CN115440049A

CN115440049A - Intelligent signal lamp control method, system and device for traffic of TOD (time of day) comprehensive area

Info

Publication number: CN115440049A
Application number: CN202211157250.7A
Authority: CN
Inventors: 谷一迅; 金斌斌; 赵方捷
Original assignee: Zte Wenzhou Rail Communication Technology Co ltd
Current assignee: Zte Wenzhou Rail Communication Technology Co ltd
Priority date: 2022-09-22
Filing date: 2022-09-22
Publication date: 2022-12-06
Anticipated expiration: 2042-09-22
Also published as: CN115440049B

Abstract

The application discloses a TOD comprehensive area intelligent signal lamp control method, system and device for traffic, wherein the method comprises the following steps: acquiring a first state parameter of a first target vehicle; determining whether the first target vehicle enters a monitoring range of a TOD mode of a first intersection or not according to the acquired first state parameter of the first target vehicle; if the first target vehicle enters the monitoring range of the TOD mode of the first intersection, starting the TOD mode, and ending the TOD mode after the first target vehicle passes through the first intersection; and if the first target vehicle does not enter the monitoring range of the TOD mode, not starting the TOD mode. According to the traffic signal lamp control method and the traffic signal lamp control system, the phase and the duration of the traffic signal lamp are adjusted in real time according to the state of the target vehicle and the situation of the crossing where the target vehicle passes, the TOD comprehensive area is achieved, and the purpose that the target vehicle preferentially passes through is achieved through intelligent control of the traffic signal lamp.

Description

Intelligent signal lamp control method, system and device for traffic in TOD (time of arrival) comprehensive area

Technical Field

The invention belongs to the technical field of intelligent control and intelligent traffic, and particularly relates to an intelligent signal lamp control method, system and device for traffic in a TOD (time of day) comprehensive area.

Background

TOD (traffic-oriented depth) refers to a commercial or residential district development mode taking public transportation as a guide, and is a modern city development concept which is more advocated at present, and the TOD comprehensive district is characterized in that public transportation vehicles are advocated to pass preferentially, so that the problems of traffic jam and the like in the development process of a large city can be effectively solved. In order to realize the purpose that a specific target vehicle preferentially passes through, the traffic signal lamp needs to be actively controlled according to the actual condition of the target vehicle so that the target vehicle preferentially passes through the intersection, however, most of the currently applied signal lamp control systems at home and abroad are based on an optimized timing scheme, an optimized intersection green signal ratio and related intersection passing capacity coordination, an appropriate timing scheme is selected through a set control model algorithm to control the signal lamp change according to historical data and automatically detected traffic flow information, and the control system is a passive control strategy rather than an active control strategy; in addition, the existing signal lamp control system adopts a timing scheme optimized on the basis of referring to the traffic flow and the intersection traffic capacity of each time interval, and the phase and the duration of a traffic signal lamp cannot be adjusted and controlled in real time according to the state of a target vehicle and the situation of the intersection where the target vehicle passes through, and the TOD comprehensive area cannot be used for intelligently controlling the traffic signal lamp, so that the aim of preferentially passing the target vehicle is fulfilled.

Disclosure of Invention

In view of the above problems, the present application provides an intelligent signal lamp control method, system and device for traffic in a TOD integrated area to solve the above technical problems.

The invention provides the following technical scheme:

in a first aspect, the present application provides an intelligent signal lamp control method for traffic in a TOD integrated area, the method including:

acquiring a first state parameter of a first target vehicle;

determining whether the first target vehicle enters a monitoring range of a TOD mode of a first intersection or not according to the acquired first state parameter of the first target vehicle;

if the first target vehicle enters the monitoring range of the TOD mode of the first intersection, starting the TOD mode, namely intervening in signal lamp control of the TOD mode in the current signal lamp timing scheme of the first intersection, and ending the TOD mode after the first target vehicle passes through the first intersection;

if the first target vehicle does not enter the monitoring range of the TOD mode, the TOD mode is not started, namely the current signal lamp timing scheme of the first intersection is kept unchanged;

the target vehicle is a vehicle with the right of passage higher than that of a common vehicle; the first target vehicle is a target vehicle entering a monitoring range of the TOD mode; the first state parameter refers to a parameter related to the running state of the first target vehicle; the first intersection is a forward intersection through which the first target vehicle will pass; the monitoring range of the TOD mode refers to the distance between a first target vehicle and an intersection stop line when the first target vehicle drives to the vicinity of a first intersection; the TOD mode is a signal lamp control mode which enables the first target vehicle to pass through the intersection preferentially;

the method and the device determine whether to enter the monitoring range of the TOD mode of the first intersection or not by monitoring the first state parameter of the first target vehicle, so that the first target vehicle does not need to be monitored all the time, and only needs to be started or not within a certain distance of entering the first intersection, namely within the monitoring range of the TOD mode of the first intersection, thereby not only saving the equipment cost, but also avoiding unnecessary system operation load;

meanwhile, in the TOD mode of the application, under the special condition that the first target vehicle needs to pass preferentially, only when the TOD mode is started, intervention control is needed, and after the first target vehicle passes through the intersection, the original control of the timing scheme at the intersection can be recovered, so that the layout and the control system of the existing traffic signal lamp control system are not needed to be modified, and even if the timing scheme at each intersection is different, the intervention control of the TOD mode is not influenced, because the TOD mode is only subjected to intervention control when the first target vehicle needs to be started, the original timing scheme is not modified, and after the TOD mode is closed, the control of the original timing scheme can be recovered; the defects of large engineering quantity and high cost of redesigning the original signal lamp control system are overcome, only a TOD mode is needed to be added into the existing signal lamp control system, and only when a first target vehicle needs to preferentially pass through, the signal lamp is adjusted in real time.

Further, the acquiring the first state parameter of the first target vehicle includes:

acquiring the position and speed of a first target vehicle;

further, the monitoring range of the TOD mode is set to a fixed value, or on the basis of a reference value of the monitoring range, real-time dynamic adjustment is performed according to the traffic parameters of the intersection at different time intervals, the parameters of the current timing scheme, and the set number of lanes in each passing direction.

Further, the monitoring range of the TOD mode is dynamically adjusted in real time and is obtained by utilizing a first relational expression for calculation;

wherein the first relation comprises:

wherein the content of the first and second substances,

the monitoring range of the TOD mode of a certain intersection;

the number of vehicles in a lane in the first passing direction at the time of the intersection is queued;

the first passing direction refers to a passing direction consistent with the passing direction of a first target vehicle at a certain intersection;

the signal period length in the timing scheme of the intersection at the moment is obtained;

a reference value of the monitoring range of the TOD mode of the intersection;

setting the number of lanes in the first passing direction at the moment of the intersection;

for the length of signal cycle at the crossing

The saturated traffic flow of a single lane during the time of (a);

the effective green duration of the first phase in the timing scheme at the intersection at the time;

the first phase is the phase of the intersection in the same direction as the first traffic direction in the timing scheme at the moment;

in the application, the monitoring range of the TOD mode is dynamically adjusted in real time on the basis of the reference value according to the flow parameters of different time periods of the intersection, the parameters of the current timing scheme and the set number of lanes in each passing direction, so that the monitoring range of the TOD mode is adjusted in real time according to the real-time condition of the intersection where the first target vehicle is located, the starting time of the TOD mode can be more accurate and timely, the actual conditions of different intersections in different time periods can be better met, and the intelligent level of traffic signal lamp control is further improved; and the data used for representing the real-time conditions of the intersection comprise static data and dynamic data, the static data are the number of lanes in each passing direction of the intersection, and the dynamic data are flow parameters of different time periods of the intersection and parameters of the current timing scheme, so that the static data and the dynamic data are combined to reflect the real-time conditions of the intersection, and the monitoring range of the TOD mode has higher accuracy and better real-time property.

Further, if the first target vehicle enters the monitoring range of the TOD mode, the TOD mode is started, that is, in the current signal lamp timing scheme of the first intersection, the signal lamp control of the TOD mode is involved, and after the first target vehicle passes through the first intersection, the TOD mode is ended, including:

when the first target vehicle enters the monitoring range of the TOD mode, starting the TOD mode;

determining whether the estimated time for the first target vehicle to reach the second intersection from the first intersection is greater than the signal period length in the timing scheme of the second intersection at the moment; the second intersection is the next intersection which needs to be reached after the first target vehicle passes through the first intersection;

a. if the estimated time for the first target vehicle to reach the second intersection from the first intersection is longer than the signal period length in the timing scheme of the second intersection at the moment, the first target vehicle enters a first TOD mode in the TOD modes;

b. if the estimated time for the first target vehicle to reach the second intersection from the first intersection is less than or equal to the signal period length in the timing scheme of the second intersection at the moment, entering a second TOD mode in the TOD modes;

the first TOD mode is signal lamp control which only needs to intervene in the TOD mode at the first intersection, namely a single intersection control mode; the second TOD mode is signal lamp control requiring the intervention of the TOD mode at both the first intersection and the second intersection, namely a multi-intersection cooperative control mode;

and ending the TOD mode after the first target vehicle passes through the first intersection.

According to the method and the device, after the TOD mode is started, the first TOD mode or the second TOD mode in the TOD mode is determined according to the estimated time of the first target vehicle from the first intersection to the second intersection and whether the estimated time exceeds the signal period length in the timing scheme of the second intersection at the moment, namely, after the first target vehicle enters the monitoring range of the TOD mode of the first intersection, whether the signal lamp control in the TOD mode needs to intervene the first intersection or not can be pre-determined in advance, and the second intersection is intervened at the same time, so that the accuracy of time intervention in the TOD mode is improved, and the timeliness of preferential passing of the first target vehicle after the TOD mode is intervened is also improved.

Further, the estimated time of the first target vehicle from the first intersection to the second intersection is obtained by using a second relational expression;

wherein the second relation comprises:

wherein the content of the first and second substances,

the estimated time for the first target vehicle to reach the second intersection from the first intersection;

the number of intersections the first target vehicle has passed through;

the distance of the driving route between the first intersection and the second intersection is obtained;

the driving route distance between the first intersection and the second intersection is the driving distance from the stop line of the first intersection to the stop line of the second intersection;

the monitoring range of the TOD mode of the first intersection is set;

the monitoring range of the TOD mode of the second intersection is set;

the monitoring range of the TOD mode of the first intersection and the monitoring range of the TOD mode of the second intersection are set as fixed numerical values, or on the basis of the reference value of the monitoring ranges, the real-time dynamic adjustment is carried out according to the flow parameters of the intersections in different time periods, the parameters of the current timing scheme and the set number of lanes in each passing direction; the real-time dynamic adjustment of the monitoring range of the TOD mode can be obtained by using a first relational expression;

is the first in the intersection that the first target vehicle has passed

An intersection;

for the first target vehicle to pass by

Speed before the individual crossing;

for the first target vehicle to pass by

Speed behind the individual crossing;

factors influencing the estimated time of the first target vehicle from the first intersection to the second intersection are static and dynamic, wherein the static factors are the distance of a driving route between the first intersection and the second intersection, and the dynamic factors are the number of intersections passed by the first target vehicle, the monitoring range of the TOD mode of the second intersection, and the passing of the first target vehicle through the second intersection

The speed before and after each intersection is combined, so the application combines static factors and dynamic factors, and the estimated time is more fit for the actual state of the first target vehicle because the dynamic factors are acquired and calculated in real time, the accuracy of the TOD mode intervention time is further improved,and the time efficiency of the first target vehicle passing preferentially after the TOD mode is intervened is improved.

Further, the intervention method of the first TOD mode includes:

when a first target vehicle enters a monitoring range of a TOD mode, determining whether the current phase executed by a signal lamp at a first intersection is a first phase;

a. if the first phase is not the first phase, after the first TOD mode is intervened, the current phase is maintained to be ended, the next phase is adjusted to be the first phase, the duration time of the first phase is adjusted in real time, after the first target vehicle passes through the first intersection, the intervention of the first TOD mode is quitted, and the original timing scheme is recovered;

b. if the first phase is the first phase, after the first TOD mode is involved, the duration time of the first phase is adjusted in real time, after the first target vehicle passes through the first intersection, the first TOD mode is quitted, and the original timing scheme is recovered;

the real-time adjustment of the duration time of the first phase is to judge whether the remaining duration time of the effective green light of the first phase in the current timing scheme is enough for the first target vehicle to pass or not; if the first target vehicle passes through the intersection, the current timing scheme is maintained, and if the first target vehicle does not pass through the intersection, the duration of the first phase effective green light is prolonged until the first target vehicle passes through the intersection.

According to the intervention method of the first TOD mode, due to the fact that the items and parameters of intervention adjustment are determined according to the actual phase and the duration of the current timing scheme of the first intersection, and different adjustment items and parameters are adopted under different conditions, the intervention control of the first TOD mode is enabled to improve the accuracy of adjustment, reduce the adjustment amplitude and effectively reduce the adverse effects of the intervention opportunity and the adjustment amplitude on the execution effect of the current timing scheme.

Further, the intervention method of the second TOD mode includes:

acquiring a second state parameter of the first target vehicle;

determining the coordination rate of the first intersection and the second intersection by using the acquired second state parameter of the first target vehicle;

a. if the coordination rate of the first intersection and the second intersection is less than or equal to 1, the duration time of the first phase is adjusted in real time after the intervention of the second TOD mode, and the intervention of the second TOD mode is exited after the first target vehicle passes through the first intersection, so that the original timing scheme is recovered;

b. if the coordination rate of the first intersection and the second intersection is greater than 1, after the second TOD mode is involved, the current phase is maintained to be ended, the next phase is adjusted to be the first phase, the duration time of the first phase is adjusted in real time, after the first target vehicle passes through the first intersection, the intervention of the second TOD mode is quitted, and the original timing scheme is recovered;

the acquiring of the second state parameter of the first target vehicle includes: acquiring estimated time of a first target vehicle from a first intersection to a second intersection; acquiring the shortest time required from the moment when the first target vehicle passes through the first intersection to the moment when the current timing scheme of the second intersection is the first phase under the current timing scheme of the second intersection; acquiring the duration of a first phase in a current timing scheme of a second intersection;

the coordination rate of the first intersection and the second intersection is used for representing the degree of proximity of the first phase in the current timing scheme of the second intersection in time after the estimated time for the first intersection to reach the second intersection, namely the first target vehicle just reaches the monitoring range of the TOD mode of the second intersection;

according to the intervention method of the second TOD mode, when the first target vehicle reaches the monitoring range of the TOD mode of the second intersection, the approach degree of the first phase in the current timing scheme of the second intersection is judged at first according to the estimated time of the first target vehicle from the first intersection to the second intersection and the current timing scheme of the second intersection, and then different control strategies are executed on the signal lamp of the second intersection according to the approach degree.

Further, the cooperation rate of the first intersection and the second intersection is determined by using a third relational expression;

wherein the third relation comprises:

the cooperation rate of the first intersection and the second intersection is obtained;

the method is the shortest time required by the second intersection when the current timing scheme is the first phase from the moment when the first target vehicle passes through the first intersection under the current timing scheme;

the duration of the first phase in the timing scheme is presented for the second intersection;

the maximum deviation time of the synergy rate of the first intersection and the second intersection;

in the second TOD mode, when the first target vehicle enters the monitoring range of the TOD mode of the second intersection, the first target vehicle is quantified and indexed according to the proximity degree of the first phase in the current timing scheme of the second intersection, and the control precision of the second TOD mode is further improved.

In a second aspect, the present application provides an intelligent signal lamp control system for TOD integrated district traffic, comprising:

the parameter acquisition module is used for acquiring a first state parameter of a first target vehicle;

the range determining module is used for determining whether the first target vehicle enters a monitoring range of a TOD mode of a first intersection or not according to the acquired first state parameter of the first target vehicle;

the signal lamp control module is used for controlling signal lamps of the intersection by using the TOD mode so that the first target vehicle can pass through the intersection preferentially;

the method for controlling the signal lamps of the intersection by using the TOD mode comprises the following steps: if the first target vehicle enters the monitoring range of the TOD mode of the first intersection, starting the TOD mode, namely intervening in signal lamp control of the TOD mode in the current signal lamp timing scheme of the first intersection, and ending the TOD mode after the first target vehicle passes through the first intersection;

the target vehicle is a vehicle with the higher priority of the right of way than that of a common vehicle; the first target vehicle is a target vehicle entering a monitoring range of the TOD mode; the first state parameter refers to a parameter related to the running state of the first target vehicle; the first intersection is a forward intersection through which the first target vehicle will pass; the monitoring range of the TOD mode refers to the distance between a first target vehicle and a stop line of an intersection when the first target vehicle drives to the vicinity of the first intersection; the TOD mode refers to a signal lamp control mode which enables a first target vehicle to pass through the intersection preferentially;

in a third aspect, the present application provides a computer apparatus comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to implement the method according to the first aspect.

In a fourth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of the first aspect.

Compared with the prior art, the traffic signal lamp control system has the advantages that the phase and the duration of the traffic signal lamp can be adjusted in real time according to the state of the target vehicle and the situation of the intersection where the target vehicle passes through, the transformation and the influence on the existing signal lamp control system are small on the premise that TOD comprehensive area traffic signal lamp intelligence enables the target vehicle to preferentially pass through, equipment cost is saved, unnecessary system operation load is avoided, the accuracy and the real-time responsiveness of the signal lamp control system are further improved, and the cooperative timeliness between intersections is optimized.

Drawings

For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic flow diagram of a method of the present application;

FIG. 2 is a schematic flow chart of a TOD mode selection method according to the present application;

FIG. 3 is a schematic flow chart of a first TOD mode method according to the present application;

FIG. 4 is a schematic flow chart of a second TOD mode method according to the present application;

FIG. 5 is a schematic diagram of the system architecture of the present application;

FIG. 6 is a schematic diagram of a computer device of the present application;

FIG. 7 is a schematic diagram of a computer-readable storage medium of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art based on the embodiments of the present invention without inventive step, are within the scope of the present invention.

The technical scheme in the embodiment of the application has the following general idea:

the TOD comprehensive area is characterized in that public transport vehicles are advocated to pass preferentially, public transport vehicles (namely first target vehicles) exist in a traffic flow of the TOD comprehensive area, in order to achieve the purpose that the first target vehicles pass preferentially, traffic lights need to be actively controlled according to actual conditions of the target vehicles to enable the target vehicles to pass preferentially through an intersection. Therefore, the existing signal lamp control system timing scheme is not changed, only when the first target vehicle needs to pass, the signal lamp of the intersection is controlled in an intervening mode, the phase and the duration of the traffic signal lamp can be adjusted and controlled in real time according to the state of the first target vehicle and the condition of the intersection where the first target vehicle passes, and the problem that the TOD comprehensive area passes through the intelligent control traffic signal lamp to achieve the preferential passing of the first target vehicle is solved.

In order to better understand the technical scheme, the technical scheme is described in detail in the following with reference to the attached drawings and the detailed description.

Example 1

As shown in fig. 1, the present application provides an intelligent signal lamp control method for traffic in a TOD integrated area, the method comprising:

acquiring a first state parameter of a first target vehicle;

if the first target vehicle enters the monitoring range of the TOD mode of the first intersection, starting the TOD mode, namely intervening in the signal lamp control of the TOD mode in the current signal lamp timing scheme of the first intersection, and ending the TOD mode after the first target vehicle passes through the first intersection;

in traffic control, in order to avoid conflicts between traffic flows in various directions at a plane intersection, a time-sharing passing method is generally adopted, namely in a certain time period of a cycle, one or more traffic flows at the intersection have the right of passage, and other traffic flows which conflict with the traffic flows cannot pass in the cycle; the time-sharing passing method is a signal lamp timing scheme in the traffic signal lamp control system.

Specifically, the signal lamp timing scheme is a time proportioning scheme of red and green lamps of each phase at the intersection; the phase in the signal timing scheme refers to a right of way obtained by one or more traffic flows in one period of the signal timing scheme, and is called a signal phase, which is called a phase for short.

Specifically, the right of way is higher in priority than vehicles of ordinary vehicles, including but not limited to special-purpose vehicles such as public transport vehicles, fire-fighting vehicles, and police vehicles, and the traffic characteristics of the TOD integrated area are that public transport is the priority, so for the TOD integrated area, the target vehicle mainly refers to the public transport vehicle.

Specifically, the monitoring range of the TOD mode is a distance between the first target vehicle and the intersection stop line when the first target vehicle is traveling near the first intersection; the distance refers to a travel distance of the first target vehicle from the vicinity of the first intersection to the intersection stop line at this time. The first target vehicle may be one vehicle or a group of vehicles adjacent to each other in front and rear directions, and the whole of the first target vehicle is regarded as the first target vehicle.

The method and the device have the advantages that whether the first target vehicle enters the monitoring range of the TOD mode of the first intersection or not is determined by monitoring the first state parameter of the first target vehicle, so that the first target vehicle does not need to be monitored all the time, and only needs to be started or not within a certain distance of entering the first intersection, namely the monitoring range of the TOD mode of the first intersection, so that the device cost is saved, and unnecessary system operation load is avoided;

acquiring the position and speed of a first target vehicle;

specifically, the position is at least the position of the first target vehicle at the intersection, so that it can be determined whether the first target vehicle passes through the intersection stop line; the position data can be acquired through a positioning technology (such as GPS and Beidou positioning), or an identification card (such as RFID identification technology) is installed on a first target vehicle, and card reading equipment is installed at a place needing to be identified, so that the required position data acquisition can be realized; the speed is the average speed of the first target vehicle, and the average speed can be obtained through the sampling speed of traffic speed measuring points between a plurality of intersections, or the average speed can be obtained through the real-time speed monitored by a GPS, a Beidou or other positioning systems;

Specifically, the monitoring range of the TOD mode is set to be a fixed numerical value, may be set to be the same fixed numerical value, and may also be set to be different step numerical values according to the magnitude of the intersection traffic flow, that is, the larger the intersection traffic flow is, the larger the inspection score of the TOD mode is; the reference value of the monitoring range of the TOD mode is a basic value or a lowest value, different intersections can adopt different values according to actual requirements, and specific values can be obtained through experiments or adopt empirical values.

wherein the first relation comprises:

wherein the content of the first and second substances,

the monitoring range of the TOD mode of a certain intersection;

the number of vehicles in a lane in the first passing direction at the moment of the intersection is queued;

specifically, in the current timing scheme of the intersection, the intersection includes actual passing directions in which all phases are in one-to-one correspondence, for example, in the east-west direction or the north-south direction of the intersection, the current timing scheme has three different phases, which are in one-to-one correspondence with three passing directions, namely, straight passing, left turning (or left turning and turning around), and pedestrian passing, and of course, the three passing directions are also in one-to-one correspondence with actual traffic sign lines; the number of vehicle queues in a lane in a certain passing direction at the intersection is monitored, the coils laid by a traffic department can be used for collecting data for direct use, a sensor can be added according to the requirement, or a data collecting device is newly laid, and the function of collecting the number of vehicles can be completely met by the prior art.

The length of a signal period in a timing scheme of the intersection at the moment;

a reference value of the monitoring range of the TOD mode of the intersection;

specifically, the reference value of the monitoring range of the TOD mode is a basic value or a lowest value, different intersections can adopt different values according to actual requirements, and the specific value can be obtained through experiments or adopt an empirical value.

specifically, the number of lanes at any intersection in the first traffic direction is generally a fixed number, but since some intersections have variable lanes, the number of lanes at any intersection is not limited to the fixed number

The value of (1) is the number of lanes in the first traffic direction when the first target vehicle is in the TOD mode monitoring range of the first intersection;

for the length of the signal cycle at the intersection

The saturated traffic flow of a single lane within the time of (2);

in particular, the present invention relates to a method for producing,

for the length of the signal cycle at the intersection

The saturated traffic flow of a single lane in the time of (1) means the length of the signal cycle of the intersection

The maximum number of vehicles that a single lane can pass through;

the first phase is the phase which is the same as the first passing direction in the timing scheme of the intersection at the moment;

according to the monitoring range of the TOD mode, real-time dynamic adjustment is carried out according to flow parameters of different periods of time of the intersection, parameters of the current timing scheme and the set number of lanes in each passing direction on the basis of the reference value of the monitoring range, so that the monitoring range of the TOD mode is adjusted in real time according to the real-time condition of the intersection where the first target vehicle is located, the starting opportunity of the TOD mode can be more accurate and timely, the actual conditions of different intersections in different periods of time can be better met, and the intelligent level of traffic signal lamp control is further improved; and the data used for representing the real-time conditions of the intersection comprise static data and dynamic data, the static data is the number of lanes in each traffic direction of the intersection, and the dynamic data is flow parameters of the intersection in different time periods and parameters of a current timing scheme, so that the static data and the dynamic data are combined to reflect the real-time conditions of the intersection, and the monitoring range of the TOD mode has higher accuracy and better real-time performance.

As shown in fig. 2, further, if the first target vehicle enters the monitoring range of the TOD mode, the TOD mode is started, that is, in the current signal light timing scheme of the first intersection, the signal light control of the TOD mode is involved, and after the first target vehicle passes through the first intersection, the TOD mode is ended, including:

the first TOD mode is signal lamp control which only needs to intervene in the TOD mode at the first intersection, namely a single intersection control mode; the second TOD mode is a signal lamp control mode which needs to be involved in the TOD mode at both the first intersection and the second intersection, namely a multi-intersection cooperative control mode;

after the first target vehicle passes through the first intersection, the TOD mode is ended.

wherein the second relation comprises:

wherein, the first and the second end of the pipe are connected with each other,

specifically, the first target vehicle starts from the time of entering the monitoring range of the TOD mode at the first intersection and ends at the time of entering the monitoring range of the TOD mode at the second intersection, and the time is the estimated time for the first target vehicle to reach the second intersection from the first intersection;

the number of intersections the first target vehicle has passed through;

the monitoring range of the TOD mode of the first intersection is set;

the monitoring range of the TOD mode of the second intersection is set;

the monitoring range of the TOD mode of the first intersection and the monitoring range of the TOD mode of the second intersection are set as fixed numerical values, or on the basis of the reference value of the monitoring ranges, real-time dynamic adjustment is carried out according to the flow parameters of the intersections in different time periods, the parameters of the current timing scheme and the set number of lanes in each traffic direction; the real-time dynamic adjustment of the monitoring range of the TOD mode can be obtained by using a first relational expression;

specifically, the monitoring range of the TOD mode at the first intersection and the monitoring range of the TOD mode at the second intersection may both use fixed numerical values, or both perform real-time dynamic adjustment (the real-time dynamic adjustment may be obtained using the first relational expression); one of them may also use a fixed value and the other one dynamically adjusts in real time.

Is the first in the intersection that the first target vehicle has passed

An intersection;

for the first target vehicle to pass by

Speed before the individual intersection;

for the first target vehicle to pass by

Speed behind the individual crossing;

specifically, the first target vehicle passes by

Speed before the crossing, passing the first target vehicle

The speed behind each intersection can be real-time speed monitored by adopting a navigation positioning technology, or speed data of a speed measuring point in a traffic system can be directly obtained; since the setting densities of the speed measurement points are different, the situation that the first target vehicle does not have the speed measurement point before or after passing a certain intersection can occur, so that the inspection speed of the nearest speed measurement point before or after the intersection can be adopted, namely the inspection speed of the nearest speed measurement point before or after the intersection is adopted

For the first target vehicle to pass by

The detection speed of the nearest speed measuring point before the crossing,

for the first target vehicle to pass by

Detecting the speed of the nearest speed measuring point behind each intersection;

the estimated time for the first target vehicle to reach the second intersection from the first intersection is influenced byStatic and dynamic, wherein the static factor is the distance of the driving route between the first intersection and the second intersection, the dynamic factor is the number of intersections the first target vehicle has passed, the monitoring range of the TOD mode of the second intersection, the first target vehicle passes the second intersection

The speed before and after each intersection, so static factors and dynamic factors are combined together, and the dynamic factors are collected and calculated in real time, so that the estimated time is more fit with the actual state of the first target vehicle, the accuracy of the TOD mode intervention time is further improved, and the time effectiveness of the first target vehicle after the TOD mode intervention is also improved in priority.

As shown in fig. 3, further, the intervention method in the first TOD mode includes:

when a first target vehicle enters a monitoring range of a TOD mode, determining whether a current phase executed by a signal lamp of a first intersection is a first phase;

a. if the first phase is not the first phase, after the first TOD mode is intervened, the current phase is maintained to be ended, the next phase is adjusted to be the first phase, the duration time of the first phase is adjusted in real time, after the first target vehicle passes through the first intersection, the intervention of the first TOD mode is exited, and the original timing scheme is recovered;

b. if the first phase is the first phase, after the first TOD mode is intervened, the duration of the first phase is adjusted in real time, after the first target vehicle passes through the first intersection, the intervention of the first TOD mode is exited, and the original timing scheme is recovered;

the real-time adjustment of the duration time of the first phase is to firstly judge whether the remaining duration time of the effective green light of the first phase in the current timing scheme is enough for the first target vehicle to pass; if the first target vehicle passes through the intersection, the current timing scheme is maintained, and if the first target vehicle does not pass through the intersection, the duration of the first phase effective green light is prolonged until the first target vehicle passes through the intersection.

Specifically, although the duration of the phase is the duration of the green light in the passing direction of the phase, since a part of the time is lost when the vehicle starts and stops, the effective green light time is generally shorter than the phase duration.

As shown in fig. 4, further, the intervention method in the second TOD mode includes:

acquiring a second state parameter of the first target vehicle;

a. if the coordination rate of the first intersection and the second intersection is less than or equal to 1, adjusting the duration time of the first phase in real time after the intervention of the second TOD mode, and recovering the original timing scheme after the intervention of the second TOD mode exits after the first target vehicle passes through the first intersection;

the acquiring of the second state parameter of the first target vehicle includes: acquiring the estimated time of a first target vehicle from a first intersection to a second intersection; acquiring the shortest time required by the second intersection from the moment when the first target vehicle passes through the first intersection to the moment when the current timing scheme of the second intersection is the first phase under the current timing scheme; acquiring the duration of a first phase in a current timing scheme of a second intersection;

the coordination rate of the first intersection and the second intersection is used for representing the proximity degree of the first phase in the current timing scheme of the second intersection in time after the estimated time of the first intersection reaching the second intersection, namely the TOD mode monitoring range of the first target vehicle just reaching the second intersection;

specifically, after the first target vehicle passes through the estimated time period from the first intersection to the second intersection, if the current timing scheme of the second intersection is in the first phase, or although the current timing scheme of the second intersection is not in the first phase, the previous or next phase is the first phase, it indicates that the current timing scheme is closer to the first phase in the current timing scheme of the second intersection, that is, at this moment, the proximity degree of the current timing scheme of the second intersection to the first phase is higher in time, and the cooperation rate of the first intersection and the second intersection is less than or equal to 1; otherwise, the synergy rate of the first intersection and the second intersection is greater than 1.

wherein the third relation comprises:

the maximum offset time of the synergy rate of the first intersection and the second intersection;

specifically, the maximum deviation time of the cooperation rate of the first intersection and the second intersection represents the maximum deviation time in the third relational expression

The maximum range allowed when the synergy ratio is less than 1. When the temperature is higher than the set temperature

When the value of (1) is greater than 0, it means that the first target vehicle has passed the estimated time

Then, the first phase in the current timing scheme of the second intersection is finished; when the temperature is higher than the set temperature

When the value of (1) is less than 0, it means that the first target vehicle has passed the estimated time

Then, the first phase in the current timing scheme of the second intersection is not finished; when in use

When the value in (1) is equal to 0, it means that the first target vehicle has passed the estimated time

Then, the first phase in the current timing scheme of the second port is just finished or just started;

the first phase in the current timing scheme of the second intersection is the closest first phase in time when the first target vehicle reaches the monitoring range of the TOD mode of the second intersection.

Example 2

As shown in fig. 5, the present application provides an intelligent signal lamp control system for TOD integrated area traffic, comprising:

the method for controlling the signal lamps of the intersection by using the TOD mode comprises the following steps: if the first target vehicle enters the monitoring range of the TOD mode of the first intersection, starting the TOD mode, namely intervening in the signal lamp control of the TOD mode in the current signal lamp timing scheme of the first intersection, and ending the TOD mode after the first target vehicle passes through the first intersection;

the target vehicle is a vehicle with the right of passage higher than that of a common vehicle; the first target vehicle is a target vehicle entering a monitoring range of the TOD mode; the first state parameter refers to a parameter related to the running state of the first target vehicle; the first intersection is a forward intersection through which the first target vehicle will pass; the monitoring range of the TOD mode refers to the distance between a first target vehicle and an intersection stop line when the first target vehicle drives to the vicinity of a first intersection; the TOD mode refers to a signal lamp control mode which enables a first target vehicle to pass through the intersection preferentially;

Specifically, the signal lamp timing scheme is a time proportioning scheme of red and green lamps of each phase at the intersection; the phase in the signal timing scheme refers to the right of way obtained by one or more traffic flows in one period of the signal timing scheme, and is called signal phase, which is called phase for short.

Specifically, the right of way is higher in priority than vehicles of ordinary vehicles, including but not limited to special-purpose vehicles such as public transport vehicles, fire vehicles, police vehicles, etc., and the traffic characteristics of the TOD integration zone are that public transport is the priority, so for the TOD integration zone, the target vehicle mainly refers to public transport vehicles.

Specifically, the monitoring range of the TOD mode is a distance between the first target vehicle and the intersection stop line when the first target vehicle is traveling near the first intersection; the distance refers to a travel distance of the first target vehicle from the vicinity of the first intersection to the intersection stop line at this time. The first target vehicle may be one vehicle or a group of vehicles adjacent to each other in front and rear, and the entire first target vehicle is regarded as the first target vehicle.

acquiring the position and speed of a first target vehicle;

specifically, the position is at least the position of the first target vehicle at the intersection, so that whether the first target vehicle passes through the intersection stop line can be judged; the position data can be acquired through a positioning technology (such as GPS and Beidou positioning), or an identification card (such as RFID identification technology) is installed on a first target vehicle, and card reading equipment is installed at a place needing to be identified, so that the required position data acquisition can be realized; the speed is the average speed of the first target vehicle, and the average speed can be obtained through the sampling speed of traffic speed measuring points between a plurality of intersections, or the average speed can be obtained through the real-time speed monitored by a GPS or other positioning systems;

further, the monitoring range of the TOD mode is set to a fixed value, or on the basis of a reference value of the monitoring range, real-time dynamic adjustment is performed according to flow parameters of different time periods at the intersection, parameters of the current timing scheme, and the set number of lanes in each traffic direction.

wherein the first relation comprises:

wherein the content of the first and second substances,

the monitoring range of the TOD mode of a certain intersection;

a reference value of the monitoring range of the TOD mode of the intersection;

specifically, the number of lanes in the first traffic direction at any intersection is generally a fixed number, but since some intersections have variable lanes, the number of lanes at any intersection is not limited to the fixed number

for the length of the signal cycle at the intersection

The saturated traffic flow of a single lane during the time of (a);

in particular, the present invention relates to a method for producing,

for the length of the signal cycle at the intersection

The saturated traffic flow of a single lane means the length of the signal cycle at the intersection

In time ofThe maximum number of vehicles that a single lane can pass;

the effective green light duration of the first phase in the timing scheme of the intersection at the moment;

wherein the second relation comprises:

the number of intersections the first target vehicle has passed through;

the monitoring range of the TOD mode of the first intersection is set;

the monitoring range of the TOD mode of the second intersection is set;

Is the first in the intersection that the first target vehicle has passed

An intersection;

for the first target vehicle to pass by

Speed before the individual crossing;

for the first target vehicle to pass by

Speed behind the individual crossing;

specifically, the first target vehicle passes by

Speed before the individual intersection, passing first target vehicle

The speed behind each intersection can be real-time speed monitored by adopting a navigation positioning technology, or speed data of a speed measuring point in a traffic system can be directly obtained; since the setting densities of the speed measurement points are different, the situation that the first target vehicle does not have the speed measurement point before or after passing a certain intersection can occur, so that the inspection speed of the nearest speed measurement point before or after the intersection can be adopted, namely the inspection speed of the speed measurement point before or after the intersection is adopted

For the first target vehicle to pass by

The detection speed of the nearest speed measuring point before the crossing,

for the first target vehicle to pass by

further, the intervention method of the first TOD mode includes:

the real-time adjustment of the duration time of the first phase is to firstly judge whether the remaining duration time of the effective green light of the first phase in the current timing scheme is enough for the first target vehicle to pass; if the first target vehicle passes through the intersection, maintaining the current timing scheme, and if the first target vehicle passes through the intersection, prolonging the duration of the first phase effective green light until the first target vehicle passes through the intersection.

Further, the intervention method of the second TOD mode includes:

acquiring a second state parameter of the first target vehicle;

b. if the cooperation rate of the first intersection and the second intersection is greater than 1, after the second TOD mode is intervened, the current phase is maintained to be ended, the next phase is adjusted to be the first phase, the duration of the first phase is adjusted in real time, after the first target vehicle passes through the first intersection, the intervention of the second TOD mode is exited, and the original timing scheme is recovered;

the acquiring of the second state parameter of the first target vehicle comprises: acquiring estimated time of a first target vehicle from a first intersection to a second intersection; acquiring the shortest time required by the second intersection from the moment when the first target vehicle passes through the first intersection to the moment when the current timing scheme of the second intersection is the first phase under the current timing scheme; acquiring the duration of a first phase in a current timing scheme of a second intersection;

wherein the third relation comprises:

the first intersection and the second intersection are used as the first intersection and the second intersection;

Then, the first phase in the current timing scheme of the second intersection is not finished; when the temperature is higher than the set temperature

When the value of (1) is equal to 0, it means that the first target vehicle has passed the estimated time

Example 3

As shown in fig. 6, the present invention provides a computer device, which is characterized by comprising a memory and a processor; the memory for storing a computer program; the processor is configured to implement the method according to embodiment 1 when executing the computer program.

Example 4

As shown in fig. 7, the present invention provides a computer-readable storage medium on which a computer program is stored, wherein the program is implemented to implement the method according to the above embodiment 1 when executed by a processor.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, media, devices, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one type of logical functional division, and there may be other divisions when the actual implementation is performed, for example, a plurality of modules or units may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The modules or units described as separate parts may or may not be physically separate, and parts displayed as modules or units may or may not be physical modules or units, may be located in one place, or may be distributed on a plurality of network modules or units. Some or all of the modules or units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional module or unit in the embodiments of the present application may be integrated into one processing module or unit, or each module or unit may exist alone physically, or two or more modules or units are integrated into one module or unit. The integrated module or unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

The integrated systems, modules, units, etc. if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.

Claims

1. An intelligent signal lamp control method for TOD (time of day) comprehensive area traffic is characterized by comprising the following steps of:

acquiring a first state parameter of a first target vehicle;

the target vehicle is a vehicle with the higher priority of the right of way than that of a common vehicle; the first target vehicle is a target vehicle entering a monitoring range of the TOD mode; the first state parameter refers to a parameter related to the running state of the first target vehicle; the first intersection is a forward intersection through which the first target vehicle will pass; the monitoring range of the TOD mode refers to the distance between a first target vehicle and an intersection stop line when the first target vehicle drives to the vicinity of a first intersection; the TOD mode is a signal lamp control mode for enabling the first target vehicle to pass through the intersection preferentially.

2. The intelligent signal lamp control method for TOD integrated district traffic as claimed in claim 1, wherein the obtaining the first state parameter of the first target vehicle comprises:

a position and a velocity of a first target vehicle are obtained.

3. The intelligent signal lamp control method for TOD integrated district traffic as claimed in claim 1, wherein the monitoring range of the TOD mode is set as a fixed numerical value, or on the basis of the reference value of the monitoring range, real-time dynamic adjustment is performed according to the flow parameters of different time periods at the intersection, the parameters of the current timing scheme, and the set number of lanes in each traffic direction.

4. The intelligent signal lamp control method for traffic in the TOD integrated area according to claim 1, wherein the monitoring range of the TOD mode is dynamically adjusted in real time and calculated by using a first relational expression;

wherein the first relation comprises:

wherein the content of the first and second substances,

the monitoring range of the TOD mode of a certain intersection;

a reference value of the monitoring range of the TOD mode of the intersection;

for the length of the signal cycle at the intersection

The saturated traffic flow of a single lane during the time of (a);

the first phase is the phase of the intersection in the same direction as the first traffic direction in the timing scheme at the moment.

5. The intelligent signal lamp control method for traffic in TOD integrated area according to claim 1, wherein said starting TOD mode if the first target vehicle enters the monitoring range of TOD mode, that is, in the current signal lamp timing scheme of the first crossing, the signal lamp control of TOD mode is intervened, and after the first target vehicle passes through the first crossing, the TOD mode is ended, comprising:

determining whether the estimated time of the first target vehicle from the first intersection to the second intersection is greater than the signal period length of the second intersection in the timing scheme at the moment; the second intersection is the next intersection which needs to be reached after the first target vehicle passes through the first intersection;

b. if the estimated time for the first target vehicle to reach the second intersection from the first intersection is less than or equal to the signal cycle length in the timing scheme of the second intersection at the moment, entering a second TOD mode in the TOD modes;

6. The intelligent signal lamp control method for TOD integrated district traffic as claimed in claim 5, wherein the estimated time for the first target vehicle to arrive at the second intersection from the first intersection is obtained by using a second relational expression;

wherein the second relation comprises:

wherein the content of the first and second substances,

the number of intersections the first target vehicle has passed through;

the monitoring range of the TOD mode of the first intersection is set;

the monitoring range of the TOD mode of the second intersection is set;

is the first in the intersection that the first target vehicle has passed

An intersection;

for the first target vehicle to pass by

Speed before the individual crossing;

for the first target vehicle to pass by

Speed after the crossing.

7. The intelligent signal lamp control method for TOD integrated district transportation according to claim 5, wherein the intervention method of the first TOD mode comprises:

8. The intelligent signal lamp control method for TOD integrated district transportation according to claim 5, wherein the intervention method of the second TOD mode comprises:

acquiring a second state parameter of the first target vehicle;

the coordination rate of the first intersection and the second intersection is used for representing the proximity degree of the first phase in the current timing scheme of the second intersection in time after the estimated time of the first intersection reaching the second intersection, namely the TOD mode monitoring range of the first target vehicle just reaching the second intersection.

9. The intelligent signal lamp control method for TOD integrated district traffic as claimed in claim 5, wherein the coordination rate of the first intersection and the second intersection is determined by using a third relational expression;

wherein the third relation comprises:

the shortest time is required for the second intersection from the moment when the first target vehicle passes through the first intersection to the moment when the current timing scheme of the second intersection is the first phase under the current timing scheme;

the duration of the first phase in the timing scheme is used as the second intersection;

the maximum deviation time of the synergy rate of the first crossing and the second crossing.

10. The utility model provides a TOD synthesis district traffic is with intelligent signal lamp control system which characterized in that includes:

the signal lamp control module is used for controlling signal lamps of the intersection by using the TOD mode so as to enable the first target vehicle to pass through the intersection preferentially;

the target vehicle is a vehicle with the right of passage higher than that of a common vehicle; the first target vehicle is a target vehicle entering a monitoring range of the TOD mode; the first state parameter refers to a parameter related to the running state of the first target vehicle; the first intersection is a forward intersection through which the first target vehicle will pass; the monitoring range of the TOD mode refers to the distance between a first target vehicle and an intersection stop line when the first target vehicle drives to the vicinity of a first intersection; the TOD mode is a signal lamp control mode for enabling the first target vehicle to pass through the intersection preferentially.