CN115440049B

CN115440049B - Method, system and device for controlling intelligent signal lamp for traffic in TOD comprehensive area

Info

Publication number: CN115440049B
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: 2023-05-23
Anticipated expiration: 2042-09-22
Also published as: CN115440049A

Abstract

The application discloses an intelligent signal lamp control method, system and device for TOD comprehensive area 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 TOD mode of a first intersection 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; if the first target vehicle does not enter the monitoring range of the TOD mode, the TOD mode is not started. According to the method and the 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 condition of the crossing through which the target vehicle passes, so that the TOD comprehensive area can control the traffic signal lamp intelligently, and the purpose that the target vehicle passes preferentially is achieved.

Description

Method, system and device for controlling intelligent signal lamp for traffic in TOD 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 TOD (total traffic light) comprehensive areas.

Background

TOD (transit-oriented development) refers to a commercial or residential area development mode taking public transportation as a guide, is a modern city development concept which is more favored at present, and the TOD comprehensive area 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 achieve the purpose of preferential traffic of specific target vehicles, traffic signal lamps are required to be actively controlled according to the actual conditions of the target vehicles to enable the target vehicles to preferentially pass through intersections, however, most of signal lamp control systems which are currently applied at home and abroad are based on optimizing timing schemes, optimizing green signal proportion of intersections and coordinating traffic capacity of related intersections, and according to historical data and automatically detected traffic flow information, proper timing schemes are selected to control signal lamp changes through a set control model algorithm, so that the traffic signal lamp control system is a passive control strategy instead of an active control strategy; the existing signal lamp control system adopts a timing scheme optimized on the basis of referring to traffic flow and crossing traffic capacity of each period, and cannot adjust and control the phase and duration of the traffic signal lamp in real time according to the state of the target vehicle and the condition of the crossing through which the target vehicle passes, and the TOD comprehensive area cannot control the traffic signal lamp through intelligence so as to realize the purpose of preferential passing of the target vehicle.

Disclosure of Invention

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

The invention provides the following technical scheme:

in a first aspect, the present application provides a method for controlling an intelligent traffic light for traffic in a TOD integrated area, where the method includes:

acquiring a first state parameter of a first target vehicle;

determining whether the first target vehicle enters a monitoring range of TOD mode of a first intersection 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, the TOD mode is started, namely, signal lamp control of the TOD mode is inserted in the current signal lamp timing scheme of the first intersection or the first intersection and the second intersection, and after the first target vehicle passes through the first intersection or the second intersection, the TOD mode is ended;

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

the target vehicle is a vehicle with higher priority than the 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 a running state of the first target vehicle; the first intersection is a front intersection through which the first target vehicle passes; the second intersection is the next intersection which needs to be reached after the first target vehicle passes through the first intersection; the TOD mode monitoring range refers to the distance between the first target vehicle and the intersection stop line when the first target vehicle runs near the first intersection; the TOD mode is a signal lamp control mode for enabling a first target vehicle to preferentially pass through an intersection;

According to the method and the device, whether the first target vehicle enters the TOD mode monitoring range 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 whether the TOD mode is started or not is determined only within a certain distance from the first target vehicle entering the first intersection, namely within the TOD mode monitoring range of the first intersection, so that equipment cost is saved, and unnecessary system operation load is avoided;

meanwhile, in the TOD mode, under the special condition that the first target vehicle needs to pass preferentially, intervention control is needed only when the TOD mode is started, the original control of the current timing scheme of the intersection can be recovered after the first target vehicle passes the intersection, so that the layout and the control system of the existing traffic signal lamp control system are not required to be modified, the intervention control of the TOD mode is not affected even if the timing schemes of all the intersections are different, the intervention control of the TOD mode is only needed to be started, the original timing scheme is not modified, and the control of the original timing scheme can be recovered after the TOD mode is closed; the method overcomes the defects of large engineering quantity and high cost of redesigning the original signal lamp control system, only needs to add the TOD mode into the existing signal lamp control system, and only needs to adjust the signal lamp in real time when the first target vehicle needs to pass preferentially, so that the method is low in cost, convenient to reform, and the control method is real-time, and further improves the real-time response and collaborative aging of the signal lamp control system.

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

acquiring the position and the speed of a first target vehicle;

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

Further, the monitoring range of the TOD mode is dynamically adjusted in real time and is calculated by using a first relational expression;

wherein the first relation includes:

wherein s is ₀ The monitoring range of TOD mode of a certain intersection;

q is the queuing number of vehicles on the lane in the first passing direction at the moment of the intersection;

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

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

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

m is the set number of lanes in the first passing direction at the moment of the intersection;

Q _s the saturated traffic flow of a single lane is the time of the signal period length C of the intersection;

t _k The effective green light duration of the first phase in the timing scheme of the intersection at the moment is given;

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

according to the TOD mode monitoring range, on the basis of the reference value, real-time dynamic adjustment is carried out according to the flow parameters of different time periods of the intersection, the parameters of the current timing scheme and the lane setting quantity of each passing direction, so that the TOD mode monitoring range 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 are met, and the intelligent level of traffic signal lamp control is further improved; the data used for representing the real-time condition of the intersection comprises static data and dynamic data, wherein the static data is the number of lanes in each traffic direction of the intersection, the dynamic data is the flow parameters of different time periods of the intersection and the parameters of the current timing scheme, and therefore the static data and the dynamic data are combined to reflect the real-time condition of the intersection, and the monitoring range of the TOD mode is higher in accuracy and better in real-time performance.

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, signal lamp control of the TOD mode is inserted, and after the first target vehicle passes through the first intersection, the TOD mode is ended, including:

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

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 in the timing scheme of the second intersection at the time; 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 of the first target vehicle from the first intersection to the second intersection is longer than the signal period length in the timing scheme of the second intersection at the moment, entering a first TOD mode in the TOD modes;

b. if the estimated time of the first target vehicle from the first intersection to the second intersection is smaller 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 be in the TOD mode at the first road junction, namely a single road junction control mode; the second TOD mode is signal lamp control requiring intervention of 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 road junction, ending the TOD mode.

After the TOD mode is started, whether the signal cycle length of the timing scheme of the second intersection is exceeded or not is determined according to the estimated time of the first target vehicle reaching the second intersection from the first intersection, wherein the first TOD mode or the second TOD mode in the TOD mode is entered, namely, after the first target vehicle enters the monitoring range of the TOD mode of the first intersection, whether signal lamp control of the TOD mode needs to be inserted into the first intersection or not can be judged in advance, and meanwhile, the second intersection is inserted into the signal lamp control of the TOD mode, so that the accuracy of the time of inserting the TOD mode is improved, and the preferential passing timeliness of the first target vehicle after the TOD mode is inserted is also improved.

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

wherein the second relation includes:

wherein t is _p The estimated time for the first target vehicle to reach the second intersection from the first intersection is set;

n is the number of intersections through which the first target vehicle has passed;

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

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

s ₀₁ The monitoring range of the TOD mode of the first intersection;

s ₀₂ the monitoring range of the TOD mode of the second intersection;

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 to be fixed numerical values, or on the basis of the reference value of the monitoring range, real-time dynamic adjustment is carried out 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; the real-time dynamic adjustment of the monitoring range of the TOD mode can be obtained by using a first relational expression;

i is the i-th intersection of the intersections through which the first target vehicle has passed;

v _i1 the speed of the first target vehicle before passing through the ith intersection;

v _i2 the speed after the first target vehicle passes through the ith intersection;

the 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 driving route distance between the first intersection and the second intersection, the dynamic factors are the number of intersections through which the first target vehicle passes, the monitoring range of TOD modes of the second intersection and the speed of the first target vehicle before and after the first target vehicle passes through the ith intersection, so that the method combines the static factors with the dynamic factors, and the estimated time is more fit with 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 preferential passing timeliness of the first target vehicle after the TOD mode intervention is also 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 target vehicle passes through the first road port, exiting the intervention of the first TOD mode, and recovering the original timing scheme;

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

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

According to the intervention method of the first TOD mode, due to the fact that the project and the parameter of the intervention regulation are determined according to the actual phase and the duration of the current timing scheme of the first road port, different regulation projects and parameters are adopted under different conditions, so that the intervention control of the first TOD mode not only improves the accuracy of regulation, but also reduces the regulation amplitude, and adverse effects of the intervention time and the regulation amplitude on the execution effect of the current timing scheme can be effectively reduced.

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

acquiring a second state parameter of the first target vehicle;

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

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

b. if the synergy rate of the first intersection and the second intersection is greater than 1, after the intervention of the second TOD mode, maintaining the current phase of the second intersection to be ended, adjusting the next phase to be a first phase, adjusting the duration of the first phase in real time, and after the first target vehicle passes through the second intersection, exiting the intervention of the second TOD mode to recover the original timing scheme;

The acquiring the second state parameter of the first target vehicle includes: obtaining estimated time for a first target vehicle to reach a second intersection from a first 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 duration time of a first phase in a current timing scheme of a second intersection;

the co-operative rate of the first intersection and the second intersection is used for indicating the approaching degree of the first phase in the current timing scheme of the second intersection in time after the estimated time of reaching the second intersection through the first intersection, namely, the monitoring range of the TOD mode of the first target vehicle just reaching 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 estimated time of the first target vehicle reaching the second intersection from the first intersection and the current timing scheme of the second intersection are judged, at the moment, the approach degree of the first phase in the current timing scheme of the second intersection is high or low in time, and then different control strategies are executed on signal lamps of the second intersection according to the approach degree, so that cooperative control with the first intersection is achieved, intervention time of the second TOD mode is accurately controlled, adjusting amplitude is reduced, and influence on the current timing scheme of the second intersection is further reduced.

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

wherein the third relation comprises:

delta is the synergy rate of the first intersection and the second intersection;

t _p the estimated time for the first target vehicle to reach the second intersection from the first intersection is set;

t ₁ under the current timing scheme of the second intersection, starting from the moment when the first target vehicle passes through the first intersection to the shortest time required when the current timing scheme of the second intersection is the first phase;

t ₂ the duration of the first phase in the current timing scheme for the second intersection;

t ₀ the maximum offset 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 by utilizing the cooperation rate of the first intersection and the second intersection, the approach degree of the first phase in the current timing scheme of the second intersection is quantized and indexed in time, so that 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 traffic in a TOD integrated area, including:

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

The range determining module is used for determining whether the first target vehicle enters the monitoring range of the TOD mode of the first intersection according to the acquired first state parameter of the first target vehicle;

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

the method for controlling the signal lamp at 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, the TOD mode is started, namely, signal lamp control of the TOD mode is inserted in the current signal lamp timing scheme of the first intersection or the first intersection and the second intersection, and after the first target vehicle passes through the first intersection or the second intersection, the TOD mode is ended;

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

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

Compared with the prior art, the 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 condition of the crossing through which the traffic signal lamp passes, under the premise that the traffic signal lamp in the TOD comprehensive area intelligently enables the target vehicle to pass preferentially, the improvement and the influence on the existing signal lamp control system are small, the equipment cost is saved, the unnecessary system running load is avoided, the accuracy and the real-time responsiveness of the signal lamp control system are further improved, and the collaborative timeliness among the crossings 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 chart of the 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 flow chart of a second TOD-mode method of 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.

The general idea of the technical scheme in the embodiment of the application is as follows:

the TOD comprehensive area is characterized in that public transportation vehicles are advocated to pass preferentially, public transportation vehicles (namely first target vehicles) exist in traffic flow of the TOD comprehensive area, in order to achieve the purpose of enabling the first target vehicles to pass preferentially, traffic signal lamps are required to be actively controlled according to actual conditions of the target vehicles to enable the target vehicles to pass preferentially through intersections, the first target vehicles are firstly identified in the traffic flow (identification is achieved through the prior art such as positioning and RFID identification), then first state parameters (position, speed and the like) of the first target vehicles are obtained, whether the first target vehicles enter the monitoring range of TOD modes of the first intersections is judged according to the obtained first state parameters of the first target vehicles, the TOD modes are started only when the first target vehicles enter the monitoring range of the TOD modes of the first intersections, namely in the current signal lamp timing scheme of the first intersections, the signal lamps of the TOD modes are intervened, and the TOD modes are ended after the first target vehicles pass through the first intersections. Therefore, when the timing scheme of the existing signal lamp control system is not changed and only the first target vehicle needs to pass, the signal lamp of the control intersection is inserted, 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 crossing through which the first target vehicle passes, and the problem that the first target vehicle passes preferentially through the intelligent control traffic signal lamp in the TOD comprehensive area is solved.

In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and the specific embodiments.

Example 1

As shown in fig. 1, the present application provides a method for controlling an intelligent traffic light for traffic in a TOD integrated area, where the method includes:

acquiring a first state parameter of a first target vehicle;

In traffic control, in order to avoid collision between traffic flows in all directions on a plane intersection, a time-sharing traffic method is generally adopted, that is, in a certain time period of one period, one or more traffic flows on the intersection have a right of way, and other traffic flows which collide with the intersection cannot pass in one period; the time-sharing passing method is a signal lamp timing scheme in a traffic signal lamp control system.

Specifically, the signal lamp timing scheme refers to a time proportioning scheme of traffic lights of each phase at a road opening; the phase in the signal timing scheme refers to the passing right obtained by a certain traffic flow or a plurality of traffic flows in one period of the signal timing scheme, and the passing right is called as the signal phase, which is called as the phase for short.

Specifically, vehicles with higher priority than ordinary vehicles, including but not limited to special purpose vehicles such as public transportation vehicles, fire-fighting vehicles, police vehicles, etc., whereas traffic in the TOD complex is characterized by giving priority to public transportation, so for the TOD complex, the target vehicle mainly refers to a public transportation vehicle.

Specifically, the monitoring range of the TOD mode is that the distance between the first target vehicle and the stop line of the intersection when the first target vehicle runs near the first intersection; the distance is a travel distance from the first intersection vicinity to the intersection stop line at this time for the first target vehicle. The first target vehicle can be one vehicle or a group of vehicles adjacent to each other in front and back, the whole first target vehicle is taken as the first target vehicle, and when the first target vehicle is one group of vehicles, the first state parameter is the state parameter of the whole group of vehicles.

acquiring the position and the 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 judged whether the first target vehicle passes through the intersection stop line; the position data can be acquired through a positioning technology (such as GPS (global positioning system) and Beidou positioning), or an identification card (such as RFID (radio frequency identification) technology) is installed on the first target vehicle, and a card reading device 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 among a plurality of intersections or the real-time speed monitored by a GPS, beidou or other positioning systems;

Specifically, the monitoring range of the TOD mode is set to be a fixed value, can be set to be the same fixed value, and can be set to be different ladder values according to the traffic flow of the intersection, namely, the larger the traffic flow of the intersection is, the larger the inspection of the TOD mode is; the reference value of the TOD mode monitoring range is a basic value or a minimum value, different crossing can adopt different values according to actual demands, and specific values can be obtained through experiments or adopt experience values.

wherein the first relation includes:

wherein s is ₀ The monitoring range of TOD mode of a certain intersection;

specifically, in the current timing scheme of the intersection, all phases are in one-to-one correspondence with the actual traffic direction, for example, in the east-west direction or the north-south direction of an intersection, the current timing scheme has three different phases, and one-to-one correspondence is that three traffic directions of straight going, left turning (or left turning and turning around) and pedestrian traffic are in one-to-one correspondence, and of course, the three traffic directions are also in one-to-one correspondence with the actual traffic sign marks; the number of the vehicles in the lane in a certain traffic direction at the intersection is monitored, the data can be collected by using the laid coils of the traffic department for direct use, the sensors can be added according to the requirement, or the data collection device can be rearranged, and the function of collecting the number of the vehicles can be completely met by the current prior art.

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

specifically, the reference value of the monitoring range of the TOD mode is a basic value or a minimum value, different values can be adopted by different intersections according to actual demands, and specific values can be obtained through experiments or empirical values can be adopted.

specifically, the number of lanes in the first passing direction of any intersection is generally fixed, but some intersections are provided with variable lanes, so that the value of m is the number of lanes in the first passing direction when the first target vehicle is in the TOD mode monitoring range of the first intersection;

specifically, Q _s The saturated traffic flow of a single lane in the time of the signal cycle length C of the intersection refers to the maximum number of vehicles which can pass through the single lane in the time of the signal cycle length C of the intersection;

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 timing scheme of the first intersection, signal lamp control of the TOD mode is interposed, and after the first target vehicle passes through the first intersection, the TOD mode is ended, including:

wherein the second relation includes:

specifically, the first target vehicle starts from the moment of entering the monitoring range of the TOD mode of the first intersection to the moment of entering the monitoring range of the TOD mode of the second intersection, and the time is estimated time when the first target vehicle reaches the second intersection from the first intersection;

s ₀₁ the monitoring range of the TOD mode of the first intersection;

s ₀₂ the monitoring range of the TOD mode of the second intersection;

Specifically, the monitoring range of the TOD mode of the first intersection and the monitoring range of the TOD mode of the second intersection may both use a fixed value, or may both be dynamically adjusted in real time (the real-time dynamic adjustment may be obtained using the first relation); one of which can also use a fixed value and the other of which can be dynamically adjusted in real time.

specifically, the speed of the first target vehicle before passing through the ith intersection and the speed of the first target vehicle after passing through the ith intersection can be monitored by adopting a navigation positioning technology, or the speed data of the speed measuring point in the traffic system can be directly obtained; because the setting densities of the speed measurement points are different, the condition that the first target vehicle does not have the speed measurement point before or after passing through a certain intersection may occur, so that the inspection speed of the nearest speed measurement point before or after the intersection, namely v, can be adopted _i1 For the detected speed, v, of the nearest speed measurement point before the first target vehicle passes through the ith intersection _i2 The method comprises the steps that the detection speed of the nearest speed measurement point after a first target vehicle passes through an ith intersection is obtained;

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

Specifically, although the duration of the phase is the green light duration in the direction of the phase passage, the effective green light time is generally less than the phase duration because the vehicle is partially time-consuming when starting and stopping.

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

acquiring a second state parameter of the first target vehicle;

b. if the synergy rate of the first intersection and the second intersection is greater than 1, after the intervention of the second TOD mode, maintaining the current phase of the second intersection to be ended, adjusting the next phase of the second intersection to be a first phase, adjusting the duration of the first phase in real time, and after the first target vehicle passes through the second intersection, exiting the intervention of the second TOD mode to recover the original timing scheme;

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 is not in the first phase at this time, but the previous or next phase is the first phase, the first phase in the current timing scheme which is relatively close to the second intersection at this time is indicated, that is, at this time, the approach degree of the first phase in the current timing scheme of the second intersection in time is relatively high, and the synergy 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 larger than 1.

wherein the third relation comprises:

specifically, the maximum shift time of the synergy rate of the first intersection and the second intersection represents |t in the third relation _p -t ₁ -t ₂ The value of l satisfies the maximum range allowed when the synergy rate is less than 1. When (t) _p -t ₁ -t ₂ ) When the value of (c) is greater than 0,indicating that the first target vehicle has passed the estimated time t _p Then, the first phase in the current timing scheme of the second intersection is ended; when (t) _p -t ₁ -t ₂ ) When the value of (2) is smaller than 0, the first target vehicle is indicated to pass the estimated time t _p Then, the first phase in the current timing scheme of the second intersection is not finished yet; when (t) _p -t ₁ -t ₂ ) When the value of (2) is equal to 0, the first target vehicle is represented to pass the estimated time t _p Then, the first phase in the current timing scheme of the second intersection just ends or just begins;

the first phase in the current timing scheme of the second intersection is the first phase closest 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 traffic in TOD integrated area, comprising:

acquiring the position and the 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 judged whether the first target vehicle passes through the intersection stop line; the position data can be acquired through a positioning technology (such as GPS (global positioning system) and Beidou positioning), or an identification card (such as RFID (radio frequency identification) technology) is installed on the first target vehicle, and a card reading device 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 among a plurality of intersections or the real-time speed monitored by a GPS or other positioning systems;

wherein the first relation includes:

wherein s is ₀ The monitoring range of TOD mode of a certain intersection;

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

wherein the second relation includes:

s ₀₁ the monitoring range of the TOD mode of the first intersection;

s ₀₂ the monitoring range of the TOD mode of the second intersection;

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

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

acquiring a second state parameter of the first target vehicle;

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

wherein the third relation comprises:

t ₁ under the current timing scheme for the second intersection, from the firstStarting at the moment when a target vehicle passes through a first intersection, and when the current timing scheme of a second intersection is a first phase, the target vehicle needs the shortest time;

specifically, the maximum shift time of the synergy rate of the first intersection and the second intersection represents |t in the third relation _p -t ₁ -t ₂ The value of l satisfies the maximum range allowed when the synergy rate is less than 1. When (t) _p -t ₁ -t ₂ ) When the value of (2) is greater than 0, the first target vehicle is indicated to pass the estimated time t _p Then, the first phase in the current timing scheme of the second intersection is ended; when (t) _p -t ₁ -t ₂ ) When the value of (2) is smaller than 0, the first target vehicle is indicated to pass the estimated time t _p Then, the first phase in the current timing scheme of the second intersection is not finished yet; when (t) _p -t ₁ -t ₂ ) When the value of (2) is equal to 0, the first target vehicle is represented to pass the estimated time t _p Then, the first phase in the current timing scheme of the second intersection just ends or just begins;

Example 3

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

Example 4

As shown in fig. 7, the present invention provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the method as described in the above embodiment 1.

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

In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and the division of the modules or units, for example, is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or units may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The modules or units described as separate components may or may not be physically separate, and components shown as modules or units may or may not be physical modules or units, may be located in one place, or may be distributed over a plurality of network modules or units. Some or all of the modules or units may be selected according to actual needs to achieve the purpose 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 may be integrated into one module or unit. The integrated modules or units described above may be implemented in hardware or in software functional units.

The integrated system, module, unit, etc. may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application, and are not limiting thereof; 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. The intelligent signal lamp control method for the traffic in the TOD comprehensive area is characterized by comprising the following steps of:

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, the TOD mode is started, including:

the intervention method of the first TOD mode comprises the following steps:

the first phase duration time is adjusted in real time, and whether the first target vehicle passes through or not is judged to be enough for the remaining effective green light duration time of the first phase in the current timing scheme; if the first target vehicle passes, maintaining the current timing scheme, and if the first target vehicle does not pass, prolonging the effective green light duration of the first phase until the first target vehicle passes the intersection;

the intervention method of the second TOD mode comprises the following steps:

acquiring a second state parameter of the first target vehicle;

the co-operation rate of the first intersection and the second intersection is used for indicating the approaching degree of the first phase in the current timing scheme of the second intersection in time after the estimated time of reaching the second intersection through the first intersection, namely, the monitoring range of the TOD mode of the first target vehicle just reaching the second intersection.

2. The method for controlling intelligent traffic lights for TOD integrated area according to claim 1, wherein said obtaining a first state parameter of a first target vehicle comprises:

The position and speed of the first target vehicle are acquired.

3. The method for controlling intelligent traffic lights in TOD integrated area according to claim 1, wherein the TOD mode monitoring range is set to be a fixed value, or based on the reference value of the monitoring range, real-time dynamic adjustment is performed according to the flow parameters of different time periods of the intersection, the parameters of the current timing scheme, and the number of lane settings in each traffic direction.

4. The method for controlling intelligent signal lamps for TOD integrated area traffic 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 includes:

wherein s is ₀ The monitoring range of TOD mode of a certain intersection;

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

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

5. The method for controlling intelligent signal lamps for TOD integrated area traffic according to claim 1, wherein the estimated time for the first target vehicle to reach the second intersection from the first intersection is obtained by using a second relational expression;

wherein the second relation includes:

s ₀₁ the monitoring range of the TOD mode of the first intersection;

s ₀₂ the monitoring range of the TOD mode of the second intersection;

v _i2 is the speed of the first target vehicle after passing through the i-th intersection.

6. The method for controlling intelligent signal lamps for TOD integrated area traffic according to claim 1, wherein the synergy rate of the first intersection and the second intersection is determined by using a third relational expression;

wherein the third relation comprises:

t ₀ the maximum offset time of the synergy rate of the first intersection and the second intersection.

7. An intelligent signal lamp control system for traffic in TOD comprehensive area, which is characterized by comprising:

The intervention method of the first TOD mode comprises the following steps:

The intervention method of the second TOD mode comprises the following steps:

acquiring a second state parameter of the first target vehicle;