CN117523874B - Method and device for acquiring vehicle traffic state, medium and electronic equipment - Google Patents
Method and device for acquiring vehicle traffic state, medium and electronic equipment Download PDFInfo
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- CN117523874B CN117523874B CN202410016164.7A CN202410016164A CN117523874B CN 117523874 B CN117523874 B CN 117523874B CN 202410016164 A CN202410016164 A CN 202410016164A CN 117523874 B CN117523874 B CN 117523874B
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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
- G08G1/081—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 relates to the technical field of intelligent traffic and provides a method, a device, a medium and electronic equipment for acquiring a traffic state of a vehicle, wherein the method can acquire a first signal duration set of a target traffic signal device and a second signal duration set of the target traffic signal device according to a signal period set of the target traffic signal device, and when a target time node is in a certain first signal duration, the current state of the target vehicle is marked as a first vehicle state identifier; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road crossing area, the traffic state of the vehicle in the road crossing area can still be determined, so that the period and the green-signal ratio of the traffic signal device in the road crossing area can be adjusted.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method, a device, a medium and electronic equipment for acquiring a vehicle passing state.
Background
Along with the rapid development of society, the number of roads in cities is increased continuously, the number of vehicles in the roads is increased, the queuing congestion phenomenon is increased, the traffic state of the vehicles passing through the road crossing area in the road crossing area is analyzed, the period and the green-signal ratio of the traffic signal device can be adjusted according to the analyzed conclusion, so that the queuing congestion phenomenon is reduced effectively, the traffic efficiency of the roads is improved, most of the existing methods for acquiring the traffic state of the vehicles in the road crossing area are used for determining the traffic state of the vehicles in the road crossing area according to the data acquired by vehicle speed acquisition equipment or video acquisition equipment deployed in the road crossing area.
However, the above method also has the following technical problems:
the number of roads in the city is large, and vehicle speed acquisition equipment or video acquisition equipment cannot be deployed in all road intersection areas, and for road intersection areas where no acquisition equipment is deployed, the method cannot acquire the traffic state of vehicles in the road intersection areas, so that the period and the green-signal ratio of traffic signal devices in the road intersection areas without the vehicle speed acquisition equipment or the video acquisition equipment cannot be adjusted by the method.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of acquiring a vehicle traffic state, the method comprising the steps of:
and collecting a signal period set of a target traffic signal device, wherein the target traffic signal device refers to a signal lamp of a target road crossing area.
When the collected signal period set of the target traffic signal device is not Null, a first signal period set of the target traffic signal device and a second signal period set of the target traffic signal device are obtained according to the signal period set of the target traffic signal device, wherein the signal period set of the target traffic signal device comprises n signal periods, the first signal period set comprises n first signal periods, the second signal period set comprises n second signal periods, the sum of the i first signal period and the i second signal period is equal to the i signal period, and the value range of i is 1 to n.
And obtaining a target time node corresponding to the target vehicle.
And when the target time node is in a certain first signal duration, marking the current state of the target vehicle as a first vehicle state identifier, wherein the first vehicle state identifier refers to an identifier that the vehicle is in a waiting state in a target road crossing area.
And when the target time node is in a certain second signal duration, marking the current state of the target vehicle as a second vehicle state identifier, wherein the second vehicle state identifier refers to an identifier of the state that the vehicle is in a running state passing through a target road crossing area.
The invention also provides a device for acquiring the traffic state of the vehicle, which comprises:
and the signal period executing module is used for collecting a signal period set of a target traffic signal device, wherein the target traffic signal device refers to a signal lamp of a target road crossing area.
The signal duration collection module is used for obtaining a first signal duration set of the target traffic signal device and a second signal duration set of the target traffic signal device according to the signal duration set of the target traffic signal device when the collected signal duration set of the target traffic signal device is not Null, wherein the signal duration set of the target traffic signal device comprises n signal periods, the first signal duration set comprises n first signal durations, the second signal duration set comprises n second signal durations, the sum of the i first signal durations and the i second signal durations is equal to the i signal period, and the value range of i is 1 to n.
The target time node acquisition module is used for acquiring the target time node corresponding to the target vehicle.
And the first execution module is used for marking the current state of the target vehicle as a first vehicle state identifier when the target time node is in a certain first signal duration, wherein the first vehicle state identifier refers to an identifier that the vehicle is in a waiting state in a target road crossing area.
And the second execution module is used for marking the current state of the target vehicle as a second vehicle state identifier when the target time node is in a certain second signal duration, wherein the second vehicle state identifier is an identifier of the state of the vehicle which is driven through the target road crossing area.
The present invention also provides a non-transitory computer readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program loaded and executed by a processor to implement the method for acquiring a vehicle traffic state described above.
The invention also provides an electronic device comprising a processor and the non-transitory computer readable storage medium described above.
The invention has at least the following beneficial effects:
the method, the device, the medium and the electronic equipment for acquiring the traffic state of the vehicle can acquire the first signal duration set of the target traffic signal device and the second signal duration set of the target traffic signal device according to the signal period set of the target traffic signal device, and mark the current state of the target vehicle as a first vehicle state identifier when the target time node is in a certain first signal duration; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road crossing area, the traffic state of the vehicle in the road crossing area can still be determined, so that the period and the green-signal ratio of the traffic signal device in the road crossing area can be adjusted.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for acquiring a traffic state of a vehicle according to a first embodiment of the present invention;
FIG. 2 is a flowchart of step S300 according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle passing state acquiring device according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target time node obtaining module according to a second embodiment of the present invention;
FIG. 5 is a plan view of a target road intersection area according to an embodiment of the present invention;
wherein the reference numerals indicate: 1-a target road crossing area; 2-a target vehicle; 3-a first electronic device; 4-a second electronic device.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
Example 1
Referring to fig. 1 and 5, a method for acquiring a traffic state of a vehicle is provided in a first embodiment, and includes the following steps:
S100, collecting a signal period set of a target traffic signal device, wherein the target traffic signal device is a signal lamp of a target road crossing area 1.
S200, when the acquired signal period set of the target traffic signal device is not Null, acquiring a first signal period set of the target traffic signal device and a second signal period set of the target traffic signal device according to the signal period set of the target traffic signal device, wherein the signal period set of the target traffic signal device comprises n signal periods, the first signal period set comprises n first signal periods, the second signal period set comprises n second signal periods, wherein the sum of the i first signal period and the i second signal period is equal to the i signal period, and the value range of i is 1 to n.
Specifically, the first signal duration refers to a duration that the working state of the target traffic signal device is a red light state.
Specifically, the second signal duration refers to a duration that the working state of the target traffic signal device is a green light state.
In a specific embodiment, when the collected signal period set of the target traffic signal device is Null, determining the signal period set of the target traffic signal device includes the following steps:
S1, obtaining F= { F 1 ，F 2 ，……，F r ，……，F s }，F r ={F r1 ，F r2 ，……，F rg ，……，F rh(r) Wherein F is a set of key vehicle ID lists, r has a value of 1 to s, s is the number of key vehicle ID lists, F rg List F for the r-th critical vehicle ID r The g-th key vehicle ID in (1) is given by g to h (r), and h (r) is F r The number of the key vehicle IDs in the system is the unique identity of the key vehicle, and the key vehicle is a vehicle which passes through the target road crossing area 1 and stays in the target road crossing area 1 in the history time period; it can be understood that the vehicles passing through the target road crossing area 1 and waiting for the red light in the course of passing through the target road crossing area 1 in the history period, wherein the person skilled in the art knows that the history period is set by the person skilled in the art according to the actual requirementThe interval is not described in detail here.
Specifically, the key vehicles corresponding to the key vehicle IDs in the same key vehicle ID list pass through the target road crossing area 1 in the same period of the target traffic signal device; it can be understood that: all key vehicles corresponding to all key vehicle IDs in the same key vehicle ID list are one red light, etc.
Specifically F rg The period of the target traffic signal device of the corresponding key vehicle passing through the target road crossing area 1 is equal to F (r-1)g The corresponding key vehicle passes through the latter cycle of the target traffic signal device of the target road crossing area 1.
S2, acquiring a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points refer to time points when a single historical vehicle is acquired through the first electronic equipment 3; the second key time point list comprises a plurality of second key time points, wherein the second key time points refer to time points when a single historical vehicle is acquired through the second electronic equipment 4, and the first key time points correspond to the second key time points; it can be understood that: a plurality of first key time points E 11 ，E 21 ，……，E e1 ，……，E f1 A plurality of second key time points E 12 ，E 22 ，……，E e2 ，……，E f2 Wherein E is e1 For the E-th first key time point, E in the first key time point list e2 For the e second key time point in the second key time point list, the value of e is 1 to f, and f is the number of historical vehicles; e (E) e1 And E is connected with e2 Is the same.
Specifically, the history vehicle refers to a vehicle that has not returned to zero in speed when traveling to a next road intersection area of the target road intersection area 1 through the target road intersection area 1 in the history period, where the next road intersection area is a road intersection area where the target vehicle will continue to pass after passing through the target road area.
S3, obtaining G= { G 1 ，G 2 ，……，G r ，……，G s }，G r ={G r1 ，G r2 ，……，G rg ，……，G rh(r) G is a waiting time length list set corresponding to F, G rg Is F rg Corresponding waiting time length, wherein G rg Meets the following conditions:
G rg =T 2 rg -T 1 rg -(L-L 1 )/(Σ f e=1 (L/(E e2 -E e1 ))/f)-L 0 /(2×L 1 ×J rg /(Σ f e=1 (L/(E e2 -E e1 ))/f))，T 1 rg acquisition of F for the first electronic device 3 rg T, T 2 rg Acquisition of F for the second electronic device 4 rg L is the length of the road between the first electronic device 3 and the second electronic device 4, L 1 For the length L of the road between the first electronic device 3 and the center of the target road crossing area 1 0 For the length of the road between the first electronic device 3 and the stop line nearest to the first electronic device 3 in the target road crossing area 1, J rg Is F rg The key acceleration of the corresponding key vehicle, wherein the key acceleration is known to those skilled in the art and is set by those skilled in the art according to the reference of the key vehicle, and is not described herein.
Alternatively, the length of the road between the first electronic device 3 and the stop line closest to the first electronic device 3 in the target road intersection area 1 is the travel length of the vehicle from the first electronic device 3 to the stop line closest to the first electronic device 3 in the target road intersection area 1, instead of the straight line distance between the first electronic device 3 and the stop line closest to the first electronic device 3 in the target road intersection area 1.
S4, according to G rg Obtaining a key time length H corresponding to a target traffic signal device, wherein H meets the following conditions:
H=Σ s r=1 max(G r1 ，G r2 ，……，G rg ，……，G rh(r) ) And/s, wherein max () is a maximum value acquisition function.
S5, according to G rg The period R of the target traffic signal device is acquired.
Specifically, S5 includes the following sub-steps:
s51, max (G r1 ，G r2 ，……，G rg ，……，G rh(r) ) Corresponding F rg As G 0 r ，G 0 r Is F r Corresponding candidate vehicle IDs.
S52 according to G 0 r R is obtained, wherein R meets the following conditions:
R=Σ s r=2 ((T 0 r +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r )-(T 0 r-1 +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r-1 ))/(s-1)，T 0 r g is acquired for the first electronic device 3 0 r Time points of J 0 r Is G 0 r Corresponding key acceleration, T 0 r-1 G is acquired for the first electronic device 3 0 r-1 Time points of J 0 r-1 Is G 0 r-1 Corresponding critical acceleration, G 0 r-1 Is F r-1 Corresponding candidate vehicle IDs.
Specifically, max (G (r-1)1 ，G (r-1)2 ，……，G (r-1)g ，……，G (r-1)h(r-1) ) Corresponding F (r-1)g As G 0 r-1 。
Through the steps, the candidate vehicle IDs corresponding to the key vehicle ID list are obtained according to the waiting time corresponding to the key vehicle IDs, the period of the target traffic signal device can be accurately obtained according to the time point when all the first electronic devices collect the candidate vehicle IDs, the key acceleration corresponding to the candidate vehicle IDs and the length of the road, the key time can be understood as the time of lighting the red light of the target traffic signal device according to the period and the key time of the target traffic signal device, the working state of the target traffic signal device can be obtained, the resource waste is avoided, and the accuracy of obtaining the working state of the target traffic signal device is improved.
S6, obtaining B according to H and R 1 i And B 2 i ，B 1i For the ith first signal duration, B 2i Is the i second signal duration.
Specifically, S6 includes the following sub-steps:
s61, obtaining K according to the intermediate time point K, wherein K is the time point when the red light of the target traffic signal device is lighted last time before the initial time period 0 ={K 0 1 ，K 0 2 ，……，K 0 x ，……，K 0 p }，K 0 x ={K 0 x1 ，K 0 x2 }，K 0 x1 ={K 01 x1 ，K 02 x1 }，K 0 x2 ={K 01 x2 ，K 02 x2 The initial time period refers to the time period between the starting point when the first electronic device 3 collects the target vehicle 2 and the ending point when the second electronic device 4 collects the target vehicle 2, K 0 For the middle duration list set corresponding to K, the value of x is 1 to p, p is the number of the middle duration lists, and K 01 x1 An xth intermediate duration list K corresponding to K 0 x The first intermediate time length K of (2) 0 x1 K is the starting time point of (1) 02 x1 For K 0 x1 End time point of (K) 01 x2 For K 0 x A second intermediate time length K 0 x2 K is the starting time point of (1) 02 x2 For K 0 x2 Wherein K is 01 x1 、K 02 x1 、K 01 x2 、K 02 x2 Meets the following conditions:
K 01 x1 =K+(x-1)×R；
K 02 x1 =K 01 x1 +H-1；
K 01 x2 =K 02 x1 +1；
K 02 x2 =K+x×R-1。
specifically, the first electronic device 3 is disposed at one side of the target road crossing area 1.
Specifically, the second electronic device 4 is disposed at one side of the next road crossing area of the target road crossing area 1.
Further, the setting position of the first electronic device 3 is different from the setting position of the second electronic device 4, for example, when the first electronic device 3 is located on the east side of the target road crossing area 1, the second electronic device 4 is located on the west side of the target road crossing area 1 or when the first electronic device 3 is located on the south side of the target road crossing area 1, the second electronic device 4 is located on the north side of the target road crossing area 1.
S62, when K 01 x1 ≥A 1 And K is 02 x 1 ≤A 2 At the time, K 0 x1 As B 1i ，A 1 A is the starting time point of the initial time period 2 Is the ending time point of the initial period.
S63, when K 01 x1 ＜A 1 And A is 1 ＜K 02 x1 ≤A 2 At the same time, the first candidate period L x1 As B 1i ，L x1 The starting time point of (a) is A 1 The ending time point is K 02 x1 。
S64, when K 01 x1 ≥A 1 And K is 02 x1 ＞A 2 At that time, the second candidate period L 0 x1 As B 1i ，L 0 x1 Is K at the starting time point of (2) 01 x1 The ending time point is A 2 。
S65, when K 01 x1 ＜A 1 And K is 02 x1 ＞A 1 And K is 02 x1 ≥A 2 At that time, the third candidate period L 1 x1 As B 1i ，L 1 x1 The starting time point of (a) is A 1 The ending time point is A 2 。
S66, when K 01 x2 ≥A 1 And K is 02 x2 ≤A 2 At the time, K 0 x2 As B 2i 。
S67, when K 01 x2 ＜A 1 And A is 1 ＜K 02 x2 ≤A 2 At the same time, a first intermediate period of time Q x2 As B 2i ，Q x2 The starting time point of (a) is A 1 The ending time point is K 02 x2 。
S68, when K 01 x2 ≥A 1 And K is 02 x2 ＞A 2 At the same time, a second designated time period Q 0 x2 As B 2i ，Q 0 x2 Is K at the starting time point of (2) 01 x2 The ending time point is A 2 。
S69, when K 01 x2 ＜A 1 And K is 02 x2 ＞A 1 And K is 02 x2 ≥A 2 When L is to 1 x1 As B 2i 。
For the traffic signal device which cannot acquire the working state, most of the working state and the duration of the working state of the traffic signal device are acquired through manual statistics in the prior art, however, the manual statistics has uncontrollability and large workload, when the data of the working state of the traffic signal period reaches a certain amount, errors can occur, therefore, the accuracy of the acquired working state of the traffic signal device in the prior art is low, and resource waste is easily caused, through the steps, the key vehicle ID list is acquired, the waiting time corresponding to the key vehicle is acquired according to the key vehicle ID list, so that the key time and the period of the target traffic signal device are acquired, the intermediate time list can be accurately acquired according to the intermediate time, the key time and the period of the target traffic signal device, the time point of the first electronic equipment for acquiring the target vehicle ID and the starting time point and the ending time point of the intermediate time are compared, the working state of the target traffic signal device in the initial time period can be accurately acquired, and the resource waste is avoided, and the accuracy of the working state of the target traffic signal device in the initial time period is improved.
S300, acquiring a target time node corresponding to the target vehicle 2.
Specifically, in step S300, the following is further included, as shown in fig. 2:
s301, acquiring a first key time point list corresponding to a historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points are time points when the first electronic equipment 3 collects a historical vehicle; the second key time point list comprises a plurality of second key time points, wherein the second key time points are time points when the second electronic equipment 4 collects the historical vehicle, each first key time point corresponds to only one second key time point, and the second key time points corresponding to different first key time points are different; it can be understood that: a plurality of first key time points E 11 ，E 21 ，……，E e1 ，……，E f1 A plurality of second key time points E 12 ，E 22 ，……，E e2 ，……，E f2 Wherein E is e1 For the E-th first key time point, E in the first key time point list e2 For the e second key time point in the second key time point list, the value of e is 1 to f, and f is the number of historical vehicles; e (E) e1 And E is connected with e2 Is the same.
S302, acquiring a target time node corresponding to the target vehicle 2 according to the first key time point list and the second key time point list.
Further, the target time node C meets the following conditions:
C=A 1 +(Σ f e=1 (L/(E e2 -E e1 ))/f)/2×a；
wherein A is 1 The initial time period is a starting time point of an initial time period, and the initial time period is a time period between when the first electronic device 3 collects the target vehicle 2 and when the second electronic device 4 collects the target vehicle 2;
wherein a is a preset acceleration corresponding to the target vehicle 2, wherein a person skilled in the art knows that the preset acceleration is set according to an actual situation, and details are not repeated here;
where L is the length of the road between the first electronic device 3 and the second electronic device 4.
Specifically, the first electronic device 3 is disposed at one side of the target road crossing area 1.
Specifically, the second electronic device 4 is disposed at one side of a next road intersection area of the target road intersection area 1, where the next road intersection area is a road intersection area through which the target vehicle will continue to pass after passing through the target road area.
Further, the setting position of the first electronic device 3 is different from the setting position of the second electronic device 4, for example, when the first electronic device 3 is located on the east side of the target road crossing area 1, the second electronic device 4 is located on the west side of the target road crossing area 1 or when the first electronic device 3 is located on the south side of the target road crossing area 1, the second electronic device 4 is located on the north side of the target road crossing area 1.
Specifically, the history vehicle refers to a vehicle whose speed is not zeroed when traveling to the next road crossing area of the target road crossing area 1 through the target road crossing area 1 in the history period.
Through the steps, a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID are obtained, a target time node can be accurately obtained according to the data such as the first key time point, the second key time point and the road length, and when the target time node is in a certain first signal duration, the current state of the target vehicle is marked as a first vehicle state identifier; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road intersection, the traffic state of the vehicle at the road intersection can still be determined, so that the period and the green-signal ratio of the traffic signal lamp in the road intersection can be adjusted.
S400, when the target time node is in a certain first signal duration, marking the current state of the target vehicle 2 as a first vehicle state identifier, wherein the first vehicle state identifier refers to an identifier that the vehicle is in a waiting state in a target road crossing area 1; it can be understood that: the target vehicle 2 waits for a red light in the target road crossing area 1, and passes after the red light.
S500, when the target time node is in a certain second signal duration, marking the current state of the target vehicle 2 as a second vehicle state identifier, wherein the second vehicle state identifier refers to an identifier that the vehicle is in a state of running through the target road crossing area 1; it can be understood that: the target vehicle 2 directly passes through the target road crossing area 1 without waiting.
According to the signal period set of the target traffic signal device, a first signal duration set of the target traffic signal device and a second signal duration set of the target traffic signal device are obtained, and when a target time node is in a certain first signal duration, the current state of the target vehicle is marked as a first vehicle state identifier; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road crossing area, the traffic state of the vehicle in the road crossing area can still be determined, so that the period and the green-signal ratio of the traffic signal device in the road crossing area can be adjusted.
Example two
As shown in fig. 3 and 5, a second embodiment provides a vehicle passing state acquiring apparatus, which includes:
and the signal period execution module is used for collecting a signal period set of a target traffic signal device, wherein the target traffic signal device is a signal lamp of a target road crossing area 1.
The signal duration collection module is used for obtaining a first signal duration set of the target traffic signal device and a second signal duration set of the target traffic signal device according to the signal duration set of the target traffic signal device when the collected signal duration set of the target traffic signal device is not Null, wherein the signal duration set of the target traffic signal device comprises n signal periods, the first signal duration set comprises n first signal durations, the second signal duration set comprises n second signal durations, the sum of the i first signal durations and the i second signal durations is equal to the i signal period, and the value range of i is 1 to n.
Specifically, the first signal duration refers to a duration that the working state of the target traffic signal device is a red light state.
Specifically, the second signal duration refers to a duration that the working state of the target traffic signal device is a green light state.
In a specific embodiment, the system further comprises a signal duration determining module, configured to determine a signal period set of the target traffic signal device when the collected signal period set of the target traffic signal device is Null; it can be understood that:
s1, obtaining F= { F 1 ，F 2 ，……，F r ，……，F s }，F r ={F r1 ，F r2 ，……，F rg ，……，F rh(r) Wherein F is a set of key vehicle ID lists, r has a value of 1 to s, s is the number of key vehicle ID lists, F rg List F for the r-th critical vehicle ID r The g-th key vehicle ID in (1) is given by g to h (r), and h (r) is F r The number of the key vehicle IDs in the system is the unique identity of the key vehicle, and the key vehicle is a vehicle which passes through the target road crossing area 1 and stays in the target road crossing area 1 in the history time period; it is understood that calendarThe history period passes through the target road crossing area 1 and waits for the red light vehicle in the process of passing through the target road crossing area 1, wherein the history period is a period set by a person skilled in the art according to actual requirements, and is not described herein.
Specifically, the key vehicles corresponding to the key vehicle IDs in the same key vehicle ID list pass through the target road crossing area 1 in the same period of the target traffic signal device; it can be understood that: all key vehicles corresponding to all key vehicle IDs in the same key vehicle ID list are one red light, etc.
Specifically F rg The period of the target traffic signal device of the corresponding key vehicle passing through the target road crossing area 1 is equal to F (r-1)g The corresponding key vehicle passes through the latter cycle of the target traffic signal device of the target road crossing area 1.
S2, acquiring a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points refer to time points when a single historical vehicle is acquired through the first electronic equipment 3; the second key time point list comprises a plurality of second key time points, wherein the second key time points refer to time points when a single historical vehicle is acquired through the second electronic equipment 4, and the first key time points correspond to the second key time points; it can be understood that: a plurality of first key time points E 11 ，E 21 ，……，E e1 ，……，E f1 A plurality of second key time points E 12 ，E 22 ，……，E e2 ，……，E f2 Wherein E is e1 For the E-th first key time point, E in the first key time point list e2 For the e second key time point in the second key time point list, the value of e is 1 to f, and f is the number of historical vehicles; e (E) e1 And E is connected with e2 Is the same.
Specifically, the history vehicle refers to a vehicle that has not returned to zero in speed when traveling to a next road intersection area of the target road intersection area 1 through the target road intersection area 1 in the history period, where the next road intersection area is a road intersection area where the target vehicle will continue to pass after passing through the target road area.
S3, obtaining G= { G 1 ，G 2 ，……，G r ，……，G s }，G r ={G r1 ，G r2 ，……，G rg ，……，G rh(r) G is a waiting time length list set corresponding to F, G rg Is F rg Corresponding waiting time length, wherein G rg Meets the following conditions:
G rg =T 2 rg -T 1 rg -(L-L 1 )/(Σ f e=1 (L/(E e2 -E e1 ))/f)-L 0 /(2×L 1 ×J rg /(Σ f e=1 (L/(E e2 -E e1 ))/f))，T 1 rg acquisition of F for the first electronic device 3 rg T, T 2 rg Acquisition of F for the second electronic device 4 rg L is the length of the road between the first electronic device 3 and the second electronic device 4, L 1 For the length L of the road between the first electronic device 3 and the center of the target road crossing area 1 0 For the length of the road between the first electronic device 3 and the stop line nearest to the first electronic device 3 in the target road crossing area 1, J rg Is F rg The key acceleration of the corresponding key vehicle, wherein the key acceleration is known to those skilled in the art and is set by those skilled in the art according to the reference of the key vehicle, and is not described herein.
Alternatively, the length of the road between the first electronic device 3 and the stop line closest to the first electronic device 3 in the target road intersection area 1 is the travel length of the vehicle from the first electronic device 3 to the stop line closest to the first electronic device 3 in the target road intersection area 1, instead of the straight line distance between the first electronic device 3 and the stop line closest to the first electronic device 3 in the target road intersection area 1.
S4, according to G rg Obtaining a key time length H corresponding to a target traffic signal device, wherein H meets the following conditions:
H=Σ s r=1 max(G r1 ，G r2 ，……，G rg ，……，G rh(r) ) And/s, wherein max () is a maximum value acquisition function.
S5, according to G rg The period R of the target traffic signal device is acquired.
Specifically, S5 includes the following sub-steps:
s51, max (G r1 ，G r2 ，……，G rg ，……，G rh(r) ) Corresponding F rg As G 0 r ，G 0 r Is F r Corresponding candidate vehicle IDs.
S52 according to G 0 r R is obtained, wherein R meets the following conditions:
R=Σ s r=2 ((T 0 r +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r )-(T 0 r-1 +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r-1 ))/(s-1)，T 0 r g is acquired for the first electronic device 3 0 r Time points of J 0 r Is G 0 r Corresponding key acceleration, T 0 r-1 G is acquired for the first electronic device 3 0 r-1 Time points of J 0 r-1 Is G 0 r-1 Corresponding critical acceleration, G 0 r-1 Is F r-1 Corresponding candidate vehicle IDs.
Specifically, max (G (r-1)1 ，G (r-1)2 ，……，G (r-1)g ，……，G (r-1)h(r-1) ) Corresponding F (r-1)g As G 0 r-1 。
Through the steps, the candidate vehicle IDs corresponding to the key vehicle ID list are obtained according to the waiting time corresponding to the key vehicle IDs, the period of the target traffic signal device can be accurately obtained according to the time point when all the first electronic devices collect the candidate vehicle IDs, the key acceleration corresponding to the candidate vehicle IDs and the length of the road, the key time can be understood as the time of lighting the red light of the target traffic signal device according to the period and the key time of the target traffic signal device, the working state of the target traffic signal device can be obtained, the resource waste is avoided, and the accuracy of obtaining the working state of the target traffic signal device is improved.
S6, obtaining B according to H and R 1 i And B 2 i ，B 1i For the ith first signal duration, B 2i Is the i second signal duration.
Specifically, S6 includes the following sub-steps:
s61, obtaining K according to the intermediate time point K, wherein K is the time point when the red light of the target traffic signal device is lighted last time before the initial time period 0 ={K 0 1 ，K 0 2 ，……，K 0 x ，……，K 0 p }，K 0 x ={K 0 x1 ，K 0 x2 }，K 0 x1 ={K 01 x1 ，K 02 x1 }，K 0 x2 ={K 01 x2 ，K 02 x2 The initial time period refers to the time period between the starting point when the first electronic device 3 collects the target vehicle 2 and the ending point when the second electronic device 4 collects the target vehicle 2, K 0 For the middle duration list set corresponding to K, the value of x is 1 to p, p is the number of the middle duration lists, and K 01 x1 An xth intermediate duration list K corresponding to K 0 x The first intermediate time length K of (2) 0 x1 K is the starting time point of (1) 02 x1 For K 0 x1 End time point of (K) 01 x2 For K 0 x A second intermediate time length K 0 x2 K is the starting time point of (1) 02 x2 For K 0 x2 Wherein K is 01 x1 、K 02 x1 、K 01 x2 、K 02 x2 Meets the following conditions:
K 01 x1 =K+(x-1)×R；
K 02 x1 =K 01 x1 +H-1；
K 01 x2 =K 02 x1 +1；
K 02 x2 =K+x×R-1。
specifically, the first electronic device 3 is disposed at one side of the target road crossing area 1.
Specifically, the second electronic device 4 is disposed at one side of the next road crossing area of the target road crossing area 1.
Further, the setting position of the first electronic device 3 is different from the setting position of the second electronic device 4, for example, when the first electronic device 3 is located on the east side of the target road crossing area 1, the second electronic device 4 is located on the west side of the target road crossing area 1 or when the first electronic device 3 is located on the south side of the target road crossing area 1, the second electronic device 4 is located on the north side of the target road crossing area 1.
S62, when K 01 x1 ≥A 1 And K is 02 x 1 ≤A 2 At the time, K 0 x1 As B 1i ，A 1 A is the starting time point of the initial time period 2 Is the ending time point of the initial period.
S63, when K 01 x1 ＜A 1 And A is 1 ＜K 02 x1 ≤A 2 At the same time, the first candidate period L x1 As B 1i ，L x1 The starting time point of (a) is A 1 The ending time point is K 02 x1 。
S64, when K 01 x1 ≥A 1 And K is 02 x1 ＞A 2 At that time, the second candidate period L 0 x1 As B 1i ，L 0 x1 Is K at the starting time point of (2) 01 x1 The ending time point is A 2 。
S65, when K 01 x1 ＜A 1 And K is 02 x1 ＞A 1 And K is 02 x1 ≥A 2 At that time, the third candidate period L 1 x1 As B 1i ，L 1 x1 The starting time point of (a) is A 1 The ending time point is A 2 。
S66, when K 01 x2 ≥A 1 And K is 02 x2 ≤A 2 At the time, K 0 x2 As B 2i 。
S67, when K 01 x2 ＜A 1 And A is 1 ＜K 02 x2 ≤A 2 At the same time, a first intermediate period of time Q x2 As B 2i ，Q x2 The starting time point of (a) is A 1 The ending time point is K 02 x2 。
S68, when K 01 x2 ≥A 1 And K is 02 x2 ＞A 2 At the same time, a second designated time period Q 0 x2 As B 2i ，Q 0 x2 Is K at the starting time point of (2) 01 x2 The ending time point is A 2 。
S69, when K 01 x2 ＜A 1 And K is 02 x2 ＞A 1 And K is 02 x2 ≥A 2 When L is to 1 x1 As B 2i 。
For the traffic signal device which cannot acquire the working state, most of the working state and the duration of the working state of the traffic signal device are acquired through manual statistics in the prior art, however, the manual statistics has uncontrollability and large workload, when the data of the working state of the traffic signal period reaches a certain amount, errors can occur, therefore, the accuracy of the acquired working state of the traffic signal device in the prior art is low, and resource waste is easily caused, through the steps, the key vehicle ID list is acquired, the waiting time corresponding to the key vehicle is acquired according to the key vehicle ID list, so that the key time and the period of the target traffic signal device are acquired, the intermediate time list can be accurately acquired according to the intermediate time, the key time and the period of the target traffic signal device, the time point of the first electronic equipment for acquiring the target vehicle ID and the starting time point and the ending time point of the intermediate time are compared, the working state of the target traffic signal device in the initial time period can be accurately acquired, and the resource waste is avoided, and the accuracy of the working state of the target traffic signal device in the initial time period is improved.
The target time node obtaining module is configured to obtain a target time node corresponding to the target vehicle 2.
Specifically, as shown in fig. 4, the target time node obtaining module includes:
the first acquisition module is used for acquiring a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points are time points when the first electronic equipment 3 collects a historical vehicle; the second key time point list comprises a plurality of second key time points, wherein the second key time points are time points when the two electronic devices 4 collect the historical vehicles, each first key time point corresponds to only one second key time point, and the second key time points corresponding to different first key time points are different; it can be understood that: a plurality of first key time points E 11 ，E 21 ，……，E e1 ，……，E f1 A plurality of second key time points E 12 ，E 22 ，……，E e2 ，……，E f2 Wherein E is e1 For the E-th first key time point, E in the first key time point list e2 For the e second key time point in the second key time point list, the value of e is 1 to f, and f is the number of historical vehicles; e (E) e1 And E is connected with e2 Is the same.
The second obtaining module is configured to obtain a target time node corresponding to the target vehicle 2 according to the first key time point list and the second key time point list;
further, the target time node C meets the following conditions:
C=A 1 +(Σ f e=1 (L/(E e2 -E e1 ))/f)/2×a；
wherein A is 1 The initial time period is a starting time point of an initial time period, and the initial time period is a time period between when the first electronic device 3 collects the target vehicle 2 and when the second electronic device 4 collects the target vehicle 2;
wherein a is a preset acceleration corresponding to the target vehicle 2, wherein a person skilled in the art knows that the preset acceleration is set according to an actual situation, and details are not repeated here;
where L is the length of the road between the first electronic device 3 and the second electronic device 4.
Specifically, the first electronic device 3 is disposed at one side of the target road crossing area 1.
Specifically, the second electron is located at one side of a next road intersection area of the target road intersection area 1, where the next road intersection area is a road intersection area where the target vehicle will continue to pass after passing through the target road area.
Further, the setting position of the first electronic device 3 is different from the setting position of the second electronic device 4, for example, when the first electronic device 3 is located on the east side of the target road crossing area 1, the second electronic device 4 is located on the west side of the target road crossing area 1 or when the first electronic device 3 is located on the south side of the target road crossing area 1, the second electronic device 4 is located on the north side of the target road crossing area 1.
Specifically, the history vehicle refers to a vehicle whose speed is not zeroed when traveling to the next road crossing area of the target road crossing area 1 through the target road crossing area 1 in the history period.
Through the steps, a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID are obtained, a target time node can be accurately obtained according to the data such as the first key time point, the second key time point and the road length, and when the target time node is in a certain first signal duration, the current state of the target vehicle is marked as a first vehicle state identifier; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road intersection, the traffic state of the vehicle at the road intersection can still be determined, so that the period and the green-signal ratio of the traffic signal lamp in the road intersection can be adjusted.
The first execution module is configured to mark a current state of the target vehicle 2 as a first vehicle state identifier when the target time node is in a certain first signal duration, where the first vehicle state identifier is an identifier that the vehicle is in a waiting state in the target road intersection area 1; it can be understood that: the target vehicle 2 waits for a red light in the target road crossing area 1, and passes after the red light.
The second execution module is configured to mark a current state of the target vehicle 2 as a second vehicle state identifier when the target time node is in a certain second signal duration, where the second vehicle state identifier is an identifier that the vehicle is in a state of traveling through the target road intersection area 1; it can be understood that: the target vehicle 2 directly passes through the target road crossing area 1 without waiting.
According to the signal period set of the target traffic signal device, a first signal duration set of the target traffic signal device and a second signal duration set of the target traffic signal device are obtained, and when a target time node is in a certain first signal duration, the current state of the target vehicle is marked as a first vehicle state identifier; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road crossing area, the traffic state of the vehicle in the road crossing area can still be determined, so that the period and the green-signal ratio of the traffic signal device in the road crossing area can be adjusted.
Embodiments of the present invention also provide a non-transitory computer readable storage medium, which may be disposed in an electronic device to store a computer program or at least one computer executable instruction for implementing one of the methods embodiments, the computer program or at least one computer executable instruction being loaded and executed by the processor to implement the method provided by the above embodiments.
The embodiment of the invention also provides electronic equipment, which comprises: a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the method provided by the above embodiments when the computer program is executed.
Embodiments of the present invention also provide a computer program product comprising program code for causing an electronic device to carry out the steps of the method according to the various exemplary embodiments of the invention as described in the specification, when said program product is run on the electronic device.
The method, the device, the medium and the electronic equipment for acquiring the traffic state of the vehicle can acquire the first signal duration set of the target traffic signal device and the second signal duration set of the target traffic signal device according to the signal period set of the target traffic signal device, and mark the current state of the target vehicle as a first vehicle state identifier when the target time node is in a certain first signal duration; when the target time node is in a certain second signal duration, the current state of the target vehicle is marked as a second vehicle state identifier, and even if the vehicle speed acquisition equipment or the video acquisition equipment is not deployed in the road crossing area, the traffic state of the vehicle in the road crossing area can still be determined, so that the period and the green-signal ratio of the traffic signal device in the road crossing area can be adjusted.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention.
Claims (16)
1. A method of acquiring a traffic state of a vehicle, the method comprising the steps of:
collecting a signal period set of a target traffic signal device, wherein the target traffic signal device refers to a signal lamp of a target road crossing area;
when the collected signal period set of the target traffic signal device is not Null, acquiring a first signal period set of the target traffic signal device and a second signal period set of the target traffic signal device according to the signal period set of the target traffic signal device, wherein the signal period set of the target traffic signal device comprises n signal periods, the first signal period set comprises n first signal periods, the second signal period set comprises n second signal periods, wherein the sum of the i first signal period and the i second signal period is equal to the i signal period, and the value range of i is 1 to n; when the collected signal period set of the target traffic signal device is Null, determining the signal period set of the target traffic signal device, wherein the steps are as follows:
S1, obtaining F= { F 1 ，F 2 ，……，F r ，……，F s }，F r ={F r1 ，F r2 ，……，F rg ，……，F rh(r) Wherein F is a set of key vehicle ID lists, r has a value of 1 to s, s is the number of key vehicle ID lists, F rg List F for the r-th critical vehicle ID r The g-th key vehicle ID in (1) is given by g to h (r), and h (r) is F r The number of the key vehicle IDs in the history period, wherein the key vehicle is a vehicle which passes through the target road crossing area and stays in the target road crossing area;
s2, acquiring a first key time point list corresponding to the historical vehicle ID and a second key time corresponding to the historical vehicle IDA list of points; the first key time point list comprises a plurality of first key time points, wherein the first key time points refer to time points when a single historical vehicle is acquired through first electronic equipment; the second key time point list comprises a plurality of second key time points, wherein the second key time points refer to time points when a single historical vehicle is acquired through second electronic equipment, and the first key time points correspond to the second key time points; i.e. a plurality of said first critical points in time E 11 ，E 21 ，……，E e1 ，……，E f1 A plurality of second key time points E 12 ，E 22 ，……，E e2 ，……，E f2 Wherein E is e1 For the E-th first key time point, E in the first key time point list e2 For the E-th second key time point in the second key time point list, the value of E is 1 to f, f is the number of historical vehicles, E e1 And E is connected with e2 Is the same;
s3, obtaining G= { G 1 ，G 2 ，……，G r ，……，G s }，G r ={G r1 ，G r2 ，……，G rg ，……，G rh(r) G is a waiting time length list set corresponding to F, G rg Is F rg Corresponding waiting time length, wherein G rg Meets the following conditions:
G rg =T 2 rg -T 1 rg -(L-L 1 )/(Σ f e=1 (L/(E e2 -E e1 ))/f)-L 0 /(2×L 1 ×J rg /(Σ f e=1 (L/(E e2 -E e1 ))/f))，T 1 rg f is acquired for the first electronic device rg T, T 2 rg Acquisition of F for the second electronic device rg L is the length of the road between the first electronic device and the second electronic device, L 1 L is the length of the road between the first electronic device and the center of the crossing area of the target road 0 For crossing the first electronic device with the target roadThe length of the road between the stop lines nearest to the first electronic device in the area, J rg Is F rg Key acceleration of the corresponding key vehicle;
s4, according to G rg Obtaining a key time length H corresponding to a target traffic signal device, wherein H meets the following conditions:
H=Σ s r=1 max(G r1 ，G r2 ，……，G rg ，……，G rh(r) ) S, wherein max () is a maximum value acquisition function;
s5, according to G rg Acquiring a period R of a target traffic signal device; s5 comprises the following substeps:
s51, max (G r1 ，G r2 ，……，G rg ，……，G rh(r) ) Corresponding F rg As G 0 r ，G 0 r Is F r Corresponding candidate vehicle IDs;
s52 according to G 0 r R is obtained, wherein R meets the following conditions:
R=Σ s r=2 ((T 0 r +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r )-(T 0 r-1 +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r-1 ))/(s-1)，T 0 r G is acquired for the first electronic device 0 r Time points of J 0 r Is G 0 r Corresponding key acceleration, T 0 r-1 G is acquired for the first electronic device 0 r-1 Time points of J 0 r-1 Is G 0 r-1 Corresponding critical acceleration, G 0 r-1 Is F r-1 Corresponding candidate vehicle IDs;
s6, obtaining B according to H and R 1 i And B 2 i ，B 1i For the ith first signal duration, B 2i Is the ith second signal duration; s6 comprises the following substeps:
s61, according to the intermediate time point K, K isObtaining K at the time point of last lighting of the red light of the target traffic signal device before the initial time period 0 ={K 0 1 ，K 0 2 ，……，K 0 x ，……，K 0 p }，K 0 x ={K 0 x1 ，K 0 x2 }，K 0 x1 ={K 01 x1 ，K 02 x1 }，K 0 x2 ={K 01 x2 ，K 02 x2 The initial time period is the time period between the starting point when the first electronic device collects the target vehicle and the ending point when the second electronic device collects the target vehicle, K 0 For the middle duration list set corresponding to K, the value of x is 1 to p, p is the number of the middle duration lists, and K 01 x1 An xth intermediate duration list K corresponding to K 0 x The first intermediate time length K of (2) 0 x1 K is the starting time point of (1) 02 x1 For K 0 x1 End time point of (K) 01 x2 For K 0 x A second intermediate time length K 0 x2 K is the starting time point of (1) 02 x2 For K 0 x2 Wherein K is 01 x1 、K 02 x1 、K 01 x2 、K 02 x2 Meets the following conditions:
K 01 x1 =K+(x-1)×R；K 02 x1 =K 01 x1 +H-1；K 01 x2 =K 02 x1 +1；K 02 x2 =K+x×R-1；
s62, when K 01 x1 ≥A 1 And K is 02 x 1 ≤A 2 At the time, K 0 x1 As B 1i ，A 1 A is the starting time point of the initial time period 2 An ending time point which is an initial time period;
s63, when K 01 x1 ＜A 1 And A is 1 ＜K 02 x1 ≤A 2 At the same time, the first candidate period L x1 As B 1i ，L x1 The starting time point of (a) is A 1 The ending time point is K 02 x1 ；
S64, when K 01 x1 ≥A 1 And K is 02 x1 ＞A 2 At that time, the second candidate period L 0 x1 As B 1i ，L 0 x1 Is K at the starting time point of (2) 01 x1 The ending time point is A 2 ；
S65, when K 01 x1 ＜A 1 And K is 02 x1 ＞A 1 And K is 02 x1 ≥A 2 At that time, the third candidate period L 1 x1 As B 1i ，L 1 x1 The starting time point of (a) is A 1 The ending time point is A 2 ；
S66, when K 01 x2 ≥A 1 And K is 02 x2 ≤A 2 At the time, K 0 x2 As B 2i ；
S67, when K 01 x2 ＜A 1 And A is 1 ＜K 02 x2 ≤A 2 At the same time, a first intermediate period of time Q x2 As B 2i ，Q x2 The starting time point of (a) is A 1 The ending time point is K 02 x2 ；
S68, when K 01 x2 ≥A 1 And K is 02 x2 ＞A 2 At the same time, a second designated time period Q 0 x2 As B 2i ，Q 0 x2 Is K at the starting time point of (2) 01 x2 The ending time point is A 2 ；
S69, when K 01 x2 ＜A 1 And K is 02 x2 ＞A 1 And K is 02 x2 ≥A 2 When L is to 1 x1 As B 2i ；
Acquiring a target time node corresponding to a target vehicle;
when the target time node is in a certain first signal duration, marking the current state of the target vehicle as a first vehicle state identifier, wherein the first vehicle state identifier refers to an identifier that the vehicle is in a waiting state in a target road crossing area;
and when the target time node is in a certain second signal duration, marking the current state of the target vehicle as a second vehicle state identifier, wherein the second vehicle state identifier refers to an identifier of the state that the vehicle is in a running state passing through a target road crossing area.
2. The method for acquiring a traffic state of a vehicle according to claim 1, wherein the first signal duration is a duration during which the working state of the target traffic signal device is a red light state.
3. The method for acquiring a traffic state according to claim 1, wherein the second signal duration is a duration during which the working state of the target traffic signal device is a green state.
4. The method for acquiring a traffic state of a vehicle according to claim 1, wherein the step of acquiring a target time node corresponding to the target vehicle further comprises the steps of:
acquiring a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points are time points when the first electronic equipment collects historical vehicles; the second key time point list comprises a plurality of second key time points, wherein the second key time points are time points when the second electronic equipment collects the historical vehicle, each first key time point corresponds to only one second key time point, and the second key time points corresponding to different first key time points are different;
And acquiring a target time node corresponding to the target vehicle according to the first key time point list and the second key time point list.
5. The method for acquiring a vehicle passing state according to claim 4, wherein the first electronic device is provided on one side of a target road crossing area.
6. The method according to claim 4, wherein the second electronic device is provided on a side of a next road crossing area of the target road crossing area, the next road crossing area being a road crossing area through which the target vehicle is to continue to pass after passing through the target road area.
7. The method according to claim 6, wherein the history vehicle is a vehicle whose speed is not zeroed when traveling through the target road crossing area to a next road crossing area of the target road crossing area in the history period.
8. A vehicle passing state acquisition apparatus, characterized by comprising:
the signal period execution module is used for collecting a signal period set of a target traffic signal device, wherein the target traffic signal device is a signal lamp of a target road crossing area;
The signal duration acquisition module is used for acquiring a first signal duration set of the target traffic signal device and a second signal duration set of the target traffic signal device according to the signal duration set of the target traffic signal device when the acquired signal duration set of the target traffic signal device is not Null, wherein the signal duration set of the target traffic signal device comprises n signal periods, the first signal duration set comprises n first signal durations, the second signal duration set comprises n second signal durations, the sum of the i first signal durations and the i second signal durations is equal to the i signal period, and the value range of i is 1 to n; when the collected signal period set of the target traffic signal device is Null, determining the signal period set of the target traffic signal device, wherein the steps are as follows:
s1, obtaining F= { F 1 ，F 2 ，……，F r ，……，F s }，F r ={F r1 ，F r2 ，……，F rg ，……，F rh(r) Wherein F is a set of key vehicle ID lists, r has a value of 1 to s, s is the number of key vehicle ID lists, F rg List F for the r-th critical vehicle ID r The g-th key vehicle ID in (1) is given by g to h (r), and h (r) is F r The number of the key vehicle IDs in the history period, wherein the key vehicle is a vehicle which passes through the target road crossing area and stays in the target road crossing area;
S2, acquiring a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points refer to time points when a single historical vehicle is acquired through first electronic equipment; the second key time point list comprises a plurality of second key time points, wherein the second key time points refer to time points when a single historical vehicle is acquired through second electronic equipment, and the first key time points correspond to the second key time points; i.e. a plurality of said first critical points in time E 11 ，E 21 ，……，E e1 ，……，E f1 A plurality of second key time points E 12 ，E 22 ，……，E e2 ，……，E f2 Wherein E is e1 For the E-th first key time point, E in the first key time point list e2 For the E-th second key time point in the second key time point list, the value of E is 1 to f, f is the number of historical vehicles, E e1 And E is connected with e2 Is the same;
s3, obtaining G= { G 1 ，G 2 ，……，G r ，……，G s }，G r ={G r1 ，G r2 ，……，G rg ，……，G rh(r) }，Wherein G is a waiting time length list set corresponding to F, G rg Is F rg Corresponding waiting time length, wherein G rg Meets the following conditions:
G rg =T 2 rg -T 1 rg -(L-L 1 )/(Σ f e=1 (L/(E e2 -E e1 ))/f)-L 0 /(2×L 1 ×J rg /(Σ f e=1 (L/(E e2 -E e1 ))/f))，T 1 rg f is acquired for the first electronic device rg T, T 2 rg Acquisition of F for the second electronic device rg L is the length of the road between the first electronic device and the second electronic device, L 1 L is the length of the road between the first electronic device and the center of the crossing area of the target road 0 For the length of the road between the nearest stopping line of the first electronic device in the crossing area of the first electronic device and the target road, J rg Is F rg Key acceleration of the corresponding key vehicle;
s4, according to G rg Obtaining a key time length H corresponding to a target traffic signal device, wherein H meets the following conditions:
H=Σ s r=1 max(G r1 ，G r2 ，……，G rg ，……，G rh(r) ) S, wherein max () is a maximum value acquisition function;
s5, according to G rg Acquiring a period R of a target traffic signal device; s5 comprises the following substeps:
s51, max (G r1 ，G r2 ，……，G rg ，……，G rh(r) ) Corresponding F rg As G 0 r ，G 0 r Is F r Corresponding candidate vehicle IDs;
s52 according to G 0 r R is obtained, wherein R meets the following conditions:
R=Σ s r=2 ((T 0 r +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r )-(T 0 r-1 +(Σ f e=1 (L/(E e2 -E e1 ))/f)/J 0 r-1 ))/(s-1)，T 0 r g is acquired for the first electronic device 0 r Time points of J 0 r Is G 0 r Corresponding key acceleration, T 0 r-1 G is acquired for the first electronic device 0 r-1 Time points of J 0 r-1 Is G 0 r-1 Corresponding critical acceleration, G 0 r-1 Is F r-1 Corresponding candidate vehicle IDs;
s6, obtaining B according to H and R 1 i And B 2 i ，B 1i For the ith first signal duration, B 2i Is the ith second signal duration; s6 comprises the following substeps:
S61, obtaining K according to the intermediate time point K, wherein K is the time point when the red light of the target traffic signal device is lighted last time before the initial time period 0 ={K 0 1 ，K 0 2 ，……，K 0 x ，……，K 0 p }，K 0 x ={K 0 x1 ，K 0 x2 }，K 0 x1 ={K 01 x1 ，K 02 x1 }，K 0 x2 ={K 01 x2 ，K 02 x2 The initial time period is the time period between the starting point when the first electronic device collects the target vehicle and the ending point when the second electronic device collects the target vehicle, K 0 For the middle duration list set corresponding to K, the value of x is 1 to p, p is the number of the middle duration lists, and K 01 x1 An xth intermediate duration list K corresponding to K 0 x The first intermediate time length K of (2) 0 x1 K is the starting time point of (1) 02 x1 For K 0 x1 End time point of (K) 01 x2 For K 0 x A second intermediate time length K 0 x2 K is the starting time point of (1) 02 x2 For K 0 x2 Wherein K is 01 x1 、K 02 x1 、K 01 x2 、K 02 x2 Meets the following conditions:
K 01 x1 =K+(x-1)×R；K 02 x1 =K 01 x1 +H-1；K 01 x2 =K 02 x1 +1；K 02 x2 =K+x×R-1；
s62, when K 01 x1 ≥A 1 And K is 02 x 1 ≤A 2 At the time, K 0 x1 As B 1i ，A 1 A is the starting time point of the initial time period 2 An ending time point which is an initial time period;
s63, when K 01 x1 ＜A 1 And A is 1 ＜K 02 x1 ≤A 2 At the same time, the first candidate period L x1 As B 1i ，L x1 The starting time point of (a) is A 1 The ending time point is K 02 x1 ；
S64, when K 01 x1 ≥A 1 And K is 02 x1 ＞A 2 At that time, the second candidate period L 0 x1 As B 1i ，L 0 x1 Is K at the starting time point of (2) 01 x1 The ending time point is A 2 ；
S65, when K 01 x1 ＜A 1 And K is 02 x1 ＞A 1 And K is 02 x1 ≥A 2 At that time, the third candidate period L 1 x1 As B 1i ，L 1 x1 The starting time point of (a) is A 1 The ending time point is A 2 ；
S66, when K 01 x2 ≥A 1 And K is 02 x2 ≤A 2 At the time, K 0 x2 As B 2i ；
S67, when K 01 x2 ＜A 1 And A is 1 ＜K 02 x2 ≤A 2 When in use, the first middlePeriod of time Q x2 As B 2i ，Q x2 The starting time point of (a) is A 1 The ending time point is K 02 x2 ；
S68, when K 01 x2 ≥A 1 And K is 02 x2 ＞A 2 At the same time, a second designated time period Q 0 x2 As B 2i ，Q 0 x2 Is K at the starting time point of (2) 01 x2 The ending time point is A 2 ；
S69, when K 01 x2 ＜A 1 And K is 02 x2 ＞A 1 And K is 02 x2 ≥A 2 When L is to 1 x1 As B 2i ；
The target time node acquisition module is used for acquiring a target time node corresponding to the target vehicle;
the first execution module is used for marking the current state of the target vehicle as a first vehicle state identifier when the target time node is in a certain first signal duration, wherein the first vehicle state identifier refers to an identifier that the vehicle is in a waiting state in a target road crossing area;
and the second execution module is used for marking the current state of the target vehicle as a second vehicle state identifier when the target time node is in a certain second signal duration, wherein the second vehicle state identifier is an identifier of the state of the vehicle which is driven through the target road crossing area.
9. The vehicle passing state acquisition apparatus according to claim 8, wherein the first signal duration is a duration during which the operation state of the target traffic signal apparatus is a red light state.
10. The vehicle passing state acquisition apparatus according to claim 8, wherein the second signal duration is a duration during which the operation state of the target traffic signal apparatus is a green light state.
11. The vehicle traffic state acquisition device according to claim 8, characterized in that the target time node acquisition module includes:
the first acquisition module is used for acquiring a first key time point list corresponding to the historical vehicle ID and a second key time point list corresponding to the historical vehicle ID; the first key time point list comprises a plurality of first key time points, wherein the first key time points are time points when the first electronic equipment collects historical vehicles; the second key time point list comprises a plurality of second key time points, wherein the second key time points are time points when the second electronic equipment collects the historical vehicle, each first key time point corresponds to only one second key time point, and the second key time points corresponding to different first key time points are different;
the second acquisition module is used for acquiring a target time node corresponding to the target vehicle according to the first key time point list and the second key time point list.
12. The vehicle passing state acquisition apparatus according to claim 11, wherein the first electronic device is provided on one side of a target road crossing area.
13. The apparatus according to claim 11, wherein the second electron is on a side of a next road crossing area of the target road crossing area, the next road crossing area being a road crossing area through which the target vehicle is to continue to pass after passing through the target road area.
14. The apparatus for acquiring a vehicle traffic state according to claim 13, wherein the history vehicle is a vehicle whose speed is not zeroed when traveling through the target road crossing area to a next road crossing area of the target road crossing area in the history period.
15. A non-transitory computer readable storage medium having at least one instruction or at least one program stored therein, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the method of acquiring a vehicle traffic state according to any one of claims 1-7.
16. An electronic device comprising a processor and the non-transitory computer-readable storage medium of claim 15.
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