JP7212708B2 - Traffic signal control method and device - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to the field of intelligent traffic, automated driving, and more particularly to control over traffic lights.

An intelligent transportation system is created by effectively integrating information technology, data communication technology, sensor technology, electronic control technology, computer technology, etc. into the entire transportation management system, and exerts its effects in a wide range and in all directions. , an integrated transportation management system with high real-time, accuracy and efficiency. Intelligent traffic systems that have already been widely used include passenger flow guidance systems for airports and stations, urban traffic intelligent scheduling systems, expressway intelligent scheduling systems, commercial vehicle scheduling management systems, automobile automatic control systems, and so on. Intelligent transportation systems improve transportation efficiency, reduce traffic congestion, improve the capacity of road networks, reduce traffic accidents, and save energy by harmoniously working together people, vehicles, and roads. Reduce consumption and reduce environmental pollution.

Self-driving cars are controlled automatically and safely by a computer without any active human intervention through the collaboration of artificial intelligence, visual calculation, radar, monitoring equipment, and global positioning systems. make it possible to

An object of the present disclosure is to provide a traffic signal control method and apparatus capable of controlling traffic signal signals according to traffic conditions at intersections.

According to one aspect of the present disclosure, a method for controlling a traffic light is provided. The control method comprises the steps of: monitoring a first predetermined range around the intersection; and, in response to the vehicle entering the first predetermined range, determining the position of the traffic participant within a second predetermined range around the intersection. obtaining information and forward speed; calculating the time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant; obtaining the position information and forward speed of the vehicle; calculating the time t2 for the vehicle to cross the intersection; and based on t1 and t2, whether the vehicle can cross the intersection before the traffic participants reach the intersection. and in response to the determination that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled so that the vehicle passes the intersection within time t1. and generating a control signal for enabling to.

According to one aspect of the present disclosure, an apparatus for controlling traffic lights is provided. The controller comprises monitoring means configured to monitor a first predetermined range around the intersection; and, in response to the vehicle entering the first predetermined range, and the time t1 until the traffic participant reaches the intersection based on the position information and the forward speed of the traffic participant and a second obtaining means adapted to obtain the position information and forward speed of the vehicle, and calculate the time t2 until the vehicle crosses the intersection and a first calculating means arranged to determine, based on t1 and t2, whether the vehicle can pass through the intersection before the traffic participants reach the intersection. and in response to the determination that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled so that the vehicle passes through the intersection within time t1. and a first control means configured to generate a control signal for enabling.

According to one aspect of the present disclosure, an apparatus for controlling traffic lights is provided. The controller includes a processor and a memory storing a program containing instructions which, when executed by the processor, cause the processor to perform the control method.

According to one aspect of the present disclosure, a method for controlling a traffic light is provided. The control method comprises, in response to the vehicle entering a first predetermined range around the intersection, obtaining location information and forward speed of traffic participants within a second predetermined range around the intersection; calculating the time t1 until the traffic participant reaches the intersection based on the position information and forward speed of the traffic participant; acquiring the position information and forward speed of the own vehicle; calculating a time t2 until the traffic participant passes; determining whether or not the vehicle can pass through the intersection before the traffic participant reaches the intersection based on t1 and t2; In response to the judgment that the vehicle can pass through the intersection before reaching the intersection, the display state of the traffic signal is controlled so that the vehicle can pass through the intersection within time t1. and generating a control signal.

According to one aspect of the present disclosure, an apparatus for controlling traffic lights is provided. The controller is configured to obtain location information and forward speed of traffic participants within a second predetermined range around the intersection in response to the vehicle entering the first predetermined range around the intersection. a third obtaining means configured to calculate a time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant; a fourth acquisition means configured to acquire the position information and forward speed of the vehicle; a fourth calculation means configured to calculate a time t2 until the own vehicle passes through the intersection; a second determining means configured to determine whether the own vehicle can pass through the intersection before the traffic participant reaches the intersection based on t2; In response to the determination that the vehicle can pass through the intersection ahead, a control signal is generated for controlling the display state of the traffic signal to enable the vehicle to pass through the intersection within time t1. and a second control means configured to.

According to one aspect of the present disclosure, an apparatus for controlling traffic lights is provided. The controller includes a processor and a memory storing a program containing instructions which, when executed by the processor, cause the processor to perform the control method.

According to one aspect of the disclosure, a vehicle is provided. The vehicle includes the controller described above.

According to one aspect of the present disclosure, a non-transitory computer readable storage storing a program comprising instructions that, when executed by one or more processors, cause one or more processors to perform the control method described above. provide a medium.

According to one aspect of the present disclosure, a computer program stored on a computer readable storage medium containing instructions that, when executed by at least one processor, implements the above control method.

According to one aspect of the present disclosure, a signal of a traffic signal can be controlled according to traffic conditions at an intersection.

BRIEF DESCRIPTION OF THE DRAWINGS The drawings illustrate exemplary embodiments and constitute a part of the specification and, together with the description, explain exemplary embodiments of the embodiments. The examples shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference number designates a similar, but not necessarily identical, element.
4 is a flow chart illustrating a method of controlling a traffic light according to an exemplary embodiment; FIG. 2 is a structural block diagram showing a control device for traffic lights according to an exemplary embodiment; 4 is a flow chart illustrating a method of controlling a traffic light according to an exemplary embodiment; FIG. 2 is a structural block diagram showing a control device for traffic lights according to an exemplary embodiment; FIG. 2 is a structural block diagram showing a control device for traffic lights according to an exemplary embodiment;

In this disclosure, when describing various elements with terms such as “first,” “second,” etc., unless otherwise stated, the positional, chronological, or importance relationships of these elements are limited. are not intended, and such terms are only used to distinguish one element from another. In some instances, the first and second elements can refer to the same instance of this element, or, in some cases, they can refer to different instances, as the context dictates.

In this disclosure, the terminology used to describe various examples is for the purpose of describing particular examples only and is not intended to be limiting. Where the number of elements is not specifically limited, the elements may be one or more, unless the context clearly dictates otherwise. Furthermore, the term "and/or" as used in this disclosure includes any one and all possible combinations of the listed items.

Traffic lights installed at intersections provide security for vehicles and other non-vehicle traffic participants marching in each direction of the intersection. There are several traffic signal conversion facilities for vulnerable road users (especially pedestrians) in current city construction. When a pedestrian reaches an intersection, he can press a button to change the traffic light for his direction to green. According to the method of the present disclosure, a method for controlling traffic lights is provided, which applies a similar control function to vehicles to reduce the waiting time of vehicles at intersections and avoid congestion. , and also improve vehicle driving comfort.

The methods of the present disclosure can be incorporated and used in driverless or manned vehicles.

FIG. 1 is a flow chart illustrating a method of controlling a traffic light according to an exemplary embodiment. The control method includes steps S101 to S113 below.

In step S101, a first predetermined range around the intersection is monitored. In some embodiments, traffic lights in intelligent traffic are themselves equipped with image capture devices and can be monitored by these image capture devices. In some examples, there is intelligent infrastructure around the intersection. These intelligent infrastructure facilities can collect image information by image capture equipment mounted on them, and transmit the captured image information to traffic lights by communication equipment. The first predetermined range is, for example, 500 meters. The first predetermined range may be a greater or lesser distance.

In step S103, in response to the vehicle entering the first predetermined range, the location information and forward speed of the traffic participants within the second predetermined range around the intersection are obtained. Here, a traffic participant means in particular a traffic participant other than a vehicle, in particular a so-called vulnerable traffic person, such as a pedestrian, a light vehicle, and the like. Location information and forward speed of traffic participants can also be obtained by image capture equipment on the traffic lights themselves, image capture equipment or sensors installed on other intelligent infrastructure facilities. In some examples, the second predetermined range is 500 meters. The second predetermined range may also be a greater or lesser distance.

Among them, the location information is especially the direction and distance of the location with respect to the intersection. Forward speed includes forward direction and speed, ie what we have here is the vector speed of the traffic participant.

In some embodiments, it is determined whether the direction of travel of the traffic participant is toward the intersection based on the location information and forward speed of the traffic participant. As described above, the traffic participant's position information includes the direction and distance of the traffic participant relative to the intersection, while the forward speed includes the forward direction and speed. For example, in a crossroads, if a traffic participant is located on the east side of the intersection, at this time, when obtaining that the forward direction of the traffic participant is eastward as well, the traffic participant moves forward toward the intersection. I know it's not. In response to the determination result that the traveling direction of the traffic participant is not heading toward the intersection, steps S105 and S111 may be omitted and the signal of the traffic signal may be directly controlled based on the passing time of the vehicle. If it is obtained that the forward speed of the traffic participant located within the second predetermined range is zero, i.e. the traffic participant is located near the intersection but is not moving, also step S105. and step S111 need not be performed, instead constantly monitoring the state of the traffic participant, when the traffic participant starts to move, obtain his/her location information and forward speed, and make the above determination. conduct. By making the determination after obtaining the location information and forward speed of the traffic participants, the step of calculation and comparison for traffic participants who are not marching towards the intersection can be omitted, thereby reducing the computational complexity of the whole method. and optimization can be achieved.

In some embodiments, if there are multiple traffic participants within a second predetermined range around the intersection, location information and forward speed of multiple traffic participants need to be obtained. In some embodiments, the above method determines the state of the plurality of traffic participants, either marching toward an intersection, marching away from the intersection, or stationary. Determine whether it is According to the specific state of each traffic participant, perform corresponding follow-up operations, i.e. calculate the time to reach the intersection (detailed in step S105), skip step S105 and step S111; to directly control or continuously monitor traffic signal signals. Since the case where multiple traffic participants are located around an intersection is considered here, the method according to the present disclosure can be used for controlling traffic signals at intersections with more complex road conditions.

In step S105, the time t1 required for the traffic participant to reach the intersection is calculated based on the position information and forward speed of the traffic participant. Since this calculation assumes that the traffic participant marches to the intersection at the current speed, t1 is obtained by dividing the distance from the traffic participant to the intersection by the current march speed.

As described above, the traffic participants located within the second predetermined range are at least marching toward the intersection, marching in the direction opposite to the intersection, and stationary. It has three states. In some embodiments, a traffic participant state determination has been made so that the arrival time can be calculated only for traffic participants in the first state (i.e. marching towards the intersection). .

When a plurality of traffic participants are located within the second predetermined range, the arrival time of each of the plurality of traffic participants is calculated, and the shortest time among them is set to t1.

In step S107, the position information and forward speed of the vehicle are obtained. Vehicle position information and forward speed can similarly be obtained by image capture equipment on the traffic lights themselves, image capture equipment and sensors on board other intelligent infrastructure installations.

In some examples, multiple vehicles are entering within the first predetermined range of the intersection at very short intervals of time, in which case the determination needs to be made for multiple vehicles. First, it is determined whether the vehicles are traveling in the same direction or opposite directions. If not all vehicles are traveling in the same direction or in opposite directions, for example, if cars come in each direction of a crossroads, then there is no need to implement the control method according to the present disclosure for the traffic lights. The traffic signal can be converted according to the rules set at the beginning. However, if all vehicles are traveling in the same direction or in opposite directions, the method according to the present disclosure can be implemented to reduce the waiting time of vehicles at the intersection and avoid the occurrence of congestion. At this time, it is necessary to acquire the position information and forward speed of all vehicles, and to calculate the passage time of all vehicles in the next step S109.

In step S109, the time t2 until the vehicle passes the intersection is calculated. If there is only one vehicle within the first predetermined range, the transit time is t2. When there are a plurality of vehicles within the first predetermined range, the transit time of the vehicle with the longest transit time among all the vehicles is t2.

In step S111, based on t1 and t2, it is determined whether or not the vehicle can pass through the intersection before the traffic participant reaches the intersection. In some embodiments, t1 and t2 are compared. If t1>t2, it indicates that the vehicle has already passed through the intersection before the traffic participant marched at the current speed to reach the intersection and therefore poses no threat to the traffic participant. In other words, the safety condition for traffic participants is that times t1 and t2 satisfy t1>t2. Conversely, if the above condition is not met, the vehicle has not passed through the intersection when the traffic participant reaches the intersection, indicating that the vehicle may pose a threat to the traffic participant in this case.

In some embodiments, the safe time condition for traffic participants is t1>(t2+t3), where t3 is the traffic signal change after information gathering, dissemination, calculation, and signaling is complete. It is the time to display. However, as will be appreciated by those skilled in the art, in some cases t3 is negligible with respect to t1 and t2.

In step S113, in response to the determination that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled so that the vehicle passes the intersection within time t1. Generate a control signal to enable

In some embodiments, traffic signal signals in the direction opposite to the direction of travel of the vehicle are controlled based on traffic signal signals in the direction in which the vehicle is located.

In some embodiments, if the traffic signal in the direction of travel of the vehicle at this time is in a traffic prohibited state, the traffic prohibited state is first converted into a traffic permitted state and maintained for time t2. If the signal of the traffic signal in the traveling direction of the vehicle at this time is in the traffic permitted state, the state is maintained within time t2.

In some embodiments, if a traffic light signal in the direction of travel of the vehicle is converted to traffic conditions, the conversion information is transmitted to the vehicle. For an unmanned vehicle, there is no driver to identify the traffic signal. This is advantageous for driverless vehicles, as they can experience a lot of interference and often do not reach 100% accuracy. On the other hand, by transmitting a signal of a control traffic light to the vehicle to "inform" the vehicle of the passable time, it contributes to safe driving of the unmanned vehicle.

In some embodiments, if the vehicle entering the first predetermined range is one vehicle in the convoy, the position information and forward speed of the last vehicle in the convoy are obtained. , the passing time of the last vehicle is calculated, and the passing time of the last vehicle is t2. In this way, the integrity of the platoon of a convoy traveling as a team, for example a convoy of wedding cars, is ensured.

In some embodiments, after the vehicle has traveled a certain distance through the intersection, the traffic light signal is restored to the state it was in before the control took place. For example, if the original traffic signal signal indicates that traffic is prohibited in that direction, it is returned to the traffic prohibited state. Even if the original traffic signal signal indicates that the direction is permitted, it may be directly controlled to a no-traffic state, which means that the traffic in that direction has already passed, so it is not permitted to pass. This is because there is no need to continue the state.

FIG. 2 is a structural block diagram showing a traffic signal controller according to an exemplary embodiment. The controller 200 includes monitoring means 201 configured to monitor a first predetermined area around the intersection and a second predetermined area around the intersection in response to the vehicle entering the first predetermined area. a first obtaining means 202 configured to obtain position information and forward speed of traffic participants within range; and based on the position information and forward speed of traffic participants, the traffic participants reach the intersection a first calculating means 203 adapted to calculate the time t1 until the vehicle passes through the intersection; a second calculating means 205 adapted to calculate a time t2 to and based on t1 and t2 determine whether the vehicle can pass through the intersection before the traffic participants reach the intersection and in response to determining that the vehicle can pass through the intersection before the traffic participants reach the intersection, controlling the display state of the traffic signal to and a first control means 207 adapted to generate a control signal to allow the crossing to be passed within the time t1.

In the above examples, the traffic light or the cloud processor is taken as the implementation body, ie the body that implements the method steps. According to another embodiment, a vehicle, in particular an autonomous vehicle, implements the method according to the present disclosure.

FIG. 3 is a flow chart illustrating a method of controlling a traffic light according to an exemplary embodiment. The method includes steps S301-S311.

In step S301, in response to the vehicle entering a first predetermined range around the intersection, position information and advance speed of traffic participants within a second predetermined range around the intersection are acquired.

In some embodiments, a signal transmitter is installed on the road surface or other roadside equipment within a first predetermined range of the traffic signal, and the vehicle receives the signal transmitted from the signal transmitter by the communication device. , that the vehicle has entered the first predetermined range around the intersection.

In some embodiments, a traffic light or other intelligent infrastructure obtains location information and forward speed of traffic participants within a second predetermined range around the intersection, and the vehicle detects the traffic light or other intelligent infrastructure. Information on traffic participants is obtained by receiving signals transmitted from infrastructure facilities.

A traffic participant is or is not present within a second predetermined range around the intersection when the vehicle enters the first predetermined range around the intersection. If no traffic participants are present, the signal of the traffic light can be directly controlled to allow the vehicle to pass. If there is a traffic participant, the location information and forward speed of the traffic participant are obtained. As described above, first, the state of the traffic participant is determined whether it is heading towards the intersection, heading away from the intersection, or stationary. Whether or not to omit the next time calculation step and comparison step is determined according to the state. As mentioned above, if there are multiple traffic participants within the second predetermined range of the intersection, it is similarly necessary to obtain their position information and forward speed. Here, the steps of the acquisition and determination method are substantially the same as the steps described in the method of FIG.

In step S303, the time t1 until the traffic participant reaches the intersection is calculated based on the position information and forward speed of the traffic participant. Again, it is possible to calculate the arrival times only for traffic participants marching towards the intersection. If there are multiple traffic participants, the minimum arrival time is t1.

In step S305, the position information and advance speed of the own vehicle are acquired. In some embodiments, the information is obtained, such as by a positioning device on the vehicle.

In some embodiments, a plurality of vehicles are present within a first predetermined range around the intersection and the plurality of vehicles are traveling in the same direction or opposite directions, and in this case, the own vehicle is one of the plurality of vehicles. Determine whether the vehicle is closest to the intersection. If the own vehicle is not the vehicle closest to the intersection, the own vehicle does not control the traffic signal, but the vehicle closest to the intersection controls. For example, the own vehicle can transmit the information it has already acquired (including location information of traffic participants, forward speed and the state of the own vehicle) to the vehicle closest to the intersection. If the own vehicle is the closest vehicle to the intersection, the own vehicle controls the traffic signal.

In some embodiments, the position information and forward speed of multiple vehicles within a first predetermined range are obtained by the own vehicle, and the following steps are performed.

In step S307, the time t2 until the vehicle passes through the intersection is calculated.

In some embodiments, if there are multiple vehicles within a first predetermined range around the intersection, and the host vehicle has already obtained position information and forward speed of multiple vehicles within the first predetermined range, The self-vehicle further calculates the time required for all the vehicles to pass through the intersection, and sets the maximum time to t2.

In step S309, based on t1 and t2, it is determined whether or not the vehicle can pass through the intersection before the traffic participant reaches the intersection.

In step S311, in response to the determination that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled so that the vehicle passes the intersection within time t1. generate a control signal to allow

In some embodiments, in response to the information that the own vehicle is one of the vehicles in the convoy, the position information and forward speed of the last vehicle in the convoy are obtained, and the last The passing time of one car is calculated and the passing time of the last one car is set to t2.

In some embodiments, after the vehicle or the last vehicle of a plurality of vehicles has traveled a certain distance through the intersection, the traffic signal signal is restored to the state before the control was performed. . Regarding this return step, reference is made to the description of FIG. 1 above.

FIG. 4 is a structural block diagram showing a traffic signal controller according to an exemplary embodiment. The controller 400 acquires position information and forward speed of traffic participants within a second predetermined range around the intersection in response to the vehicle entering the first predetermined range around the intersection. A third obtaining means 401 configured and a third calculating means 402 configured to calculate the time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant. , a fourth acquisition means 403 configured to acquire the position information and the forward speed of the own vehicle, and a fourth calculation means configured to calculate the time t2 until the own vehicle passes through the intersection 404, a second determining means 405 configured to determine, based on t1 and t2, whether the vehicle can pass through the intersection before the traffic participant reaches the intersection; In response to the determination that the vehicle can pass through the intersection before the pedestrian reaches the intersection, the display state of the traffic signal is controlled so that the vehicle can pass through the intersection within time t1. and a second control means 406 configured to generate a control signal for.

At an intersection with a large vehicle flow in each direction, it is necessary to further determine whether or not another vehicle is passing in the direction perpendicular to the direction in which the vehicle is located before performing the control method of the present disclosure. At this time, if the signal of the traffic signal indicates that traffic is permitted in the vertical direction and there is another vehicle passing in that direction, wait for the other vehicle to pass through the intersection before carrying out the method.

It should be noted that although specific functions were discussed above with reference to specific means using FIGS. Alternatively, at least some functions of multiple means may be combined in a single means. Performing an action by means of particular means discussed herein can also be understood if the particular means itself performs that action, or alternatively, that particular means performs another unit or means for performing that action. or otherwise accessing (or performing the operation with the specified means). Accordingly, a specific means for performing an action includes the specific means for performing the action itself and/or other means for performing the action that the specific means calls or otherwise accesses. be able to. For example, the first obtaining means 202 and the second obtaining means 204 described above may be combined as a single means in some embodiments. Furthermore, the third obtaining means 401 and the fourth obtaining means 403 described above can also be combined as a single means in some embodiments.

More generally, this specification may describe various techniques in the general context of software, hardware elements or program means. Each means described with respect to FIGS. 2 and 4 above can be realized by hardware or hardware in which software and/or firmware are combined. For example, these means may be implemented as computer program code/instructions configured to be executed by one or more processors and stored on a computer readable storage medium. Alternatively, these means can be implemented as hardware logic/electrical circuits. For example, in some embodiments one or more of the first computing means 203, the second computing means 205, and the first determining means 206 may be collectively implemented in an on-chip system (SoC). can. Also, in some embodiments, one or more of the third computing means 402, the fourth computing means 404, and the second determining means 405 are also collectively implemented in an on-chip system (SoC). can be done. An SoC may be an integrated circuit chip (a processor (e.g., central processing unit (CPU), microcontroller, microprocessor, digital signal processor (DSP), etc.), memory, one or more communication interfaces, and/or other circuitry, among other ), optionally executing received program code and/or including embedded firmware to implement functionality.

FIG. 5 is a structural block diagram showing the structure of a traffic signal control device according to an exemplary embodiment. The control device 500 includes a processor 501 and a memory 502 storing a program containing instructions which, when executed by the processor, cause the processor to perform the control method described above.

A vehicle according to the present disclosure may include sensors for sensing the surrounding environment. The sensors may include one or more of ultrasonic sensors, millimeter wave radar, laser radar (LiDAR), visual cameras and infrared cameras. Different sensors can provide different detection accuracies and ranges. The ultrasonic sensor can be installed around the vehicle, and measures the distance between the vehicle and an object outside the vehicle by using characteristics such as strong directionality of ultrasonic waves. Millimeter-wave radars can be mounted in front of, behind, or elsewhere in the vehicle and use the properties of electromagnetic waves to measure the distance between the vehicle and objects outside the vehicle. Laser radars can be mounted in front, behind, or elsewhere in a vehicle to identify and track objects by detecting their edge, shape information. Due to the Toppler effect, radar systems can also measure changes in the speed of vehicles and moving bodies. Cameras can be mounted at the front, rear, or elsewhere in the vehicle. Visual cameras can capture conditions inside and outside the vehicle in real time and display them to the driver and/or passengers. Further, by analyzing the screen captured by the visual camera, information such as traffic light indications, intersection conditions, other vehicle driving conditions, etc., can be obtained. Infrared cameras can capture objects in night vision environments.

A vehicle according to the present disclosure may further include one or more controllers. The controller may include a processor, such as a central processing unit (CPU), graphics processing unit (GPU), or other dedicated processor, in communication with various computer-readable storage devices or media. A computer-readable storage device or medium can include any non-transitory storage device, which can be any storage device that is non-transitory and capable of storing data. Some data in the computer readable storage device or medium represent executable instructions for controlling the vehicle by the controller. The controller may include an automated driving system for automatically controlling various actuators of the vehicle. Autonomous driving systems respond to inputs from multiple sensors or other input devices via multiple actuators to control the vehicle's power assembly, steering and braking systems, etc. to accelerate, steer, and brake, respectively. so that no or only little manual manipulation is required. Some processing functions of the controller may be realized by cloud computing. For example, an in-vehicle processor may be used to perform some processing, while cloud computing resources may be utilized to perform other processing.

A vehicle according to the present disclosure further includes a communication device. The communication device includes satellite positioning means for receiving satellite positioning signals from satellites and generating coordinates based on these signals. The communication device further comprises means for communicating with a mobile communication network, the mobile communication network being any suitable communication technology, e.g. existing or developing wireless communication technologies such as GSM/GPRS, CDMA, LTE (e.g. 5G technology) can be implemented. The communication device may have an in-vehicle network or a vehicle-to-everything (V2X) unit, for example, performing vehicle-to-vehicle (V2V) communication with other vehicles, , and vehicle-to-infrastructure (V2I) communication with the infrastructure. Furthermore, the communication device can be connected to a user terminal (including, but not limited to, wearable devices such as smart phones, tablets or watches) by utilizing, for example, IEEE 802.11 standard wireless local area networks or Bluetooth (registered trademark). may have a unit configured to communicate with the A vehicle can use a communication device to access an online server or cloud server through a wireless communication system, and the online server or cloud server can provide corresponding data processing, data storage, data transmission and other services to the vehicle. configured to provide

Although embodiments or examples of the disclosure have been described with reference to the drawings, the methods, systems, and apparatus described above are merely illustrative embodiments or examples, and the scope of the disclosure is limited by these embodiments or examples. It is to be understood to be limited only by the scope of the allowed claims and their equivalents, rather than by Various elements in the implementations or examples may be omitted or replaced by their equivalent elements. Additionally, the steps may be performed in a different order than described in this disclosure. Furthermore, various elements of an embodiment or example can be combined in various ways. Also, many of the elements described herein may be replaced by equivalent elements appearing later in this disclosure as technology evolves.

Claims (18)

A traffic signal control method comprising:
monitoring a first predetermined area around the intersection;
obtaining location information and forward speed of traffic participants within a second predetermined range around the intersection in response to the vehicle entering the first predetermined range;
calculating a time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant;
obtaining location information and forward speed of the vehicle;
calculating a time t2 for the vehicle to cross the intersection;
determining whether the vehicle can pass through the intersection before the traffic participant reaches the intersection based on t1 and t2;
In response to the determination that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled to ensure that the vehicle crosses the intersection within time t1. generating a control signal to allow passage through ;
When a plurality of vehicles exist within a first predetermined range around the intersection and the plurality of vehicles are traveling in the same direction or opposite directions, the plurality of vehicles within the first predetermined range around the intersection Get the position information and forward speed of
calculating the time it takes for each of the plurality of vehicles to pass through the intersection;
A method of controlling a traffic signal, wherein the time taken for each of the plurality of vehicles to pass through the intersection is compared, and the maximum time is set to t2 . When there are a plurality of traffic participants within a second predetermined range around the intersection,
obtaining location information and forward speed of the plurality of traffic participants within a second predetermined range around the intersection;
calculating the time for each of the plurality of traffic participants to reach the intersection;
2. The control method according to claim 1, wherein the time required for each of the plurality of traffic participants to reach the intersection is compared, and the minimum time is set to t1. 3. The control method according to claim 1 or 2 , further comprising the step of restoring the signal of the traffic signal to the state before the control is performed after the vehicle has passed through the intersection and traveled a certain distance. Acquiring position information and forward speed of the last vehicle in the convoy in response to information that the vehicle entering the first predetermined range is one vehicle in the convoy; 3. The control method according to claim 1 or 2 , wherein the passing time of the last vehicle is calculated and the passing time of the last vehicle is t2. 3. The control method according to claim 1, further comprising the step of transmitting said control information to said vehicle after performing control on said traffic signal signal. determining whether the marching direction of the traffic participants is toward the intersection, and calculating a time t1 to reach the intersection for only the traffic participants marching toward the intersection. 3. A control method according to claim 1 or 2 , comprising: monitoring means configured to monitor a first predetermined area around the intersection;
First obtaining means configured to obtain location information and forward speed of traffic participants within a second predetermined range around said intersection in response to a vehicle entering said first predetermined range. When,
a first calculation means configured to calculate a time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant;
a second acquisition means configured to acquire position information and forward speed of the vehicle;
a second calculation means configured to calculate a time t2 for the vehicle to pass through the intersection;
first determining means configured to determine, based on t1 and t2, whether the vehicle can pass through the intersection before the traffic participant reaches the intersection;
In response to the determination that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled to ensure that the vehicle crosses the intersection within time t1. a first control means configured to generate a control signal to allow passage through ;
When a plurality of vehicles exist within a first predetermined range around the intersection and the plurality of vehicles are traveling in the same direction or opposite directions, the plurality of vehicles within the first predetermined range around the intersection Get the position information and forward speed of
calculating the time it takes for each of the plurality of vehicles to pass through the intersection;
A control device for a traffic signal, comparing the time required for each of the plurality of vehicles to pass through the intersection, and setting the maximum time to t2 . a processor;
and a memory storing a program including instructions for causing the processor to execute the control method according to any one of claims 1 to 6 when executed by the processor. A method of controlling a traffic signal performed by a vehicle, comprising:
obtaining location information and forward speed of traffic participants within a second predetermined range around the intersection in response to the vehicle entering a first predetermined range around the intersection;
calculating a time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant;
a step of acquiring position information and forward speed of the own vehicle;
calculating the time t2 until the own vehicle passes through the intersection;
determining whether the vehicle can pass through the intersection before the traffic participant reaches the intersection based on t1 and t2;
In response to the judgment that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled so that the vehicle passes the intersection within time t1. generating a control signal to allow passage through ;
When a plurality of vehicles exist within a first predetermined range around the intersection and the plurality of vehicles are traveling in the same direction or opposite directions, the own vehicle is the closest vehicle to the intersection among the plurality of vehicles. determine whether or not
Acquiring position information and forward speed of the plurality of vehicles within a first predetermined range around the intersection in response to determining that the own vehicle is the vehicle closest to the intersection among the plurality of vehicles;
calculating the time it takes for each of the plurality of vehicles to pass through the intersection;
A method of controlling a traffic signal, wherein the time taken for each of the plurality of vehicles to pass through the intersection is compared, and the maximum time is set to t2 . When there are a plurality of traffic participants within a second predetermined range around the intersection,
obtaining location information and forward speed of the plurality of traffic participants within a second predetermined range around the intersection;
calculating the time for each of the plurality of traffic participants to reach the intersection;
10. The control method according to claim 9 , wherein the time required for each of the plurality of traffic participants to reach the intersection is compared, and the minimum time is set to t1. After the own vehicle or the last one of the plurality of vehicles passes through the intersection and travels a certain distance, the step of restoring the signal of the traffic signal to the state before the control is performed is further included. , a control method according to claim 9 or 10 . In response to the information that the own vehicle is one of the vehicles in the convoy, obtain the position information and forward speed of the last vehicle in the convoy, and determine the position of the last vehicle in the convoy. 11. The control method according to claim 9 or 10 , wherein the transit time is calculated and the transit time of said last one vehicle is t2. determining whether the marching direction of the traffic participants is toward the intersection, and calculating the time t1 to reach the intersection only for the traffic participants marching toward the intersection. 11. The control method according to 9 or 10 . a third configured to acquire location information and forward speed of traffic participants within a second predetermined range around the intersection in response to the vehicle's entry into the first predetermined range around the intersection; a means for obtaining the
third calculating means configured to calculate a time t1 for the traffic participant to reach the intersection based on the position information and forward speed of the traffic participant;
a fourth acquisition means configured to acquire position information and forward speed of the own vehicle;
a fourth calculation means configured to calculate a time t2 for the vehicle to pass through the intersection;
a second determining means configured to determine whether the own vehicle can pass through the intersection before the traffic participant reaches the intersection based on t1 and t2;
In response to the judgment that the vehicle can pass through the intersection before the traffic participant reaches the intersection, the display state of the traffic signal is controlled so that the vehicle passes the intersection within time t1. a second control means configured to generate a control signal to allow passage through ;
When a plurality of vehicles exist within a first predetermined range around the intersection and the plurality of vehicles are traveling in the same direction or opposite directions, the own vehicle is the closest vehicle to the intersection among the plurality of vehicles. determine whether or not
Acquiring position information and forward speed of the plurality of vehicles within a first predetermined range around the intersection in response to determining that the own vehicle is the vehicle closest to the intersection among the plurality of vehicles;
calculating the time it takes for each of the plurality of vehicles to pass through the intersection;
A control device for a traffic signal, comparing the time required for each of the plurality of vehicles to pass through the intersection, and setting the maximum time to t2 . a processor;
and a memory storing a program including instructions for causing the processor to execute the control method according to any one of claims 9 to 13 when executed by the processor. A vehicle comprising a control device according to claim 14 or 15 . A program for causing a computer to execute the control method according to any one of claims 1 to 6 or claims 9 to 13 . A computer-readable storage medium storing the program according to claim 17 .

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