CN115035729A

CN115035729A - Traffic signal control method, device and system

Info

Publication number: CN115035729A
Application number: CN202110241221.8A
Authority: CN
Inventors: 董德卿; 衣佳政; 李琳琳
Original assignee: Hisense TransTech Co Ltd; Hisense Group Holding Co Ltd
Current assignee: Hisense TransTech Co Ltd; Hisense Group Holding Co Ltd
Priority date: 2021-03-04
Filing date: 2021-03-04
Publication date: 2022-09-09

Abstract

The application discloses a traffic signal control method, a traffic signal control device and a traffic signal control system, and relates to the technical field of intelligent traffic. In the method, situation information and position information of a first vehicle and at least one second vehicle are obtained, wherein the first vehicle is a bus; determining the time required for the first vehicle to reach the stop line position of the traffic intersection according to the situation information and the position information of the first vehicle and the at least one second vehicle; generating a bus priority request according to the time required by the first vehicle to reach the stop line position of the traffic intersection; and sending the bus priority request to a traffic signal controller, so that the traffic signal controller controls traffic signal lamps at the traffic intersection according to the bus priority request.

Description

Traffic signal control method, device and system

Technical Field

The present application relates to the field of intelligent traffic technologies, and in particular, to a method, an apparatus, and a system for controlling traffic signals.

Background

Public transport is one of the important trip modes in the current urban development, improves the passing efficiency of public transport, enables buses to pass preferentially when arriving at traffic intersections, achieves the purpose of stopping or reducing the time of stopping waiting, and improves the experience of people when using public transport.

How to improve the traffic signal control accuracy based on the bus priority is a problem to be solved at present.

Disclosure of Invention

The exemplary embodiment of the application provides a traffic signal control method, a device and a system, which are used for improving the control precision of the traffic signal based on bus priority.

In a first aspect, a traffic signal control method is provided, including:

acquiring situation information and position information of a first vehicle and at least one second vehicle, wherein the first vehicle is a bus;

determining the time required by the first vehicle to reach the stop line position of the traffic intersection according to the situation information and the position information of the first vehicle and the at least one second vehicle;

generating a bus priority request according to the time required by the first vehicle to reach the stop line position of the traffic intersection;

and sending the bus priority request to a traffic signal controller, so that the traffic signal controller controls traffic signal lamps of the traffic intersection according to the bus priority request.

In one possible implementation manner, the determining, according to the situation information and the position information of the first vehicle and the at least one second vehicle, a time required for the first vehicle to reach a stop line position of the traffic intersection includes:

determining a lane where the first vehicle is located according to the situation information and the position information of the first vehicle;

determining a second vehicle influencing the running of the first vehicle according to the lane where the first vehicle is located, the situation information and the position information of the first vehicle and the situation information and the position information of the at least one second vehicle;

and determining the time required by the first vehicle to reach the stop line position of the traffic intersection according to the quantity, situation information and position information of the second vehicles influencing the running of the public transport vehicles and the situation information and position information of the first vehicle.

In one possible implementation manner, the acquiring the situation information and the position information of the first vehicle includes:

receiving situation information and position information of a first vehicle from a Road Side Unit (RSU), wherein the RSU is arranged at the traffic intersection, and the situation information and the position information of the first vehicle are sent to the RSU by an On Board Unit (OBU) of the first vehicle through C-V2X connection between the RSU and the OBU;

the acquiring the situation information and the position information of the at least one second vehicle includes:

receiving situation information and position information of at least one second vehicle from an RSU, wherein the RSU is arranged at the traffic intersection, and the situation information and the position information of the at least one second vehicle are sent to the RSU by the OBU of the at least one second vehicle through a C-V2X connection between the RSU and the RSU; and/or acquiring situation information and position information of the at least one second vehicle detected by the roadside sensing device.

In one possible implementation, the method further includes: when the situation that the first vehicle drives through the stop line position of the traffic intersection is monitored, a bus priority ending request is sent to the traffic signal controller, so that the traffic signal controller controls traffic signal lamps of the traffic intersection according to the bus priority ending request.

In one possible implementation, the method further includes: receiving a bus priority response sent by the traffic signal controller, wherein the bus priority response carries at least one of the light color of a traffic signal lamp, timing information of switching the light color of the traffic signal lamp and green wave information; and sending the bus priority response to a vehicle-mounted display unit of the first vehicle, so that the vehicle-mounted display unit of the first vehicle displays at least one of the light color of the traffic signal lamp, timing information of the light color switching of the traffic signal lamp and green wave information.

In one possible implementation, the situation information includes at least one of: vehicle speed, vehicle steering angle, vehicle handling information.

In a second aspect, a traffic signal control system is provided, comprising:

an RSU configured to receive situation information and position information of a first vehicle and at least one second vehicle transmitted by an OBU of the first vehicle and an OBU of the at least one second vehicle through a C-V2X connection with the RSU, and transmit the received situation information and position information of the first vehicle and the at least one second vehicle to a multiple access edge computing (MEC) device, the RSU being disposed at the traffic intersection, the first vehicle being a bus;

the MEC equipment is configured to determine the time required by the first vehicle to reach the stop line position of the traffic intersection according to the situation information and the position information of the first vehicle and the at least one second vehicle, generate a bus priority request according to the time required by the first vehicle to reach the stop line position of the traffic intersection, and send the bus priority request to a traffic signal controller;

and the traffic signal controller is configured to control traffic signal lamps of the traffic intersection according to the bus priority request.

In one possible implementation, the method further includes: a roadside sensing device; the roadside sensing device is configured to detect situation information and position information of at least one second vehicle, and send the detected situation information and position information of the at least one second vehicle to the MEC.

In one possible implementation, the MEC is specifically configured to:

determining a second vehicle influencing the driving of the first vehicle according to the lane where the first vehicle is located, the situation information and the position information of the first vehicle and the situation information and the position information of the at least one second vehicle;

In a third aspect, there is provided an MEC apparatus comprising:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is configured to acquire situation information and position information of a first vehicle and at least one second vehicle, and the first vehicle is a bus;

a time determination module configured to determine a time required for the first vehicle to reach a stop line location of the traffic intersection based on the situational information and the location information of the first vehicle and the at least one second vehicle;

a request generation module configured to generate a bus priority request according to a time required for the first vehicle to reach a stop line position of the traffic intersection;

and the sending module is configured to send the bus priority request to a traffic signal controller, so that the traffic signal controller controls traffic signal lamps of the traffic intersection according to the bus priority request.

In a fourth aspect, an electronic device is provided that includes a memory and a processor; the memory storing computer instructions; the processor is configured to read the computer instructions to perform the method according to any one of the above first aspects.

In a fifth aspect, there is provided a computer storage medium having stored therein computer program instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects above.

A sixth aspect provides a computer program product which, when invoked by a computer, causes the computer to perform the method of any one of the above first aspects.

In the above embodiment of the application, on the basis of obtaining the situation information and the position information of the first vehicle (bus), the situation information and the position information of the second vehicle are also obtained, so that when the time required for the first vehicle to reach the stop line position of the traffic intersection is determined, the calculated time is more accurate according to the situation information and the position information of the first vehicle and the situation information and the position information of the second vehicle, and further the traffic signal lamp control operation based on the time has higher accuracy.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the application.

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 embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings without inventive labor.

FIG. 1 is a schematic diagram illustrating a traffic signal control scenario to which embodiments of the present application are applicable;

fig. 2 is a schematic structural diagram schematically illustrating a traffic signal control system according to an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating a structure of another traffic signal control system provided by an embodiment of the present application;

FIG. 4 is a block flow diagram illustrating a traffic signal control method according to an embodiment of the present disclosure;

fig. 5 is an interaction flow diagram schematically illustrating a traffic signal control method implemented based on the system shown in fig. 1 according to an embodiment of the present application;

fig. 6 is an interaction flow diagram schematically illustrating a traffic signal control method implemented based on the system shown in fig. 3 according to an embodiment of the present application;

fig. 7 schematically illustrates a structural diagram of an MEC apparatus provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described in detail and clearly with reference to the accompanying drawings. Wherein in the description of the embodiments of the present application, "/" means or, unless otherwise stated, for example, a/B may mean a or B; "and/or" in the text is only an association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: three cases of a alone, a and B both, and B alone exist, and in addition, "a plurality" means two or more than two in the description of the embodiments of the present application.

The terms "first", "second", and the like are used hereinafter for descriptive purposes only and are not to be construed as implying or implying relative importance or otherwise indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the features and in the description of embodiments of this application, the term "plurality" means two or more, unless indicated otherwise.

Fig. 1 is a schematic diagram illustrating a traffic signal control scenario to which an embodiment of the present application is applicable. As shown in the figure, traffic lights are arranged in each direction of a crossing, a Road Side Unit (RSU) is arranged on a lamp bracket of one of the traffic lights, and both the traffic lights and the RSU are connected with a Mobile Edge Computing (MEC) on a network Side through a network. The MEC may communicate with the traffic signal controller to send a bus priority request to the traffic signal controller. The traffic signal controller can send control signals to the signal lamps through the network according to the bus priority request, so that the buses can pass through the intersection preferentially.

Referring to fig. 2, a schematic structural diagram of a traffic signal control system according to an embodiment of the present application is provided. As shown, the system may include: RSU110, MEC 120, traffic signal control engine 130. The RSU110, the MEC 120, and the traffic signal controller 130 may be installed at a traffic intersection. The traffic signal controller 130 is connected to the traffic signal lights 140 for controlling the traffic signal lights 140. The RSU110 may perform information interaction with an On Board Unit (OBU). The OBU 150 of the first vehicle and the OBU 160 of the second vehicle are only exemplarily shown in fig. 2. Further, an on-board display unit 151 may be provided on the first vehicle.

Wherein the second vehicle may be an internet vehicle. The internet connected vehicle is also called an intelligent internet connected vehicle. An Intelligent and Connected Vehicle (ICV) is a new generation Vehicle that carries devices such as Vehicle-mounted sensors, controllers, actuators, and the like, integrates communication and network technologies, realizes Intelligent information exchange and sharing between vehicles and X (X refers to Vehicle, road, people, cloud, and the like), has functions of complex environment perception, Intelligent decision, cooperative control, and the like, and can realize safe, efficient, comfortable, and energy-saving driving. In the embodiment of the application, the internet connection vehicle can be a bus or a non-bus.

The first vehicle's OBU 150 and the RSU110, and the second vehicle's OBU 160 and the RSU110, respectively, communicate via wireless communication techniques. The RSU110, the MEC 120, and the traffic signal controller 130 communicate with each other via a wired network.

Optionally, the OBUs (150, 160) and the RSU110 communicate with each other through a C-V2X (Cellular Vehicle to event) wireless communication technology, and the signal frequency between the OBUs and the RSU can reach 10 Hz. The C-V2X is a cellular vehicular wireless communication technology, and compared with the microwave communication adopted between the OBU and the RSU, the C-V2X can realize reliable communication at longer distance and in a wider range. Since the OBUs and the RSUs communicate with each other using C-V2X in the embodiment of the present application, compared with the case where at least 4 RSUs need to be installed at an intersection in the case where microwave communication is used between the OBUs and the RSUs, it is possible to install only one RSU at a traffic intersection of a general size and 2 or more RSUs at an ultra-large traffic intersection (for example, a traffic intersection having a coverage area greater than 1 square kilometer).

Optionally, the OBU 150 of the first vehicle supports high-precision positioning, such as positioning accuracy that may provide sub-meter (i.e., measurement accuracy within 1 meter, such as measurement accuracy that may be as accurate as decimeters, centimeters, or even millimeters).

Optionally, the MEC 120 stores a high-precision map of the traffic intersection.

It should be noted that the number of the second vehicles may be one (as shown in fig. 2), that is, may be multiple, and the number of the second vehicles is not limited in the embodiment of the present application.

In the system architecture shown in fig. 2, the functions of the components mainly include:

the OBUs (150, 160) are configured to acquire the situation, position and other information of the vehicle, and after connection with the RSU110 is established, the acquired situation, position and other information of the vehicle is sent to the RSU 110;

the RSU110 is configured to receive information of vehicle situation, location, etc. transmitted by the OBU 150 of the first vehicle and the OBU 160 of the second vehicle, and transmit the received information of vehicle situation, location, etc. to the MEC 120;

the MEC 120 is configured to determine a time required for the first vehicle to reach a stop line position of the traffic intersection according to the received situation information, position and the like of the first vehicle and the second vehicle, generate a bus priority request according to the time required for the first vehicle to reach the stop line position of the traffic intersection, and send the bus priority request to the traffic signal controller 130;

the traffic signal control engine 130 is configured to control the traffic signal lights 140 of the traffic intersection according to the bus priority request so that the bus passes by priority.

Optionally, the situation information of the vehicle may include one or more of driving information, state information, and control information of the vehicle, and the motion of the vehicle may be predicted according to the situation information of the vehicle, for example, the driving speed of the vehicle, the time required to reach the target position, and the driving route change of the vehicle may be predicted. The driving information of the vehicle may include at least one of a vehicle speed, a vehicle steering angle, and the like, where the vehicle speed and the vehicle steering angle may be detected by sensors mounted on the vehicle, and the detection method of the vehicle speed and the steering angle is not limited in the embodiments of the present application. The vehicle manipulation information may include whether a braking operation is performed, a braking frequency, whether a steering operation is performed, and the like. The state information of the vehicle may include whether the vehicle is out of order, etc.

Alternatively, the MEC 120 may be specifically configured to determine the time required for the first vehicle to reach the stop-line location of the traffic intersection by: determining a lane where the first vehicle is located according to the situation information, the position information and the like of the first vehicle; determining a second vehicle influencing the running of the first vehicle according to the lane where the first vehicle is located, information such as the situation and the position of the first vehicle and information such as the situation and the position of the second vehicle; and determining the time required by the first vehicle to reach the stop line position of the traffic intersection according to the information such as the number, the situation and the position of the second vehicles influencing the running of the first vehicle and the information such as the situation and the position of the first vehicle.

Optionally, the MEC 120 may be further configured to: when it is monitored that the first vehicle passes through the stop line position of the traffic intersection, a request for ending the bus priority is sent to the traffic signal controller 130, so that the traffic signal controller 130 controls the traffic signal lamps 140 of the traffic intersection according to the request for ending the bus priority.

Optionally, the traffic signal controller 130 may send a bus priority response to the MEC 120. MEC 120 may be further configured to: and receiving a bus priority response sent by the traffic signal controller 130, and sending the bus priority response to the vehicle-mounted display unit 151 of the first vehicle, so that the vehicle-mounted display unit 151 of the first vehicle displays information carried in the bus priority response. Optionally, the bus priority response may carry at least one of the following information: the light color of the traffic signal (i.e., the current color of the traffic signal), timing information for the light color switching of the traffic signal (e.g., the countdown time for the current traffic signal to switch from green to red), green information (e.g., the speed of the green wave), etc.

The green wave is a city traffic control system, the traffic time of the intersection is adjusted to the direction with large traffic flow more by actively controlling the signal lamps of a large number of traffic intersections, congestion is avoided, the green wave speed is estimated to be the recommended speed of the running vehicles after the green wave control is started on the road, the traffic capacity of the vehicles can be improved to the maximum extent by keeping the green wave speed, and the time of waiting for the red light by the vehicles at the level intersection is reduced.

Referring to fig. 3, a schematic structural diagram of another traffic signal control system provided in the embodiment of the present application is shown. The system architecture shown in fig. 3 can be obtained by adding a roadside sensing device on the basis of the system architecture shown in fig. 2. The number of the roadside sensing devices may be one or more, and the types may also be one or more, for example, the roadside sensing devices may include one or more of a video detector, a multi-target tracking radar, and the like. For the non-networked vehicles, the information such as the situation, the position and the like of the vehicle can be detected through the road side sensing equipment.

As shown in fig. 3, the roadside sensing device may include a video detector 171, a multi-target tracking radar 172. The video detector 171 and the multi-object radar 172 are connected to the MEC 120, and may send the detected data to the MEC 120, so that the information about the posture, the position, and the like of the second vehicle acquired by the MEC 120 may include information about the posture, the position, and the like of the second vehicle sent by the RSU110, and may further include information about the posture and the position of the second vehicle detected by the roadside sensing device.

Optionally, the video detector 171 and the multi-target tracking radar 172 may be connected to the MEC 120 through a wired network, respectively.

The video detector 171 may capture a motor vehicle, a non-motor vehicle, a pedestrian, etc. in the video capture area, may simultaneously detect multiple lanes, and the MEC 120 may determine the position of the vehicle (such as the lane in which the vehicle is located), the speed of the vehicle, etc. based on the video captured by the video detector 171.

The multi-target tracking radar 172 may accurately distinguish between motor vehicles, non-motor vehicles, pedestrians, etc., may detect multiple lanes simultaneously, and may accurately measure the position (e.g., the lane where the vehicle is located) and the speed, etc. of each target object within the area.

The functions of the other components of the system described in fig. 3 are the same as the functions of the corresponding components in fig. 2 and will not be repeated here.

In the system architecture shown in fig. 3, sensing and processing of other vehicles (such as non-internet vehicles) are added by arranging the roadside sensing device, so that the influence of the other vehicles on the driving of the bus can be more accurately calculated, the passing time of the bus can be accurately calculated, and the influence on the road traffic is maximally reduced when a bus priority request is met.

Based on the architecture of the traffic signal control system provided in the embodiment of the present application, fig. 4 shows a flow chart of the traffic signal control method provided in the embodiment of the present application. As shown in fig. 4, the process may include the following steps:

s301: the MEC acquires situation information and position information of a first vehicle and at least one second vehicle, wherein the first vehicle is a bus.

The first vehicle and the second vehicle are located in the same intersection area.

Optionally, based on the system architecture shown in fig. 2 or fig. 3, the MEC may obtain the situation information and the location information of the first vehicle by: situational information and location information of a first vehicle is received from the RSU.

Optionally, based on the system architecture shown in fig. 2 or fig. 3, the MEC may obtain the situation information and the location information of the at least one second vehicle by: the method comprises the steps of receiving situation information and position information of at least one second vehicle from the RSU, or obtaining the situation information and the position information of the at least one second vehicle detected by the roadside sensing device, or receiving the situation information and the position information of the at least one second vehicle from the RSU and obtaining the situation information and the position information of the at least one second vehicle detected by the roadside sensing device.

S302: and the MEC determines the time required by the first vehicle to reach the stop line position of the traffic intersection according to the situation information and the position information of the first vehicle and the at least one second vehicle.

S303: and the MEC generates a bus priority request according to the time required by the first vehicle to reach the stop line position of the traffic intersection.

S304: and the MEC sends the bus priority request to a traffic signal controller, so that the traffic signal controller controls traffic signal lamps at the traffic intersection according to the bus priority request.

Optionally, the method may further include: when the MEC monitors that the first vehicle drives through the stop line position of the traffic intersection, the MEC sends a bus priority ending request to the traffic signal controller, so that the traffic signal controller controls the traffic signal lamps of the traffic intersection according to the bus priority ending request.

Optionally, the method may further include: the MEC receives a bus priority response sent by the traffic signal controller, wherein the bus priority response carries at least one of the light color of a traffic signal lamp, the timing information of the light color switching of the traffic signal lamp and the green wave information; and the MEC sends the bus priority response to a vehicle-mounted display unit of the first vehicle, so that the vehicle-mounted display unit of the first vehicle displays at least one item of the light color of the traffic signal lamp, timing information of the light color switching of the traffic signal lamp and green wave information.

The flow shown in fig. 4 is described in detail below based on the architecture shown in fig. 2 and the architecture shown in fig. 3, respectively.

Referring to fig. 5, based on the architecture shown in fig. 2, an interactive schematic diagram of a traffic signal control method is provided in the embodiment of the present application, and as shown in the drawing, the process may include:

401: the OBU of the bus (namely the first vehicle) sends the information of the situation, the position and the like of the bus to the RSU.

In the step, when the bus runs to reach the intersection within a set range (such as 300m-400m), C-V2X communication is established between the vehicle-mounted OBU and the road-side RSU, and the vehicle-mounted OBU transmits information such as the situation (such as speed, direction angle, control action and the like) of the bus and high-precision positioning data to the RSU through the communication connection according to the frequency of 10 Hz.

Compared with the method that the bus speed is estimated or calculated according to the positioning data of the bus twice, the real running speed of the bus is directly sent to the RSU, the bus speed is real-time dynamic data, and the data precision is improved.

In the embodiment of the application, the position system of the bus can realize sub-meter positioning, the positioning precision can reach 20cm, and lane-level positioning can be supported.

402: and the RSU transmits the data to the MEC after receiving the data sent by the OBU of the bus.

403: the OBU of the other vehicle (i.e., the second vehicle) transmits information such as the situation and the position of the other vehicle to the RSU.

In the step, when other vehicles travel to reach the traffic intersection within a set range (such as 300m-400m), C-V2X communication is established between the vehicle-mounted OBU and the road-side RSU, and the vehicle-mounted OBU transmits information such as the situation (such as speed, direction angle, control action and the like) of the vehicles and high-precision positioning data to the RSU through the communication connection at the frequency of 10 Hz.

404: the RSU transmits the data sent by the OBUs of the other vehicles to the MEC after receiving it.

Compared with the method that the running condition of the bus is detected only at the traffic intersection and the running condition of other vehicles is not sensed, in the embodiment of the application, the running condition of other vehicles is also obtained on the basis of obtaining the running condition of the bus, so that the bus priority request is generated based on the influence of other vehicles on the running of the bus, and the control precision of the traffic signal based on the bus priority is improved.

405: the MEC determines the time required by the bus to reach the stop line position of the traffic intersection according to the situation information and the position information of the bus and other vehicles, and generates a bus priority request according to the time required by the bus to reach the stop line position of the traffic intersection.

In the step, after receiving the information of the situation, the position and the like of the bus, the MEC calculates the current lane of the bus by combining a high-precision map. After receiving the information of the situation, the position and the like of other vehicles, the MEC can perform data fusion on the situation, the position and the like of the vehicles (the bus and the other vehicles), so as to generate vehicle data of the road in the area, and further screen out the vehicles influencing the driving of the bus. Wherein the vehicle influencing the driving of the bus may comprise at least one of the following: the vehicles running on the lane where the bus is located and in front of and/or behind the bus, the vehicles running on the adjacent lane of the lane where the bus is located and closer to the bus (for example, the vehicles running on the left side and/or the right side of the bus), and the vehicles running on the adjacent lane of the lane where the bus is located and predicted to be merged to the vehicles running on the lane where the bus is located.

After screening out the vehicles affecting the bus, the MEC may calculate the time required for the bus to reach the stop line position of the traffic section according to the data of the number, position, speed and the like of the vehicles (i.e. the vehicles affecting the bus), and the information of the speed, position and the like of the bus, and generate a bus priority request signal according to the time, wherein the time information may be carried in the bus priority request signal.

For example, under the condition that the influence of other vehicles on the bus driving is not considered, the time required for driving to the stop line position of the traffic intersection can be calculated to be 5 seconds according to the current position and the speed of the bus. Under the same condition, under the condition of considering the influence of other vehicles on the bus driving, the calculated time required for the bus to drive to the stop line position of the traffic intersection can be less than 5 seconds or more than 5 seconds. For example, if there is a vehicle (i.e., other vehicle) on the adjacent lane of the lane where the bus is located, the vehicle is pre-merged to the lane where the bus is located and located in front of the bus, the merging driving of the other vehicle may reduce the speed of the bus, and therefore, according to the speed of the other vehicle, the steering angle, the speed of the bus, and other data, the time required for the bus to drive to the stop line position at the traffic intersection may be calculated, and the length of the time may be greater than 5 seconds. For another example, if a vehicle (i.e., another vehicle) is ahead of the bus on the lane where the bus is located and the other vehicle is turning right at the intersection (e.g., turning on a right turn light), the influence of the turning driving of the other vehicle on the driving of the bus may be reduced, so that the time required for the bus to drive to the position of the stop line at the intersection may be calculated according to the data of the speed, the turning angle, the speed of the bus, the number of vehicles on the road, and the like of the other vehicle, and the length of the time may be less than 5 seconds.

In the embodiment of the application, the MEC adopts the high-precision map to determine the positions (such as lanes) of the buses and other vehicles and the distance between the buses and the stop line position of the traffic intersection, so that the calculation precision can be ensured.

In the embodiment of the application, the MEC can accurately calculate the positions of the lanes where the buses are located and the positions of the buses far away from the stop line by using the high-precision map, and combines data of other vehicles (such as the positions, situations and the like of other vehicles), so that the calculated bus priority request is more accurate.

406: the MEC sends the bus priority request to the traffic signal controller.

407: and after the traffic signal controller receives the bus priority request, controlling the traffic signal lamps at the traffic intersection according to the bus priority request.

In the step, after the traffic signal controller receives the bus priority request signal sent by the MEC, the current traffic signal control scheme is adjusted in real time so as to execute the bus priority action.

Because in the embodiment of the application, the MEC can realize the location of lane level, consequently can pass according to the lane according to the bus place lane, carry out public transit priority adjustment.

Further, the process shown in fig. 5 may further include the following steps:

408: and the traffic signal controller sends bus priority response to the MEC.

The bus priority response may carry, among other things, the adjusted traffic light color information, the timing information of the adjusted traffic light color change, the green wave information (e.g., green wave speed), and the like.

409: and the MEC transmits the bus priority response to the RSU after receiving the bus priority response.

410: after receiving the bus priority response, the RSU sends the bus priority response to the OBU of the bus, so that the OBU of the bus sends the information carried in the bus priority response to the vehicle-mounted display unit of the bus, and the vehicle-mounted display unit displays corresponding information.

In the step, after the OBU of the bus receives the bus priority response, the bus priority response content including the current signal light color, countdown information, green wave information and the like is displayed in the bus through the vehicle-mounted display unit, so that a driver of the bus can be reminded in more detail.

Further, the flow shown in fig. 5 may further include the following steps:

411 to 412: when the MEC monitors that the bus runs over the stop line, the MEC sends a bus priority ending request to the traffic signal controller, so that the traffic signal controller timely adjusts the release strategy and timely ends the bus priority release.

In the step, the MEC can be combined with a high-precision map to accurately position the position of the bus, so that whether the bus drives over the stop line or not is accurately judged, when the bus drives over the stop line, the bus is stopped in time and is preferentially released, and the influence on a traffic intersection is reduced.

It should be noted that the timing sequence of some steps in the flow shown in fig. 5 is only an example, for example, the sequence of step 401 to step 402, and the sequence of step 403 to step 404 may also be exchanged, and this is not limited in this embodiment of the application.

Referring to fig. 5, based on the architecture shown in fig. 3, an interactive schematic diagram of a traffic signal control method is provided in an embodiment of the present application, and as shown in the drawing, the process may include:

501: the OBU of the bus (namely the first vehicle) sends the information of the situation, the position and the like of the bus to the RSU.

502: and the RSU transmits the data to the MEC after receiving the data sent by the OBU of the bus.

503: the OBU of the other vehicle (i.e., the second vehicle) transmits information such as the situation and the position of the other vehicle to the RSU.

504: the RSU transmits the data sent by the OBUs of the other vehicles to the MEC after receiving it.

505: the roadside sensing device transmits data of the detected other vehicle (i.e., the additional second vehicle) to the MEC.

In this step, roadside sensing devices such as multi-target radars and video detectors may detect vehicle data, such as data of off-grid vehicles (e.g., vehicle speed, lanes in which the vehicles are located, etc.), and transmit these data to the MEC.

506: the MEC determines the time required by the bus to reach the stop line position of the traffic intersection according to the situation information and the position information of the bus and other vehicles, and generates a bus priority request according to the time required by the bus to reach the stop line position of the traffic intersection.

507: the MEC sends the bus priority request to the traffic signal controller.

508: and after the traffic signal controller receives the bus priority request, controlling the traffic signal lamps at the traffic intersection according to the bus priority request.

Further, the process shown in fig. 5 may further include the following steps:

509: and the traffic signal controller sends bus priority response to the MEC.

510: and the MEC transmits the bus priority response to the RSU after receiving the bus priority response.

511: after receiving the bus priority response, the RSU sends the bus priority response to the OBU of the bus, so that the OBU of the bus sends the information carried in the bus priority response to the vehicle-mounted display unit of the bus, and the vehicle-mounted display unit displays corresponding information.

Further, the flow shown in fig. 6 may further include the following steps:

512-513: when the MEC monitors that the bus runs over the stop line, the MEC sends a bus priority ending request to the traffic signal controller, so that the traffic signal controller can adjust the release strategy in time and the prior bus release is carried out in time.

It should be noted that steps 501 to 504, and steps 506 to 513 in the flowchart shown in fig. 6 are basically the same as the corresponding steps in fig. 5.

It should be noted that the timing sequence of some steps in the flow shown in fig. 6 is only an example, for example, the sequence of step 501 to step 502, step 503 to step 504, and step 505 may also be exchanged, and this is not limited in this embodiment of the application.

Based on the same technical concept, the embodiment of the present application further provides an MEC device, and the MEC device can implement the method described in the foregoing embodiment.

As shown in fig. 7, the MEC apparatus may include: an obtaining module 601, a time determining module 602, a request generating module 603, and a sending module 604.

An obtaining module 601, configured to obtain situation information and position information of a first vehicle and at least one second vehicle, where the first vehicle is a bus;

a time determination module 602 configured to determine a time required for the first vehicle to reach a stop line position of the traffic intersection based on the situational information and the location information of the first vehicle and the at least one second vehicle;

a request generating module 603 configured to generate a bus priority request according to a time required for the first vehicle to reach a stop line position of the traffic intersection;

the sending module 604 is configured to send the bus priority request to a traffic signal controller, so that the traffic signal controller controls traffic signal lights at the traffic intersection according to the bus priority request.

Optionally, the time determining module 602 is specifically configured to: determining a lane where the first vehicle is located according to the situation information and the position information of the first vehicle; determining a second vehicle influencing the driving of the first vehicle according to the lane where the first vehicle is located, the situation information and the position information of the first vehicle and the situation information and the position information of the at least one second vehicle; and determining the time required by the first vehicle to reach the stop line position of the traffic intersection according to the quantity, situation information and position information of the second vehicles influencing the running of the public transport vehicles and the situation information and position information of the first vehicle.

Optionally, the obtaining module 601 is specifically configured to: receiving situation information and position information of a first vehicle from an RSU, wherein the RSU is arranged at the traffic intersection, and the situation information and the position information of the first vehicle are sent to the RSU by an on-board unit (OBU) of the first vehicle through a C-V2X connection between the RSU and the OBU;

Optionally, the request generating module 603 is further configured to: when the situation that the first vehicle drives through the stop line position of the traffic intersection is monitored, a traffic priority ending request is generated and sent to the traffic signal controller through the sending module 604, so that the traffic signal controller controls traffic signal lamps of the traffic intersection according to the bus priority ending request.

Optionally, the system further comprises a receiving module, wherein the receiving module is configured to receive a bus priority response sent by the traffic signal controller, and the bus priority response carries at least one of the light color of the traffic signal lamp, the timing information of the light color switching of the traffic signal lamp, and the green wave information; and sending the bus priority response to a vehicle-mounted display unit of the first vehicle, so that the vehicle-mounted display unit of the first vehicle displays at least one of the light color of the traffic signal lamp, timing information of switching the light color of the traffic signal lamp and green wave information.

Optionally, the situation information includes at least one of the following: vehicle speed, vehicle steering angle, vehicle handling information.

Based on the same technical concept, the embodiment of the present application further provides an electronic device, where the electronic device may implement the process executed by the MEC in the foregoing embodiment.

The electronic device comprises a processor and a memory. Wherein, the processor can also be a controller. The processor is configured to enable the electronic device to perform the functions referred to in the preceding flow. The memory is used for coupling with the processor and stores the necessary program instructions and data for the electronic device. The processor is connected with the memory, the memory is used for storing instructions, and the processor is used for executing the instructions stored by the memory so as to complete the steps of the MEC equipment in the method for executing corresponding functions.

In the embodiments of the present application, for concepts, explanations, detailed descriptions, and other steps related to the electronic device and related to the technical solutions provided in the embodiments of the present application, reference is made to the foregoing methods or descriptions related to these contents in other embodiments, which are not described herein again.

It should be noted that the processor referred to in the embodiments of the present application may be a Central Processing Unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic devices, 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. A processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, a DSP and a microprocessor, or the like. Wherein the memory may be integrated in the processor or may be provided separately from the processor.

Based on the same technical concept, the embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the processes performed by the MEC of fig. 4 or fig. 5 or fig. 6.

Based on the same technical concept, the embodiment of the present application further provides a computer program product, which, when called by a computer, causes the computer to execute the process executed by the MEC in fig. 4 or fig. 5 or fig. 6.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A traffic signal control method, comprising:

and sending the bus priority request to a traffic signal controller, so that the traffic signal controller controls traffic signal lamps at the traffic intersection according to the bus priority request.

2. The method of claim 1, wherein said determining a time required for said first vehicle to reach a stop line location of said traffic intersection based on situational information and location information of said first vehicle and said at least one second vehicle comprises:

3. The method of claim 1, wherein:

the acquiring situation information and position information of the first vehicle includes:

receiving situation information and position information of a first vehicle from a Road Side Unit (RSU), wherein the RSU is arranged at the traffic intersection, and the situation information and the position information of the first vehicle are sent to the RSU by an on-board unit (OBU) of the first vehicle through C-V2X connection between the RSU and the on-board unit (OBU);

receiving situation information and position information of at least one second vehicle from an RSU, wherein the RSU is arranged at the traffic intersection, and the situation information and the position information of the at least one second vehicle are sent to the RSU by the OBU of the at least one second vehicle through a C-V2X connection between the RSU and the RSU; and/or the presence of a gas in the gas,

situation information and position information of the at least one second vehicle detected by the roadside sensing device are acquired.

4. The method of claim 1, wherein the method further comprises:

when the situation that the first vehicle drives through the position of the stop line of the traffic intersection is monitored, a bus priority ending request is sent to the traffic signal controller, so that the traffic signal controller controls the traffic signal lamps of the traffic intersection according to the bus priority ending request.

5. The method of claim 1, wherein the method further comprises:

receiving a bus priority response sent by the traffic signal controller, wherein the bus priority response carries at least one of the light color of a traffic signal lamp, timing information of switching the light color of the traffic signal lamp and green wave information;

and sending the bus priority response to a vehicle-mounted display unit of the first vehicle, so that the vehicle-mounted display unit of the first vehicle displays at least one of the light color of the traffic signal lamp, the timing information of the light color switching of the traffic signal lamp and the green wave information.

6. The method of any one of claims 1-5, wherein the situational information includes at least one of: vehicle speed, vehicle steering angle, vehicle handling information.

7. A traffic signal control system, comprising:

a Road Side Unit (RSU) configured to receive situation information and position information of a first vehicle and at least one second vehicle sent by an On Board Unit (OBU) of the first vehicle and an OBU of the at least one second vehicle through a C-V2X connection with the RSU, and send the received situation information and position information of the first vehicle and the at least one second vehicle to a multi-access edge computing (MEC) device, wherein the RSU is arranged at the traffic intersection, and the first vehicle is a bus;

the MEC equipment is configured to determine the time required by the first vehicle to reach the position of the stop line of the traffic intersection according to the situation information and the position information of the first vehicle and the at least one second vehicle, generate a bus priority request according to the time required by the first vehicle to reach the position of the stop line of the traffic intersection, and send the bus priority request to a traffic signal controller;

8. The system of claim 7, further comprising: a roadside sensing device;

the roadside sensing device is configured to detect situation information and position information of at least one second vehicle, and send the detected situation information and position information of the at least one second vehicle to the MEC.

9. The system of claim 7 or 8, wherein the MEC is specifically configured to:

10. A multi-access edge computing, MEC, apparatus, comprising:

a time determination module configured to determine a time required for the first vehicle to reach a stop line position of the traffic intersection based on the situational information and the location information of the first vehicle and the at least one second vehicle;