WO2023019771A1 - 绿波协调控制方法, 装置, 电子设备和存储介质 - Google Patents

绿波协调控制方法, 装置, 电子设备和存储介质 Download PDF

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WO2023019771A1
WO2023019771A1 PCT/CN2021/130618 CN2021130618W WO2023019771A1 WO 2023019771 A1 WO2023019771 A1 WO 2023019771A1 CN 2021130618 W CN2021130618 W CN 2021130618W WO 2023019771 A1 WO2023019771 A1 WO 2023019771A1
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intersection
green wave
reverse
phase
green
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PCT/CN2021/130618
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English (en)
French (fr)
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梅雨
凌玮岑
窦晓钦
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阿波罗智联(北京)科技有限公司
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Priority to US18/027,219 priority Critical patent/US20230334986A1/en
Priority to EP21954006.9A priority patent/EP4213125A4/en
Publication of WO2023019771A1 publication Critical patent/WO2023019771A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G08G1/082—Controlling the time between beginning of the same phase of a cycle at adjacent intersections
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights

Definitions

  • the present disclosure relates to the technical field of intelligent transportation, in particular to traffic control technology. More specifically, the present disclosure provides a green wave coordinated control method, device, electronic equipment and storage medium.
  • the green wave coordinated control can make a vehicle running at a certain speed encounter a green light when passing through each intersection on a designated traffic road. Coordinated control of green waves can ensure the smooth flow of urban roads, which is of great significance in urban road traffic control.
  • the disclosure provides a green wave coordinated control method, device, electronic equipment and storage medium.
  • a green wave coordinated control method includes: obtaining intersection parameters and green wave parameters of n intersections on the preset road, the green wave parameters including the distance between each intersection among the n intersections
  • the forward green wave bandwidth and the reverse green wave bandwidth of the road section, n is an integer greater than or equal to 2; according to the green wave speed for the preset road, calculate the green wave travel time of each road section; according to the intersection parameters, green wave parameters and green Determine the constraint conditions of green wave coordination according to the length of wave travel; determine the objective function of green wave coordination according to the forward green wave bandwidth and reverse green wave bandwidth of each road section; and carry out green wave coordination control according to the constraint conditions and objective function.
  • a green wave coordination control device includes: an acquisition module, configured to acquire intersection parameters and green wave parameters of n intersections on the preset road, the green wave parameters including each of the n intersections
  • the forward green wave bandwidth and the reverse green wave bandwidth of the road sections between intersections, n is an integer greater than or equal to 2
  • the calculation module is used to calculate the green wave travel time of each road section according to the green wave speed of the preset road.
  • the first determination module is used to determine the constraints of green wave coordination according to the intersection parameters, green wave parameters and green wave travel time; the second determination module is used to determine the forward green wave bandwidth and reverse green wave according to each road section The bandwidth determines the objective function of the green wave coordination; and the control module is used for controlling the green wave coordination according to the constraints and the objective function.
  • an electronic device comprising: at least one processor; and a memory communicatively connected to at least one processor; wherein, the memory stores instructions executable by at least one processor, and the instructions are processed by at least one processor The processor is executed, so that at least one processor can execute the method provided according to the present disclosure.
  • a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method according to the present disclosure.
  • a computer program product comprising a computer program which, when executed by a processor, implements the method provided according to the present disclosure.
  • FIG. 1 is an exemplary scenario where a green wave coordinated control method can be applied according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart of a green wave coordinated control method according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of signal relationships between coordinated phases and non-coordinated phases according to an embodiment of the present disclosure
  • FIG. 4 is a schematic diagram of signal time and space of a green wave coordination method according to an embodiment of the present disclosure
  • FIG. 5 is a block diagram of a green wave coordinated control device according to an embodiment of the present disclosure.
  • FIG. 6 is a block diagram of an electronic device of a green wave coordinated control method according to an embodiment of the present disclosure.
  • the green wave coordinated control is to adjust the start time of the green light at each intersection on the designated road to realize that the vehicle can encounter a green light all the way when driving at a certain speed.
  • the above-mentioned certain speed is the green wave speed.
  • the green wave speed is usually obtained through detectors, such as inductive coils, electric police and radar, etc., but because the green wave speed changes with the fluctuation of traffic flow, the green wave speed obtained by the detector is not real-time green wave speed.
  • detectors such as inductive coils, electric police and radar, etc.
  • FIG. 1 is an exemplary scenario where a green wave coordinated control method can be applied according to an embodiment of the present disclosure. It should be noted that, what is shown in FIG. 1 is only an example of the system architecture to which the embodiments of the present disclosure can be applied, so as to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other device, system, environment or scenario.
  • the scene 100 may be an intersection on a preset road, where multiple signal lights 101 may be set at the intersection, and multiple vehicles 102 may be driving on the road.
  • the green wave coordinated control is performed on the preset road, that is, by adjusting the green start time of the signal lights 101 at each intersection on the preset road, so that when the vehicle 102 arrives at each intersection at a specified speed, it just encounters a green light.
  • the specified speed is the green wave speed, which may be a real-time speed dynamically changing with the traffic flow.
  • n there are n intersections on the preset road, and n may be an integer greater than or equal to 2.
  • the value of n is between 2-10.
  • the driving direction of the vehicle from intersection i to intersection i+1 can be called up (or forward), and the driving direction of the vehicle from intersection i+1 to intersection i can be called down (or reverse).
  • Green wave coordinated control is carried out in both direction and reverse direction, which is called two-way green wave coordinated control.
  • the two-way green wave coordinated control can make the vehicle traveling in the forward direction and the vehicle traveling in the reverse direction all the way to green light at the speed of the green wave.
  • the vehicle 102 traveling at the green wave speed on the above preset road can continuously pass through the width of the green light passage at each intersection, which is called the green wave bandwidth or green wave width.
  • Fig. 2 is a flowchart of a green wave coordinated control method according to an embodiment of the present disclosure.
  • the green wave coordinated control method 200 may include operation S210 to operation S250.
  • intersection parameters and green wave parameters of n intersections on the preset road are acquired.
  • intersection may be a T-junction or a crossroad
  • n may be an integer greater than or equal to 2.
  • Each of the n intersections may include signal lights with multiple phases, for example, signal lights in different orientations (such as east, west, south, north, southeast, northwest, etc.).
  • at least one phase can be designated to participate in the coordinated control of the green wave.
  • the phase designated for participating in the coordinated control of the green wave is called the reference phase or the coordinated phase, and the phases other than the coordinated phase among the multiple phases are called non-coordinated phase.
  • Intersection parameters can include the length of the lighting cycle of the signal lights at the intersection.
  • the lighting cycle length is the time required for the various light colors of the signal lights to be displayed in turn, that is, the sum of the display times of various light colors; or from a certain main phase (such as Coordination phase)
  • intersection parameters can also include the ratio of the green light duration of the coordinated phase of the intersection to the lighting period of the intersection, the ratio of the green light of the non-coordinated phase to the lighting cycle of the intersection, The distance of each intersection to each other and so on.
  • intersection parameters include forward intersection parameters and reverse intersection parameters. For example, the distance between intersection i and intersection i+1 in the forward direction, and the distance between intersection i and intersection i+1 in the reverse direction.
  • the green wave parameters may include the green wave bandwidth of each road section.
  • the green wave parameters include forward green wave parameters and reverse green wave parameters. For example, the forward green wave bandwidth of the road section between intersection i and intersection i+1, and the reverse green wave bandwidth of the road section between intersection i and intersection i+1.
  • the green wave travel time of each road section is calculated according to the green wave vehicle speed for the preset road.
  • the green wave vehicle speed for a preset road may be the calculated real-time green wave vehicle speed.
  • the green wave travel time of each road section can be calculated according to the distance of the road section and the real-time green wave vehicle speed.
  • the green wave vehicle speed includes the forward green wave vehicle speed and the reverse green wave vehicle speed
  • the green wave travel time also includes the forward green wave travel time and the reverse green wave travel time.
  • the forward green wave travel time of each road segment is determined based on the ratio of the distance of the road segment in the forward direction to the forward green wave speed
  • the reverse green wave travel time of each road segment is based on the distance of the road segment in the reverse direction. Determined by the ratio of the distance to the speed of the reverse green wave.
  • the forward green wave travel time t i of the section between intersection i and intersection i+1 is calculated according to the following formula (1):
  • d i is the distance between intersection i and intersection i+1 in the forward direction
  • v i is the forward green wave speed
  • the constraint condition of green wave coordination is determined according to the intersection parameter, the green wave parameter and the travel time of the green wave.
  • the signal space-time schematic diagram of green wave coordinated control can be drawn according to the intersection parameters, green wave parameters and green wave travel time. From the signal space-time schematic diagram, the relationship between various parameters can be intuitively obtained, and each The expressions of the mutual constraints among the parameters are used as the constraints of the green wave coordinated control.
  • an objective function of green wave coordination is determined according to the forward green wave bandwidth and the reverse green wave bandwidth of each road section.
  • the goal of green-wave coordinated control can be to obtain the maximum forward green-wave bandwidth and reverse green-wave bandwidth under constraints, then the objective function can be constructed according to the forward green-wave bandwidth and reverse green-wave bandwidth. Under the conditions, the maximum forward green wave bandwidth and reverse green wave bandwidth are solved. Therefore, the green wave coordinated control problem is transformed into a parameter optimization problem, and the ability of green wave coordinated control can be improved by optimizing each parameter.
  • green wave coordinated control is performed according to the constraints and the objective function.
  • the parameters of green wave coordinated control are optimized.
  • Carrying out green wave coordinated control according to the optimized parameters, such as adjusting the configuration of signal lights at each intersection, can improve the effect of green wave coordinated control.
  • the embodiment of the present disclosure converts the green wave coordination control problem into a parameter optimization problem, and introduces the green wave vehicle speed parameter, realizes dynamic optimization based on the green wave vehicle speed, and improves the green wave coordination success rate.
  • intersection parameters include forward intersection parameters and reverse intersection parameters
  • Table 1 shows the forward intersection parameters and reverse intersection parameters in the embodiment of the present disclosure.
  • the coordinated phase designated as the reference in the forward direction of the vehicle is called the forward coordinated phase, and the phases other than the forward coordinated phase are the forward non-coordinated phases.
  • a coordinating phase designated as a reference in the reverse direction of vehicle travel is called a reverse coordinating phase, and phases other than the reverse coordinating phase are reverse non-coordinating phases.
  • d i represents the distance between intersection i and intersection i+1 in the forward direction, Indicates the distance between intersection i and intersection i+1 in the reverse direction.
  • g i represents the ratio of the green light lighting duration of the positive coordination phase of intersection i to the lighting cycle duration of intersection i (ie the first positive ratio), Indicates the ratio of the lighting duration of the green light of the reverse coordination phase of the intersection i to the lighting cycle duration of the intersection i (ie, the first reverse ratio).
  • r i represents the ratio of the green light lighting duration of the positive non-coordinated phase of intersection i to the lighting cycle duration of intersection i (ie the second positive ratio), Indicates the ratio of the lighting duration of the green light of the reverse non-coordinated phase of the intersection i to the lighting cycle duration of the intersection i (ie, the second reverse ratio).
  • the coordinated phase designated as the reference can be lit green in the middle of the lighting period, and the non-coordinated phase that is lit green before the coordinated phase is called the leading phase of the coordinated phase.
  • a non-coordinating phase that is lit green after a coordinating phase is called a coordinating phase's postphase. Therefore, the lighting time of the green light of the uncoordinated phase is equal to the lighting time of the green light of the leading phase of the coordinated phase plus the green lighting time of the post phase of the coordinated phase.
  • h i represents the ratio of the green light lighting duration of the forward coordination phase of the intersection i to the lighting cycle duration of the intersection i, Indicates the ratio of the green light lighting duration of the front phase of the reverse coordination phase of intersection i to the lighting cycle duration of intersection i.
  • f i represents the ratio of the green light duration of the forward coordination phase of the intersection i to the cycle duration of the intersection i, Indicates the ratio of the green light duration of the reverse coordination phase of the intersection i to the cycle duration of the intersection i.
  • ⁇ i represents the ratio of the clearing time of the forward queuing at the intersection i to the green light lighting time of the coordination phase of the intersection i (that is, the third forward ratio), Indicates the ratio of the duration of clearing the reverse queue at intersection i to the duration of green light lighting of the coordinated phase of intersection i (ie the third reverse ratio).
  • the queue clearing time is equal to the ratio of the queuing length of vehicles at intersection i to the saturation flow rate.
  • Saturation flow rate refers to the maximum flow of vehicles queuing at intersection i that can drive into intersection i within the time when the green light of intersection i is on.
  • the forward queue clearing time refers to the queue clearing time in the forward direction of vehicle travel
  • the reverse queue clearing time refers to the queue emptying time in the reverse direction of vehicle travel.
  • Fig. 3 is a schematic diagram of a signal relationship between a coordinated phase and a non-coordinated phase according to an embodiment of the present disclosure.
  • the signal segment 301 represents the ratio g i of the green light lighting duration of the forward coordination phase of intersection i to the lighting cycle duration of intersection i
  • the signal segment 302 represents the green light point of the reverse coordination phase of intersection i
  • the signal segment 311 represents the ratio h i of the green light lighting duration of the leading phase of the forward coordination phase of the intersection i to the lighting cycle duration of the intersection i
  • the signal segment 312 represents the ratio h i of the leading phase of the reverse coordination phase of the intersection i
  • the signal segment 321 represents the ratio f i of the green light lighting duration of the post-phase of the positive coordination phase of the intersection i to the cycle duration of the intersection i
  • the signal segment 322 represents the green light point of the post-phase of the reverse coordination phase of the intersection i
  • the sum of the signal segment 311h i and the signal segment 321f i is equal to the ratio r i of the green light lighting duration of the positive non-coordinated phase to the lighting cycle duration of the intersection i, the signal segment 301g i , the signal segment 311h i and the signal segment 321f i The sum is equal to 1.
  • Signal segment 312 with signal segment 322 The sum is equal to the ratio of the green light lighting duration of the reverse non-coordinated phase to the lighting cycle duration of intersection i Signal segment 302 Signal segment 312 and signal segment 322 The sum is equal to 1.
  • the green wave parameters include forward green wave parameters and reverse green wave parameters
  • Table 2 shows the forward green wave parameters and reverse green wave parameters in the embodiment of the present disclosure.
  • e i represents the time difference between the moment when the green wave vehicle (that is, the vehicle traveling at the green wave speed) is entering the intersection i and the moment when the green light of the forward coordination phase of the intersection i starts to light (i.e. positive first time difference)
  • b i represents the forward green wave bandwidth of the section between intersection i and intersection i+1, Indicates the reverse green wave bandwidth of the section between intersection i and intersection i+1.
  • ⁇ i is equal to the midpoint of r i minus halfway point.
  • ⁇ i is equal to the midpoint moment of r i+1 minus the midpoint moment of r i , equal minus the midpoint halfway point.
  • Fig. 4 is a schematic diagram of signal time and space of a green wave coordination method according to an embodiment of the present disclosure.
  • the signal time-space schematic diagram 400 is drawn, and the vertical axis of the signal time-space schematic diagram 400 represents each crossing (crossing i, crossing i+1 and crossing i+ 2), the horizontal axis represents the signal lighting period (lighting period for short) of the signal lights at each intersection.
  • the signal space-time diagram 400 shows 4-5 lighting cycles of the signal lights at each intersection.
  • the signal space-time diagram 400 includes a forward green wave band 410 and a reverse green wave band 420 .
  • the forward green wave belt 410 extends from the intersection i to the intersection i+1 and then to the intersection i+2, and is segmented.
  • the forward green wave of the road section between the intersection i and the intersection i+1 The point 411 on the band 410 is the starting moment when the green wave vehicle enters the intersection i within one lighting period of the intersection i, and the point 412 is the end of the green light lighting of the coordinated phase within one lighting period of the intersection i+1 time.
  • the width of the parallel band between point 411 and point 412 is the forward green wave bandwidth b i of the road section between intersection i and intersection i+1.
  • the point 413 on the forward green wave band 410 of the section between intersection i+1 and intersection i+2 is the green wave vehicle entering intersection i+1 within one lighting period of intersection i+1
  • the starting moment of and the point 414 is the end moment of the green light lighting of the coordination phase within one lighting period of the intersection i+2.
  • the width of the parallel band between point 413 and point 414 is the forward green wave bandwidth b i+1 of the road section between intersection i+1 and intersection i+2.
  • the forward green wave bandwidth b i is not equal to the forward green wave bandwidth b i+1 .
  • the reverse green wave belt 420 extends in the direction from intersection i+2 to intersection i+1 and then to intersection i, and is continuous.
  • the reverse green wave bandwidth of the section between intersection i+1 and intersection i+2 is b i+1
  • the reverse green wave bandwidth of the section between intersection i and intersection i+1 is b i .
  • the reverse green wave bandwidth b i is equal to the reverse green wave bandwidth b i+1 .
  • the proportion of the green light lighting time in the forward coordination phase is gi in the intersection parameters in Table 1
  • the green light lighting time proportion in the reverse coordination phase is gi in the intersection parameters in Table 1.
  • the proportion of the green light lighting time of the non-coordinated phase includes the proportion of the green light lighting time of the forward non-coordinated phase r i (that is, r i in the intersection parameters in Table 1) and the reverse non-coordinated phase.
  • the ratio of the green light on time of the phase (that is, in the intersection parameters in Table 1 ).
  • the midpoint of r i and The time difference between the midpoints is ⁇ i .
  • the time difference between the moment when the green wave vehicle enters the intersection i in the reverse direction and the moment when the green light of the reverse coordination phase of the intersection i starts to light is (that is, in the intersection parameters in Table 1 ).
  • midpoint with The time difference between the midpoints is (that is, in the intersection parameters in Table 1 ), the time difference between the midpoint of r i+1 and the midpoint of r i is ⁇ i (that is, ⁇ i in the intersection parameters in Table 1).
  • the time width between the moment when the vehicle enters the intersection i and the moment when the vehicle enters the intersection i+1 is the positive green wave of the vehicle on the road section between intersection i and intersection i+1 Travel time t i (namely t i in Table 1).
  • intersection parameters and green wave parameters for intersection i+1 and intersection i+2 are also shown in the signal space-time schematic diagram 400 , and will not be repeated here.
  • the relationship between various parameters can be intuitively obtained, so as to determine the expression of mutual constraints among the various parameters according to the relationship between various parameters, as the constraint condition of the green wave coordinated control.
  • bandwidth constraints include at least one of the following:
  • intersection i The sum of the forward first time difference of intersection i and the forward green wave bandwidth of the road section between intersection i and intersection i+1 is less than or equal to the forward first proportion of intersection i;
  • the sum of the reverse first time difference of intersection i and the reverse green wave bandwidth of the section between intersection i and intersection i+1 is less than or equal to the reverse first proportion of intersection i;
  • the sum of the forward first time difference of intersection i+1 and the forward green wave bandwidth of the section between intersection i+1 and intersection i+2 is less than or equal to the first positive ratio of intersection i+1;
  • the sum of the reverse first time difference of intersection i+1 and the reverse green wave bandwidth of the section between intersection i+1 and intersection i+2 is less than or equal to the reverse first proportion of intersection i+1.
  • Formula (7) indicates that the sum of the forward first time difference of intersection i and the forward green wave bandwidth of the section between intersection i and intersection i+1 is less than or equal to the first forward ratio of intersection i, which can be understood as green wave
  • the time difference between the moment when the vehicle is entering the intersection i and the moment when the green light of the positive coordination phase of intersection i starts to light plus the bandwidth of the forward green wave should be less than or equal to the duration of the green light of the forward coordination phase, so as to ensure Vehicles can pass through intersection i within the time period when the green light of the forward coordination phase is on.
  • the constraints of formulas (8) to (10) are similar.
  • the two-way coordination constraint condition includes the following formulas (11) to (16) .
  • Formula (12) is obtained according to the relationship between the forward (reverse) coordinated phase and the front phase and post phase of the forward (reverse) coordinated phase, which can be derived from formulas (3) to (6) of.
  • Formula (15) indicates that the time difference between the moment when the green wave vehicle is entering the intersection i and the moment when the green light of the forward coordination phase of intersection i starts to light is not less than the proportion of the forward queuing emptying time of intersection i ⁇ i .
  • Formula (16) is similar to formula (15).
  • the lighting period of each intersection can be different, and the lighting period can be constrained to obtain a common lighting period, and the lighting period of each intersection needs to be scaled when drawing the signal space-time schematic diagram
  • the lighting period of each intersection is scaled according to the length of the public lighting period, so that the ratio of the lighting period of each intersection to the public period after scaling is the same as before scaling.
  • the public lighting cycle constraints are determined based on the maximum and minimum values of the lighting cycle durations of n intersections.
  • z represents the reciprocal of the public lighting cycle
  • C u is the maximum value of the lighting cycle duration of n intersections
  • C l is the minimum value of the lighting cycle duration of n intersections.
  • the optimization target of the green wave coordinated control may be the maximum average weighted bandwidth of each intersection, and the objective function of the green wave coordinated control is determined with the goal of maximizing the forward green wave bandwidth and the reverse green wave bandwidth of each road section The function.
  • the objective function of green wave coordinated control can be expressed by the following formula (18).
  • b i and represent the forward green wave bandwidth and the reverse green wave bandwidth of the section between intersection i and intersection i+1 respectively
  • k is the weight of the forward green wave bandwidth
  • (1-k) is the weight of the reverse green wave bandwidth.
  • the embodiment of the present disclosure converts the green wave coordination control problem into a parameter optimization problem, and introduces the green wave vehicle speed parameter, realizes dynamic optimization based on the green wave vehicle speed, and improves the green wave coordination success rate.
  • Fig. 5 is a block diagram of a green wave coordinated control device according to an embodiment of the present disclosure.
  • the green wave coordinated control 500 may include an acquisition module 501 , a calculation module 502 , a first determination module 503 , a second determination module 504 and a control module 505 .
  • the acquisition module 501 is used to obtain the intersection parameters and green wave parameters of n intersections on the preset road, and the green wave parameters include the forward green wave bandwidth and the reverse green wave bandwidth of the sections between each intersection in the n intersections, n is an integer greater than or equal to 2.
  • the calculation module 502 is used to calculate the green wave travel time of each road section according to the green wave vehicle speed for the preset road.
  • the first determination module 503 is used to determine the constraints of green wave coordination according to intersection parameters, green wave parameters, and green wave travel time.
  • the second determination module 504 is used to determine the objective function of green wave coordination according to the forward green wave bandwidth and reverse green wave bandwidth of each road section.
  • the control module 505 is used to perform green wave coordinated control according to constraints and objective functions.
  • the green wave parameters include: the first time difference between the moment when the green wave vehicle enters the intersection i and the moment when the green light of the coordination phase of the intersection i starts to light, the first occupancy of the intersection i
  • the intersection parameters include forward intersection parameters and reverse intersection parameters, and the forward intersection parameters include the first proportion of the forward direction, the second proportion of the forward direction, and the third proportion of the forward direction;
  • the reverse intersection parameters include Reverse first proportion, reverse second proportion and reverse third proportion;
  • green wave parameters include forward green wave parameters and reverse green wave parameters, forward green wave parameters include forward first time difference, forward The second time difference in the forward direction, the third time difference in the forward direction and the bandwidth of the green wave in the forward direction;
  • the parameters of the reverse green wave include the first time difference in the reverse direction, the second time difference in the reverse direction, the third time difference in the reverse direction and the bandwidth of the green wave in the reverse direction.
  • the green wave travel time includes the forward green wave travel time and the reverse green wave travel time
  • the green wave speed includes the forward green wave speed and the reverse green wave speed
  • the forward green wave travel time of each road section The duration is determined based on the ratio of the distance of the road section in the forward direction to the speed of the forward green wave.
  • the travel time of the reverse green wave of each road section is based on the distance of the road section in the reverse direction and the speed of the reverse green wave. The ratio is determined.
  • the calculation module 502 includes a first calculation unit and a second calculation unit.
  • the first calculation unit is used to calculate the forward green wave travel time t i of the section between intersection i and intersection i+1 according to the following formula:
  • d i is the distance between intersection i and intersection i+1 in the forward direction
  • v i is the forward green wave speed
  • the second calculation unit is used to calculate the reverse green wave travel time of the section between intersection i and intersection i+1 according to the following formula
  • the constraints of green wave coordination include bandwidth constraints, and for intersection i and intersection i+1, the bandwidth constraints include at least one of the following: the forward first time difference of intersection i and intersection i to The sum of the forward green wave bandwidth of the road section between intersection i+1 is less than or equal to the first proportion of the forward direction of intersection i; the reverse first time difference of intersection i and the inverse of the road section between intersection i and intersection i+1 The sum of the green wave bandwidth is less than or equal to the reverse first proportion of intersection i; the sum of the forward first time difference of intersection i+1 and the forward green wave bandwidth of the section between intersection i+1 and intersection i+2 Less than or equal to the first forward ratio of intersection i+1; the sum of the reverse first time difference of intersection i+1 and the reverse green wave bandwidth of the section between intersection i+1 and intersection i+2 is less than or equal to intersection i +1 for reverse first share.
  • the first determining module 503 is used to determine the bandwidth constraint condition according to the following formula:
  • the uncoordinated phase includes a pre-phase in which the green light is turned on before the coordinated phase and a post-phase in which the green light is turned on after the coordinated phase in the lighting period;
  • the green light duration of the uncoordinated phase is equal to The duration of the green light of the front phase of the coordination phase plus the duration of the green light of the rear phase;
  • the coordination phase includes the forward coordination phase and the reverse coordination phase;
  • the second proportion of the forward direction of intersection i is equal to the proportion of the green light lighting time and lighting period of the front phase of the forward coordination phase plus the green light lighting time and lighting period of the post phase of the forward coordination phase
  • the proportion of duration; the reverse second proportion of intersection i is equal to the ratio of the green light lighting time of the front phase of the reverse coordination phase to the lighting cycle time plus the green light of the rear phase of the reverse coordination phase
  • the constraints of green wave coordination also include two-way coordination constraints; the first determination module 503 is also configured to determine the two-way coordination constraints according to the following formula:
  • ⁇ i represents the second forward time difference of intersection i
  • ⁇ i +1 represents the second forward time difference of intersection i+1
  • mi is any integer
  • h i Respectively represent the ratio of the green light lighting time of the front phase of the forward coordination phase to the lighting cycle time and the ratio of the green light lighting time of the front phase of the reverse coordination phase to the lighting cycle time of the intersection i,
  • the constraints of the green wave coordination also include a public lighting cycle constraint, which is determined based on the maximum and minimum values of the lighting cycle durations of n intersections.
  • the first determination module 503 is also used to determine the public lighting cycle constraints according to the following formula:
  • z represents the reciprocal of the public lighting cycle
  • C u is the maximum value of the lighting cycle duration of n intersections
  • C l is the minimum value of the lighting cycle duration of n intersections.
  • the objective function of the green wave coordination is a function determined with the goal of maximizing the forward green wave bandwidth and the reverse green wave bandwidth of each road section.
  • the second determination module 503 is used to determine the objective function F according to the following formula:
  • b i and represent the forward green wave bandwidth and the reverse green wave bandwidth of the section between intersection i and intersection i+1 respectively
  • k is the weight of the forward green wave bandwidth
  • (1-k) is the weight of the reverse green wave bandwidth.
  • the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.
  • FIG. 6 shows a schematic block diagram of an example electronic device 600 that may be used to implement embodiments of the present disclosure.
  • Electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions, are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
  • the device 600 includes a computing unit 601 that can execute according to a computer program stored in a read-only memory (ROM) 602 or loaded from a storage unit 608 into a random-access memory (RAM) 603. Various appropriate actions and treatments. In the RAM 603, various programs and data necessary for the operation of the device 600 can also be stored.
  • the computing unit 601, ROM 602, and RAM 603 are connected to each other through a bus 604.
  • An input/output (I/O) interface 605 is also connected to the bus 604 .
  • the I/O interface 605 includes: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a magnetic disk, an optical disk, etc. ; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, and the like.
  • the communication unit 609 allows the device 600 to exchange information/data with other devices over a computer network such as the Internet and/or various telecommunication networks.
  • the computing unit 601 may be various general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of computing units 601 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc.
  • the calculation unit 601 executes various methods and processes described above, such as the green wave coordinated control method.
  • the green wave coordinated control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 608 .
  • part or all of the computer program may be loaded and/or installed on the device 600 via the ROM 602 and/or the communication unit 609.
  • the computer program When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the green wave coordinated control method described above can be performed.
  • the computing unit 601 may be configured in any other appropriate way (for example, by means of firmware) to execute the green wave coordinated control method.
  • Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips Implemented in a system of systems (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC system of systems
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or combinations thereof.
  • programmable processor can be special-purpose or general-purpose programmable processor, can receive data and instruction from storage system, at least one input device, and at least one output device, and transmit data and instruction to this storage system, this at least one input device, and this at least one output device an output device.
  • Program codes for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special purpose computer, or other programmable data processing devices, so that the program codes, when executed by the processor or controller, make the functions/functions specified in the flow diagrams and/or block diagrams Action is implemented.
  • the program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • a machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • the systems and techniques described herein can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user. ); and a keyboard and pointing device (eg, a mouse or a trackball) through which a user can provide input to the computer.
  • a display device e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and pointing device eg, a mouse or a trackball
  • Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and can be in any form (including Acoustic input, speech input or, tactile input) to receive input from the user.
  • the systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., as a a user computer having a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system.
  • the components of the system can be interconnected by any form or medium of digital data communication, eg, a communication network. Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
  • a computer system may include clients and servers.
  • Clients and servers are generally remote from each other and typically interact through a communication network.
  • the relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.
  • the server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.
  • steps may be reordered, added or deleted using the various forms of flow shown above.
  • each step described in the present disclosure may be executed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution disclosed in the present disclosure can be achieved, no limitation is imposed herein.

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Abstract

一种绿波协调控制方法、绿波协调控制装置、电子设备和存储介质，涉及智能交通领域，尤其涉及交通控制领域。绿波协调控制方法包括：获取预设道路上的n个路口的路口参数和绿波参数（S210）；根据针对预设道路的绿波车速计算各个路段的绿波行程时长（S220）；根据路口参数、绿波参数和绿波行程时长，确定绿波协调的约束条件（S230）；根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数（S240）；根据约束条件和目标函数进行绿波协调控制（S250）。

Description

绿波协调控制方法、装置、电子设备和存储介质
本申请要求于2021年8月17日递交的中国专利申请No.202110945917.9的优先权，其内容一并在此作为参考。
技术领域
本公开涉及智能交通技术领域，尤其涉及交通控制技术。更具体地，本公开提供了一种绿波协调控制方法、装置、电子设备和存储介质。
背景技术
绿波协调控制能够使以一定车速行驶的车辆在指定的交通道路上通过各个路口时遇到一路绿灯。绿波协调控制能够保障城市道路的畅通，在城市道路交通控制中有着重要的意义。
发明内容
本公开提供了一种绿波协调控制方法、装置、电子设备以及存储介质。
根据第一方面，提供了一种绿波协调控制方法，该方法包括：获取预设道路上的n个路口的路口参数和绿波参数，绿波参数包括n个路口中每个路口彼此之间路段的正向绿波带宽和反向绿波带宽，n为大于等于2的整数；根据针对预设道路的绿波车速，计算各个路段的绿波行程时长；根据路口参数、绿波参数和绿波行程时长，确定绿波协调的约束条件；根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数；以及根据约束条件和目标函数进行绿波协调控制。
根据第二方面，提供了一种绿波协调控制装置，该装置包括：获取模块，用于获取预设道路上的n个路口的路口参数和绿波参数，绿波参数包括n个路口中每个路口彼此之间路段的正向绿波带宽和反向绿波带宽，n为大于等于2的整数；计算模块，用于根据针对预设道路的绿波车速，计算各个路段的绿波行程时长；第一确定模块，用于根据路口参数、绿波参数和绿波行程时长，确定绿波协调的约束条件；第二确定模 块，用于根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数；以及控制模块，用于根据约束条件和目标函数进行绿波协调控制。
根据第三方面，提供了一种电子设备，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行根据本公开提供的方法。
根据第四方面，提供了一种存储有计算机指令的非瞬时计算机可读存储介质，该计算机指令用于使计算机执行根据本公开提供的方法。
根据第五方面，提供了一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据本公开提供的方法。
应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。
附图说明
附图用于更好地理解本方案，不构成对本公开的限定。其中：
图1是根据本公开的一个实施例的可以应用绿波协调控制方法的示例性场景；
图2是根据本公开的一个实施例的绿波协调控制方法的流程图；
图3是根据本公开的一个实施例的协调相位和非协调相位的信号关系示意图；
图4是根据本公开的一个实施例的绿波协调方法的信号时空示意图；
图5是根据本公开的一个实施例的绿波协调控制装置的框图；
图6是根据本公开的一个实施例的绿波协调控制方法的电子设备的框图。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开 实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
绿波协调控制是通过调整指定道路上各个路口的绿灯启动时间，来实现车辆以一定车速行驶时能够遇到一路绿灯的，上述一定车速即为绿波车速。
目前的绿波协调控制方案中，绿波车速通常通过检测器，比如电感线圈、电警和雷达等获得，但是由于绿波车速随着车流量波动变化，通过检测器获取的绿波车速并非实时的绿波车速。从而在协调控制时缺乏实时绿波车速数据，缺乏针对实时绿波车速变化的动态协调能力，经常导致绿波协调控制的失效。
本公开的技术方案中，所涉及的用户个人信息的收集、存储、使用、加工、传输、提供和公开等处理，均符合相关法律法规的规定，且不违背公序良俗。
图1是根据本公开一个实施例的可以应用绿波协调控制方法的示例性场景。需要注意的是，图1所示仅为可以应用本公开实施例的系统架构的示例，以帮助本领域技术人员理解本公开的技术内容，但并不意味着本公开实施例不可以用于其他设备、系统、环境或场景。
如图1所示，场景100可以是预设道路上的路口，路口可以设置有多个信号灯101，道路上行驶有多个车辆102。对该预设道路进行绿波协调控制，即通过调整该预设道路上的各个路口的信号灯101的绿灯起始时间，使得车辆102按照规定速度到达每个路口时，正好遇到绿灯。该规定速度即为绿波车速，绿波车速可以是随着车流量动态变化的实时车速。
例如，预设道路上有n个路口，n可以是大于等2的整数，在一个示例中，n的取值在2-10之间。i可以表示路口序号，i＝1，2，......n。车辆从路口i到路口i+1的行驶方向可以称为上行(或正向)，车辆从路口i+1到路口i的行驶方向可以称为下行(或反向)，针对预设道路的正向和反向均进行绿波协调控制，称为双向绿波协调控制。双向绿波协 调控制能够使得正向行驶的车辆和反向行驶的车辆在按照绿波车速行驶的情况下，均能一路绿灯。
在上述预设道路上按绿波车速行驶的车辆102，能够连续通过各个路口绿灯通行带的宽度，称为绿波带宽或绿波宽度。
图2是根据本公开的一个实施例的绿波协调控制方法的流程图。
如图2所示，该绿波协调控制方法200可以包括操作S210～操作S250。
在操作S210，获取预设道路上的n个路口的路口参数和绿波参数。
例如，路口可以是丁字路口或十字路口，n可以是大于等2的整数。
n个路口中的每个路口可以包括具有多个相位的信号灯，多个相位的信号灯例如是位于不同方位(如东、西、南、北、东南、西北等)的信号灯。多个相位中可以指定至少一个相位参与绿波协调控制，该被指定的用于参与绿波协调控制的相位称为基准相位或协调相位，多个相位中除协调相位以外的相位称为非协调相位。
路口参数可以包括路口的信号灯的点亮周期时长，点亮周期时长是信号灯各种灯色轮流显示一次所需要的时间，即各种灯色显示时间之和；或是从某个主要相位(如协调相位)开始点亮绿灯的时刻到下次开始点亮该绿灯的时刻之间的一段时间。可以理解，点亮周期时长可以是各个相位的信号灯轮流显示完一次绿灯所需要的时间之和。
路口参数还可以包括路口的协调相位的绿灯点亮时长与该路口的点亮周期时长的占比、非协调相位的绿灯点亮时长与该路口的点亮周期时长的占比、n个路口中每个路口彼此之间路段的距离等等。在双向绿波协调控制的应用中，路口参数包括正向路口参数和反向路口参数。例如，路口i与路口i+1之间在正向方向上的距离，路口i与路口i+1之间在反向方向上的距离。
绿波参数可以包括各个路段的绿波带宽，在双向绿波协调控制的应用中，绿波参数包括正向绿波参数和反向绿波参数。例如，路口i与路口i+1之间的路段的正向绿波带宽，路口i与路口i+1之间的路段的反向绿波带宽。
在操作S220，根据针对预设道路的绿波车速，计算各个路段的绿 波行程时长。
例如，针对预设道路的绿波车速可以是计算出的实时绿波车速。各个路段的绿波行程时长可以根据该路段的距离和实时绿波车速计算出来。在双向绿波协调控制的应用中，则绿波车速包括正向绿波车速和反向绿波车速，绿波行程时长也包括正向绿波行程时长和反向绿波行程时长。各路段的正向绿波行程时长是基于该路段在正向方向上的距离与正向绿波车速的比值确定的，各路段的反向绿波行程时长是基于该路段在反向方向上的距离与反向绿波车速的比值确定的。
例如，根据以下公式(1)计算路口i与路口i+1之间的路段的正向绿波行程时长t i：
Figure PCTCN2021130618-appb-000001
其中，d i为路口i与路口i+1之间在正向方向上的距离，v i为正向绿波车速。
根据以下公式(2)计算路口i与路口i+1之间的路段的反向绿波行程时长
Figure PCTCN2021130618-appb-000002
Figure PCTCN2021130618-appb-000003
其中，
Figure PCTCN2021130618-appb-000004
为路口i与路口i+1之间在反向方向上的距离，
Figure PCTCN2021130618-appb-000005
为反向绿波车速。
在操作S230，根据路口参数、绿波参数和绿波行程时长，确定绿波协调的约束条件。
例如，可以根据路口参数、绿波参数以及绿波行程时长绘制绿波协调控制的信号时空示意图，从信号时空示意图中可以直观获得各个参数之间的关系，根据各个参数之间的关系来确定各个参数之间相互约束的表达式，作为绿波协调控制的约束条件。
在操作S240，根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数。
例如，绿波协调控制的目标可以是在约束条件下，获得最大的正向绿波带宽和反向绿波带宽，则可以根据正向绿波带宽和反向绿波带宽构建目标函数，在约束条件下求解出最大的正向绿波带宽和反向绿波带宽。从而绿波协调控制问题转化为了参数优化问题，通过优化各个参数来提 高绿波协调控制能力。
在操作S250，根据约束条件和目标函数进行绿波协调控制。
例如，通过求解目标函数得到最大的正向绿波带宽和反向绿波带宽，实现了绿波协调控制的参数的优化。按照优化后的参数进行绿波协调控制，例如调整各个路口的信号灯的配置，能够提高绿波协调控制效果。
本公开的实施例将绿波协调控制问题转化为了参数优化问题，并引入绿波车速参数，实现了基于绿波车速的动态优化，提高了绿波协调成功率。
在双向绿波协调控制的应用中，路口参数包括正向路口参数和反向路口参数，表1示出了本公开实施例的正向路口参数和反向路口参数。
表1
Figure PCTCN2021130618-appb-000006
在双向绿波协调控制的应用中，在车辆行驶的正向方向上被指定作 为基准的协调相位称为正向协调相位，除正向协调相位以外的相位为正向非协调相位。在车辆行驶的反向方向上被指定作为基准的协调相位称为反向协调相位，除反向协调相位以外的相位为反向非协调相位。
如表1所示，d i表示路口i与路口i+1之间在正向方向上的距离，
Figure PCTCN2021130618-appb-000007
表示路口i与路口i+1之间在反向方向上的距离。
g i表示路口i的正向协调相位的绿灯点亮时长与路口i的点亮周期时长的占比(即第一正向占比)，
Figure PCTCN2021130618-appb-000008
表示路口i的反向协调相位的绿灯点亮时长与路口i的点亮周期时长的占比(即第一反向占比)。
r i表示路口i的正向非协调相位的绿灯点亮时长与路口i的点亮周期时长的占比(即第二正向占比)，
Figure PCTCN2021130618-appb-000009
表示路口i的反向非协调相位的绿灯点亮时长与路口i的点亮周期时长的占比(即第二反向占比)。
由于协调相位的绿灯点亮时长加上非协调相位的绿灯点亮时长等于信号灯的点亮周期时长，因此，
Figure PCTCN2021130618-appb-000010
与
Figure PCTCN2021130618-appb-000011
之间的关系如下公式(3)和公式(4)：
g i+r i＝1      (3)
Figure PCTCN2021130618-appb-000012
在一个点亮周期时长内，被指定作为基准的协调相位可以是在点亮周期的中间位置被点亮绿灯，在协调相位之前被点亮绿灯的非协调相位称为协调相位的前置相位，在协调相位之后被点亮绿灯的非协调相位称为协调相位的后置相位。因此，非协调相位的绿灯点亮时长等于协调相位的前置相位的绿灯点亮时长加上协调相位的后置相位的绿灯点亮时长。
h i表示路口i的正向协调相位的前置相位的绿灯点亮时长与路口i的点亮周期时长的占比，
Figure PCTCN2021130618-appb-000013
表示路口i的反向协调相位的前置相位的绿灯点亮时长与路口i的点亮周期时长的占比。
f i表示路口i的正向协调相位的后置相位的绿灯点亮时长与路口i的周期时长的占比，
Figure PCTCN2021130618-appb-000014
表示路口i的反向协调相位的后置相位的绿灯点亮时长与路口i的周期时长的占比。
由于非协调相位的绿灯点亮时长等于协调相位的前置相位的绿灯点亮时长加上协调相位的后置相位的绿灯点亮时长，因此，
Figure PCTCN2021130618-appb-000015
与
Figure PCTCN2021130618-appb-000016
之间的关系如下公式(5)和公式(6)：
h i+f i＝r i      (5)
Figure PCTCN2021130618-appb-000017
τ i表示路口i的正向排队清空时长与路口i的协调相位的绿灯点亮时长的占比(即第三正向占比)，
Figure PCTCN2021130618-appb-000018
表示路口i的反向排队清空时长与路口i的协调相位的绿灯点亮时长的占比(即第三反向占比)。
排队清空时长等于车辆在路口i的排队长度与饱和流率的占比，饱和流率是指在路口i的绿灯点亮时长内，路口i的排队车辆能驶入路口i进道口的最大流量。正向排队清空时长指在车辆行驶的正向方向上的排队清空时长，反向排队清空时长指在车辆行驶的反向方向上的排队清空时长。
为了表示参数的完整性，将路口i与路口i+1之间的路段的正向绿波行程时长t i和反向绿波行程时长
Figure PCTCN2021130618-appb-000019
也添加到了表1中。
图3是根据本公开的一个实施例的协调相位和非协调相位的信号关系示意图。
如图3所示，信号段301表示路口i的正向协调相位的绿灯点亮时长与路口i的点亮周期时长的占比g i，信号段302表示路口i的反向协调相位的绿灯点亮时长与路口i的点亮周期时长的占比
Figure PCTCN2021130618-appb-000020
信号段311表示路口i的正向协调相位的前置相位的绿灯点亮时长与路口i的点亮周期时长的占比h i，信号段312表示路口i的反向协调相位的前置相位的绿灯点亮时长与路口i的点亮周期时长的占比
Figure PCTCN2021130618-appb-000021
信号段321表示路口i的正向协调相位的后置相位的绿灯点亮时长与路口i的周期时长的占比f i，信号段322表示路口i的反向协调相位的后置相位的绿灯点亮时长与路口i的周期时长的占比
Figure PCTCN2021130618-appb-000022
信号段311h i与信号段321f i之和等于正向非协调相位的绿灯点亮时长与路口i的点亮周期时长的占比r i，信号段301g i、信号段311h i以及信号段321f i之和等于1。
信号段312
Figure PCTCN2021130618-appb-000023
与信号段322
Figure PCTCN2021130618-appb-000024
之和等于反向非协调相位的绿灯点亮时长与路口i的点亮周期时长的占比
Figure PCTCN2021130618-appb-000025
信号段302
Figure PCTCN2021130618-appb-000026
信号段312
Figure PCTCN2021130618-appb-000027
以及信号段322
Figure PCTCN2021130618-appb-000028
之和等于1。
可以理解，在信号段301所表示的正向协调相位点亮绿灯时，信号段311所表示的正向协调相位的前置相位以及信号段321所表示的正向协调相位的后置相位均点亮红灯。类似地，在信号段302所表示的反向协调相位点亮绿灯时，信号段312所表示的反向协调相位的前置相位以及信号段322所表示的反向协调相位的后置相位均点亮红灯。
在双向绿波协调控制的应用中，绿波参数包括正向绿波参数和反向绿波参数，表2示出了本公开实施例的正向绿波参数和反向绿波参数。
表2
Figure PCTCN2021130618-appb-000029
如表2所示，e i表示绿波车辆(即以绿波车速行驶的车辆)正向驶入路口i的时刻与路口i的正向协调相位的绿灯开始点亮时刻之间的时间差(即正向第一时间差)，
Figure PCTCN2021130618-appb-000030
表示绿波车辆反向驶入路口i的时刻与路口i的反向协调相位的绿灯开始点亮时刻之间的时间差(即反向第一时间差)。
b i表示路口i与路口i+1之间的路段的正向绿波带宽，
Figure PCTCN2021130618-appb-000031
表示路口i与路口i+1之间的路段的反向绿波带宽。
Δ i等于r i中点时刻减去
Figure PCTCN2021130618-appb-000032
中点时刻。
φ i等于r i+1中点时刻减去r i中点时刻，
Figure PCTCN2021130618-appb-000033
等于
Figure PCTCN2021130618-appb-000034
中点时刻减去
Figure PCTCN2021130618-appb-000035
中点时刻。
图4是根据本公开的一个实施例的绿波协调方法的信号时空示意图。
如图4所示，根据表1中的路口参数和表2中的绿波参数绘制出信号时空示意图400，信号时空示意图400的纵轴表示各个路口(路口i、路口i+1和路口i+2)，横轴表示各个路口的信号灯的信号点亮周期(简称点亮周期)。信号时空示意图400中示出了每个路口的信号灯的4-5个点亮周期。
信号时空示意图400中包括正向绿波带410和反向绿波带420。正向绿波带410是从路口i到路口i+1再到路口i+2的方向上延伸的，且是分段的，在路口i到路口i+1之间的路段的正向绿波带410上的点411是在路口i的一个点亮周期内的绿波车辆驶入路口i的起始时刻，点412是路口i+1的一个点亮周期内的协调相位的绿灯点亮结束时刻。在点411和点412之间的平行带的宽度即为路口i到路口i+1之间的路段的正向绿波带宽b i。
类似地，在路口i+1到路口i+2之间的路段的正向绿波带410上的点413是在路口i+1的一个点亮周期内的绿波车辆驶入路口i+1的起始时刻，点414是路口i+2的一个点亮周期内的协调相位的绿灯点亮结束时刻。在点413和点414之间的平行带的宽度即为路口i+1到路口i+2之间的路段的正向绿波带宽b i+1。正向绿波带宽b i与正向绿波带宽b i+1不相等。
反向绿波带420是从路口i+2到路口i+1再到路口i的方向上延伸的，且是连续的。路口i+1到路口i+2之间的路段的反向绿波带宽为b i+1，路口i到路口i+1之间的路段的反向绿波带宽为b i。反向绿波带宽b i与反向绿波带宽b i+1相等。
针对路口i，正向协调相位的绿灯点亮时长占比即为表1的路口参数中的g i，反向协调相位的绿灯点亮时长占比即为表1的路口参数中的
Figure PCTCN2021130618-appb-000036
如信号段401所示，非协调相位的绿灯点亮时长占比包括正向非协调相位的绿灯点亮时长占比r i(即为表1的路口参数中的r i)和反向非协调相位的绿灯点亮时长占比
Figure PCTCN2021130618-appb-000037
(即为表1的路口参数中的
Figure PCTCN2021130618-appb-000038
)。r i中点与
Figure PCTCN2021130618-appb-000039
中点之间的时间差为Δ i。
如信号段402所示，在同一点亮周期内，绿波车辆反向驶入路口i的时刻与路口i的反向协调相位的绿灯开始点亮时刻之间的时间差为
Figure PCTCN2021130618-appb-000040
(即为表1的路口参数中的
Figure PCTCN2021130618-appb-000041
)。
如信号段403和信号段404所示，
Figure PCTCN2021130618-appb-000042
中点与
Figure PCTCN2021130618-appb-000043
中点之间的时间差为
Figure PCTCN2021130618-appb-000044
(即为表1的路口参数中的
Figure PCTCN2021130618-appb-000045
)，r i+1中点与r i中点之间的时间差为φ i(即为表1的路口参数中的φ i)。
如信号段405所示，从车辆驶入路口i的时刻到车辆驶入路口i+1的时刻之间的时间宽度即为车辆在路口i与路口i+1之间的路段的正向绿波行程时长t i(即表1中的t i)。
针对路口i+1和路口i+2的路口参数和绿波参数在信号时空示意图400中也有示出，这里不再赘述。
从信号时空示意图400中可以直观获得各个参数之间的关系，从而根据各个参数之间的关系来确定各个参数之间相互约束的表达式，作为绿波协调控制的约束条件。
与正向绿波带宽bi与反向绿波带宽
Figure PCTCN2021130618-appb-000046
相关的称为带宽约束条件，针对路口i和路口i+1，带宽约束条件包括以下至少之一：
路口i的正向第一时间差与路口i到路口i+1之间的路段的正向绿波带宽的和小于等于路口i的正向第一占比；
路口i的反向第一时间差与路口i到路口i+1之间的路段的反向绿波带宽的和小于等于路口i的反向第一占比；
路口i+1的正向第一时间差与路口i+1到路口i+2之间的路段的正向绿波带宽的和小于等于路口i+1的正向第一占比；
路口i+1的反向第一时间差与路口i+1到路口i+2之间的路段的反向绿波带宽的和小于等于路口i+1的反向第一占比。
例如，针对路口i，上述带宽约束条件可以用如下公式(7)～(10)表示。
e i+b i≤1-r i      (7)
Figure PCTCN2021130618-appb-000047
e i+1+b i≤1-r i+1    (9)
Figure PCTCN2021130618-appb-000048
公式(7)表示路口i的正向第一时间差与路口i到路口i+1之间的路段的正向绿波带宽的和小于等于路口i的正向第一占比，可以理解为绿波车辆正向驶入路口i的时刻与路口i的正向协调相位的绿灯开始点亮时刻之间的时间差加上正向绿波带宽应小于等于正向协调相位的绿灯点亮时长，这样才能保证在正向协调相位的绿灯点亮时长内车辆能够通过路口i。公式(8)～(10)的约束条件类似。
针对路口i，在双向绿波协调控制的应用中，正向参数和反向参数之间也有一定的约束关系，称为双向协调约束条件，双向协调约束条件包括如下公式(11)～(16)。
Figure PCTCN2021130618-appb-000049
Figure PCTCN2021130618-appb-000050
Figure PCTCN2021130618-appb-000051
Figure PCTCN2021130618-appb-000052
e i≥τ i           (15)
Figure PCTCN2021130618-appb-000053
从信号时空示意图400可以得到公式(11)等式左边的结果应为路口i+1的一个完整的点亮周期，因此应为整数。
公式(12)是根据正向(反向)协调相位与正向(反向)协调相位的前置相位和后置相位之间的关系得到的，可以由公式(3)～(6)推导得到的。
从信号时空示意图400可以得到公式(13)等式左边得到的结果是从r i的中点到车辆驶入路口i+1的时刻之间的时间宽度，公式(13)等式右边得到的结果也是从r i的中点到车辆驶入路口i+1的时刻之间的时间宽度，因此二者相等。公式(14)与公式(13)类似。
公式(15)表示绿波车辆正向驶入路口i的时刻与路口i的正向协调相位的绿灯开始点亮时刻之间的时间差不小于路口i的正向排队清空时长占比τ i。公式(16)与公式(15)类似。
在本公开实施例中，各个路口的点亮周期可以不相同，可以对点亮周期进行约束，得到一个公共点亮周期，可以在绘制信号时空示意图时 需要对各路口的点亮周期进行缩放的情况下，根据公共点亮周期时长来对各个路口的点亮周期进行缩放，使得缩放后的各路口的点亮周期与公共周期的占比与缩放前相同。
公共点亮周期约束条件是基于n个路口的点亮周期时长中的最大值和最小值确定的。
公共点亮周期的约束条件可以用如下公式(17)表示。
Figure PCTCN2021130618-appb-000054
其中，z表示公共点亮周期的倒数，C u为n个路口的点亮周期时长中的最大值，C l为n个路口的点亮周期时长中的最小值。
在本公开实施例中，绿波协调控制的优化目标可以是各路口的平均加权带宽最大，绿波协调的目标函数是以各个路段的正向绿波带宽和反向绿波带宽最大为目标确定的函数。绿波协调控制的目标函数可以用如下公式(18)表示。
Figure PCTCN2021130618-appb-000055
其中，b i和
Figure PCTCN2021130618-appb-000056
分别表示路口i与路口i+1之间的路段的正向绿波带宽和反向绿波带宽，k为正向绿波带宽的权重，(1-k)为反向绿波带宽的权重。
本公开的实施例将绿波协调控制问题转化为了参数优化问题，并引入绿波车速参数，实现了基于绿波车速的动态优化，提高了绿波协调成功率。
图5是根据本公开的一个实施例的绿波协调控制装置的框图。
如图5所示，该绿波协调控制500可以包括获取模块501、计算模块502、第一确定模块503、第二确定模块504和控制模块505。
获取模块501用于获取预设道路上的n个路口的路口参数和绿波参数，绿波参数包括n个路口中每个路口彼此之间路段的正向绿波带宽和反向绿波带宽，n为大于等于2的整数。
计算模块502用于根据针对预设道路的绿波车速，计算各个路段的绿波行程时长。
第一确定模块503用于根据路口参数、绿波参数和绿波行程时长， 确定绿波协调的约束条件。
第二确定模块504用于根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数。
控制模块505用于根据约束条件和目标函数进行绿波协调控制。
根据本公开的实施例，每个路口包括具有多个相位的信号灯，多个相位中包括被指定作为基准的协调相位以及除协调相位以外的其他相位；针对n个路口中的任一路口i，i＝1，......，n，路口参数包括：信号灯的点亮周期时长、协调相位的绿灯点亮时长与点亮周期时长的第一占比、非协调相位的绿灯点亮时长与点亮周期时长的第二占比、以及排队清空时长与协调相位的绿灯点亮时长的第三占比。
根据本公开的实施例，针对路口i，绿波参数包括：绿波车辆驶入路口i的时刻与路口i的协调相位的绿灯开始点亮时刻之间的第一时间差、路口i的第一占比的中点与路口i的第二占比的中点之间的第二时间差、以及路口i的第二占比的中点与路口i+1的第二占比的中点之间的第三时间差。
根据本公开的实施例，路口参数包括正向路口参数和反向路口参数，正向路口参数包括正向第一占比、正向第二占比和正向第三占比；反向路口参数包括反向第一占比、反向第二占比和反向第三占比；绿波参数包括正向绿波参数和反向绿波参数，正向绿波参数包括正向第一时间差、正向第二时间差、正向第三时间差和正向绿波带宽；反向绿波参数包括反向第一时间差、反向第二时间差、反向第三时间差和反向绿波带宽。
根据本公开的实施例，绿波行程时长包括正向绿波行程时长和反向绿波行程时长，绿波车速包括正向绿波车速和反向绿波车速，各路段的正向绿波行程时长是基于该路段在正向方向上的距离与正向绿波车速的比值确定的，各路段的反向绿波行程时长是基于该路段在反向方向上的距离与反向绿波车速的比值确定的。
计算模块502包括第一计算单元和第二计算单元。
第一计算单元用于根据以下公式计算路口i与路口i+1之间的路段的正向绿波行程时长t i：
Figure PCTCN2021130618-appb-000057
其中，d i为路口i与路口i+1之间在正向方向上的距离，v i为正向绿波车速。
第二计算单元用于根据以下公式计算路口i与路口i+1之间的路段的反向绿波行程时长
Figure PCTCN2021130618-appb-000058
Figure PCTCN2021130618-appb-000059
其中，
Figure PCTCN2021130618-appb-000060
为路口i与路口i+1之间在反向方向上的距离，
Figure PCTCN2021130618-appb-000061
为反向绿波车速。
根据本公开的实施例，绿波协调的约束条件包括带宽约束条件，针对路口i和路口i+1，所述带宽约束条件包括以下至少之一：路口i的正向第一时间差与路口i到路口i+1之间的路段的正向绿波带宽的和小于等于路口i的正向第一占比；路口i的反向第一时间差与路口i到路口i+1之间的路段的反向绿波带宽的和小于等于路口i的反向第一占比；路口i+1的正向第一时间差与路口i+1到路口i+2之间的路段的正向绿波带宽的和小于等于路口i+1的正向第一占比；路口i+1的反向第一时间差与路口i+1到路口i+2之间的路段的反向绿波带宽的和小于等于路口i+1的反向第一占比。
第一确定模块503用于根据以下公式确定带宽约束条件：
e i+b i≤1-r i
Figure PCTCN2021130618-appb-000062
e i+1+b i≤1-r i+1
Figure PCTCN2021130618-appb-000063
其中，e i和
Figure PCTCN2021130618-appb-000064
分别表示路口i的正向第一时间差和反向第一时间差，b i和
Figure PCTCN2021130618-appb-000065
分别表示路口i与路口i+1之间的路段的正向绿波带宽和反向绿波带宽，e i+1和
Figure PCTCN2021130618-appb-000066
分别表示路口i+1的正向第一时间差和反向第一时间差，r i和
Figure PCTCN2021130618-appb-000067
分别表示路口i的正向第二占比和反向第二占比，r i+1和
Figure PCTCN2021130618-appb-000068
分别表示路口i+1的正向第二占比和反向第二占比。
根据本公开的实施例，非协调相位包括在点亮周期内，在协调相位之前点亮绿灯的前置相位和在协调相位之后点亮绿灯的后置相位；非协 调相位的绿灯点亮时长等于协调相位的前置相位的绿灯点亮时长加上后置相位的绿灯点亮时长；协调相位包括正向协调相位和反向协调相位；
路口i的正向第二占比等于正向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比加上正向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比；路口i的反向第二占比等于反向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比加上反向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比。
根据本公开的实施例，绿波协调的约束条件还包括双向协调约束条件；第一确定模块503还用于根据以下公式确定双向协调约束条件：
Figure PCTCN2021130618-appb-000069
Figure PCTCN2021130618-appb-000070
Figure PCTCN2021130618-appb-000071
Figure PCTCN2021130618-appb-000072
e i≥τ i
Figure PCTCN2021130618-appb-000073
其中，Δ i表示路口i的正向第二时间差，Δ i+1表示路口i+1的正向第二时间差，m i为任意整数，φ i和
Figure PCTCN2021130618-appb-000074
分别表示路口i的正向第三时间差和反向第三时间差，t i和
Figure PCTCN2021130618-appb-000075
分别表示路口i与路口i+1之间的路段的正向绿波行程时长和反向绿波行程时长，τ i和
Figure PCTCN2021130618-appb-000076
分别表示路口i正向第三占比和反向第三占比；g i和
Figure PCTCN2021130618-appb-000077
分别表示路口i的正向第一占比和反向第一占比，h i和
Figure PCTCN2021130618-appb-000078
分别表示路口i的正向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比以及反向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比，f i和
Figure PCTCN2021130618-appb-000079
分别表示路口i的正向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比以及反向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比。
根据本公开的实施例，绿波协调的约束条件还包括公共点亮周期约束条件，公共点亮周期约束条件是基于n个路口的点亮周期时长中的最大值和最小值确定的。
第一确定模块503还用于根据以下公式确定公共点亮周期约束条 件：
Figure PCTCN2021130618-appb-000080
其中，z表示公共点亮周期的倒数，C u为n个路口的点亮周期时长中的最大值，C l为n个路口的点亮周期时长中的最小值。
根据本公开的实施例，绿波协调的目标函数是以各个路段的正向绿波带宽和反向绿波带宽最大为目标确定的函数。第二确定模块503用于根据以下公式确定目标函数F：
Figure PCTCN2021130618-appb-000081
其中，b i和
Figure PCTCN2021130618-appb-000082
分别表示路口i与路口i+1之间的路段的正向绿波带宽和反向绿波带宽，k为正向绿波带宽的权重，(1-k)为反向绿波带宽的权重。
根据本公开的实施例，本公开还提供了一种电子设备、一种可读存储介质和一种计算机程序产品。
图6示出了可以用来实施本公开的实施例的示例电子设备600的示意性框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。
如图6所示，设备600包括计算单元601，其可以根据存储在只读存储器(ROM)602中的计算机程序或者从存储单元608加载到随机访问存储器(RAM)603中的计算机程序，来执行各种适当的动作和处理。在RAM 603中，还可存储设备600操作所需的各种程序和数据。计算单元601、ROM 602以及RAM 603通过总线604彼此相连。输入/输出(I/O)接口605也连接至总线604。
设备600中的多个部件连接至I/O接口605，包括：输入单元606， 例如键盘、鼠标等；输出单元607，例如各种类型的显示器、扬声器等；存储单元608，例如磁盘、光盘等；以及通信单元609，例如网卡、调制解调器、无线通信收发机等。通信单元609允许设备600通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
计算单元601可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元601的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元601执行上文所描述的各个方法和处理，例如绿波协调控制方法。例如，在一些实施例中，绿波协调控制方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元608。在一些实施例中，计算机程序的部分或者全部可以经由ROM 602和/或通信单元609而被载入和/或安装到设备600上。当计算机程序加载到RAM 603并由计算单元601执行时，可以执行上文描述的绿波协调控制方法的一个或多个步骤。备选地，在其他实施例中，计算单元601可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行绿波协调控制方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本公开的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理 器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN) 和互联网。
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，也可以为分布式系统的服务器，或者是结合了区块链的服务器。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开公开的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。

Claims (23)

  1. 一种绿波协调控制方法，包括：
    获取预设道路上的n个路口的路口参数和绿波参数，所述绿波参数包括n个路口中每个路口彼此之间路段的正向绿波带宽和反向绿波带宽，n为大于等于2的整数；
    根据针对所述预设道路的绿波车速，计算各个路段的绿波行程时长；
    根据所述路口参数、绿波参数和绿波行程时长，确定绿波协调的约束条件；
    根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数；以及
    根据所述约束条件和目标函数进行绿波协调控制。
  2. 根据权利要求1所述的方法，其中，每个路口包括具有多个相位的信号灯，多个相位中包括被指定作为基准的协调相位以及除所述协调相位以外的其他相位；
    针对n个路口中的任一路口i，i＝1，......，n，所述路口参数包括：信号灯的点亮周期时长、协调相位的绿灯点亮时长与所述点亮周期时长的第一占比、非协调相位的绿灯点亮时长与所述点亮周期时长的第二占比、以及排队清空时长与协调相位的绿灯点亮时长的第三占比。
  3. 根据权利要求2所述的方法，其中，针对路口i，所述绿波参数包括：绿波车辆驶入路口i的时刻与路口i的协调相位的绿灯开始点亮时刻之间的第一时间差、路口i的第一占比的中点与路口i的第二占比的中点之间的第二时间差、以及路口i的第二占比的中点与路口i+1的第二占比的中点之间的第三时间差。
  4. 根据权利要求3所述的方法，其中：
    所述路口参数包括正向路口参数和反向路口参数，所述正向路口参数包括正向第一占比、正向第二占比和正向第三占比；所述反向路口参数包括反向第一占比、反向第二占比和反向第三占 比；
    所述绿波参数包括正向绿波参数和反向绿波参数，所述正向绿波参数包括正向第一时间差、正向第二时间差、正向第三时间差和所述正向绿波带宽；所述反向绿波参数包括反向第一时间差、反向第二时间差、反向第三时间差和所述反向绿波带宽。
  5. 根据权利要求4所述的方法，其中，所述绿波行程时长包括正向绿波行程时长和反向绿波行程时长，所述绿波车速包括正向绿波车速和反向绿波车速，各路段的正向绿波行程时长是基于该路段在正向方向上的距离与正向绿波车速的比值确定的，各路段的反向绿波行程时长是基于该路段在反向方向上的距离与反向绿波车速的比值确定的。
  6. 根据权利要求5所述的方法，其中，所述绿波协调的约束条件包括带宽约束条件，针对路口i和路口i+1，所述带宽约束条件包括以下至少之一：
    路口i的正向第一时间差与路口i到路口i+1之间的路段的正向绿波带宽的和小于等于路口i的正向第一占比；
    路口i的反向第一时间差与路口i到路口i+1之间的路段的反向绿波带宽的和小于等于路口i的反向第一占比；
    路口i+1的正向第一时间差与路口i+1到路口i+2之间的路段的正向绿波带宽的和小于等于路口i+1的正向第一占比；
    路口i+1的反向第一时间差与路口i+1到路口i+2之间的路段的反向绿波带宽的和小于等于路口i+1的反向第一占比。
  7. 根据权利要求6所述的方法，其中，所述非协调相位包括在所述点亮周期内，在所述协调相位之前点亮绿灯的前置相位和在所述协调相位之后点亮绿灯的后置相位；所述非协调相位的绿灯点亮时长等于所述协调相位的前置相位的绿灯点亮时长加上后置相位的绿灯点亮时长；所述协调相位包括正向协调相位和反向协调相位；
    所述路口i的正向第二占比等于正向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比加上正向协调相位的后置相 位的绿灯点亮时长与点亮周期时长的占比；所述路口i的反向第二占比等于反向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比加上反向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比。
  8. 根据权利要求7所述的方法，其中，所述绿波协调的约束条件还包括双向协调约束条件；所述确定绿波协调的约束条件包括：
    根据以下公式确定所述双向协调约束条件：
    Figure PCTCN2021130618-appb-100001
    Figure PCTCN2021130618-appb-100002
    Figure PCTCN2021130618-appb-100003
    Figure PCTCN2021130618-appb-100004
    e i≥τ i
    Figure PCTCN2021130618-appb-100005
    其中，Δ i表示路口i的正向第二时间差，Δ i+1表示路口i+1的正向第二时间差，m i为任意整数，φ i和
    Figure PCTCN2021130618-appb-100006
    分别表示路口i的正向第三时间差和反向第三时间差，t i和
    Figure PCTCN2021130618-appb-100007
    分别表示路口i与路口i+1之间的路段的正向绿波行程时长和反向绿波行程时长，τ i和
    Figure PCTCN2021130618-appb-100008
    分别表示路口i正向第三占比和反向第三占比；g i和
    Figure PCTCN2021130618-appb-100009
    分别表示路口i的正向第一占比和反向第一占比，h i和
    Figure PCTCN2021130618-appb-100010
    分别表示路口i的正向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比以及反向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比，f i和
    Figure PCTCN2021130618-appb-100011
    分别表示路口i的正向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比以及反向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比。
  9. 根据权利要求6所述的方法，其中，所述绿波协调的约束条件还包括公共点亮周期约束条件，所述公共点亮周期约束条件是基于n个路口的点亮周期时长中的最大值和最小值确定的。
  10. 根据权利要求1-9中任一项所述的方法，其中，所述绿波协调的目标函数是以各个路段的正向绿波带宽和反向绿波带宽最大为目标确定的函数。
  11. 一种绿波协调控制装置，包括：
    获取模块，用于获取预设道路上的n个路口的路口参数和绿波参数，所述绿波参数包括n个路口中每个路口彼此之间路段的正向绿波带宽和反向绿波带宽，n为大于等于2的整数；
    计算模块，用于根据针对所述预设道路的绿波车速，计算各个路段的绿波行程时长；
    第一确定模块，用于根据所述路口参数、绿波参数和绿波行程时长，确定绿波协调的约束条件；
    第二确定模块，用于根据各个路段的正向绿波带宽和反向绿波带宽，确定绿波协调的目标函数；以及
    控制模块，用于根据所述约束条件和目标函数进行绿波协调控制。
  12. 根据权利要求11所述的装置，其中，每个路口包括具有多个相位的信号灯，多个相位中包括被指定作为基准的协调相位以及除所述协调相位以外的其他相位；
    针对n个路口中的任一路口i，i＝1，......，n，所述路口参数包括：信号灯的点亮周期时长、协调相位的绿灯点亮时长与所述点亮周期时长的第一占比、非协调相位的绿灯点亮时长与所述点亮周期时长的第二占比、以及排队清空时长与协调相位的绿灯点亮时长的第三占比。
  13. 根据权利要求12所述的装置，其中，针对路口i，所述绿波参数包括：绿波车辆驶入路口i的时刻与路口i的协调相位的绿灯开始点亮时刻之间的第一时间差、路口i的第一占比的中点与路口i的第二占比的中点之间的第二时间差、以及路口i的第二占比的中点与路口i+1的第二占比的中点之间的第三时间差。
  14. 根据权利要求13所述的装置，其中：
    所述路口参数包括正向路口参数和反向路口参数，所述正向路口参数包括正向第一占比、正向第二占比和正向第三占比；所述反向路口参数包括反向第一占比、反向第二占比和反向第三占比；
    所述绿波参数包括正向绿波参数和反向绿波参数，所述正向绿波参数包括正向第一时间差、正向第二时间差、正向第三时间差和所述正向绿波带宽；所述反向绿波参数包括反向第一时间差、反向第二时间差、反向第三时间差和所述反向绿波带宽。
  15. 根据权利要求14所述的装置，其中，所述绿波行程时长包括正向绿波行程时长和反向绿波行程时长，所述绿波车速包括正向绿波车速和反向绿波车速，各路段的正向绿波行程时长是基于该路段在正向方向上的距离与正向绿波车速的比值确定的，各路段的反向绿波行程时长是基于该路段在反向方向上的距离与反向绿波车速的比值确定的。
  16. 根据权利要求15所述的装置，其中，所述绿波协调的约束条件包括带宽约束条件，针对路口i和路口i+1，所述带宽约束条件包括以下至少之一：
    路口i的正向第一时间差与路口i到路口i+1之间的路段的正向绿波带宽的和小于等于路口i的正向第一占比；
    路口i的反向第一时间差与路口i到路口i+1之间的路段的反向绿波带宽的和小于等于路口i的反向第一占比；
    路口i+1的正向第一时间差与路口i+1到路口i+2之间的路段的正向绿波带宽的和小于等于路口i+1的正向第一占比；
    路口i+1的反向第一时间差与路口i+1到路口i+2之间的路段的反向绿波带宽的和小于等于路口i+1的反向第一占比。
  17. 根据权利要求16所述的装置，其中，所述非协调相位包括在所述点亮周期内，在所述协调相位之前点亮绿灯的前置相位和在所述协调相位之后点亮绿灯的后置相位；所述非协调相位的绿灯点亮时长等于所述协调相位的前置相位的绿灯点亮时长加上后置相位的绿灯点亮时长；所述协调相位包括正向协调相位和反向协调相位；
    所述路口i的正向第二占比等于正向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比加上正向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比；所述路口i的反向第 二占比等于反向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比加上反向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比。
  18. 根据权利要求17所述的装置，其中，所述绿波协调的约束条件还包括双向协调约束条件；所述第一确定模块还用于根据以下公式确定所述双向协调约束条件：
    Figure PCTCN2021130618-appb-100012
    Figure PCTCN2021130618-appb-100013
    Figure PCTCN2021130618-appb-100014
    Figure PCTCN2021130618-appb-100015
    e i≥τ i
    Figure PCTCN2021130618-appb-100016
    其中，Δ i表示路口i的正向第二时间差，Δ i+1表示路口i+1的正向第二时间差，m i为任意整数，φ i和
    Figure PCTCN2021130618-appb-100017
    分别表示路口i的正向第三时间差和反向第三时间差，t i和
    Figure PCTCN2021130618-appb-100018
    分别表示路口i与路口i+1之间的路段的正向绿波行程时长和反向绿波行程时长，τ i和
    Figure PCTCN2021130618-appb-100019
    分别表示路口i正向第三占比和反向第三占比；g i和
    Figure PCTCN2021130618-appb-100020
    分别表示路口i的正向第一占比和反向第一占比，h i和
    Figure PCTCN2021130618-appb-100021
    分别表示路口i的正向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比以及反向协调相位的前置相位的绿灯点亮时长与点亮周期时长的占比，f i和
    Figure PCTCN2021130618-appb-100022
    分别表示路口i的正向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比以及反向协调相位的后置相位的绿灯点亮时长与点亮周期时长的占比。
  19. 根据权利要求16所述的装置，其中，所述绿波协调的约束条件还包括公共点亮周期约束条件，所述公共点亮周期约束条件是基于n个路口的点亮周期时长中的最大值和最小值确定的。
  20. 根据权利要求11-19中任一项所述的装置，其中，所述绿波协调的目标函数是以各个路段的正向绿波带宽和反向绿波带宽最大为目标确定的函数。
  21. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1至10中任一项所述的方法。
  22. 一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行根据权利要求1至10中任一项所述的方法。
  23. 一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1至10中任一项所述的方法。
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