CN106340190B - For determining the method, apparatus and system of traffic lights timing scheme - Google Patents
For determining the method, apparatus and system of traffic lights timing scheme Download PDFInfo
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- CN106340190B CN106340190B CN201610807094.2A CN201610807094A CN106340190B CN 106340190 B CN106340190 B CN 106340190B CN 201610807094 A CN201610807094 A CN 201610807094A CN 106340190 B CN106340190 B CN 106340190B
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Abstract
This disclosure relates to a kind of for determining the method, apparatus and system of traffic lights timing scheme, which comprises respective running data when obtaining more trolleys by crossing；The multiple groups the traffic light status data at the crossing are calculated using the respective running data；And traffic lights timing scheme is determined according to the multiple groups the traffic light status data.The method, apparatus and system for the determination traffic lights timing scheme that the disclosure provides, can real-time dynamicly determine the traffic lights timing at each crossing, to provide important references to intelligent driving etc..
Description
Technical field
This disclosure relates to intelligent transportation field, and in particular, to a kind of method for determining traffic lights timing scheme, dress
It sets and system.
Background technique
The traffic lights of road junction, also known as traffic lights, for solving traffic congestion, reduction accident etc. tool
Significant, the technologies such as the intelligent transportation that rapidly develops in recent years, unmanned propose more the traffic light status identification
High demand.Method for distinguishing is known for the traffic light status, common there are two types of mode, a kind of method is known using image-recognizing method
Not Chu in current crossing driving direction each steering the traffic light status, second method is local Traffic Administration Bureau's cooperation, by traffic control
Office provides accurate traffic lights timing scheme.
First method because use image recognition, due to each city traffic lights lay position, traffic lights pattern and
Special weathers and image recognition algorithm itself the error problems such as other objects block, light interference, sleet, will cause identification
Rate is not high, or identification has error appearance.
Second method is to cooperate with Traffic Administration Bureau, government, and traffic lights timing scheme is present in traffic control intraoffice network, this is interior
Net is physically-isolated with internet, and is considered for reasons such as safety, is difficult to obtain traffic lights timing scheme；In addition traffic control
Office may adjust allocation plan according to real-time traffic states, for this provisional Adjusted Option, if not and in Traffic Administration Bureau
Net is established direct links, it is impossible to obtain timing scheme in real time.
Summary of the invention
Purpose of this disclosure is to provide a kind of for determining the method, apparatus and system of traffic lights timing scheme, Neng Goushi
When dynamically obtain the traffic light status at each crossing, and then determine traffic lights timing scheme.
According to the disclosure in a first aspect, provide a kind of method for determining traffic lights timing scheme, this method comprises:
Respective running data when obtaining more trolleys by crossing；The multiple groups for calculating the crossing using the respective running data are red
Green light phase data；And traffic lights timing scheme is determined according to the multiple groups the traffic light status data.
In some optional embodiments of first aspect, the running data includes positioning data of vehicles and vehicle body shape
State data, the traffic light status data include that green light time started, green light end time, red light time started and red light terminate
Time.
It is described to calculate the red of the crossing using the running data in some optional embodiments of first aspect
Green light phase data include: the track data for obtaining vehicle by crossing using the positioning data of vehicles；And according to described
Track data and the vehicle body status data calculate the traffic light status data.
In some optional embodiments of first aspect, it is described determined according to the multiple groups the traffic light status data it is red
Green light timing scheme includes: to merge to the multiple groups the traffic light status data, obtains the traffic lights timing scheme；And
Verify obtained traffic lights timing scheme.
In some optional embodiments of first aspect, the method also includes: after storage and/or publication verification
Traffic lights timing scheme.
According to the second aspect of the disclosure, provide a kind of for determining the device of traffic lights timing scheme, which includes:
Data acquisition module, respective running data when for obtaining more trolleys by crossing；Computing module, it is described each for utilizing
The multiple groups the traffic light status data at the crossing are calculated from running data；And timing scheme determining module, for according to
Multiple groups the traffic light status data determine traffic lights timing scheme.
In some optional embodiments of second aspect, the running data includes positioning data of vehicles and vehicle body shape
State data, the traffic light status data include that green light time started, green light end time, red light time started and red light terminate
Time.
In some optional embodiments of second aspect, the computing module includes: track data acquisition submodule,
For obtaining vehicle by the track data at crossing using the positioning data of vehicles；And computational submodule, for according to institute
It states track data and the vehicle body status data calculates the traffic light status data.
In some optional embodiments of second aspect, the timing scheme determining module includes: fusion submodule,
For merging to the multiple groups the traffic light status data, the traffic lights timing scheme is obtained；And verification submodule, it uses
In the obtained traffic lights timing scheme of verification.
In some optional embodiments of second aspect, described device further includes for storing and/or issuing verification
The module of traffic lights timing scheme afterwards.
According to the third aspect of the disclosure, a kind of system for determining traffic lights timing scheme is provided, which includes
Vehicle-mounted terminal equipment, the vehicle-mounted terminal equipment include data acquisition unit, data processing unit and data reporting unit, the number
It is used to acquire the running data of vehicle according to acquisition unit, the data processing unit is for handling running data collected, institute
Data reporting unit is stated for will treated that running data uploads to cloud platform；And cloud platform, the cloud platform include as above
The device.
In some optional embodiments of the third aspect, the running data includes positioning data of vehicles and vehicle body shape
State data, the data acquisition unit include position data collecting unit for acquiring the positioning data of vehicles and for adopting
Collect the control area network acquisition unit of the vehicle body status data.
The method, apparatus and system for being used to determine traffic lights timing scheme that the disclosure provides, due to using each car
Running data analyzes to obtain the traffic light status data, and then obtains traffic lights timing scheme, not by weather environment, image recognition
Various limitations such as algorithm, laws and regulations can real-time dynamicly determine that the traffic light status at each crossing, projected distance become lamp
Time still remaining etc., to provide important references to intelligent transportation, unmanned, advanced driving assistance system (ADAS) etc..
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the example flow diagram for the method for determining traffic lights timing scheme that the disclosure provides；
Fig. 2 is schematic diagram of the vehicle by two kinds of situations at crossing；
Fig. 3 is the system schematic for being used to determine traffic lights timing scheme that the disclosure provides；And
Fig. 4 is the system block diagram for being used to determine traffic lights timing scheme that the disclosure provides.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
As shown in Figure 1, present disclose provides a kind of method for determining traffic lights timing scheme, this method comprises: S1,
Respective running data when obtaining more trolleys by crossing；S2 calculates the more of the crossing using the respective running data
Group the traffic light status data；And S3, traffic lights timing scheme is determined according to the multiple groups the traffic light status data.
The running data for obtaining vehicle is data-gathering process, can be obtained from the vehicle-mounted terminal equipment of such as T-Box etc
It takes, the running data may include positioning data of vehicles and vehicle body status data, and vehicle-mounted terminal equipment can be by running data
The equipment such as cloud platform are uploaded to by wireless network to complete the data processing of step S1 to S3 by cloud platform.Vehicle location number
According to may include longitude, latitude, speed, direction, height, time etc., positioning accuracy can be sub-meter grade.Vehicle body status data can
To include stopping, starting, braking state, vehicle body velocities, steering etc..
The cloud platform is after obtaining vehicle operation data from vehicle-mounted terminal equipment, to the running data point of each vehicle
Not carry out the analysis of step S1 to S2 handle to obtain corresponding the traffic light status data, and then more vehicles are obtained each
The multiple groups the traffic light status data at crossing carry out fusion treatment to determine traffic lights timing scheme.The traffic light status data can
To include green light time started, green light end time, red light time started and red light end time.
The traffic light status data for calculating the crossing using the running data include: to utilize the vehicle location
Data obtain vehicle by the track data at crossing；And according to the track data and vehicle body status data calculating
The traffic light status data.It is described in detail below, for separate unit vehicle, the crossing is calculated using by the running data at a certain crossing
The traffic light status data detailed process.This process is positioning data of vehicles when passing through some crossing according to vehicle, is obtained
To vehicle by the track data at crossing, and according to track data and vehicle body status data (such as stop, starting, touch on the brake) come
Calculate the traffic light status data at the crossing.Vehicle pass through crossing in some be configured with traffic lights, some without configuring, in conjunction with
Electronic map data can filter out the data of not traffic light intersection, only for the vehicle driving number at the crossing for having traffic lights
According to being handled.
Positioning data of vehicles is combed, forms a track data by crossing, which is at any time
Variation, position changes along direction of traffic, i.e., track data is according to time sequence.Using electronic map, judge to work as front truck
Which crossing what is passed through is.Then centered on the crossing, vehicle heading is taken out from track data and enters crossing
Preset distance within rectangular area in all track datas, the preset distance can be, for example, 100m.This field skill
Art personnel are it should be understood that 100m here is only example.
There are mainly two types of situations by way of crossing for each car: one is directly pass through.Due to the vehicle direction of travel
Signal lamp is green light, so directly passing through crossing.It is for second then to pass through again after parking.Because of the letter of the vehicle direction of travel
Signal lamp is red light, and the vehicle some position before crossing is stopped, and passes through crossing again after waiting signal lamps greening.The road can be calculated
Mouthful vehicle traveling direction, the in both cases numerical value of traffic lights subitem timing.
Fig. 2 is schematic diagram of the vehicle by two kinds of situations at crossing.In Fig. 2 the first behavior illustrate true red light,
The alternating sequence of green light, red light, for simplicity, the time unification of amber light are included into green light consideration；T1 is that true green light starts
Time point and a upper red light end time；T2 is true green light end time point and next red light time started
Point；C1 and C2 is the green light time started and green light end time calculated by means of the present invention.
In the case of the first in Fig. 2, S11 and E12 time point is to can be used for verifying green light in green time section and match
When right value.
The first row in Fig. 2 under second situation, the method for illustrating to calculate the green light time started, in time point S21
Vehicle stops, and indicates that the time point is red light, when vehicle is again started up, is led at a distance from crossing with speed, calculating by vehicle
Time dt1 is crossed, then vehicle launch time point crossing green light time started C1=subtracts dt1, it is also that a upper red light terminates
Time.E21 in Fig. 2 in second situation the first row is vehicle by the time, which is scheduled in green time section.
Second row of second situation in Fig. 2, the method for illustrating to calculate the green light end time.The green light end time has
Two kinds of possibility, one is vehicles to see that green light reddens lamp during, and cannot be by crossing, so stepping on its present speed
Brake slowly stops arriving lane stop line forefront, can first vehicle by crossing when being exactly next round green light.So
In this case, at the time of S22 is that vehicle steps on brake, if P1 is the difference of vehicle stop position and crossing distance divided by current speed
The time difference obtained is spent, to calculate green light end time C2=S22-P1 and next red light time started.Other one
Kind be in vehicle travel process, it is seen that green light reddens lamp, and vehicle has brake deceleration movement, such as from some E22 at the time of, until
Slowly stop to last vehicle of the lane below, after can equally calculating brake deceleration, and with crossing range difference with
The quotient of its present speed obtains the time difference, but this time difference cannot be used for calculating green light and terminate/red light the time started, can only
It is whether correct for verifying the time calculated in former possibility.
By handling above, it can be deduced that the traffic light status data based on the crossing that separate unit vehicle calculates.Due to separate unit
The calculating data unreliability of vehicle, which cannot function as final result, so needing using the big of the crossing driving direction
Vehicle operation data is measured, carries out identical calculating, then calculated multiple groups the traffic light status data are merged, and verifies and melts
It is after conjunction as a result, obtaining the final timing scheme value trusty at the crossing.Therefore, it is determined according to the traffic light status data
Traffic lights timing scheme includes merging to the multiple groups the traffic light status data, obtains the traffic lights timing scheme；With
And the obtained traffic lights timing scheme of verification.
Fusion can be handled using average value scheme.Such as calculated multiple green light time starteds S1, S2,
S3 ..., Gn, then SA=AVG (S1+S2+ ...+Sn), using SA as the green light time started, while at the end of being also a upper red light
Between.Similarly go out green light end time EA using mean value calculation, while being also next red light time started.Then using verification
Method, which verifies, is calculated the validity of above-mentioned numerical value, can use running data and verifies to timing scheme, such as can be with
Using the S11 and E12 obtained in the case of the first in Fig. 2, the two time points should be between the SA and EA calculated, i.e.,
SA < S11 should be met, while meeting E12 < EA, otherwise data are problematic.
The present invention is based on carrying out on the basis of a large amount of vehicles datas.Vehicle pass-through can cover all masters in city
There is the crossing of traffic lights.Using method described above, the traffic lights timing scheme at each crossing can be successively found out,
Into city after all crossroads traffic light timing schemes, the traffic lights timing scheme is stored and/or issued.For example, can be with
Utilize the basic data in MySQL write-in database, as the publication of timing scheme.Timing protocol can use tables of data knot
Structure storage.Timing protocol table structure is as shown in table 1:
Table 1: traffic lights timing protocol structure table
The present invention also provides a kind of for determining the device of traffic lights timing scheme, which includes: data acquisition module,
Respective running data when for obtaining more trolleys by crossing；Computing module, based on using the respective running data
Calculate the multiple groups the traffic light status data at the crossing；And timing scheme determining module, for according to the multiple groups traffic lights shape
State data determine traffic lights timing scheme.The running data may include positioning data of vehicles and vehicle body status data, described
The traffic light status data may include green light time started, green light end time, red light time started and red light end time.
Preferably, the computing module includes: track data acquisition submodule, for being obtained using the positioning data of vehicles
To vehicle by the track data at crossing；And computational submodule, for according to the track data and the vehicle body status number
According to the calculating the traffic light status data.The specific sample calculation of the traffic light status data in the description above with reference to Fig. 2
Through being described in detail, details are not described herein.
Preferably, the timing scheme determining module includes: fusion submodule, for the multiple groups the traffic light status number
According to being merged, the traffic lights timing scheme is obtained；And verification submodule, for verifying obtained traffic lights timing side
Case.Preferably, described device further includes the module for storing and/or issuing the traffic lights timing scheme after verifying.
It as shown in Figure 3 and Figure 4, include that car-mounted terminal is set provided by the present invention for the system for determining traffic lights timing scheme
Standby 1 and 2 two large divisions of cloud platform.Vehicle-mounted terminal equipment 1 may include data acquisition unit 10, data processing unit 20 and data
Reporting unit 30.The data acquisition unit 10 is used to acquire the running data of vehicle, and the running data includes vehicle location
Data and vehicle body status data, data acquisition unit 10 may include the positioning acquisition subelement for acquiring positioning data of vehicles
Subelement is acquired with control area net(CAN) (CAN) bus for acquiring vehicle body status data.Positioning data of vehicles may include through
Degree, latitude, speed, direction, height, time etc., positioning accuracy can be sub-meter grade.Vehicle body status data may include stop,
Starting, braking state, vehicle body velocities, steering etc..The data processing unit 20 for handling running data collected, such as into
Row cleaning, encryption, packing etc. processing work.The data reporting unit 30 is for by treated, running data to upload to cloud
Platform 2.As shown in figure 3, vehicle-mounted terminal equipment 1 can be realized by T-Box 1, and vehicle body state can be obtained by CAN bus 3
Data.
Cloud platform 2 may include as described above according to the disclosure for determining the device number of traffic lights timing scheme
According to.Cloud platform 2 can also be decompressed, decrypted, be torn open after receiving the running data from the vehicle-mounted terminal equipment 1
Packet etc. science and engineering is made, and then determines traffic lights timing scheme according to the running data, is had been combined above according to the disclosure
This is described in detail in method, and details are not described herein again.Cloud platform 2 can be also used for issuing identified traffic lights timing side
Case, such as Http/Json mode access interface can be provided, the timing protocol at all crossings is obtained for other users.
Provided by the present invention for determining the method, apparatus and system of traffic lights timing scheme, vehicle actual travel is utilized
Data are analyzed to obtain the traffic light status data, and then obtain traffic lights timing scheme, can accurately dynamically determine reality in real time
Crossroads traffic light timing provides important references for occasions such as intelligent drivings.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of method for determining traffic lights timing scheme, this method comprises:
Respective running data when obtaining more trolleys by crossing, the respective running data include location data and vehicle body shape
State data, the location data include height；
The corresponding the traffic light status data that each vehicle passes through the crossing are calculated separately using the respective running data, into
And obtain multiple groups the traffic light status data；And
Traffic lights timing scheme is determined according to the multiple groups the traffic light status data,
Wherein, described to determine that traffic lights timing scheme includes: according to the multiple groups the traffic light status data
The multiple groups the traffic light status data are merged, the traffic lights timing scheme is obtained；And
Verify obtained traffic lights timing scheme.
2. according to the method described in claim 1, wherein, the traffic light status data include green light time started, green light knot
Beam time, red light time started and red light end time.
3. according to the method described in claim 2, wherein, calculating separately each vehicle by institute using the respective running data
State the corresponding the traffic light status data at crossing, comprising:
Vehicle is obtained by the track data at crossing using the location data；And
The traffic light status data are calculated according to the track data and the vehicle body status data.
4. according to the method described in claim 1, this method further include: the traffic lights timing side after storage and/or publication verification
Case.
5. a kind of for determining the device of traffic lights timing scheme, which includes:
Data acquisition module, respective running data when for obtaining more trolleys by crossing, the respective running data packet
Location data and vehicle body status data are included, the location data includes height；
Computing module, for calculating separately each vehicle by the corresponding red green of the crossing using the respective running data
Lamp status data, and then obtain multiple groups the traffic light status data；And
Timing scheme determining module, for determining traffic lights timing scheme according to the multiple groups the traffic light status data,
Wherein, the timing scheme determining module includes:
It merges submodule and obtains the traffic lights timing scheme for merging to the multiple groups the traffic light status data；With
And
Submodule is verified, for verifying obtained traffic lights timing scheme.
6. device according to claim 5, wherein the traffic light status data include green light time started, green light knot
Beam time, red light time started and red light end time.
7. device according to claim 6, wherein the computing module includes:
Track data acquisition submodule, for obtaining vehicle by the track data at crossing using the location data；And
Computational submodule, for calculating the traffic light status data according to the track data and the vehicle body status data.
8. device according to claim 5, which further includes for storing and/or issuing the traffic lights timing after verifying
The module of scheme.
9. a kind of system for determining traffic lights timing scheme, the system include:
Vehicle-mounted terminal equipment, the vehicle-mounted terminal equipment include data acquisition unit, data processing unit and data reporting unit, institute
Data acquisition unit is stated for acquiring the running data of vehicle, the data processing unit is for handling traveling number collected
According to the data reporting unit is for by treated, running data to upload to cloud platform；And
Cloud platform, the cloud platform include the device according to any claim in claim 5 to 8.
10. system according to claim 9, wherein the data acquisition unit includes for acquiring the vehicle location
The position data collecting unit of data and control area network acquisition unit for acquiring the vehicle body status data.
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| CN201610807094.2A CN106340190B (en) | 2016-09-06 | 2016-09-06 | For determining the method, apparatus and system of traffic lights timing scheme |
| PCT/CN2017/100785 WO2018045974A1 (en) | 2016-09-06 | 2017-09-06 | Method, apparatus, and system for determining traffic light timing |
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| CN201610807094.2A CN106340190B (en) | 2016-09-06 | 2016-09-06 | For determining the method, apparatus and system of traffic lights timing scheme |
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| CN106340190B (en) * | 2016-09-06 | 2019-09-13 | 北京汽车集团有限公司 | For determining the method, apparatus and system of traffic lights timing scheme |
| CN109035808A (en) * | 2018-07-20 | 2018-12-18 | 上海斐讯数据通信技术有限公司 | A kind of traffic lights switching method and system based on deep learning |
| CN109671282B (en) * | 2019-02-03 | 2020-04-21 | 爱易成技术(天津)有限公司 | Vehicle-road interaction signal control method and device |
| CN111932894A (en) * | 2020-09-09 | 2020-11-13 | 安徽庐峰交通工程有限公司 | Multifunctional integrated road traffic signal system |
| CN113299065B (en) * | 2021-05-21 | 2022-08-05 | 上海旷途科技有限公司 | Timing method and device for signal control of intersection green light interval time, computer equipment and storage medium |
| CN113763736A (en) * | 2021-07-23 | 2021-12-07 | 北京佰才邦技术股份有限公司 | Traffic information distribution method and system and electronic equipment |
| CN115631637B (en) * | 2022-10-26 | 2024-10-22 | 东风汽车集团股份有限公司 | Intelligent green wave speed judging method and system |
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| JP5003546B2 (en) * | 2007-06-07 | 2012-08-15 | 住友電気工業株式会社 | Traffic signal control system, traffic signal control device and method, and traffic index calculation device |
| US20110037619A1 (en) * | 2009-08-11 | 2011-02-17 | On Time Systems, Inc. | Traffic Routing Using Intelligent Traffic Signals, GPS and Mobile Data Devices |
| CN101572004A (en) * | 2008-04-30 | 2009-11-04 | 奥城同立科技开发（北京）有限公司 | System for controlling intersection traffic and leading current direction |
| KR20130065890A (en) * | 2011-12-12 | 2013-06-20 | 강석훈 | About the traffic lights to appear in the road surface |
| CN104252793A (en) * | 2013-06-27 | 2014-12-31 | 比亚迪股份有限公司 | Signal lamp state detecting method, signal lamp state detecting system and vehicle-mounted control device |
| CN103680177B (en) * | 2013-12-03 | 2016-06-01 | 上海交通大学 | Based on the intelligent vehicle speed prompting driving system of mobile phone |
| CN104794915B (en) * | 2015-05-11 | 2017-08-11 | 清华大学 | A kind of continuous intersection vehicle passing control method and device |
| CN104835331A (en) * | 2015-05-11 | 2015-08-12 | 石立公 | Signal lamp dispatching system and signal lamp dispatching method thereof |
| CN105761516B (en) * | 2016-05-16 | 2018-06-08 | 北京数行健科技有限公司 | A kind of method based on track of vehicle estimation belisha beacon timing |
| CN105809993B (en) * | 2016-06-06 | 2018-01-23 | 北方工业大学 | Method for calculating intersection signal lamp timing based on vehicle stop line passing time |
| CN106340190B (en) * | 2016-09-06 | 2019-09-13 | 北京汽车集团有限公司 | For determining the method, apparatus and system of traffic lights timing scheme |
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