JP2021128771A - Control method of traffic light signal, device, apparatus and storage medium - Google Patents

Abstract

To provide a control method of a traffic light signal, a device, an apparatus and a storage medium for optimizing a traffic light signal at an intersection according to the number of vehicles waiting in a lane to improve traffic efficiency of the vehicles at the intersection.SOLUTION: An intersection image is acquired, a lane position and the number of vehicles waiting in a lane are established based on the intersection image, and a traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane. The lane position and the number of vehicles waiting in the lane can be acquired, the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane, and traffic efficiency of the vehicles at the intersection is improved based on analysis of the intersection image.SELECTED DRAWING: Figure 2

Description

The present application relates to intelligent traffic technology in the field of big data technology, and more particularly to traffic light signal control methods, devices, devices and storage media.

Congestion of road traffic in urban areas is getting more and more attention. Not only is traffic congestion wasting a lot of time, but braking and idling during queuing increase vehicle energy consumption and increase air pollution.

As an important element of the traffic system, the conventional traffic light control system plays an important role in alleviating traffic congestion. Since the traffic light time of the conventional traffic light control system is relatively fixed, the traffic rate of the road is low. Especially at large intersections, the transition time of traffic lights is longer, further reducing the traffic efficiency of the intersection.

The present application provides a method of controlling traffic light signals, devices, equipment and storage media, and can obtain the lane position and the number of vehicles waiting in the lane based on the analysis of the intersection image, and then wait in the lane. Optimize traffic light signals at intersections according to the number of vehicles at the intersection to improve the traffic efficiency of vehicles at the intersection.

In the first aspect, the embodiments of the present application provide a method of controlling a traffic light signal, wherein the method is:
To get an intersection image and
Determining the lane position and the number of vehicles waiting in the lane based on the intersection image,
Includes controlling traffic light signals in the corresponding lane based on the number of vehicles waiting in the lane.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This allows you to obtain the lane position and the number of vehicles waiting in the lane based on the analysis of the intersection image, and then optimize the traffic light signal at the intersection according to the number of vehicles waiting in the lane. To improve the traffic efficiency of vehicles at intersections.

In one possible design, determining the lane position and the number of vehicles waiting in the lane based on the intersection image
Recognizing the vehicle information in the intersection image by the target learning model, the vehicle information includes the vehicle distribution and the vehicle width, and the target learning model was obtained by training with the intersection image marked with the vehicle information. Being a thing, recognizing and
Determining the lane position based on the vehicle distribution and the vehicle width,
Includes statistics on the number of vehicles waiting in each lane.

In this embodiment, by the initial learning model constructed by training the intersection image marked with vehicle information, the feature corresponding to the intersection image is used as the input of the initial learning model, and the vehicle information is used as the output of the initial learning model for training. Is repeated to obtain a target learning model capable of accurately recognizing vehicle information in the intersection image. After recognizing the vehicle information, the lane lines are marked according to the vehicle distribution and the vehicle width, thereby distinguishing each lane included in the intersection. Finally, the number of vehicles waiting in each lane is statistic. The entire process does not require manual intervention, efficiently processes large-scale intersection images, and is applied to various complex intersection environments.

In one possible design, controlling the traffic light signal in the corresponding lane based on the number of vehicles waiting in the lane
When the number of vehicles waiting in the lane is greater than the first predetermined value, the duration of the green light signal in the corresponding lane is extended and / or the duration of the red light signal in the corresponding lane is shortened. That and
When the number of vehicles waiting in the lane is less than the second predetermined value, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended. That and
When the number of vehicles waiting in the lane is equal to or greater than the second predetermined value and equal to or less than the first predetermined value, the duration of the green light signal and the red light signal is set as a default value.

In this embodiment, the traffic light signal of the corresponding lane is controlled by the number of vehicles waiting in the lane, and when the number of vehicles waiting in the lane is large, the duration of the green light signal of the corresponding lane is determined. Extend and / or reduce the duration of the red light signal in the corresponding lane. When the number of vehicles waiting in the lane is small, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended. This makes it possible to flexibly adjust the duration of the red light signal and the green light signal based on the number of vehicles waiting in the lane, and improve the traffic efficiency of the vehicle at the intersection.

In one possible design, when there is a turn waiting area in the intersection image, the method
To obtain the number of vehicles waiting in the turning standby area,
Further including controlling a turning traffic light signal based on the number of vehicles waiting in the turning waiting area.

In this embodiment, the position of the turning standby area can be further self-recognized, and the traffic light signal of turning is controlled by statistic of the number of vehicles waiting in the turning waiting area, thereby in the turning lane. The waiting time of the vehicle can be optimized to improve the traffic efficiency of the turning vehicle.

In one possible design, obtaining the number of vehicles waiting in the turning standby area is
The predetermined conditions include that the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. By rearranging the intersection images satisfying the predetermined conditions according to the time order to obtain a target image sequence,
By analyzing the target image sequence, the stop position of the vehicle to be rearranged first in the turning standby area is set as the cut-off line of the turning waiting area, and the number of vehicles waiting in the turning waiting area is statistic. ,including.

In this embodiment, the case where the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. By analyzing the intersection image, the position of the turning standby area and the number of vehicles waiting in the turning waiting area are acquired. The entire process does not require human intervention, efficiently realizes processing for intersection images including the turning standby area, and is applied to various complex intersection environments.

In one possible design, controlling a turning traffic light signal based on the number of vehicles waiting in the turning waiting area can be done.
Determining the duration information of the turning traffic light signal based on the number of vehicles waiting in the turning waiting area, and
It includes controlling the traffic light signal of the turning based on the duration information.

In this embodiment, the duration information of the turning traffic light signal can be determined by the number of vehicles waiting in the turning standby area. For example, the larger the number of vehicles waiting in the turning waiting area, the more the number of vehicles is waiting. The green light time of the corresponding turning traffic light signal is increased, which reduces the waiting duration of the turning vehicle and improves the user experience.

In one possible design, acquiring an intersection image is
This includes receiving an intersection image taken by the camera according to a predetermined time interval.

In this embodiment, the intersection image can be taken by using the camera mounted in advance at the intersection, and the intersection image is put into the cloud so that the camera takes the intersection image according to a predetermined time interval and performs the recognition process. Upload. This embodiment can realize the collection of intersection images using the conventional road infrastructure, has low requirements for equipment, and has a wide range of application.

In one possible design
Determining the number of pedestrians waiting at the intersection based on the intersection image
Further including controlling traffic light signals at intersections based on the number of pedestrians waiting at the intersection.

In this embodiment, further, by performing recognition analysis on pedestrians in the intersection image, it is possible to control the traffic light signal at the intersection based on the number of pedestrians waiting at the intersection. For example, when the number of waiting pedestrians is small, the duration of the green light signal in the traveling direction at the intersection can be extended. As a result, the number of pedestrians waiting at the intersection and the number of vehicles waiting at each lane can be combined to optimize the traffic light signal at the intersection and improve the traffic efficiency at the intersection.

In the second aspect, the embodiment of the present application provides a traffic light signal control device, wherein the control device.
The first acquisition module for acquiring the intersection image and
Based on the intersection image, a first determination module for determining the lane position and the number of vehicles waiting in the lane, and
Based on the number of vehicles waiting in the lane
Includes a control module for controlling traffic light signals in the corresponding lane.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal of. This allows you to obtain the lane position and the number of vehicles waiting in the lane based on the analysis of the intersection image, and then optimizes the traffic light signal at the intersection according to the number of vehicles waiting in the lane. , Improve vehicle traffic efficiency at intersections.

In one possible design, the first deterministic module is specifically
Recognizing the vehicle information in the intersection image by the target learning model, the vehicle information includes the vehicle distribution and the vehicle width, and the target learning model was obtained by training with the intersection image marked with the vehicle information. Being, recognizing,
It is used to determine the lane position based on the vehicle distribution and the vehicle width, and to stat the number of vehicles waiting in each lane.

In this embodiment, by the initial learning model constructed by training the intersection image marked with vehicle information, the feature corresponding to the intersection image is used as the input of the initial learning model, and the vehicle information is used as the output of the initial learning model for training. Is repeated to obtain a target learning model capable of accurately recognizing vehicle information in the intersection image. After recognizing the vehicle information, the lane lines are marked according to the vehicle distribution and the vehicle width, thereby distinguishing each lane included in the intersection. Finally, the number of vehicles waiting in each lane is statistic. The entire process does not require manual intervention, efficiently processes large-scale intersection images, and is applied to various complex intersection environments.

In one possible design, the control module is specifically
When the number of vehicles waiting in the lane is greater than the first predetermined value, the duration of the green light signal in the corresponding lane is extended and / or the duration of the red light signal in the corresponding lane is shortened. matter,
When the number of vehicles waiting in the lane is less than the second predetermined value, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended. It is also used to set the duration of the green light signal and the red light signal as the default value when the number of vehicles waiting in the lane is equal to or greater than the second predetermined value and equal to or less than the first predetermined value. Be done.

In this embodiment, the traffic light signal of the corresponding lane is controlled by the number of vehicles waiting in the lane, and when the number of vehicles waiting in the lane is large, the duration of the green light signal of the corresponding lane is determined. Extend and / or reduce the duration of the red light signal in the corresponding lane. When the number of vehicles waiting in the lane is small, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended. This makes it possible to flexibly adjust the duration of the red light signal and the green light signal based on the number of vehicles waiting in the lane, and improve the traffic efficiency of the vehicle at the intersection.

In one possible design, when there is a turn waiting area in the intersection image, the device.
A second acquisition module for acquiring the number of vehicles waiting in the turning standby area is further included.
The control module is used to control a turning traffic light signal based on the number of vehicles waiting in the turning standby area.

In this embodiment, the position of the turning standby area can be further self-recognized, and the traffic light signal of turning is controlled by statistic of the number of vehicles waiting in the turning waiting area, thereby in the turning lane. The waiting time of the vehicle can be optimized to improve the traffic efficiency of the turning vehicle.

In one possible design, the second acquisition module is specifically
A predetermined condition includes that the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. The intersection images satisfying the predetermined conditions are rearranged according to the time order to obtain a target image sequence, and the target image sequence is analyzed to determine the stop position of the vehicle to be rearranged first in the turning standby area. It is used for statistic of the number of vehicles waiting in the turning standby area.

In this embodiment, the case where the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. The intersection image is analyzed to obtain the position of the turning standby area and the number of vehicles waiting in the turning waiting area. As a result, the entire process does not require human intervention, efficiently realizes processing for the intersection image including the turning waiting area, and is applied to various complicated intersection environments.

In one possible design, the control module is specifically
Determining the duration information of the turning traffic light signal based on the number of vehicles waiting in the turning waiting area, and controlling the turning traffic light signal based on the duration information. Used for.

In this embodiment, the duration information of the turning traffic light signal can be determined by the number of vehicles waiting in the turning standby area. For example, the larger the number of vehicles waiting in the turning waiting area, the more the number of vehicles is waiting. The green light time of the corresponding turning traffic light signal is increased, which reduces the waiting duration of the turning vehicle and improves the user experience.

In one possible design, the first acquisition module is specifically
It is used to receive intersection images taken by a camera according to a predetermined time interval.

In this embodiment, the intersection image can be taken by using the camera mounted in advance at the intersection, and the intersection image is put into the cloud so that the camera takes the intersection image according to a predetermined time interval and performs the recognition process. Upload. This embodiment can realize the collection of intersection images using the conventional road infrastructure, has low requirements for equipment, and has a wide range of application.

In one possible design
Based on the intersection image, a second determination module for determining the number of pedestrians waiting at the intersection is further included.
The control module is used to control a traffic light signal at an intersection based on the number of pedestrians waiting at the intersection.

In this embodiment, by further performing recognition analysis on pedestrians in the intersection image, it is possible to control the traffic light signal at the intersection based on the number of pedestrians waiting at the intersection. For example, if the number of pedestrians waiting is small, the duration of the green light signal in the traveling direction at the intersection can be extended. As a result, the number of pedestrians waiting at the intersection and the number of vehicles waiting at each lane can be combined to optimize the traffic light signal at the intersection and improve the traffic efficiency at the intersection.

In a third aspect, the present application provides an electronic device, which includes a processor and a memory, the memory stores instructions that can be executed by the processor, and the processor executes the executable instructions. By doing so, the method for controlling the traffic light signal according to any one of the first aspects is executed.

In a fourth aspect, the present application provides a computer-readable storage medium in which a computer program is stored, and when the program is executed by a processor, the traffic light signal according to any one of the first aspects. Realize the control method.

In a fifth aspect, an embodiment of the present application provides a program product, the program product comprising a computer program, stored in a storage medium readable by the computer program, and at least one processor of the server readable. The computer program can be read from the storage medium, and the at least one processor executes the computer program to execute the method for controlling a traffic light signal according to any one of the first aspects on the server. Let me.

In the sixth aspect, the embodiments of the present application provide a method for controlling a traffic light signal, wherein the method is:
Determine the number of vehicles waiting in at least one lane by the intersection image taken,
Includes controlling traffic light signals in the corresponding lane based on the number of vehicles waiting in the lane.

In this embodiment, the number of vehicles waiting in at least one lane is determined by the captured intersection image, and the traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane. This allows you to obtain the lane position and the number of vehicles waiting in the lane based on the analysis of the intersection image, and then optimizes the traffic light signal at the intersection according to the number of vehicles waiting in the lane. , Improve vehicle traffic efficiency at intersections.

In a seventh aspect, the present application provides a computer program, the computer program is stored in a computer readable storage medium, and at least one processor of the electronic device can read the computer program from the computer readable storage medium. When the computer program is executed by the at least one processor, the electronic device executes the method described in the first aspect.

One example in the above application has the following advantages or beneficial effects. Based on the analysis of the intersection image, the lane position and the number of vehicles waiting in the lane can be obtained, then the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane, and the intersection Improve vehicle traffic efficiency in. An intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane. By adopting the technical means to overcome the technical problem of low traffic efficiency at the intersection when the conventional traffic light signal is fixed, the analysis of the intersection image shows the lane position and the vehicle waiting in the lane. Obtain numbers and optimize traffic light signals at intersections based on the number of vehicles waiting in the lane to achieve the technical effect of improving vehicle traffic efficiency at intersections.

Other effects of the above selectable embodiments will be described below, along with specific examples.

The accompanying drawings are used to better understand the present proposal and are not intended to limit the present application.
It is a scene graph which can realize the control method of the traffic light signal of the Example of this application. It is the schematic by the 1st Example of this application. It is the schematic by the 2nd Example of this application. It is the schematic by the 3rd Example of this application. It is the schematic by the 4th Example of this application. It is the schematic by the 5th Example of this application. It is the schematic by the 6th Example of this application. It is a block diagram of the electronic device for realizing the control method of the traffic light signal of the Example of this application.

Hereinafter, exemplary embodiments of the present application will be described with reference to the accompanying drawings, but various details of the embodiments of the present application are included for ease of understanding and should be considered merely exemplary. Is. Therefore, one of ordinary skill in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for clarity and brevity, the description of well-known functions and structures is omitted in the following description.

The specification of the present application and the scope of claims and the terms "first", "second", "third", "fourth", etc. (if any) in the above drawings are for distinguishing similar objects. It does not have to be for explaining a particular procedure or order. It is understood that the data used in this way can be exchanged where appropriate so that the embodiments of the present application described herein can be performed in an order other than those illustrated or described herein. Should be. It should be noted that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, eg, a process, method, system, product, or device that includes a series of steps or units. It does not necessarily have to be limited to the clearly listed steps or units, and may include other steps or units that are not explicitly listed or are specific to these processes, methods, products, or devices.

Hereinafter, the technical means of the present application will be described in detail with specific examples. The following specific examples can be combined with each other and the same or similar concepts or processes will not be repeated in some examples.

The problem of traffic congestion in urban areas is getting more and more attention. Traffic congestion not only wastes a lot of time, but braking and idling in the process of queuing increases vehicle energy consumption and air pollution.

The conventional traffic light control system plays an important role in alleviating traffic congestion as an important element in the traffic system. Since the signal lamp time of the conventional signal lamp control system is relatively fixed, the traffic efficiency of the aisle is reduced. Especially for larger intersections, the traffic efficiency of the intersection is lower because the conversion time period of the signal light is longer.

To address the above technical issues, the present application provides traffic light signal control methods, devices, equipment and storage media, and obtains lane positions and the number of vehicles waiting in a lane based on analysis of intersection images. Yes, then the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane to improve the traffic efficiency of the vehicle at the intersection.

FIG. 1 is a scene graph capable of realizing the traffic light signal control method of the embodiment of the present application, and as shown in FIG. 1, at a traffic light intersection, a conventional traffic light control system is important in the traffic system. As an element, it plays an important role in alleviating traffic congestion. Traffic light intersections are often fitted with electric police cameras or cameras, which can capture intersection images, and data processing platforms receive intersection images taken by the camera at predetermined time intervals. The data processing platform recognizes the vehicles in the intersection image by the target learning model and marks the information of each vehicle, for example, the vehicle width and the vehicle length. After recognizing the vehicle information, the lane lines are marked according to the vehicle distribution and the vehicle width, thereby distinguishing each lane included in the intersection. Finally, the number of vehicles waiting in each lane is statistic. Then, the traffic light signal of the corresponding lane is controlled by the number of vehicles waiting in the lane, and when the number of vehicles waiting in the lane is large, the duration of the green light signal of the corresponding lane is extended. And / or reduce the duration of the red light signal in the corresponding lane. A small number of vehicles waiting in a lane reduces the duration of the green light signal in the corresponding lane and / or prolongs the duration of the red light signal in the corresponding lane. This makes it possible to flexibly adjust the duration of the red light signal and the green light signal based on the number of vehicles waiting in the lane, and improve the traffic efficiency of the vehicle at the intersection. At the same time, if there is a turning standby area in the intersection image, the data processing platform can further self-recognize the position of the turning waiting area, and by statistic of the number of vehicles waiting in the turning waiting area, the turning traffic. The light signal can be controlled, thereby optimizing the vehicle's waiting time in the turning lane and improving the traffic efficiency of the turning vehicle. Further, by performing recognition analysis on pedestrians in the intersection image, it is possible to control the traffic light signal at the intersection based on the number of pedestrians waiting at the intersection. For example, if the number of pedestrians waiting is small, the duration of the green light signal in the traveling direction at the intersection can be extended. As a result, the number of pedestrians waiting at the intersection and the number of vehicles waiting at each lane can be combined to optimize the traffic light signal at the intersection and improve the traffic efficiency at the intersection.

By applying the above method, it is possible to solve the technical problem that the traffic efficiency of an intersection decreases when the conventional traffic light signal is fixed, and by analyzing the intersection image, the lane position and the waiting in the lane can be solved. Obtain the number of vehicles in the intersection and optimize the traffic light signal at the intersection based on the number of vehicles waiting in the lane to achieve the technical effect of improving the vehicle traffic efficiency at the intersection.

FIG. 2 is a schematic diagram of a first embodiment of the present application, and as shown in FIG. 2, the method in this embodiment may include the following steps.
In S101, the intersection image is acquired.

The traffic light signal control method of this embodiment can be applied to a cloud or a data processing platform communicatively connected to a camera. In this embodiment, a data processing platform will be described in detail as an example. The data processing platform receives intersection images taken by the camera at predetermined time intervals.

Specifically, at traffic light intersections, electric police cameras or cameras are often installed, and it is possible to take an image of the intersection with the camera, perform data analysis processing with the data processing platform, and determine the traffic situation at the intersection. ..

In S102, the lane position and the number of vehicles waiting in the lane are determined by the intersection image.

In this embodiment, the data processing platform recognizes the vehicle information in the intersection image by the target learning model, the vehicle information includes the vehicle distribution and the vehicle width, and the target learning model is trained by the intersection image marked with the vehicle information. The lane position is determined by the vehicle distribution and the vehicle width, and the number of vehicles waiting in each lane is statistic.

Specifically, by the initial learning model constructed by training the intersection image marked with vehicle information, the feature corresponding to the intersection image is used as the input of the initial learning model, and the vehicle information is used as the output of the initial learning model for training. Is repeated to obtain a target learning model capable of accurately recognizing vehicle information in the intersection image. The data processing platform can recognize the vehicles in the intersection image by the target learning model and mark the information of each vehicle, for example, the vehicle width and the vehicle length. After recognizing the vehicle information, the lane lines are marked according to the vehicle distribution and the vehicle width, thereby distinguishing each lane included in the intersection. Finally, the number of vehicles waiting in each lane is statistic. The entire process does not require manual intervention, efficiently processes large-scale intersection images, and is applied to various complex intersection environments. Since the number of intersections is large and the intersections and the camera have a correspondence relationship, the correspondence relationship between the lane position and the camera is complicated. In this embodiment, another advantage of such a mode is that the data processing platform can determine the lane position by image recognition, thus manually without having to store information at all intersections. It is to avoid marking processing for intersection information. The principle that the data processing platform determines the lane is that when passing through an intersection, each vehicle is usually arranged in a straight line within a predetermined lane, and therefore the position of the lane is determined by the vehicle distribution and the width information of the vehicle. This allows you to avoid manual marking.

In S103, the traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane.

In this embodiment, the data processing platform controls the traffic light signal of the corresponding lane based on the number of vehicles waiting in the lane, so that the number of vehicles waiting in the lane is the first predetermined value. When greater than, the duration of the green light signal in the corresponding lane is extended and / or the duration of the red light signal in the corresponding lane is shortened, and the number of vehicles waiting in the lane is second. When less than the predetermined value of, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended, and the number of vehicles waiting in the lane. Includes setting the duration of the green light signal and the red light signal as default values when is greater than or equal to the second predetermined value and less than or equal to the first predetermined value.

Specifically, the traffic light signal of the corresponding lane is controlled by the number of vehicles waiting in the lane, and when the number of vehicles waiting in the lane is large, the duration of the green light signal of the corresponding lane is set. Extend and / or reduce the duration of the red light signal in the corresponding lane, reduce the duration of the green light signal in the corresponding lane when the number of vehicles waiting in the lane is low, and / or Extend the duration of the red light signal in the corresponding lane. This makes it possible to flexibly adjust the duration of the red light signal and the green light signal based on the number of vehicles waiting in the lane, and improve the traffic efficiency of the vehicle at the intersection.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This can solve the technical problem of reduced intersection traffic efficiency when the conventional traffic light signal is fixed, and based on the analysis of the intersection image, the lane position and the number of vehicles waiting in the lane can be determined. It can be obtained and then optimizes the traffic light signal at the intersection according to the number of vehicles waiting in the lane to improve the traffic efficiency of the vehicle at the intersection.

FIG. 3 is a schematic view according to a second embodiment of the present application. As shown in FIG. 3, the method in this embodiment includes the following steps.
In S201, the intersection image is acquired.

In S202, the lane position and the number of vehicles waiting in the lane are determined by the intersection image.

In S203, the traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane.

In this embodiment, the specific realization process and realization principle of steps S201 to S203 may refer to the related description of steps S101 to S103 shown in FIG. 2, and will not be repeatedly described here.

In S204, the number of vehicles waiting in the turning standby area is acquired.

In this embodiment, when there is a turning standby area in the intersection image, the data processing platform can further self-recognize the position of the turning waiting area, and by statistic of the number of vehicles waiting in the turning waiting area. , It is possible to control the traffic light signal of turning, thereby optimizing the waiting time of the vehicle in the turning lane and improving the traffic efficiency of the turning vehicle. To obtain the number of vehicles waiting in the turning standby area, the predetermined condition is that the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal. The intersection images satisfying the predetermined conditions are rearranged according to the time order, including that the right turning direction is a red light signal, the target image sequence is obtained, and the target image sequence is analyzed, and the turning standby area is determined. The stop position of the vehicle to be rearranged first is set as the cut-off line of the turning standby area, and the number of vehicles waiting in the turning waiting area is included in statistics.

Specifically, at some intersections, there are still some turn waiting areas, such as a left turn waiting area. At such complex intersections, there are often straight-ahead traffic lights and turning traffic lights. Therefore, the data processing platform further has a green light signal in the straight direction and a red light signal in the left turn direction, or a green light signal in the straight direction and a red light signal in the right turn direction. The intersection image sequence in certain cases may be analyzed to recognize the position of the turn waiting area and the number of vehicles waiting in the turn waiting area. Taking the left turn lane as an example, when the straight direction is a green light and the left turn direction is a red light, a vehicle that requires a left turn starts, sequentially travels to the left turn standby area, and the left turn standby area. The number of left-turning standby vehicles in the left-turning waiting area is determined in a predetermined period by stopping until before the cut-off line and continuously taking intersection images. The entire process does not require human intervention, efficiently realizes processing for intersection images including the turning standby area, and is applied to various complex intersection environments.

In S205, the traffic light signal for turning is controlled by the number of vehicles waiting in the turning standby area.

In this embodiment, the data processing platform determines the duration information of the turning traffic light signal by the number of vehicles waiting in the turning standby area, and controls the turning traffic light signal by the duration information. Can be done.

Specifically, the duration information of the turning traffic light signal can be determined by the number of vehicles waiting in the turning waiting area. For example, the larger the number of vehicles waiting in the turning waiting area, the more the duration information of the turning traffic light signal can be determined. The green light time of the corresponding turning traffic light signal is increased, which reduces the waiting duration of the turning vehicle, improves the vehicle traffic efficiency at the intersection, and improves the user experience.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This can solve the technical problem of reduced traffic efficiency at intersections when the traditional traffic light signal is fixed, and based on the analysis of intersection images, the lane position and the vehicle waiting in the lane. The number can be obtained and then the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane to improve the traffic efficiency of the vehicle at the intersection.

Further, when the turning standby area exists in the intersection image, the present embodiment can further acquire the number of vehicles waiting in the turning waiting area. Then, the traffic light signal for turning is controlled by the number of vehicles waiting in the turning standby area. This enables processing for intersection images including the turning standby area, further controls the turning traffic light signal, improves vehicle traffic efficiency at the intersection, improves the user experience, and is applied to various complex intersection environments. ..

FIG. 4 is a schematic view according to a third embodiment of the present application. As shown in FIG. 4, the method in this embodiment may include the following steps.
In S301, the intersection image is acquired.

In S302, the lane position and the number of vehicles waiting in the lane are determined by the intersection image.

In S303, the traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane.

The specific realization process and realization principle of steps S301 to S303 in this embodiment may refer to the related description of steps S101 to S103 shown in FIG. 2, and will not be repeatedly described here.

In S304, the number of pedestrians waiting at the intersection is determined by the intersection image.

In this embodiment, the data processing platform further recognizes and analyzes pedestrians in the intersection image to determine the number of pedestrians waiting at the intersection. Since the technique for determining a pedestrian by analyzing an iconography is a conventional technique, it will not be described repeatedly here.

In S305, the traffic light signal at the intersection is controlled based on the number of pedestrians waiting at the intersection.

In this embodiment, the data processing platform can control the traffic light signal at the intersection based on the number of pedestrians waiting at the intersection. For example, when the number of waiting pedestrians is small, the duration of the green light signal in the traveling direction at the intersection can be extended. This allows the number of pedestrians waiting at the intersection and the number of vehicles waiting in each lane to be combined to optimize the traffic light signal at the intersection and improve the traffic efficiency at the intersection. Applies to intersection environments.

As what needs to be explained, the second and third embodiments may be further combined, whereby the number of pedestrians waiting at the intersection and the number of vehicles waiting in the turning waiting area at the same time according to the intersection image. And thereby optimize the traffic light signal at the intersection. The method of realizing the method can be referred to in the description of the second embodiment and the third embodiment, and will not be described repeatedly here.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This can solve the technical problem of reduced traffic efficiency at intersections when the traditional traffic light signal is fixed, and based on the analysis of intersection images, the lane position and the number of vehicles waiting in the lane. Then, the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane, and the traffic efficiency of the vehicle at the intersection is improved.

Further, in the present embodiment, the number of pedestrians waiting at the intersection can be determined by the intersection image, and the traffic light signal at the intersection can be controlled based on the number of pedestrians waiting at the intersection. This allows the number of pedestrians waiting at the intersection and the number of vehicles waiting in each lane to be combined to optimize the traffic light signal at the intersection and improve the traffic efficiency at the intersection. Applies to intersection environments.

FIG. 5 is a schematic view according to a fourth embodiment of the present application. As shown in FIG. 5, the method in this embodiment may include the following steps.
In S401, the number of vehicles waiting in at least one lane is determined by the captured intersection image.

In S402, the traffic light signal of the corresponding lane is controlled based on the number of vehicles waiting in the lane.

In this embodiment, the data processing platform can further determine the number of vehicles waiting in at least one lane from the captured intersection image, thereby controlling the traffic light signal in the corresponding lane. For example, it recognizes the number of vehicles waiting in the left turn lane, thereby controlling the duration information of the left turn signal light, for example, the greater the number of vehicles waiting in the turn standby area, the more the corresponding turn. The green light time of the traffic light signal is increased, which reduces the waiting duration of the turning vehicle, improves the vehicle traffic efficiency at the intersection, and improves the user experience.

The specific realization process and realization principle may be referred to in the relevant description of the above embodiment and will not be repeated here.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This can solve the technical problem of reduced traffic efficiency at intersections when the traditional traffic light signal is fixed, and based on the analysis of intersection images, the lane position and the number of vehicles waiting in the lane. Then, the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane, and the traffic efficiency of the vehicle at the intersection is improved.

FIG. 6 is a schematic view according to a fifth embodiment of the present application. As shown in FIG. 6, the apparatus in this embodiment is
The first acquisition module 31 for acquiring an intersection image and
The first determination module 32 for determining the lane position and the number of vehicles waiting in the lane by the intersection image,
It includes a control module 33 for controlling traffic light signals in the corresponding lane based on the number of vehicles waiting in the lane.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This allows you to obtain the lane position and the number of vehicles waiting in the lane based on the analysis of the intersection image, and then optimizes the traffic light signal at the intersection according to the number of vehicles waiting in the lane. , Improve vehicle traffic efficiency at intersections.

In one possible design, the first deterministic module 32 is specifically
Recognizing vehicle information in an intersection image by a target learning model, the vehicle information includes vehicle distribution and vehicle width, and the target learning model is obtained by training with an intersection image marked with vehicle information. , Recognize,
It is used to determine the lane position by vehicle distribution and vehicle width, and to stat the number of vehicles waiting in each lane.

In this embodiment, by the initial learning model constructed by training the intersection image marked with vehicle information, the feature corresponding to the intersection image is used as the input of the initial learning model, and the vehicle information is used as the output of the initial learning model for training. By repeating the above steps, it is possible to obtain a target learning model capable of accurately recognizing the vehicle information in the intersection image. After recognizing the vehicle information, the lane lines are marked according to the vehicle distribution and the vehicle width, thereby distinguishing each lane included in the intersection. Finally, the number of vehicles waiting in each lane is statistic. The entire process requires no manual intervention, efficiently processes large-scale intersection images, and is applied to various complex intersection environments.

In one possible design, the control module 33 specifically
When the number of vehicles waiting in the lane is greater than the first predetermined value, the duration of the green light signal in the corresponding lane is extended and / or the duration of the red light signal in the corresponding lane is shortened. matter,
When the number of vehicles waiting in the lane is less than the second predetermined value, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended. It is also used to set the duration of the green light signal and the red light signal as the default value when the number of vehicles waiting in the lane is equal to or greater than the second predetermined value and equal to or less than the first predetermined value. Be done.

In this embodiment, the traffic light signal of the corresponding lane is controlled by the number of vehicles waiting in the lane, and when the number of vehicles waiting in the lane is large, the duration of the green light signal of the corresponding lane is determined. Extend and / or reduce the duration of the red light signal in the corresponding lane, reduce the duration of the green light signal in the corresponding lane when the number of vehicles waiting in the lane is low, and / or Extend the duration of the red light signal in the corresponding lane. This makes it possible to flexibly adjust the duration of the red light signal and the green light signal based on the number of vehicles waiting in the lane, and improve the traffic efficiency of the vehicle at the intersection.

In one possible design, the first acquisition module 31 is specifically
It is used to receive intersection images taken by a camera according to a predetermined time interval.

In this embodiment, the intersection image can be taken by using the camera mounted in advance at the intersection, and the intersection image is put into the cloud so that the camera takes the intersection image according to a predetermined time interval and performs the recognition process. Upload. This embodiment can realize the collection of intersection images using the conventional road infrastructure, has low requirements for equipment, and has a wide range of application.

The traffic light signal control device of this embodiment can execute the technical means in the methods shown in FIGS. 2 and 5, and the specific realization process and technical principle thereof are in the methods shown in FIGS. 2 and 5. The relevant description may be referred to and will not be repeated here.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This can solve the technical problem of reduced traffic efficiency at intersections when the traditional traffic light signal is fixed, and based on the analysis of intersection images, the lane position and the number of vehicles waiting in the lane. Then, the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane, and the traffic efficiency of the vehicle at the intersection is improved.

FIG. 7 is a schematic view according to a sixth embodiment of the present application. As shown in FIG. 7, the apparatus in this embodiment may further include the following equipment based on the apparatus shown in FIG.
In one possible design, when there is a turn waiting area in the intersection image, the device
A second acquisition module 34 for acquiring the number of vehicles waiting in the turn standby area, and
A control module 33 for controlling a turning traffic light signal according to the number of vehicles waiting in the turning waiting area is further included.

In this embodiment, the position of the turning standby area can be further self-recognized, and the traffic light signal of turning is controlled by statistic of the number of vehicles waiting in the turning waiting area, thereby in the turning lane. The waiting time of the vehicle can be optimized to improve the traffic efficiency of the turning vehicle.

In one possible design, the second acquisition module 34 is specifically
A predetermined condition includes that the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. The intersection images satisfying the predetermined conditions are rearranged according to the time order to obtain the target image sequence, and the target image sequence is analyzed, and the stop position of the vehicle to be rearranged first in the turning standby area is set as the cut-off line of the turning waiting area. , Used to statistic of the number of vehicles waiting in the turning standby area.

In this embodiment, the case where the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. The intersection image is analyzed to obtain the position of the turning standby area and the number of vehicles waiting in the turning waiting area. As a result, the entire process does not require human intervention, efficiently realizes processing for the intersection image including the turning waiting area, and is applied to various complicated intersection environments.

In one possible design, the control module 33 specifically
It is used to determine the duration information of the turning traffic light signal by the number of vehicles waiting in the turning standby area, and to control the turning traffic light signal by the duration information.

In this embodiment, the duration information of the turning traffic light signal can be determined by the number of vehicles waiting in the turning standby area. For example, the larger the number of vehicles waiting in the turning waiting area, the more the number of vehicles is waiting. The green light time of the corresponding turning traffic light signal is increased, which reduces the waiting duration of the turning vehicle and improves the user experience.

In one possible design
A second determination module 35 for determining the number of pedestrians waiting at an intersection by means of an intersection image,
It further includes a control module 33 for controlling traffic light signals at intersections based on the number of pedestrians waiting at the intersection.

In this embodiment, by further performing recognition analysis on pedestrians in the intersection image, it is possible to control the traffic light signal at the intersection based on the number of pedestrians waiting at the intersection. For example, when the number of waiting pedestrians is small, the duration of the green light signal in the traveling direction at the intersection can be extended. As a result, the number of pedestrians waiting at the intersection and the number of vehicles waiting at each lane can be combined to optimize the traffic light signal at the intersection and improve the traffic efficiency at the intersection.

The traffic light signal control device of this embodiment can execute the technical means in the methods shown in FIGS. 2, 3, 4, and 5, and the specific realization process and technical principle thereof are shown in FIG. The relevant description in the methods shown in FIGS. 3, 4, and 5 may be referred to and will not be repeated here.

In this embodiment, an intersection image is acquired, the lane position and the number of vehicles waiting in the lane are determined based on the intersection image, and the corresponding lane is determined based on the number of vehicles waiting in the lane. Control the traffic light signal. This can solve the technical problem of reduced traffic efficiency at intersections when the traditional traffic light signal is fixed, and based on the analysis of intersection images, the lane position and the number of vehicles waiting in the lane. Then, the traffic light signal at the intersection is optimized according to the number of vehicles waiting in the lane, and the traffic efficiency of the vehicle at the intersection is improved.

According to an embodiment of the present application, the present application provides a computer program, the computer program is stored in a computer-readable storage medium, and at least one processor of an electronic device can read the computer program from the computer-readable storage medium. When the computer program is run on at least one processor, the electronic device performs the means described in any of the above embodiments.

FIG. 8 is a block diagram of an electronic device for realizing a traffic light signal control method according to an embodiment of the present application. Electronic devices are intended to represent various types of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices and other similar computing devices. The parts shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the practice of the present application described and / or required herein.

As shown in FIG. 8, the electronic device includes one or more processors 501, a memory 502, and an interface for connecting various components including a high speed interface and a low speed interface. The various components may be interconnected using different buses and mounted on a common motherboard, or they may be installed in other forms as needed. The processor can process instructions executed in an electronic device, which may be in memory or in memory to display GUI graphic information on an external input / output device (eg, a display device coupled to an interface). Contains instructions stored in memory. In other embodiments, multiple processors and / or multiple buses may be used with multiple memories, if desired. Similarly, multiple electronic devices may be connected and each device may provide some necessary operations (eg, as a server array, a group of blade servers, or a multiprocessor system). In FIG. 8, processor 501 is taken as an example.

The memory 502 is a non-temporary computer-readable storage medium provided by the present application. Among them, the memory stores instructions that can be executed by at least one processor, so that the at least one processor executes the traffic light signal control method provided by the present application. Computer instructions are stored in the non-temporary computer-readable storage medium of the present application, and the computer instructions are used to cause the computer to execute the control method of the traffic light signal provided by the present application.

As a non-temporary computer-readable storage medium, the memory 502 corresponds to a non-temporary software program, a non-temporary computer-executable program and module, for example, a traffic light signal control method according to an embodiment of the present application. Can be used to store program instructions / modules to be executed. The processor 501 executes various functional applications and data processing of the server by executing non-temporary software programs, instructions and modules stored in the memory 502, i.e., the traffic light signal in the embodiment of the above method. Implement the control method of.

The memory 502 may include a program storage area and a data storage area, of which the program storage area may store the application program required for the operation system and at least one function, and the data storage area is shown in FIG. Data or the like created according to the use of the electronic device that realizes the control method of the traffic light signal shown in 8 may be stored. The memory 502 may include a high-speed random access memory, or may include a non-temporary memory such as at least one magnetic memory, a flash memory, or another non-temporary solid-state memory. In some embodiments, memory 502 selectively includes memory configured remotely with respect to processor 501, which remote memory provides a method of controlling traffic light signals over a network, as shown in FIG. It may be connected to the realized electronic device. Examples of the above networks include, but are not limited to, the Internet, corporate intranets, local networks, mobile communication networks, and combinations thereof.

The electronic device that realizes the traffic light signal control method shown in FIG. 8 may further include an input device 503 and an output device 504. The processor 501, the memory 502, the input device 503, and the output device 504 may be connected by a bus or other form, but in FIG. 8, an example of being connected by a bus is taken.

The input device 503 can receive the input digital or character information and generate a key signal input related to user setting and functional control of the electronic device that realizes the traffic light signal control method shown in FIG. For example, an input device such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, an indicator rod, one or more mouse buttons, a trackball, a control rod, and the like. The output device 504 may include a display device, an auxiliary lighting device (for example, a light emitting diode (LED)), a haptic feedback device (for example, a vibration motor), and the like. The display device may include a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

Various embodiments of the systems and techniques described herein include digital electronic circuit systems, integrated circuit systems, application specific ASICs (ASICs), computer hardware, firmware, software, and / or theirs. It can be carried out in combination. These various embodiments may be implemented in one or more computer programs, wherein the one or more computer programs run and / or run on a programmable system that includes at least one programmable processor. The programmable processor, which can be interpreted, may be a dedicated or general purpose programmable processor, receiving data and instructions from a storage system, at least one input device, and at least one output device, data and Instructions can be transmitted to the storage system, the at least one input device, and the at least one output device.

These computational programs (also called programs, software, software applications, or codes) include programmable processor machine instructions and use programming languages for higher-level processes and / or objects, and / or assembly / machine languages. These calculation programs can be implemented. As used herein, the terms "machine readable medium" and "computer readable medium" are any computer program product, device, and device for providing machine instructions and / or data to a programmable processor. / Or a device (eg, a magnetic disk, an optical disk, a memory, a programmable logic device (PLD)), including a machine-readable medium that receives a machine command as a machine-readable signal. The term "machine readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

To provide interaction with the user, the systems and techniques described herein can be implemented in a computer, which is a display device (eg, a CRT (cathode tube) or LCD) for displaying information to the user. It has a (liquid crystal display) monitor) and a keyboard and pointing device (eg, a mouse or trackball) that allows the user to provide input to the computer. Other types of devices may also be used to further provide interaction with the user, eg, the feedback provided to the user may be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback). Feedback) may be used, and any form (including acoustic input, voice input, or tactile input) may be used to receive input from the user.

The systems and techniques described herein are computing systems that include background components (eg, as data servers), or computing systems that include intermediate components (eg, application servers), or computing systems that include front-end components (eg,). A user computer with a graphical user interface or web browser, a user can interact with embodiments of the systems and techniques described herein through the graphical user interface or web browser), or such background components, middleware. It may be implemented in a computing system that includes any combination of components, or front-end components. The components of the system may be interconnected through digital data communication of any form or medium (eg, a communication network). Examples of communication networks include local networks (LANs), wide area networks (WANs) and the Internet.

The computer system may include a client and a server. Usually, the client and the server are separated from each other and interact with each other via a communication network. The client-server relationship runs on the corresponding computer and is generated by computer programs that have a client-server relationship with each other.

It should be understood that the various forms of process described above are used to reorder, add, or remove steps. For example, each step described herein may be performed in parallel, sequentially, or in a different order as long as the desired results of the technical solutions disclosed herein can be achieved, and is not limited herein. ..

The specific embodiments do not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims (13)

It is a control method for traffic light signals.
To get an intersection image and
Determining the lane position and the number of vehicles waiting in the lane based on the intersection image,
A method of controlling a traffic light signal, which comprises controlling a traffic light signal of a corresponding lane based on the number of vehicles waiting in the lane. Determining the lane position and the number of vehicles waiting in the lane based on the intersection image
Recognizing the vehicle information in the intersection image by the target learning model, the vehicle information includes the vehicle distribution and the vehicle width, and the target learning model was obtained by training with the intersection image marked with the vehicle information. Being a thing, recognizing and
Determining the lane position based on the vehicle distribution and the vehicle width,
The method of claim 1, wherein the number of vehicles waiting in each lane is statistic and comprises. Controlling the traffic light signal of the corresponding lane based on the number of vehicles waiting in the lane
When the number of vehicles waiting in the lane is greater than the first predetermined value, the duration of the green light signal in the corresponding lane is extended and / or the duration of the red light signal in the corresponding lane is shortened. That and
When the number of vehicles waiting in the lane is less than the second predetermined value, the duration of the green light signal in the corresponding lane is shortened and / or the duration of the red light signal in the corresponding lane is extended. That and
When the number of vehicles waiting in the lane is equal to or greater than the second predetermined value and equal to or less than the first predetermined value, setting the duration of the green light signal and the red light signal as default values is included. The method according to claim 1, wherein the method is characterized. When there is a turning standby area in the intersection image,
To obtain the number of vehicles waiting in the turning standby area,
The method according to claim 1, further comprising controlling a turning traffic light signal based on the number of vehicles waiting in the turning standby area. Obtaining the number of vehicles waiting in the turning standby area is
A predetermined condition includes that the straight-ahead direction is a green light signal and the left turn direction is a red light signal, or the straight-ahead direction is a green light signal and the right turn direction is a red light signal. By rearranging the intersection images satisfying the predetermined conditions according to the time order to obtain a target image sequence,
By analyzing the target image sequence, the stop position of the vehicle to be rearranged first in the turning standby area is set as the cut-off line of the turning waiting area, and the number of vehicles waiting in the turning waiting area is statistic. The method according to claim 4, wherein the method comprises. Controlling a turning traffic light signal based on the number of vehicles waiting in the turning waiting area
Determining the duration information of the turning traffic light signal based on the number of vehicles waiting in the turning waiting area, and
The method according to claim 4, further comprising controlling the turning traffic light signal based on the duration information. Getting an intersection image is
The method according to any one of claims 1 to 6, wherein the camera receives an intersection image taken according to a predetermined time interval. Determining the number of pedestrians waiting at the intersection based on the intersection image
The method according to any one of claims 1 to 6, further comprising controlling a traffic light signal at an intersection based on the number of pedestrians waiting at the intersection. It is a traffic light signal control device
The first acquisition module for acquiring the intersection image and
Based on the intersection image, a first determination module for determining the lane position and the number of vehicles waiting in the lane, and
A traffic light signal control device comprising: a control module for controlling a traffic light signal in a corresponding lane based on the number of vehicles waiting in the lane. It ’s an electronic device,
Includes at least one processor and memory communicatively connected to said at least one processor.
An instruction that can be executed by the at least one processor is stored in the memory, and the instruction is executed by the at least one processor, so that the at least one processor becomes one of claims 1 to 8. An electronic device, characterized in that it is capable of performing the described methods. A non-temporary computer-readable storage medium in which computer instructions are stored, said computer instructions being used to cause a computer to perform the method according to any one of claims 1-8. A non-temporary computer-readable storage medium. It is a control method for traffic light signals.
Determine the number of vehicles waiting in at least one lane by the intersection image taken,
A method of controlling a traffic light signal, which comprises controlling a traffic light signal of a corresponding lane based on the number of vehicles waiting in the lane. A computer program stored in a computer-readable storage medium, wherein the computer program, when executed by a processor, realizes the method according to any one of claims 1 to 8. program.

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