining the priority traffic policy information for the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection, and the plurality of current traffic light timing information, the processing unit 320 is further configured to: acquiring the query frame P from the second road side device, where the query frame P is used to request the first road side device to issue first information, where the first information includes at least one of the following information: the identification information of the target vehicle, the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle, and the traffic light time length of the priority traffic of the target vehicle; and sending the query response frame W to the second roadside device, wherein a data field in the query response frame W is used for bearing the first information.

In one possible example, the priority traffic control system further includes at least one second vehicle-mounted device mounted on the first vehicle and at least one first traffic prompt screen mounted on an intersection in the intersection; after determining the priority traffic policy information for the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection, and the plurality of current traffic light timing information, the processing unit 320 is further configured to: and broadcasting first information to the first vehicle-mounted equipment, the second vehicle-mounted equipment and the first traffic prompt screen.

In the case of an integrated unit, fig. 4 provides a block diagram of the functional units of yet another priority traffic control device. The priority traffic control device 400 includes a processing unit 420 and a communication unit 430. The processing unit 420 is used for controlling and managing the actions of the traffic signal control device, for example, the processing unit 420 is used for supporting the traffic signal control device to execute the steps in fig. 2 and other processes for the technical solutions described in this application. The communication unit 430 is used to support communication between the traffic signal control device and other devices. The priority traffic control device 400 may further include a storage unit 410 for storing program codes executed by the priority traffic control device 400 and transmitted data.

The processing unit 420 may be a processor or a controller, and may be, for example, a CPU, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processing unit 420 may also be a combination of computing functions, e.g., comprising one or more microprocessor combinations, DSPs and microprocessors, and the like. The communication unit 430 may be a communication interface, a transceiver, a transceiving circuit, etc., and the storage unit 410 may be a memory. When the processing unit 420 is a processor, the communication unit 430 is a communication interface, and the storage unit 410 is a memory, the priority pass control device 400 according to the embodiment of the present application may be a traffic signal control apparatus as shown in fig. 6.

In particular implementation, the processing unit 420 is configured to perform any one of the steps performed by the traffic signal control device in the above-described method embodiment, and optionally invokes the communication unit 430 to perform the corresponding operation when performing data transmission, such as sending. The details will be described below.

The processing unit 420 is configured to: transmitting current traffic light timing information of each intersection in the intersection to first road side equipment through data frame transmission; and obtaining priority traffic strategy information aiming at the target vehicle from the first road side equipment through data frame transmission, wherein the priority traffic strategy information is used for adjusting or maintaining a plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

It should be noted that, for specific implementation of each operation performed by the priority traffic control device 400, reference may be made to the corresponding description of the method embodiment shown in fig. 2, and details are not described herein again.

In one possible example, the start field includes a first start field and a second start field, the first start field being 1 byte in length, the second start field being 1 byte in length; the type field is located between the first start field and the second start field.

In one possible example, the frame types of the data frame include a query frame L and a query response frame R; in the aspect of transmitting the current traffic light timing information of each intersection in the intersection to the first road side device through data frame transmission, the processing unit 420 is specifically configured to: acquiring the query frame L from the first road side equipment, wherein the query frame L is used for requesting the traffic signal control equipment to issue current traffic light timing information of each intersection in the intersection; and sending the query response frame R to the first road side device, wherein a data field in the query response frame R is used for bearing a plurality of current traffic light timing information.

In one possible example, the frame types of the data frame include a query frame N and a query response frame T; in the aspect of obtaining the priority traffic policy information for the target vehicle from the first road-side device through the data frame transmission, the processing unit 420 is specifically configured to: sending the query frame N to the first road side equipment, wherein the query frame N is used for requesting the first road side equipment to issue the priority traffic strategy information; and acquiring a query response frame T from the first road side equipment, wherein a data field in the query response frame T is used for bearing the priority traffic policy information.

A schematic structural diagram of a first road-side device provided in an embodiment of the present application is described below, as shown in fig. 5. The first road side device 500 includes a processor 510, a memory 520, a communication interface 530, and at least one communication bus for connecting the processor 510, the memory 520, and the communication interface 530.

The processor 510 may be one or more central processing units CPU. In the case where the processor 510 is a CPU, the CPU may be a single core CPU or a multi-core CPU. The Memory 520 includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), or a portable Read-Only Memory (CD-ROM), and the Memory 520 is used for storing related instructions and data. Communication interface 530 is used to receive and transmit data.

The processor 510 in the first roadside apparatus 500 is configured to read one or more programs 521 stored in the memory 520 for performing the following steps: acquiring vehicle information of a target vehicle from first vehicle-mounted equipment; acquiring dynamic traffic information of a first intersection; acquiring current traffic light timing information of each intersection in the intersections from the traffic signal control equipment through data frame transmission; acquiring dynamic traffic information of a second intersection from second road-side equipment through data frame transmission; and determining priority traffic strategy information aiming at the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection and the plurality of pieces of current traffic light timing information, wherein the priority traffic strategy information is used for adjusting or maintaining the plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

It should be noted that, for specific implementation of each operation performed by the first road side device 500, reference may be made to the corresponding description of the method embodiment shown in fig. 2, and details are not described here again.

A schematic structural diagram of a traffic signal control device provided in an embodiment of the present application is described below, as shown in fig. 6. The traffic signal control device 600 includes a processor 610, a memory 620, a communication interface 630, and at least one communication bus for connecting the processor 610, the memory 620, and the communication interface 630.

The processor 610 may be one or more central processing units CPU. In the case where the processor 610 is a CPU, the CPU may be a single core CPU or a multi-core CPU. The Memory 620 includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), or a portable Read-Only Memory (CD-ROM), and the Memory 620 is used for storing related instructions and data. Communication interface 630 is used for receiving and transmitting data.

The processor 610 in the traffic signal control device 600 is configured to read one or more programs 621 stored in the memory 620 for performing the following steps: transmitting current traffic light timing information of each intersection in the intersection to first road side equipment through data frame transmission; and obtaining priority traffic strategy information aiming at the target vehicle from the first road side equipment through data frame transmission, wherein the priority traffic strategy information is used for adjusting or maintaining a plurality of pieces of current traffic light timing information so that the target vehicle can pass through the intersection preferentially.

It should be noted that, for specific implementation of each operation performed by the traffic signal control device 600, reference may be made to the corresponding description of the method embodiment shown in fig. 2, and details are not described here again.

Embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, the computer program being operable to cause a computer to perform part or all of the steps of any one of the methods as set forth in the above-mentioned method embodiments.

Embodiments of the present application also provide a computer program product, where the computer program product includes a computer program operable to cause a computer to perform part or all of the steps of any one of the methods as described in the above method embodiments. The computer program product may be a software installation package.

For simplicity of description, each of the above method embodiments is described as a series of combinations of operations. Those skilled in the art should appreciate that the present application is not limited by the order of acts described, as some steps in the embodiments of the present application may occur in other orders or concurrently. Moreover, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that acts and modules referred to are not necessarily required to implement the embodiments of the application.

In the above embodiments, the description of each embodiment in the present application has a respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

In the several embodiments provided in the present application, it should be understood by those skilled in the art that the described apparatus can be implemented in other ways. It will be appreciated that the above described apparatus embodiments are merely illustrative. For example, the division of the unit is only one logic function division, and actually, other division modes can be provided. That is, multiple units or components may be combined or integrated into another software, and some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling, direct coupling or communication connection and the like can be an indirect coupling or communication connection through some interfaces, devices or units, and can also be an electric or other form.

The above-mentioned units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer-readable storage medium. It will be appreciated that the solution of the present application (which form a part of or all or part of the prior art) may be embodied in the form of a computer software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (personal computer, server, network device, etc.) to perform all or part of the steps of the embodiments of the present application. The computer-readable storage medium may be stored in various memories such as a usb disk, a ROM, a RAM, a removable hard disk, a magnetic disk, or an optical disk.

While the embodiments of the present application have been described in detail, it should be understood by those skilled in the art that the embodiments of the present application are only used for assisting understanding of the core concept of the technical solutions of the present application, and therefore, the embodiments of the present application may be changed in terms of the specific implementation and the application scope. The contents described in the present specification should not be construed as limiting the scope of the present application. In addition, any modification, equivalent replacement, improvement and the like made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A priority traffic control method is characterized in that the method is applied to a first road side device in a priority traffic control system; the priority traffic control system comprises first road side equipment, traffic signal control equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the method comprises the following steps:

acquiring vehicle information of a target vehicle from the first vehicle-mounted device;

acquiring dynamic traffic information of the first intersection;

2. The method of claim 1, wherein the frame format of the data frame comprises at least one of: a start field, a type field, a control field, a length field, a data field, a check field and an end field.

3. The method of claim 2, wherein the start field is used to indicate a start flag of the data frame; alternatively, the first and second electrodes may be,

the type field is used for indicating a device type and a device address, the type field is positioned behind the starting field, and the length of the type field is 2 bytes; alternatively, the first and second electrodes may be,

the control field is used for indicating the frame type and the information identification ID of the data frame, and the control field is positioned behind the type field and has the length of 2 bytes; alternatively, the first and second electrodes may be,

the length field is used for indicating the length of the data field, the length field is positioned behind the control field, and the length of the length field is 2 bytes; alternatively, the first and second electrodes may be,

the data field is located after the length field, and the length of the data field is variable; alternatively, the first and second electrodes may be,

the check field is used for indicating an exclusive-or result of all data starting from the type field to before the check field, the check field is positioned after the data field, and the length of the check field is 1 byte; alternatively, the first and second electrodes may be,

the end field is used for indicating an end mark of the data frame, the end field is located behind the check field, and the length of the end field is 1 byte.

4. The method of claim 2, wherein the start field comprises a first start field and a second start field, wherein the first start field is 1 byte in length, and wherein the second start field is 1 byte in length;

the type field is located between the first start field and the second start field.

5. The method according to any one of claims 1-4, wherein determining the priority traffic policy information for the target vehicle based on the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection, and a plurality of the current traffic light timing information comprises:

under the condition that the passenger carrying rate of the target vehicle in the vehicle information is greater than a preset threshold value, determining the minimum green light duration of each intersection in the intersections according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection;

determining the time when the target vehicle is about to reach the intersection according to the vehicle information;

and determining priority traffic strategy information aiming at the target vehicle according to the plurality of minimum green light time lengths, the time of the target vehicle to arrive at the intersection and the plurality of current traffic light timing information.

6. The method according to any one of claims 1-4, wherein the frame types of the data frames include a query frame L and a query response frame R;

the acquiring the current traffic light timing information from the traffic signal control device for each intersection in the intersection through data frame transmission comprises the following steps:

sending the query frame L to the traffic signal control equipment, wherein the query frame L is used for requesting the traffic signal control equipment to issue current traffic light timing information of each intersection in the intersections;

and acquiring the query response frame R from the traffic signal control equipment, wherein a data field in the query response frame S is used for bearing a plurality of current traffic light timing information.

7. The method according to any of claims 1-4, wherein the frame types of the data frame comprise a query frame M and a query response frame S;

the acquiring the dynamic traffic information of the second intersection from the second road side device through the data frame transmission comprises:

sending the query frame M to the second road side equipment, wherein the query frame M is used for requesting the second road side equipment to issue the dynamic traffic information of the second intersection;

and acquiring the query response frame S from the second road side equipment, wherein a data field in the query response frame S is used for bearing the dynamic traffic information of the second road junction.

8. The method according to any one of claims 1-4, wherein the frame types of the data frame include a query frame N and a query response frame T;

after determining the priority traffic policy information for the target vehicle according to the vehicle information, the dynamic traffic information of the first intersection, the dynamic traffic information of the second intersection, and a plurality of the current traffic light timing information, the method further comprises:

acquiring the query frame N from the traffic signal control equipment, wherein the query frame N is used for requesting the first road side equipment to issue the priority traffic strategy information;

and sending the inquiry response frame T to the traffic signal control equipment, wherein a data field in the inquiry response frame T is used for bearing the priority traffic strategy information.

9. The method according to any of claims 1-4, wherein the frame types of the data frame comprise a query frame P and a query response frame W;

acquiring the query frame P from the second road side device, where the query frame P is used to request the first road side device to issue first information, where the first information includes at least one of the following information: the identification information of the target vehicle, the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle, and the traffic light time length of the priority traffic of the target vehicle;

and sending the query response frame W to the second roadside device, wherein a data field in the query response frame W is used for bearing the first information.

10. The method according to any one of claims 1-4, wherein the priority traffic control system further comprises at least one second vehicle-mounted device mounted on the first vehicle and at least one first traffic alert screen mounted on an intersection in the intersection;

and broadcasting the first information to the first vehicle-mounted equipment, the second vehicle-mounted equipment and the first traffic prompt screen.

11. A priority traffic control method is characterized in that the method is applied to traffic signal control equipment in a priority traffic control system; the priority traffic control system comprises the traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the method comprises the following steps:

12. The method of claim 11, wherein the frame format of the data frame comprises at least one of: a start field, a type field, a control field, a length field, a data field, a check field and an end field.

13. The method of claim 12, wherein the start field is used to indicate a start flag of the data frame; alternatively, the first and second electrodes may be,

14. The method of claim 12, wherein the start field comprises a first start field and a second start field, wherein the first start field is 1 byte in length, and wherein the second start field is 1 byte in length;

15. The method according to any one of claims 11-14, wherein the frame types of the data frames include a query frame L and a query response frame R;

the sending of the current traffic light timing information of each intersection in the intersection to the first roadside device through data frame transmission includes:

acquiring the query frame L from the first road side equipment, wherein the query frame L is used for requesting the traffic signal control equipment to issue current traffic light timing information of each intersection in the intersections;

and sending the query response frame R to the first road side device, wherein a data field in the query response frame R is used for bearing a plurality of current traffic light timing information.

16. The method according to any of claims 11-14, wherein the frame types of the data frame include a query frame N and a query response frame T;

the acquiring, by the data frame transmission, priority traffic policy information for the target vehicle from the first road-side device includes:

sending the query frame N to the first road side equipment, wherein the query frame N is used for requesting the first road side equipment to issue the priority traffic strategy information;

and acquiring a query response frame T from the first road side equipment, wherein a data field in the query response frame T is used for bearing the priority traffic policy information.

17. A priority traffic control device is characterized by being applied to a first road side device in a priority traffic control system; the priority traffic control system comprises first road side equipment, traffic signal control equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the apparatus comprises a processing unit and a communication unit, the processing unit being configured to:

18. A priority traffic control device is characterized by being applied to traffic signal control equipment in a priority traffic control system; the priority traffic control system comprises the traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is the intersection where the target vehicle currently passes; the apparatus comprises a processing unit and a communication unit, the processing unit being configured to:

19. A roadside device, characterized in that the roadside device is a first roadside device comprising a processor, a memory and a communication interface, the memory storing one or more programs and the one or more programs being executed by the processor, the one or more programs comprising instructions for performing the steps in the method according to any one of claims 1-10.

20. A traffic signal control device comprising a processor, a memory and a communication interface, the memory storing one or more programs and the one or more programs being executed by the processor, the one or more programs including instructions for performing the steps in the method of any one of claims 11-16.