CN116721560A - Traffic light system based on laser radar - Google Patents
Traffic light system based on laser radar Download PDFInfo
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- CN116721560A CN116721560A CN202310966568.8A CN202310966568A CN116721560A CN 116721560 A CN116721560 A CN 116721560A CN 202310966568 A CN202310966568 A CN 202310966568A CN 116721560 A CN116721560 A CN 116721560A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 92
- 238000007405 data analysis Methods 0.000 claims abstract description 54
- 230000009467 reduction Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012986 modification Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention relates to the field of traffic control, in particular to a traffic light system based on a laser radar, which comprises: the distributed traffic light unit comprises a plurality of traffic lights, and each traffic light is arranged at a corresponding preset fixed position; the information acquisition unit is used for acquiring information to be analyzed; the data analysis unit is used for determining a traffic control mode according to the number of the first type of moving targets in the single annular monitoring area; the adjusting control unit is used for determining a traffic light adjusting mode according to the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads in the single annular monitoring area, and comprises the steps of adjusting the switching time of traffic lights of the traffic lights and adjusting the red light or green light duration of the traffic lights; the invention improves the unified management and control efficiency of the manned mobile equipment and the unmanned transportation mobile equipment in the port and dock traffic.
Description
Technical Field
The invention relates to the field of traffic control, in particular to a traffic light system based on a laser radar.
Background
The harbour is the important gathering and distributing place of goods, and the effective implementation of pier traffic control can ensure the quick, the business turn over harbour of goods, avoids the goods to block up and stay, improves logistics efficiency, and the harbour traffic flow is big to because the development of science and technology, the harbour pier exists the condition that manned equipment and unmanned transportation equipment are chaotic traffic, if lack effective traffic control measure, take place the traffic accident easily, cause casualties and loss of property, consequently, how to improve the traffic efficiency of harbour manned equipment and unmanned transportation equipment under the circumstances of guaranteeing harbour pier traffic safety through virtual traffic light and actual traffic light is the problem that people are urgent to solve now.
Chinese patent publication No. CN113538937A discloses a port mixed traffic control system, which is based on the limitation of an artificial card collecting lane, traffic signal lamps and ground lifting columns, and controls a manual card collecting and an unmanned card collecting to drive according to port standards through the control of a traffic control center, wherein the unmanned card collecting and the unmanned card collecting run on the unmanned card collecting lane in normal conditions, when the unmanned card collecting and the manual card collecting lane are used in advance, a claim request can be submitted to the traffic control center, after the traffic control center judges to claim, the traffic control center controls a ground indicator lamp on the artificial card collecting lane to be lightened according to a first display mode, the traffic signal lamps are displayed to inhibit passing marks, and controls the ground lifting columns in front of a claim area to lift, so that the artificial card collecting and the control card collecting in front of the claim area on the artificial card collecting lane are limited; it can be seen that the above technical solution has the following problems: the unified management of the manned equipment and the unmanned equipment cannot be completely realized, a great amount of manpower and resource use are required for the establishment of the manual truck collecting lane, the traffic signal lamp and the ground lifting upright post, and meanwhile, the problem that how to correspondingly control the traffic signal lamp according to the actual traffic condition to realize traffic control and control, so that the traffic control efficiency of the traffic signal lamp is low is not considered.
Disclosure of Invention
Therefore, the invention provides a traffic light system based on a laser radar, which is used for solving the problem of low traffic efficiency of manned equipment and unmanned transportation equipment in ports and wharfs in the prior art.
To achieve the above object, the present invention provides a laser radar-based traffic light system, comprising:
the distributed traffic light unit comprises a plurality of traffic lights, each traffic light is arranged at a corresponding preset fixed position, and the distributed traffic light unit further comprises a laser radar detection module used for detecting a first type of moving target and a second type of moving target in each annular monitoring area and determining the position of each moving target;
the information acquisition unit is connected with the distributed traffic light units and is used for acquiring information to be analyzed, wherein the information to be analyzed comprises the quantity of goods to be transported, the quantity of first-class moving targets in each annular monitoring area, the quantity of second-class moving targets and the quantity of second-class moving targets in a non-working state;
the data analysis unit is connected with the distributed traffic light units and the information acquisition unit and is used for determining a traffic control mode according to the number of first-type moving targets in a single annular monitoring area, wherein the data analysis unit comprises a first traffic control mode for adjusting the moving speed of second-type moving targets in the annular monitoring area and a second traffic control mode for determining the switching time of traffic lights in the single annular monitoring area according to the total number of the first-type moving targets and the second-type moving targets;
the adjusting control unit is connected with the distributed traffic light unit, the information acquisition unit and the data analysis unit and is used for determining a traffic light adjusting mode according to the difference value of the quantity proportion of first type priority moving targets on the roads in two preset directions in a single annular monitoring area, wherein the traffic light adjusting mode comprises the steps of adjusting the switching time of traffic lights of the traffic lights and adjusting the red light or green light duration of the traffic lights;
the traffic light switching time is adjusted by simultaneously carrying out the same increment or decrement on the red light and green light time of the traffic lights, and the annular monitoring area is a circular area which takes a single traffic light as a circle center and is determined by a preset radius; the first type of moving object is a manned moving device and the second type of moving object is an unmanned moving device.
Further, the data analysis unit determines a traffic control mode according to the number of the first type of moving targets in the single annular monitoring area;
if the number of the first type of moving targets is in a first preset number range, the data analysis unit judges that a first traffic control mode is adopted, and the moving speed of the second type of moving targets in the single annular monitoring area is determined according to the number of the first type of moving targets;
and if the number of the first type of moving targets is in a second preset number range, the data analysis unit judges that a second traffic control mode is adopted, and the switching time of traffic lights in the single annular monitoring area is determined according to the total number of the first type of moving targets and the second type of moving targets.
Further, the data analysis unit determines the moving speed of the second type of moving targets in the single annular monitoring area according to the number of the first type of moving targets in the single annular monitoring area under the first data analysis condition;
the number of the first type of moving targets and the moving speed of the second type of moving targets in the single annular monitoring area are in a negative correlation relationship;
the first data analysis condition is that the number of the first type of moving targets is in a first preset number range.
Further, the data analysis unit determines the switching time of the traffic lights in the single annular monitoring area according to the total number of the first type of moving targets and the second type of moving targets under the second data analysis condition;
the switching time of the traffic lights in the single annular monitoring area is in negative correlation with the total number;
the second data analysis condition is that the number of the first type of moving targets is in a second preset number range.
Further, the data analysis unit calculates the total number of the first type of moving targets and the second type of moving targets and a quantity difference value between the total number and a preset total number under a third data analysis condition, and determines the adjustment quantity of the range of the single annular monitoring area according to the quantity difference value;
the third data analysis condition is that the total number of the first type of moving targets and the second type of moving targets in the single annular monitoring area is larger than the preset total number, and the range of the single annular monitoring area is adjusted to be adjusted in an increasing mode.
Further, the adjusting control unit determines a traffic light adjusting mode according to the difference value of the quantity proportion of the first type of priority moving targets on the roads in two preset directions in a single annular monitoring area;
if the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is smaller than the preset proportion difference value, the adjusting control unit judges that the switching time of the traffic lights is shortened and adjusted;
and if the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is larger than or equal to the preset proportion difference value, the adjusting control unit judges to adjust the red light or green light duration of the traffic light.
Further, the adjusting control unit determines a traffic light duration adjusting mode of the single annular monitoring area preset direction road according to the number of the first type of priority moving targets in the annular monitoring area occupying a larger preset direction road and the number of the first type of priority moving targets occupying a larger preset direction road under the first adjusting control condition;
if the traffic light of the current preset direction road is a red light, prolonging the time length of the last green light, wherein the prolonging amount of the time length of the green light and the quantity ratio of the first type of priority moving targets on the preset direction road are in positive correlation;
if the traffic light of the current preset direction road is a green light, the time length of the last red light is shortened, and the ratio of the shortened time length of the red light to the number of first-class priority moving targets on the preset direction road is in positive correlation;
the first adjusting control condition is that the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is larger than or equal to the preset proportion difference value.
Further, the adjustment control unit obtains the number of second-type moving targets in the non-working state in each annular monitoring area, and if the number of the second-type moving targets in the non-working state is larger than the preset non-working number, the adjustment control unit marks the annular monitoring area as an area to be called.
Further, the adjustment control unit performs reduction adjustment on the switching time of the traffic light of the area to be invoked according to the amount of the goods to be transported under the second adjustment control condition, wherein the amount of the goods to be transported and the reduction amount of the switching time of the traffic light are in positive correlation;
the second regulation control condition is that a region to be called exists.
Further, the distributed traffic unit is provided with a maximum green light duration, a minimum green light duration, a maximum red light duration and a minimum red light duration.
Compared with the prior art, the traffic control method has the beneficial effects that the data analysis unit in the technical scheme of the invention determines the traffic control mode according to the number of the first type moving targets in the single annular monitoring area, comprises a first traffic control mode for adjusting the moving speed of the second type moving targets in the annular monitoring area and a second traffic control mode for determining the switching time of the traffic lights in the single annular monitoring area according to the total number of the first type moving targets and the second type moving targets, so that the traffic control mode is more in line with the actual working scene, the traffic control efficiency is improved, and the adjustment control unit determines the traffic light adjustment mode according to the difference of the number proportion of the first type priority moving targets on the roads in the two preset directions in the single annular monitoring area, including the reduction adjustment of the switching time of the traffic lights and the adjustment of the red light or the green light time of the traffic lights, so that the working efficiency of the traffic lights is improved, and the traffic control efficiency of the port cargo transportation traffic is improved.
Further, the data analysis unit determines the moving speed of the second type moving object in the single annular monitoring area according to the number of the first type moving objects in the single annular monitoring area under the first data analysis condition, so that the problem that the first type moving object is inconvenient to move due to the fact that the moving speed of the second type moving object is too high is solved, and further traffic control efficiency of the invention for the manned equipment and the unmanned transportation equipment of the port and the wharf is improved.
Further, the data analysis unit determines the switching time of the traffic lights in the single annular monitoring area according to the total number of the first type of moving targets and the second type of moving targets under the second data analysis condition so as to relieve the waiting time of each lane and further improve the traffic control efficiency.
Further, the data analysis unit calculates the total number of the first type of moving targets and the second type of moving targets and the number difference between the total number and the preset total number under the third data analysis condition, and determines the adjustment quantity of the range of the single annular monitoring area according to the number difference, so that the problem of poor monitoring efficiency caused by too small range of the annular monitoring area is avoided.
Drawings
FIG. 1 is a block diagram of a lidar-based traffic light system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a data analysis unit determining a traffic control mode according to the number of first type moving objects in a single annular monitoring area according to an embodiment of the present invention;
FIG. 3 is a schematic view of an annular monitoring area according to an embodiment of the present invention;
in the figure: 1, a road in a first preset direction; 2, a road in a second preset direction; 3, traffic lights; 4, annular monitoring area.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 to 2, the present invention provides a traffic light system based on a laser radar, comprising:
the distributed traffic light unit comprises a plurality of traffic lights, each traffic light is arranged at a corresponding preset fixed position, and the distributed traffic light unit further comprises a laser radar detection module used for detecting a first type of moving target and a second type of moving target in each annular monitoring area and determining the position of each moving target;
the information acquisition unit is connected with the distributed traffic light units and is used for acquiring information to be analyzed, wherein the information to be analyzed comprises the quantity of goods to be transported, the quantity of first-class moving targets in each annular monitoring area, the quantity of second-class moving targets and the quantity of second-class moving targets in a non-working state;
the data analysis unit is connected with the distributed traffic light units and the information acquisition unit and is used for determining a traffic control mode according to the number of first-type moving targets in a single annular monitoring area, wherein the data analysis unit comprises a first traffic control mode for adjusting the moving speed of second-type moving targets in the annular monitoring area and a second traffic control mode for determining the switching time of traffic lights in the single annular monitoring area according to the total number of the first-type moving targets and the second-type moving targets;
the adjusting control unit is connected with the distributed traffic light unit, the information acquisition unit and the data analysis unit and is used for determining a traffic light adjusting mode according to the difference value of the quantity proportion of first type priority moving targets on the roads in two preset directions in a single annular monitoring area, wherein the traffic light adjusting mode comprises the steps of adjusting the switching time of traffic lights of the traffic lights and adjusting the red light or green light duration of the traffic lights;
the traffic light switching time is adjusted by simultaneously carrying out the same increment or decrement on the red light and green light time of the traffic lights, and the annular monitoring area is a circular area which takes a single traffic light as a circle center and is determined by a preset radius; the first type of moving object is a manned moving device, and the second type of moving object is an unmanned moving device; the annular monitoring area comprises two preset direction roads, and the road directions of the two preset direction roads are vertical.
Specifically, the preset fixed position is an intersecting position of two preset direction roads.
Specifically, the first type of preferential moving targets are set by the user, and the user can determine whether the first type of moving targets are the first type of preferential moving targets according to the importance priority of the goods carried by the first type of moving targets, which is a common general knowledge of vehicle classification that is easily understood by those skilled in the art, and is not described herein in detail.
The first type of mobile targets are manned mobile equipment, the second type of mobile targets are unmanned transport mobile equipment, and reflectors are arranged on the second type of mobile targets so that the distributed traffic light units can determine the second type of mobile targets through the laser radar detection module.
Specifically, the data analysis unit determines a traffic control mode according to the number of first-type moving targets in a single annular monitoring area;
if the number of the first type of moving targets is in a first preset number range, the data analysis unit judges that a first traffic control mode is adopted, and the moving speed of the second type of moving targets in the single annular monitoring area is determined according to the number of the first type of moving targets;
and if the number of the first type of moving targets is in a second preset number range, the data analysis unit judges that a second traffic control mode is adopted, and the switching time of traffic lights in the single annular monitoring area is determined according to the total number of the first type of moving targets and the second type of moving targets.
Specifically, the value user of the preset number range can be determined according to an actual application scene, namely, the user can determine the preset number range according to the road width of the application scene, and the system is remarkable in that the larger the number of the first type of moving targets is, the larger the demand of traffic control is, the user can determine the value of the preset number range by combining with the actual self demand, and the values in the first preset number range are smaller than those in the second preset number range.
Specifically, the data analysis unit determines the moving speed of a second type of moving target in a single annular monitoring area according to the number of the first type of moving target in the single annular monitoring area under a first data analysis condition;
the number of the first type of moving targets and the moving speed of the second type of moving targets in the single annular monitoring area are in a negative correlation relationship;
the first data analysis condition is that the number of the first type of moving targets is in a first preset number range.
Specifically, the data analysis unit determines the switching time of traffic lights in the single annular monitoring area according to the total number of the first type of moving targets and the second type of moving targets under the second data analysis condition;
the switching time of the traffic lights in the single annular monitoring area is in negative correlation with the total number;
the second data analysis condition is that the number of the first type of moving targets is in a second preset number range.
Specifically, the data analysis unit calculates the total number of the first type of moving targets and the second type of moving targets and a quantity difference value between the total number and a preset total number under a third data analysis condition, and determines the adjustment quantity of the range of the single annular monitoring area according to the quantity difference value;
the third data analysis condition is that the total number of the first type of moving targets and the second type of moving targets in the single annular monitoring area is larger than the preset total number, and the range of the single annular monitoring area is adjusted to be adjusted in an increasing mode.
Specifically, the range of the single annular monitoring area is regulated to be constant in the center of the circle, and the radius of the annular monitoring area is increased.
Specifically, the adjustment control unit determines a traffic light adjustment mode according to the difference value of the number proportion of first-class priority moving targets on the roads in two preset directions in a single annular monitoring area;
if the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is smaller than the preset proportion difference value, the adjusting control unit judges that the switching time of the traffic lights is shortened and adjusted;
and if the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is larger than or equal to the preset proportion difference value, the adjusting control unit judges to adjust the red light or green light duration of the traffic light.
Specifically, the user can determine freight transportation efficiency under different difference values of the number proportion of the first type of preferential moving targets on the two preset direction roads according to historical experience and experiments, and record the difference value meeting the user requirement as a preset proportion difference value, wherein the difference value of the number proportion of the first type of preferential moving targets on the two preset direction roads takes an absolute value, and the number proportion of the first type of preferential moving targets on the single preset direction road is a value obtained by dividing the number of the first type of preferential moving targets on the preset direction road by the total number of the mobile devices on the preset direction road.
Specifically, the adjustment control unit determines a traffic light duration adjustment mode of the single annular monitoring area preset direction road according to the number of first type priority moving targets in the annular monitoring area occupying a larger preset direction road and the number of first type priority moving targets occupying a larger preset direction road under a first adjustment control condition;
if the traffic light of the current preset direction road is a red light, prolonging the time length of the last green light, wherein the prolonging amount of the time length of the green light and the quantity ratio of the first type of priority moving targets on the preset direction road are in positive correlation;
if the traffic light of the current preset direction road is a green light, the time length of the last red light is shortened, and the ratio of the shortened time length of the red light to the number of first-class priority moving targets on the preset direction road is in positive correlation;
the first adjusting control condition is that the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is larger than or equal to the preset proportion difference value.
Specifically, the adjustment control unit obtains the number of second-type moving targets in the non-working state in each annular monitoring area, and if the number of the second-type moving targets in the non-working state is larger than the preset non-working number, the adjustment control unit marks the annular monitoring area as an area to be called.
The preset non-working number of the valued users can be set in actual working situations, and it is noted that the larger the number of the second type moving targets in the non-working state is, the more the annular monitoring area needs to be adjusted so that the second type moving targets in the non-working state can be put into working more quickly.
Specifically, the adjustment control unit performs reduction adjustment on the switching time of the traffic light of the area to be invoked according to the amount of the goods to be transported under the second adjustment control condition, wherein the amount of the goods to be transported and the reduction amount of the switching time of the traffic light are in positive correlation;
the second regulation control condition is that a region to be called exists.
Specifically, the distributed traffic unit is provided with a maximum green light duration, a minimum green light duration, a maximum red light duration and a minimum red light duration.
Example 1: referring to fig. 3, which is a schematic diagram of an annular monitoring area according to an embodiment of the present invention, in this embodiment, an application scenario of the present invention is a port unloading point, the area occupied by the unloading point is 2.7 square kilometers, 15 traffic intersections are provided, an annular monitoring area 4 is correspondingly provided for each traffic intersection, a single annular monitoring area 4 includes a road 1 in a first preset direction and a road 2 in a second preset direction, the directions of the road 1 in the first preset direction and the road 2 in the second preset direction are perpendicular, and a traffic light 3 is located at the center of the annular monitoring area 4.
Example 2: in the embodiment, the application scene of the invention is a port unloading point, the area of the unloading point is 3.2 square kilometers, the daily traffic flow is 1 ten thousand, the manned mobile equipment comprises a large truck and a medium truck, the unmanned transport mobile equipment comprises a heavy-load AGV and an unmanned trailer, the goods transported by the port unloading point are container goods, 25 traffic intersections are arranged, and an annular monitoring area is correspondingly arranged for each traffic intersection;
the first preset number range is [0,10 ], the second preset number range is greater than or equal to 10, and the units are vehicles;
the initial red light duration of a single traffic light is 30s, the initial green light duration is 30s, the maximum green light duration is 1min, the minimum green light duration is 15s, the maximum red light duration is 1min, and the minimum red light duration is 15s;
the radius of the annular monitoring area is 50 meters;
the preset total number is 20;
the preset ratio difference is 30%;
the preset non-working number is 10.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. 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 lidar-based traffic light system, comprising:
the distributed traffic light unit comprises a plurality of traffic lights, each traffic light is arranged at a corresponding preset fixed position, and the distributed traffic light unit further comprises a laser radar detection module used for detecting a first type of moving target and a second type of moving target in each annular monitoring area and determining the position of each moving target;
the information acquisition unit is connected with the distributed traffic light units and is used for acquiring information to be analyzed, wherein the information to be analyzed comprises the quantity of goods to be transported, the quantity of first-class moving targets in each annular monitoring area, the quantity of second-class moving targets and the quantity of second-class moving targets in a non-working state;
the data analysis unit is connected with the distributed traffic light units and the information acquisition unit and is used for determining a traffic control mode according to the number of first-type moving targets in a single annular monitoring area, wherein the data analysis unit comprises a first traffic control mode for adjusting the moving speed of second-type moving targets in the annular monitoring area and a second traffic control mode for determining the switching time of traffic lights in the single annular monitoring area according to the total number of the first-type moving targets and the second-type moving targets;
the adjusting control unit is connected with the distributed traffic light unit, the information acquisition unit and the data analysis unit and is used for determining a traffic light adjusting mode according to the difference value of the quantity proportion of first type priority moving targets on the roads in two preset directions in a single annular monitoring area, wherein the traffic light adjusting mode comprises the steps of adjusting the switching time of traffic lights of the traffic lights and adjusting the red light or green light duration of the traffic lights;
the traffic light switching time is adjusted by simultaneously carrying out the same increment or decrement on the red light and green light time of the traffic lights, and the annular monitoring area is a circular area which takes a single traffic light as a circle center and is determined by a preset radius; the first type of moving object is a manned moving device, and the second type of moving object is an unmanned moving device; the annular monitoring area comprises a road in a first preset direction and a road in a second preset direction, and the road directions of the roads in the two preset directions are perpendicular.
2. The lidar-based traffic light system of claim 1, wherein the data analysis unit determines a traffic control pattern based on a number of first type moving objects within a single annular surveillance zone;
if the number of the first type of moving targets is in a first preset number range, the data analysis unit judges that a first traffic control mode is adopted, and the moving speed of the second type of moving targets in the single annular monitoring area is determined according to the number of the first type of moving targets;
and if the number of the first type of moving targets is in a second preset number range, the data analysis unit judges that a second traffic control mode is adopted, and the switching time of traffic lights in the single annular monitoring area is determined according to the total number of the first type of moving targets and the second type of moving targets.
3. The lidar-based traffic light system of claim 2, wherein the data analysis unit determines a movement speed of a second type of moving object within a single annular monitoring area based on a number of first type of moving objects within the single annular monitoring area under a first data analysis condition;
the number of the first type of moving targets and the moving speed of the second type of moving targets in the single annular monitoring area are in a negative correlation relationship;
the first data analysis condition is that the number of the first type of moving targets is in a first preset number range.
4. The lidar-based traffic light system of claim 3, wherein the data analysis unit determines the traffic light switching time within the single annular surveillance zone based on a total number of the first type of moving objects and the second type of moving objects under a second data analysis condition;
the switching time of the traffic lights in the single annular monitoring area is in negative correlation with the total number;
the second data analysis condition is that the number of the first type of moving targets is in a second preset number range.
5. The lidar-based traffic light system of claim 4, wherein the data analysis unit calculates a total number of the first type of moving objects and the second type of moving objects and a number difference between the total number and a preset total number under a third data analysis condition, and determines an adjustment amount of the range of the single annular monitoring area according to the number difference;
the third data analysis condition is that the total number of the first type of moving targets and the second type of moving targets in the single annular monitoring area is larger than the preset total number, and the range of the single annular monitoring area is adjusted to be adjusted in an increasing mode.
6. The lidar-based traffic light system of claim 5, wherein the adjustment control unit determines the traffic light adjustment based on a difference in the number ratio of first-class preferentially moving objects on two preset-direction roads in a single annular surveillance zone;
if the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is smaller than the preset proportion difference value, the adjusting control unit judges that the switching time of the traffic lights is shortened and adjusted;
and if the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is larger than or equal to the preset proportion difference value, the adjusting control unit judges to adjust the red light or green light duration of the traffic light.
7. The lidar-based traffic light system of claim 6, wherein the radar-based traffic light system comprises a laser, the adjustment control unit determines a traffic light duration adjustment mode of the single annular monitoring area preset direction road according to the number of the first type of priority moving targets in the annular monitoring area occupying a larger preset direction road and the number of the first type of priority moving targets occupying a larger preset direction road under the first adjustment control condition;
if the traffic light of the current preset direction road is a red light, prolonging the time length of the last green light, wherein the prolonging amount of the time length of the green light and the quantity ratio of the first type of priority moving targets on the preset direction road are in positive correlation;
if the traffic light of the current preset direction road is a green light, the time length of the last red light is shortened, and the ratio of the shortened time length of the red light to the number of first-class priority moving targets on the preset direction road is in positive correlation;
the first adjusting control condition is that the difference value of the number proportion of the first type of priority moving targets on the two preset direction roads is larger than or equal to the preset proportion difference value.
8. The lidar-based traffic light system of claim 7, wherein the adjustment control unit obtains a number of second-type moving objects in an inactive state within each of the annular monitoring areas, and if the number of second-type moving objects in the inactive state is greater than a preset inactive number, the adjustment control unit marks the annular monitoring area as the area to be invoked.
9. The traffic light system based on the laser radar according to claim 8, wherein the adjustment control unit performs a reduction adjustment on the traffic light switching time of the area to be invoked according to the amount of the cargo to be transported under the second adjustment control condition, and the amount of reduction of the traffic light switching time is in a positive correlation;
the second regulation control condition is that a region to be called exists.
10. The lidar-based traffic light system of claim 9, wherein the distributed traffic cell is provided with a maximum green light duration, a minimum green light duration, a maximum red light duration, and a minimum red light duration.
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