CN115472025A - Signal lamp control method and device based on vehicle speed, electronic equipment and storage medium - Google Patents
Signal lamp control method and device based on vehicle speed, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Abstract
The invention discloses a signal lamp control method, a device, electronic equipment and a storage medium based on vehicle speed, which can achieve the purpose of limiting the right of way of high-speed vehicles by sensing the driving speed and distance of the vehicles and starting a green lamp phase to release when the vehicle speed is lower than a vehicle speed threshold when the vehicle is away from the signal lamp by a specified distance, thereby improving the vehicle speed control consciousness of a driver at an intersection and reducing the accident rate of the intersection; meanwhile, the method is low in cost and simple in control mode, and can be widely applied to areas with multiple accidents and areas with poor sight distances.
Description
Technical Field
The invention belongs to the technical field of traffic signal control, and particularly relates to a signal lamp control method and device based on vehicle speed, electronic equipment and a storage medium.
Background
At present, a method of fixed-period coordinated control and induction control is adopted for controlling traffic signals, and under a normal condition, normal control is usually performed according to a phase sequence diagram, namely, the normal control is performed along a preset control flow; however, in some cases, a phase needs to be temporarily inserted or removed from the signal lamp due to a change in traffic flow demand between different flow directions, and in this case, inductive control may be used to initiate the appropriate phase under coordinated control.
Common perception judgment is carried out according to the time interval of the vehicle head and the queuing length, and the main purpose is to coordinate the traffic flow of different phases so as to embody fairness in different directions; however, at an intersection with a high accident, if the vehicle speed is too fast, the vehicle can rush into the intersection, and the existing signal lamp has no signal control strategy for limiting the right of way of the high-speed vehicle, so how to limit the right of way of the high-speed vehicle at the intersection by the signal lamp and improve the vehicle speed control consciousness of the driver at the intersection becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a signal lamp control method, a signal lamp control device, electronic equipment and a storage medium based on vehicle speed, which are used for solving the problem that the road right of a high-speed vehicle cannot be limited through a signal lamp in the prior art, so that the vehicle speed control consciousness of a driver at an intersection cannot be improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for controlling a signal lamp based on a vehicle speed, comprising:
the method comprises the steps that when any signal lamp in a specified road intersection is in a red lamp phase, vehicle information in a lane indicated by the signal lamp is obtained, wherein the vehicle information comprises the speed of each vehicle in the lane when the vehicle is away from the signal lamp by a specified distance;
judging whether the speed of each vehicle is less than a speed threshold value;
if so, changing the phase of any signal lamp into a green lamp phase, and changing the phase of the target signal lamp into a red lamp phase; otherwise, the red light phase of any signal lamp is kept until the red light phase duration of any signal lamp reaches the maximum red light phase duration, wherein the target signal lamp is a signal lamp in the specified road intersection except any signal lamp;
judging whether the green light phase duration of any signal light is equal to the minimum green light phase duration or not;
if yes, after the green light phase of any signal light lasts for a specified time, judging whether vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal light;
and if not, keeping the green light phase of any signal light until the minimum green light phase duration is reached.
Based on the disclosure, the invention judges whether the change of the phase of the signal lamp can be carried out or not by acquiring the vehicle speed of each vehicle in the lane corresponding to the signal lamp, namely when the vehicle speed of each vehicle in the lane is less than the vehicle speed threshold value when the distance from the signal lamp to the specified distance is less than the vehicle speed threshold value, the green phase of the signal lamp is started to release the vehicle, and if the vehicle speed of any vehicle in the lane is higher than the vehicle speed threshold value, the red phase of the signal lamp is kept and the vehicle is not released; meanwhile, after the green light phase of the signal lamp is turned on, the invention can also judge whether vehicles exist in the lane in real time to judge whether the duration of the green light phase can be prolonged or not, thereby ensuring the normal passing of each vehicle.
Through the design, the invention can achieve the purpose of limiting the right of way of high-speed vehicles by sensing the running speed and the distance of the vehicles and starting the green light phase to release when the vehicle speed is lower than the vehicle speed threshold value when the vehicle is away from the signal lamp by the specified distance, thereby improving the vehicle speed control consciousness of a driver at the intersection and reducing the accident rate of the intersection.
In one possible design, if there is a vehicle in the lane indicated by any of the signal lights that does not pass through the specified road intersection, the method further comprises:
acquiring the speed of a target vehicle in the lane at a specified distance from any signal lamp, wherein the target vehicle is a vehicle which does not pass through the specified road intersection in the lane;
judging whether the speed of the target vehicle is less than the speed threshold value;
if yes, prolonging the duration time of the green light phase of any signal light;
judging whether the prolonged green light phase duration time of any signal light is greater than or equal to the maximum green light phase duration time or not;
if not, judging whether vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp after the green lamp phase of any signal lamp lasts for the specified time length again after the target time, wherein the target time is the corresponding time after the green lamp phase of any signal lamp lasts for the specified time length last time.
Based on the disclosure, after the green light phase of the signal lamp lasts for the specified duration, when the vehicle which does not pass through the intersection is judged to exist in the corresponding lane, the speed of the vehicle which does not pass through the intersection and is away from the signal lamp by the specified distance can be continuously judged, and when the speed of the vehicle is less than the speed threshold, the green light phase is kept, the green light duration is prolonged, and the cycle is carried out until the green light lighting duration is equal to the maximum green light phase duration; through the design, the invention can achieve the purpose of limiting the right of way of high-speed vehicles while ensuring that vehicles which do not pass through the intersection in the lane have enough time to pass through the intersection.
In one possible design, if the extended green phase duration of any of the signal lamps is equal to the maximum green phase duration, the method further includes:
after the fact that the green light phase of any signal lamp continues for the specified time length again after the target time is judged, vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp, and when the vehicle speed of the target vehicle in the lane is smaller than the vehicle speed threshold value, the green light phase duration of any signal lamp is kept to be the prolonged green light phase duration, wherein the target vehicle is the vehicle which does not pass through the specified road intersection in the lane, and the vehicle speed of the target vehicle is the vehicle speed when the target vehicle is away from the specified distance of any signal lamp.
Based on the above disclosure, if the extended green light phase duration is equal to the maximum green light phase duration, when it is determined that there is a vehicle passing through the intersection in the lane, the green light time of the signal light is not extended, and at this time, when the green light duration of the signal light reaches the maximum green light phase duration, the red light phase may be switched.
In one possible design, if the vehicle speed of the target vehicle is greater than or equal to the vehicle speed threshold, the method further includes:
and changing the phase of any signal lamp from the green lamp phase to the red lamp phase.
In one possible design, the determining whether there is a vehicle that fails to pass through the specified road intersection in the lane indicated by any one of the signal lamps includes:
acquiring vehicle detection data in a lane indicated by any signal lamp, wherein the vehicle detection data comprises the distance between each vehicle to be detected in the lane and any signal lamp and the speed of each vehicle to be detected;
obtaining the passing time of each vehicle to be detected passing through the specified road intersection based on the speed of each vehicle to be detected and the distance between each vehicle to be detected and any one of the signal lamps;
judging whether a vehicle to be detected with the passing time length smaller than a target time length exists in each vehicle to be detected, wherein the target time length is a difference value between the green light phase duration time and the green light phase duration time of any signal lamp;
if yes, judging that vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp.
In one possible design, before changing the phase of the target signal lamp to the red lamp phase, the method further includes:
and changing the phase of the target signal lamp into a green lamp flashing phase so as to play a role in prompting signal change for pedestrians and vehicles in the lane corresponding to the target signal lamp.
In one possible design, the method further includes:
and when the green light phase of any signal light is continuously within a specified duration, if the speed of any vehicle passing through the lane at a specified distance from any signal light is greater than the speed threshold, changing the phase of any signal light from the green light phase to the red light phase.
Based on the disclosure, the method can judge whether the vehicle speed of each vehicle passing through the lane is smaller than the vehicle speed threshold value when the vehicle is away from the designated distance of the signal lamp in real time within the duration time of the green light phase, and change the phase of the signal lamp from the green light phase to the red light phase when the vehicle speed is greater than or equal to the vehicle speed threshold value; therefore, the right of way of the high-speed vehicle can be limited in real time in the green light passing process.
In a second aspect, the present invention provides a vehicle speed-based signal lamp control apparatus comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring vehicle information in a lane indicated by any signal lamp when the signal lamp in a specified road intersection is in a red lamp phase, and the vehicle information comprises the vehicle speed of each vehicle in the lane when the vehicle is away from the signal lamp by a specified distance;
the first judgment unit is used for judging whether the speed of each vehicle is smaller than a speed threshold value;
a phase control unit configured to change the phase of the any one of the traffic lights to a green light phase and change the phase of a target traffic light to a red light phase when the first determination unit determines that the traffic light is a red light phase; otherwise, the red light phase of any signal lamp is kept until the red light phase duration of any signal lamp reaches the maximum red light phase duration, wherein the target signal lamp is a signal lamp in the specified road intersection except any signal lamp;
a second determination unit, configured to determine whether a green light phase duration of any one of the signal lights is equal to a minimum green light phase duration;
the vehicle detection unit is used for judging whether a vehicle which does not pass through the specified road intersection exists in the lane indicated by any signal lamp after the green lamp phase of any signal lamp lasts for a specified time when the second judgment unit judges that the vehicle does not pass through the specified road intersection;
and the phase control unit is used for keeping the green light phase of any signal lamp until the duration time of the minimum green light phase is reached when the vehicle detection unit judges that no vehicle which does not pass through the specified road intersection exists in the lane indicated by any signal lamp.
In a third aspect, the present invention provides another vehicle speed-based signal lamp control device, taking a device as an electronic device as an example, comprising a memory, a processor and a transceiver, which are sequentially connected in communication, wherein the memory is used for storing a computer program, the transceiver is used for sending and receiving messages, and the processor is used for reading the computer program and executing the vehicle speed-based signal lamp control method as described in the first aspect or any one of the possible designs of the first aspect.
In a fourth aspect, the present invention provides a storage medium having stored thereon instructions that, when executed on a computer, perform the vehicle speed-based signal light control method as may be devised in the first aspect or any one of the first aspects.
In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to carry out the method of vehicle speed-based signal control as may be devised in the first aspect or any one of the first aspects.
Has the advantages that:
(1) The invention can start the green light phase and release the green light phase when the vehicle speed is lower than the vehicle speed threshold value when the vehicle is away from the signal lamp by sensing the running speed and the distance of the vehicle, thereby achieving the purpose of limiting the right of way of high-speed vehicles.
Drawings
FIG. 1 is a system architecture diagram of a vehicle speed based signal light control system provided by the present invention;
FIG. 2 is a flow chart illustrating steps of a method for controlling a signal lamp based on vehicle speed according to the present invention;
FIG. 3 is a schematic structural diagram of a vehicle speed-based signal lamp control device provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the embodiments or the description in the prior art, it is obvious that the following description of the structure of the drawings is only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts. It should be noted that the description of the embodiments is provided to help understanding of the present invention, and the present invention is not limited thereto.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
Example (b):
referring to fig. 1, a vehicle speed-based signal lamp control system is provided for the present application, and the system may include, but is not limited to, a speed radar, a signal controller, and a signal lamp, where the speed radar performs speed measurement and distance measurement on vehicles in a lane indicated by the signal lamp based on doppler effect and Time of flight (TOF) principle to obtain a vehicle speed when each vehicle is at a specified distance (e.g. 10 m) from the signal lamp, so as to form vehicle information in the lane, and transmit the vehicle information to the signal controller; after the signal control machine receives the vehicle information, the vehicle speed of each vehicle in the lane can be obtained based on the vehicle information, so that when the vehicle speed of each vehicle is smaller than a vehicle speed threshold value, the phase of the signal lamp is changed into a green lamp phase, meanwhile, the speed measuring radar and the signal control machine can continuously work within the duration time of the green lamp phase, namely, the two work in cooperation to detect whether vehicles which do not pass through the intersection exist in the lane, so that the duration time of the green lamp phase can be prolonged in real time based on the vehicles in the lane, and the vehicle speed of each vehicle can be detected at the same time, and the purpose of limiting the right of way of high-speed vehicles can be achieved while the vehicles pass through the intersection is ensured; therefore, through the design, the system is arranged at the road intersection, the vehicle speed control consciousness of a driver at the intersection can be improved, and the accident rate of the intersection is reduced.
Referring to fig. 2, the vehicle speed-based signal lamp control method provided in the first aspect of the present embodiment may be, but is not limited to, operated on a signal control machine side, and it is understood that the foregoing executing body does not constitute a limitation to the embodiment of the present application, and when the method is specifically applied, the operating steps of the method may include, but are not limited to, the following steps S1 to S6.
S1, acquiring vehicle information in a lane indicated by any signal lamp when any signal lamp in an appointed road intersection is in a red light phase, wherein the vehicle information comprises the speed of each vehicle in the lane when the vehicle is away from any signal lamp by an appointed distance; when the method is applied specifically, a speed measuring radar can be adopted to detect the distance and the speed of each vehicle in the lane indicated by any signal lamp, optionally, the speed measuring radar is a millimeter wave radar, the farthest detection range of the millimeter wave radar can reach 500m, and the method has the advantage of high precision, so that the accuracy of vehicle detection can be ensured, and further, the millimeter wave radar can be installed on a signal lamp post facing the lane, but not limited to; in this embodiment, for example, the speed measuring radar may detect the speed of each vehicle when the vehicle is 15m or 20m away from the signal lamp, and any signal lamp may be, but is not limited to, a signal lamp corresponding to an east-west direction lane at a specified road intersection, or a signal lamp corresponding to a north-south direction lane.
After the vehicle information of the lane indicated by any one of the traffic lights is acquired, the traffic lights can be controlled based on the vehicle information, as shown in the following steps S2 and S3.
S2, judging whether the speed of each vehicle is smaller than a speed threshold value; in a specific application, the vehicle speed threshold may be set to 40km/h, but is not limited to the foregoing example, and may be actually set according to the traffic condition of the intersection.
S3, if yes, changing the phase of any signal lamp into a green lamp phase, and changing the phase of a target signal lamp into a red lamp phase; otherwise, the red light phase of any signal lamp is kept until the red light phase duration of any signal lamp reaches the maximum red light phase duration, wherein the target signal lamp is a signal lamp in the specified road intersection except any signal lamp; in specific implementation, the passing condition is met only when the vehicle speeds of all vehicles in the lane are smaller than the vehicle speed threshold value, namely the phase of the signal lamp is changed into the phase of the green lamp; otherwise, the passing condition is not satisfied, namely the red light phase of the signal lamp is kept until the maximum red light phase duration is reached; therefore, when high-speed vehicles (vehicles with the speed greater than the speed threshold value) exist in the lane indicated by the signal lamp, the passing of all vehicles in the lane can be limited, so that the purpose of limiting the right of way of the high-speed vehicles is achieved, the speed control consciousness of a driver at the intersection is improved, and the occurrence probability of traffic accidents at the intersection is reduced.
In this embodiment, when any signal lamp is changed to the green lamp phase, correspondingly, the other signal lamps in the intersection are changed to the red lamp phase, so that the phase conflicts of the signal lamps in different directions can be prevented, and the traffic accidents can be avoided; furthermore, in order to prompt the passing vehicles and pedestrians at the intersection in the other directions, in the embodiment, before the phase of the target signal lamp is changed into the red light phase, the phase of the target signal lamp can be changed into the green light flashing phase, so that the signal change prompting function is performed on the pedestrians and vehicles in the lane corresponding to the target signal lamp, the pedestrians and vehicles at the intersection in the other directions are cleared, and the passing safety of the pedestrians and vehicles in the lane corresponding to any signal lamp is ensured.
After the phase of any one of the traffic lights is changed to the green light phase, it is further determined whether the green light phase duration of any one of the traffic lights meets the minimum green light phase duration to ensure that the vehicle has sufficient transit time, wherein the determining process is as shown in the following step S4.
S4, judging whether the green light phase duration of any signal light is equal to the minimum green light phase duration or not; in a specific application, when any signal lamp is changed to a green lamp phase, the corresponding duration is an initial value (for example, 30s, which is set to exist at the time of factory shipment) set in the signal controller, and meanwhile, for example, the minimum green lamp phase time may be calculated according to the historical flow of the intersection, and in this embodiment, it is preferably 40s.
In this embodiment, if the duration of the green light phase of any one of the signal lights is equal to the duration of the minimum green light phase, the present embodiment will extend the green light time based on the passing vehicles in the lane, so as to ensure that the vehicles in the lane can have enough time to pass through the intersection; if the green phase duration of any of the signal lights is less than the minimum green phase duration, the green phase duration is changed to the minimum green phase duration.
In the present embodiment, the process of changing the green light phase duration based on the vehicle in the lane corresponding to any one of the traffic lights is as shown in steps S5 and S6 described below.
S5, if yes, judging whether vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp after the green lamp phase of any signal lamp lasts for a specified time; when the method is used specifically, the specified time length can be but is not limited to 5s or 10s, namely, after any signal lamp is turned into a green lamp phase, the phase is started to be calculated, and after 10s, whether vehicles which do not pass through the specified road intersection exist in a lane is judged; meanwhile, in this embodiment, within a duration that a green light phase of any one of the signal lamps continues to be specified, that is, within 10s of lighting, the speed measuring radar may detect the speed of each vehicle in the lane within the 10s in real time, and transmit the speed to the traffic control machine, so that the traffic control machine may control the phase of the signal lamp in real time based on the received speed, that is, within a duration that a green light phase of any one of the signal lamps continues to be specified, if the speed of any one of the vehicles passing through the lane at a specified distance from the any one of the signal lamps is greater than the speed threshold, the phase of the any one of the signal lamps is changed from the green light phase to the red light phase; therefore, by the design, the invention can limit the right of way of the high-speed vehicle in real time in the green light passing process.
Further, in this embodiment, the credit controller may determine whether each vehicle in the lane can pass through the specified road intersection based on the speed of the passing vehicle in the lane and the distance between the passing vehicle and any one of the signal lights, wherein the determination process is as shown in steps S51 to S54 below.
S51, vehicle detection data in a lane indicated by any signal lamp are obtained, wherein the vehicle detection data comprise the distance between each vehicle to be detected in the lane and any signal lamp and the speed of each vehicle to be detected; in this embodiment, the vehicle detection data is also obtained by a speed measuring radar, and the principle is not described again.
S52, obtaining the passing time of each vehicle to be detected through the specified road intersection based on the speed of each vehicle to be detected and the distance between each vehicle to be detected and any signal lamp; when the method is applied specifically, for any vehicle to be detected, the passing time of the vehicle to be detected can be obtained by dividing the distance between the vehicle to be detected and the signal lamp by the vehicle speed.
S53, judging whether a vehicle to be detected with a passing time length smaller than a target time length exists in each vehicle to be detected, wherein the target time length is a difference value between the green light phase duration time and the green light phase duration time of any signal lamp; in a specific application, as an example, it is assumed that a specified time duration (i.e., 10s duration) continues after the phase of any one of the traffic lights changes to the green phase, and then the target time duration is the difference between the duration of the green phase of any one of the traffic lights (e.g., the minimum duration of the green phase) and 10 s; therefore, based on the size relationship between the passing time length of each vehicle to be detected and the target time length, whether each vehicle to be detected can pass through the specified road intersection can be obtained, namely the passing time length of each vehicle to be detected is smaller than the target time length, if so, the vehicle to be detected can pass through the specified road intersection, and if not, the vehicle to be detected cannot pass through the specified road intersection.
And S54, if yes, judging that vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp.
After determining whether there is a vehicle passing through the specified road intersection, the traffic light control is performed based on the determination result, as described in step S6 below.
S6, if not, keeping the green light phase of any signal light until the minimum green light phase duration is reached; in this embodiment, of course, during the period of maintaining the green light phase of any one of the signal lamps, the speed measuring radar may also detect the speed of the vehicle in the lane at a specified distance from the signal lamp in real time, and transmit the speed information to the credit control machine, and the credit control machine may maintain the green light phase to be turned on when the speed of the vehicle is smaller than the speed threshold, so as to release the vehicle, and if the speed of the vehicle is greater than the speed threshold, change the red light phase of any one of the signal lamps, so as to restrict the vehicle from passing through.
Therefore, through the signal lamp control method based on the vehicle speed, which is described in detail in the steps S1 to S6, the invention can start the green lamp phase and release the green lamp phase when the vehicle speed is lower than the vehicle speed threshold value when the vehicle is away from the signal lamp at the specified distance by sensing the running speed and the distance of the vehicle, thereby achieving the purpose of limiting the highway right of the vehicle, improving the vehicle speed control consciousness of a driver at the intersection and reducing the accident rate of the intersection.
In a possible design, in the second aspect of the present embodiment, a step of extending the duration of the green light phase is added on the basis of the first aspect of the present embodiment, that is, when there is a vehicle that does not pass through the specified road junction in the lane indicated by any one of the signal lights, the duration of the green light phase of any one of the signal lights is extended to ensure that the vehicle in the corresponding lane can pass through the specified road junction.
In particular, the extension of the green light phase duration is performed as shown in steps S7 to S11.
S7, acquiring the speed of a target vehicle in the lane at a specified distance from any signal lamp, wherein the target vehicle is a vehicle which does not pass through the specified road intersection in the lane; when specifically using, the speed of a target vehicle is also measured through the speed measuring radar, and the principle is not repeated.
S8, judging whether the speed of the target vehicle is smaller than the speed threshold value; similarly, it is also determined whether the vehicle speed of each of the target vehicles is less than the vehicle speed threshold value, so as to determine whether the green light phase can be maintained based on the vehicle speed of each of the target vehicles.
S9, if yes, prolonging the duration time of the green light phase of any signal light; in this embodiment, the extended time may be, but is not limited to, the maximum passing time of each target vehicle passing through the specified road intersection (the passing time is calculated based on the vehicle speed of the target vehicle and the distance between the target vehicle and any one of the signal lamps), that is, if there are 5 vehicles, the maximum passing time of the 5 vehicles passing through the specified road intersection is taken as the extended time; and if the vehicle speed of the target vehicle is greater than or equal to the vehicle speed threshold value, changing the phase of any one signal lamp from the green lamp phase to the red lamp phase.
In this embodiment, after the green light phase duration of any one of the signal lights is extended, it is further determined whether the extended time is equal to the maximum green light phase duration, so as to perform subsequent signal light control based on the magnitude relationship between the two, wherein the control process is as shown in the following steps S10 and S11.
S10, judging whether the prolonged green light phase duration time of any signal light is greater than or equal to the maximum green light phase duration time or not; for a particular application, the maximum green phase duration may be, but is not limited to, 90s.
S11, if not, judging whether a vehicle which does not pass through the specified road intersection exists in the lane indicated by any signal lamp after the green lamp phase of any signal lamp lasts for the specified time length again after the target time, wherein the target time is the corresponding time after the green lamp phase of any signal lamp lasts for the specified time length for the previous time; in specific application, the step S5 is repeated, and an example is given on the basis of the step S5, that is, the time when the green phase of any one of the signal lamps lasts for 10 seconds is taken as the target time, the target time is taken as the starting time again, and after the time lasts for 10 seconds, whether a vehicle which does not pass through the specified road intersection exists in the lane is judged; specifically, after the green light phase of any signal light lasts for 20S, the vehicle in the lane is judged, and similarly, the next judgment is that the signal light continues for 30S, 40S and 50S until the maximum green light phase duration is reached, and of course, the step S6 or S7 can be executed again each time based on the judgment result, so that the continuous detection of the vehicle in the lane can be realized when the signal light is in the green light phase, and the purpose of limiting the right of way of the high-speed vehicle is achieved while the vehicle in the lane is ensured to pass.
In addition, in this embodiment, if the extended green light phase duration of any signal light is equal to the maximum green light phase duration, in the subsequent detection process, the green light phase duration of any signal light is not extended any more, that is: when the fact that the green light phase of any signal lamp lasts for the specified duration again after the target time is judged, vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp, and the speed of the target vehicle in the lane is smaller than the speed threshold value, the green light phase duration of any signal lamp is kept to be the prolonged green light phase duration, and when the prolonged green light phase duration of any signal lamp reaches the maximum green light phase duration, the green light phase of any signal lamp is changed to be the red light phase; optionally, if the extended green light phase duration of any signal light is greater than the maximum green light phase duration, the extended green light phase duration is changed to the maximum green light phase duration, and similarly, during subsequent detection, the phase duration is not extended any more until the green light phase duration reaches the maximum green light phase duration, and the green light phase is ended.
Therefore, through the steps S7 to S11, the invention can realize the uninterrupted detection of the vehicles in the lane when the signal lamp is in the green lamp phase, thereby controlling the phase of the signal lamp in real time, and achieving the purpose of limiting the right of way of the high-speed vehicles while ensuring the vehicles in the lane to pass.
As shown in fig. 3, a third aspect of the present embodiment provides a hardware device for implementing the vehicle speed-based signal light control method described in the first and second aspects of the present embodiment, including:
the system comprises an acquisition unit, a traffic light phase acquisition unit and a traffic light phase acquisition unit, wherein the acquisition unit is used for acquiring vehicle information in a lane indicated by any traffic light when any traffic light in a specified road intersection is in a red light phase, and the vehicle information comprises the vehicle speed of each vehicle in the lane when the vehicle is away from any traffic light by a specified distance.
And the first judgment unit is used for judging whether the speed of each vehicle is less than the speed threshold value.
A phase control unit configured to change the phase of the any one of the traffic lights to a green light phase and change the phase of a target traffic light to a red light phase when the first determination unit determines that the traffic light is a red light phase; and if not, maintaining the red light phase of any signal lamp until the red light phase duration of any signal lamp reaches the maximum red light phase duration, wherein the target signal lamp is the signal lamp in the specified road intersection except for any signal lamp.
And the second judgment unit is used for judging whether the green light phase duration of any signal light is equal to the minimum green light phase duration.
And the vehicle detection unit is used for judging whether vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp after the green lamp phase of any signal lamp continues for a specified time when the second judgment unit judges that the vehicle does not pass through the specified road intersection.
And the phase control unit is used for keeping the green light phase of any signal lamp until the duration time of the minimum green light phase is reached when the vehicle detection unit judges that no vehicle which does not pass through the specified road intersection exists in the lane indicated by any signal lamp.
For the working process, the working details, and the technical effects of the apparatus provided in this embodiment, reference may be made to the first aspect and the second aspect of the embodiment, which are not described herein again.
As shown in fig. 4, a fourth aspect of the present embodiment provides another signal lamp control device based on vehicle speed, taking the device as an electronic device as an example, including: the vehicle speed-based signal lamp control method comprises a memory, a processor and a transceiver which are sequentially connected in a communication mode, wherein the memory is used for storing a computer program, the transceiver is used for transceiving messages, and the processor is used for reading the computer program and executing the vehicle speed-based signal lamp control method according to the first aspect and/or the second aspect of the embodiment.
For example, the Memory may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Flash Memory (Flash Memory), a First In First Out (FIFO), a First In Last Out (FILO), and/or a First In Last Out (FILO); in particular, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field Programmable Gate Array), and a PLA (Programmable Logic Array), and may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit) which is responsible for rendering and drawing contents required to be displayed on the display screen, for example, the processor may not be limited to a processor adopting a model STM32F105 series microprocessor, a Reduced Instruction Set Computer (RISC) microprocessor, an X86 or other architecture processor or an embedded neural Network Processor (NPU); the transceiver may be, but is not limited to, a wireless fidelity (WIFI) wireless transceiver, a bluetooth wireless transceiver, a General Packet Radio Service (GPRS) wireless transceiver, a ZigBee wireless transceiver (ieee802.15.4 standard-based low power local area network protocol), a 3G transceiver, a 4G transceiver, and/or a 5G transceiver, etc. In addition, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.
For the working process, the working details, and the technical effects of the electronic device provided in this embodiment, reference may be made to the first aspect and the second aspect of the embodiment, which are not described herein again.
A fifth aspect of the present embodiment provides a storage medium storing instructions including the vehicle speed-based signal control method according to the first aspect and/or the second aspect, that is, the storage medium storing instructions that, when executed on a computer, perform the vehicle speed-based signal control method according to the first aspect and/or the second aspect.
The storage medium refers to a carrier for storing data, and may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash Memory, a flash disk and/or a Memory Stick (Memory Stick), etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
For the working process, the working details, and the technical effects of the storage medium provided in this embodiment, reference may be made to the first aspect of the embodiment, and details of the second aspect are not described herein again.
A sixth aspect of the present embodiments provides a computer program product comprising instructions which, when executed on a computer, cause the computer to perform the method for vehicle speed-based signal light control according to the first and/or second aspect of the present embodiments, wherein the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for controlling a signal light based on vehicle speed, comprising:
the method comprises the steps that when any signal lamp in a specified road intersection is in a red lamp phase, vehicle information in a lane indicated by the signal lamp is obtained, wherein the vehicle information comprises the speed of each vehicle in the lane when the vehicle is away from the signal lamp by a specified distance;
judging whether the speed of each vehicle is less than a speed threshold value;
if so, changing the phase of any signal lamp into a green lamp phase, and changing the phase of the target signal lamp into a red lamp phase; otherwise, the red light phase of any signal lamp is kept until the red light phase duration of any signal lamp reaches the maximum red light phase duration, wherein the target signal lamp is a signal lamp in the specified road intersection except any signal lamp;
judging whether the green light phase duration of any signal light is equal to the minimum green light phase duration or not;
if yes, after the green light phase of any signal light lasts for a specified duration, judging whether vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal light;
and if not, keeping the green light phase of any signal light until the minimum green light phase duration is reached.
2. The method of claim 1, wherein if there is a vehicle in the lane indicated by any of the signal lights that has not passed the specified road intersection, the method further comprises:
acquiring the speed of a target vehicle in the lane at a specified distance from any signal lamp, wherein the target vehicle is a vehicle which does not pass through the specified road intersection in the lane;
judging whether the speed of the target vehicle is less than the speed threshold value;
if yes, prolonging the green light phase duration of any signal light;
judging whether the prolonged green light phase duration time of any signal light is greater than or equal to the maximum green light phase duration time or not;
if not, judging whether vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp after the green lamp phase of any signal lamp lasts for the specified time length again after the target time, wherein the target time is the corresponding time after the green lamp phase of any signal lamp lasts for the specified time length last time.
3. The method of claim 2, wherein if the extended green phase duration of any of the signal lights is equal to the maximum green phase duration, the method further comprises:
after the fact that the green light phase of any signal lamp lasts for the appointed time length again after the fact that the green light phase of any signal lamp is at the target moment is judged, vehicles which do not pass through the appointed road intersection exist in the lane indicated by any signal lamp, and when the vehicle speed of the target vehicle in the lane is smaller than the vehicle speed threshold value, the green light phase duration of any signal lamp is kept to be the prolonged green light phase duration, wherein the target vehicle is the vehicle which does not pass through the appointed road intersection in the lane, and the vehicle speed of the target vehicle is the vehicle speed when the target vehicle is away from the appointed distance of any signal lamp.
4. The method of claim 2, wherein if the vehicle speed of the target vehicle is greater than or equal to the vehicle speed threshold, the method further comprises:
and changing the phase of any signal lamp from the green lamp phase to the red lamp phase.
5. The method of claim 1, wherein determining whether a vehicle that fails at the specified road intersection is present in the lane indicated by any of the signal lights comprises:
acquiring vehicle detection data in a lane indicated by any signal lamp, wherein the vehicle detection data comprises the distance between each vehicle to be detected in the lane and any signal lamp and the speed of each vehicle to be detected;
obtaining the passing time of each vehicle to be detected passing through the specified road intersection based on the speed of each vehicle to be detected and the distance between each vehicle to be detected and any one of the signal lamps;
judging whether a vehicle to be detected with the passing time length smaller than a target time length exists in each vehicle to be detected, wherein the target time length is a difference value between the green light phase duration time and the green light phase duration time of any signal lamp;
if yes, judging that vehicles which do not pass through the specified road intersection exist in the lane indicated by any signal lamp.
6. The method of claim 1, wherein before changing the phase of the target signal light to the red light phase, the method further comprises:
and changing the phase of the target signal lamp into a green lamp flashing phase so as to play a signal change prompting role on pedestrians and vehicles in a lane corresponding to the target signal lamp.
7. The method of claim 1, further comprising:
and when the green light phase of any signal light is continuously within a specified duration, if the speed of any vehicle passing through the lane at a specified distance from any signal light is greater than the speed threshold, changing the phase of any signal light from the green light phase to the red light phase.
8. A signal lamp control device based on a vehicle speed, characterized by comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring vehicle information in a lane indicated by any signal lamp when the signal lamp in a specified road intersection is in a red lamp phase, and the vehicle information comprises the vehicle speed of each vehicle in the lane when the vehicle is away from the signal lamp by a specified distance;
the first judgment unit is used for judging whether the speed of each vehicle is smaller than a speed threshold value;
a phase control unit configured to change the phase of the any one of the traffic lights to a green light phase and change the phase of a target traffic light to a red light phase when the first determination unit determines that the traffic light is a red light phase; otherwise, the red light phase of any signal lamp is kept until the red light phase duration of any signal lamp reaches the maximum red light phase duration, wherein the target signal lamp is a signal lamp in the specified road intersection except any signal lamp;
a second determination unit, configured to determine whether a green light phase duration of any one of the signal lights is equal to a minimum green light phase duration;
the vehicle detection unit is used for judging whether a vehicle which does not pass through the specified road intersection exists in the lane indicated by any signal lamp after the green lamp phase of any signal lamp continues for a specified time when the second judgment unit judges that the vehicle does not pass through the specified road intersection;
and the phase control unit is used for keeping the green light phase of any signal lamp until the duration time of the minimum green light phase is reached when the vehicle detection unit judges that no vehicle which does not pass through the specified road intersection exists in the lane indicated by any signal lamp.
9. An electronic device, comprising: a memory, a processor and a transceiver, which are connected in sequence in communication, wherein the memory is used for storing a computer program, the transceiver is used for transmitting and receiving messages, and the processor is used for reading the computer program and executing the vehicle speed-based signal lamp control method according to any one of claims 1 to 7.
10. A storage medium having stored thereon instructions for executing the vehicle speed-based signal light control method according to any one of claims 1 to 7 when the instructions are run on a computer.
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| CN202211022008.9A CN115472025A (en) | 2022-08-24 | 2022-08-24 | Signal lamp control method and device based on vehicle speed, electronic equipment and storage medium |
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Application publication date: 20221213 |