CN115171405B - Traffic light intersection passing time determining method and device, electronic equipment and medium - Google Patents
Traffic light intersection passing time determining method and device, electronic equipment and medium Download PDFInfo
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Abstract
The invention discloses a traffic light intersection passing time determining method, a traffic light intersection passing time determining device, electronic equipment and a medium, wherein the traffic light intersection passing time determining method comprises the following steps: determining a traffic light intersection combination pair meeting combination conditions; performing association judgment on two traffic light intersections in the traffic light intersection combination pair; if the two traffic light intersections are judged to be the associated traffic light intersections, determining the passing time required by passing through the two traffic light intersections according to the set time determination rule. By means of the method, whether two independent traffic light intersections can form a combination pair or not is determined, association judgment is carried out on the two traffic light intersections in the combination pair, the two associated traffic light intersections can be directly regarded as a whole to carry out traffic time determination, and combination prediction of traffic light intersection traffic time is achieved. The relevance between traffic light intersections is considered, so that the determined traffic time is more matched with an actual traffic scene, and the accuracy of traffic time prediction is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent recognition, in particular to a traffic light intersection passing time determining method, a traffic light intersection passing time determining device, electronic equipment and a medium.
Background
In a scene where the traffic light intersection passing time needs to be determined, such as when navigation path planning is performed, the total consumption time of the planned path needs to be estimated. In order to better estimate the total consumed time, the traffic time of each traffic light intersection included in the navigation path needs to be predicted. The total time consumption includes the passing time of the intersections such as traffic.
The prior art generally predicts the traffic time of each traffic light intersection individually, but the way of predicting the traffic time of each intersection does not conform to the actual traffic situation, so that the predicted time and the actual traffic time have large differences.
Disclosure of Invention
The invention provides a traffic light intersection passing time determining method, a traffic light intersection passing time determining device, electronic equipment and a medium, so as to accurately determine the traffic light intersection passing time.
According to a first aspect of the present invention, there is provided a traffic light intersection traffic time determining method, including:
determining a traffic light intersection combination pair meeting combination conditions;
performing association judgment on two traffic light intersections in the traffic light intersection combination pair;
and if the two traffic light intersections are judged to be the associated traffic light intersections, determining the passing time required by passing through the two traffic light intersections according to the set time determination rule.
According to a second aspect of the present invention, there is provided a traffic light intersection transit time determination apparatus comprising:
the determining module is used for determining a traffic light intersection combination pair meeting the combination condition;
the judging module is used for carrying out association judgment on the two traffic light intersections in the traffic light intersection combination pair;
and the passing time determining module is used for determining the passing time required by passing through the two traffic light intersections according to the set time determining rule if the two traffic light intersections are judged to be the associated traffic light intersections.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the traffic light intersection transit time determination method of any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a traffic light intersection transit time determining method according to any one of the embodiments of the present invention.
The embodiment of the invention provides a traffic light intersection passing time determining method, a traffic light intersection passing time determining device, electronic equipment and a medium, which are used for determining a traffic light intersection combination pair meeting combination conditions; performing association judgment on two traffic light intersections in the traffic light intersection combination pair; if the two traffic light intersections are judged to be the associated traffic light intersections, determining the passing time required by passing through the two traffic light intersections according to the set time determination rule. According to the technical scheme, whether two independent traffic light intersections can form a combination pair or not is determined, and then association judgment is carried out on the two traffic light intersections in the combination pair, so that the two associated traffic light intersections can be directly regarded as a whole to carry out traffic time determination, and the combination prediction of traffic light intersection traffic time is realized. Compared with the existing method for determining the traffic light intersections independently, the method provided by the embodiment considers the relevance among the traffic light intersections, so that the determined traffic time is more matched with an actual traffic scene, and the accuracy of traffic time prediction is ensured.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a traffic light intersection transit time determining method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a traffic light intersection transit time determining method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of determining a traffic light intersection combination pair in a traffic light intersection transit time determination method according to a first embodiment of the present invention;
fig. 4 is a flowchart of determining an associated traffic light intersection in a traffic light intersection traffic time determining method according to a second embodiment of the present invention;
fig. 5 is an example flowchart of a traffic light intersection transit time determining method according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a traffic light intersection traffic time determining device according to a third embodiment of the present invention;
Fig. 7 is a schematic structural diagram of an electronic device for implementing a method for determining a traffic time at a traffic light intersection according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for determining a traffic light intersection according to an embodiment of the present invention, where the method may be performed by a traffic light intersection traffic time determining device, and the traffic light intersection traffic time determining device may be implemented in hardware and/or software, and the traffic light intersection traffic time determining device may be configured in an electronic device.
The electronic device may be a conventional computer device, such as a mobile phone, a computer, or a central control terminal with processing and control capabilities in a vehicle.
As shown in fig. 1, the method includes:
s110, determining a traffic light intersection combination pair meeting the combination condition.
In the present embodiment, the combination condition is used to determine whether or not two traffic light intersections can be combined. The traffic light intersection combination pair can be understood that each intersection is usually provided with a traffic light for providing traffic indication for vehicles going to different directions, and the traffic lights meeting the combination condition of the two intersections are combined to form the traffic light intersection combination pair.
Specifically, only one traffic light is usually needed to carry out traffic indication through one intersection, and the traffic light intersection combination pairs meeting the combination condition can be mutually related, and the traffic light changes of two traffic light intersections can be fixedly identical, namely, when a vehicle passes through a first intersection, the traffic light is green, the traffic light of the next intersection is green, when the vehicle passes through the first intersection, the traffic light is red, and the traffic light of the next intersection is red. It is also possible to fix the difference that the traffic light is green when the vehicle passes the first intersection, then the traffic light of the next intersection is red, and when the vehicle passes the first intersection, then the traffic light of the next intersection is green. And determining the two traffic light intersections meeting the combination condition as a traffic light intersection combination pair, and realizing the comprehensive observation of the current traffic light intersection and the next traffic light intersection.
S120, performing association judgment on two traffic light intersections in the traffic light intersection combination pair.
It is known that, after two individual traffic light intersections are determined as a traffic light intersection combination pair based only on the intersection distance, the association of traffic lights of two traffic light intersections in each traffic light intersection combination pair cannot be determined, so that association determination is required.
In the present embodiment, the association determination is used to determine whether or not the traffic light of the two traffic light intersections in the combination pair satisfies a certain variation relationship. For example, if the traffic lights are related, namely, the traffic lights pass through the current traffic light intersection, the traffic lights generally appear as green lights when the vehicle runs to the next intersection, and the traffic lights can pass through the current traffic light intersection, namely, the vehicle can pass through the current traffic light intersection only by waiting, and can also pass through the green lights, namely, the vehicle can directly pass through the traffic lights; or when the vehicle runs to the next intersection, the traffic light is generally presented as a red light, and the vehicle cannot directly pass through and needs to wait. If the traffic lights are not related, the traffic lights at the two traffic light intersections do not meet the change relation.
Specifically, association judgment is carried out on two traffic light intersections in the traffic light intersection combination pair so as to determine association of the two traffic light intersections in the traffic light intersection combination pair.
And S130, if the two traffic light intersections are judged to be the associated traffic light intersections, determining the passing time required by passing through the two traffic light intersections according to the set time determination rule.
In this embodiment, the set time determination rule is used to calculate the passing time required to pass through two traffic light intersections. The passing time can be understood as the time required by the vehicle to pass through the intersection, and if the current traffic light intersection is green, the passing time is 0 without waiting.
Specifically, when two traffic light intersections with relevance are regarded as a whole, the passing time is the time required for passing through the two traffic light intersections with relevance, and the passing time required for passing through the two traffic light intersections can be calculated according to the actual passing time of the whole or according to the relevance condition of the two traffic light intersections.
According to the traffic light intersection passing time determining method provided by the first embodiment, whether two independent traffic light intersections can form a combination pair is determined, and then association judgment is carried out on the two traffic light intersections in the combination pair, so that the two associated traffic light intersections can be directly regarded as a whole to carry out passing time determination, and combination prediction of the traffic light intersection passing time is realized. The relevance between traffic light intersections is considered, so that the determined traffic time is more matched with an actual traffic scene, and the accuracy of traffic time prediction is ensured.
Example two
Fig. 2 is a flowchart of a traffic light intersection passing time determining method according to a second embodiment of the present invention, where the embodiment is a refinement of the foregoing embodiment. As shown in fig. 2, the method includes:
s201, determining a traffic light intersection combination pair meeting combination conditions.
Fig. 3 is a flowchart of determining a traffic light intersection combination pair in a traffic light intersection passing time determining method according to a first embodiment of the present invention, and determining whether two traffic light intersections can form a combination pair by determining a distance between two traffic light intersections, where the method for obtaining the traffic light intersection combination pair satisfying the combination condition includes:
s2011, searching the adjacent two traffic light intersections from the electronic map.
In this embodiment, the electronic map may be understood as digitally restoring the actual map, so that the present executing device may determine the actual map according to the electronic map in equal proportion. Adjacent is understood to mean that when a vehicle passes a traffic light intersection, the next traffic light intersection is encountered, and the passing traffic light intersection and the next traffic light intersection are adjacent traffic light intersections.
For example, one traffic light intersection may correspond to a direction of straight line, left turn, right turn, etc., and the present execution device searches for two adjacent traffic light intersections on the electronic map according to all directions corresponding to the traffic light intersection.
S2012, determining the intersection distance of the two traffic light intersections according to the position information of the two adjacent traffic light intersections.
In this embodiment, the location information may include information such as a direction and a distance corresponding to the current traffic light intersection and the next traffic light intersection. If the direction of straight going, left turning, right turning and the like corresponding to the current traffic light intersection, the position information in the next traffic light intersection in the straight going direction can comprise the direction corresponding to the current traffic light intersection as straight going and the distance between the two directions; the position information in the next traffic light intersection in the left turn direction can comprise the left turn direction and the distance between the left turn direction and the left turn direction corresponding to the current traffic light intersection; the position information in the next traffic light intersection in the right turn direction may include that the direction corresponding to the current traffic light intersection is a right turn and a distance therebetween.
Specifically, the executing device acquires position information of two adjacent traffic light intersections from the electronic map, and determines the intersection distance of the two traffic light intersections. If the current traffic light intersection corresponds to straight line, left turn, right turn and direction, the distance between the traffic light intersection in each direction and the current traffic light intersection is determined respectively.
S2013, if the intersection distance is smaller than the set distance threshold value, two adjacent traffic light intersections are used as a traffic light intersection combination pair meeting combination conditions.
In this embodiment, the distance threshold is set to determine whether the two traffic light intersections satisfy the combination condition.
The distance threshold is set to 300 meters, and when the distance between two adjacent traffic light intersections is 200 meters, the intersection distance is smaller than the set distance threshold, so that the two traffic light intersections meet the combination condition, and the two traffic light intersections are determined to be a traffic light intersection combination pair.
S202, determining expected passing time and actual average passing time of each traffic light intersection in the two traffic light intersections.
In this embodiment, the expected traffic time may be obtained by combining the corresponding traffic light running time with a set traffic formula, where the traffic light running time may be obtained from traffic department data. The actual average passing time can be obtained by calculating the average value of the passing time required by a large number of vehicles to actually pass through the traffic light intersection, so that the actual average passing time of the traffic light intersection is obtained, and the actual average passing time can be obtained by dividing the actual passing time of each vehicle by the total number of vehicles.
For example, let red light run time be X seconds, green light run time be Y seconds, Z be the expected transit time, then the transit formula set is:
and S203, judging whether the two traffic light intersections are associated traffic light intersections or not according to the corresponding expected traffic time and the actual average traffic time.
Specifically, the expected traffic time does not consider the influence of uncertainty factors such as traffic jam, traffic accident and the like on the traffic time, when a certain intersection possibly belongs to a junction of a converging traffic light, vehicles in different directions are converged to the intersection, and congestion can be caused, and the expected traffic time is far smaller than the actual traffic time. The actual average passing time is obtained according to the time of a large number of vehicles passing through the intersection of the same traffic light intersection, and the historical condition of the intersection is combined, so that the condition of inaccurate time caused by various uncertainty factors is included. Therefore, the related traffic light intersections can be judged according to the expected traffic time and the actual average traffic time.
Fig. 4 is a flowchart for determining associated traffic light intersections in a traffic light intersection time determining method according to a second embodiment of the present invention, where the expected traffic time and the actual average traffic time corresponding to the two traffic light intersections are calculated, and the association between the two traffic light intersections is determined according to the expected traffic time and the actual average traffic time, as shown in fig. 4, and the specific steps include:
S2031, obtaining the running time of traffic lights set by the two traffic light intersections.
Specifically, the execution device can obtain the running time of the traffic lights set by the two traffic light intersections through the traffic department data.
Exemplary, the red light running time of the current traffic light intersection is set as X 1 The green light running time is Y 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting the red light running time of the next traffic light intersection forming a combined pair with the current traffic light intersection as X 2 The green light running time is Y 2 。
S2032, obtaining expected passing time of each traffic light intersection in the two traffic light intersections according to the corresponding running time of the traffic lights.
Illustratively, following the above description, the current expected transit time of a traffic light may be recorded as follows according to the transit formula described aboveThe expected transit time for the next traffic light intersection can be noted +.>
S2033, obtaining first historical driving data corresponding to each traffic light intersection in the two traffic light intersections.
In this embodiment, the first historical driving data may be understood as driving data of all vehicles passing through the traffic light intersection on a certain day or by a worship, and may include actual passing times corresponding to different driving directions of the vehicles at each traffic light intersection, for example, one traffic light intersection includes three actual passing times in three directions of left turn, right turn and straight run, respectively.
Specifically, the execution device respectively acquires first historical driving data of each traffic light at corresponding different driving routes in two traffic light intersections.
S2034, obtaining the actual average passing time of each traffic light intersection in the two traffic light intersections through corresponding historical driving data.
For example, the current traffic light intersection corresponds to the straight direction, the left turn direction and the right turn direction, 5 vehicles pass through the traffic light intersection in the straight direction, and the actual average passing time of the traffic light intersection in the straight direction is 18.4 seconds respectively corresponding to 10 seconds, 15 seconds, 17 seconds, 20 seconds and 30 seconds; 3 vehicles pass in the left turning direction, and the 3 vehicles respectively correspond to 7 seconds, 11 seconds and 15 seconds, so that the actual average passing time in the left turning direction is 11 seconds; the right turn direction passed 2 vehicles, corresponding to 8 seconds and 11 seconds, respectively. The actual average transit time in the right turn direction is 9.5 seconds.
S2035, the sum of the two actual average transit times is denoted as the actual sum of the times, and the sum of the two expected transit times is denoted as the expected sum of the times.
Specifically, because the association condition of two traffic light intersections is to be determined, the two actual average transit times can be added and recorded as the sum of the actual times, for example, the actual average transit time of the current traffic light intersection is T 1 The actual average passing time of the next traffic light intersection is T 1 The actual average transit time and T of this combined pair a Is T a ＝T 1 +T 2 The method comprises the steps of carrying out a first treatment on the surface of the Adding the two expected transit times, and recording the sum as the expected transit time sum, wherein the expected transit time of the current traffic light intersection is Z 1 The expected passing time of the next traffic light intersection is Z 2 Then the expected time and Z of this combined pair a Is Z a ＝Z 1 +Z 2 。
S2036, determining the phase difference ratio of the two traffic light intersections by the ratio of the actual time sum to the expected time sum.
Exemplary, the sum of the actual times is T a The sum of the expected times is Z a The phase difference ratio R of the two traffic light intersections 1 Is that
S2037, if the phase difference ratio is larger than the set ratio threshold, determining that the two traffic light intersections are associated traffic light intersections, and determining an association relationship of the two traffic light intersections; otherwise, determining that the two traffic light intersections are non-associated traffic light intersections.
In this embodiment, the set proportion threshold is used to determine the association relationship between two traffic light intersections according to the relationship between the phase difference proportion and the set proportion threshold. The associated traffic light intersections can be understood as that traffic lights of two traffic light intersections meet a certain change relation, and the traffic lights can be the same in change and fixed, or opposite in change and fixed; a non-associated traffic light intersection may be understood as a traffic light of two traffic light intersections not satisfying the above-described changing relationship.
Exemplary, e.g., setting the ratio threshold to 30%, when R 1 When more than 30%, determining that two traffic light intersections are associated traffic light intersections, when R 1 At > 30%, two traffic light intersections are determined to be non-associated traffic light intersections.
Preferably, determining the association relationship between two traffic light intersections includes:
a1, determining a difference value between the actual time sum and the expected time sum.
Exemplary, the difference E between the actual time sum and the expected time sum a For E a ＝T a -Z a 。
b1, if the difference value is smaller than 0, determining that the association relationship of the two traffic light intersections is positive association; otherwise, determining that the association relationship of the two traffic light intersections is negative association.
In this embodiment, the positive association may be understood that when a vehicle travels through a current traffic light intersection to a next traffic light intersection, a traffic light of the traffic light intersection is generally green, and the vehicle may directly pass through the traffic light intersection without waiting, where the current traffic light intersection may be a red light or a green light, that is, the vehicle may only wait at one traffic light intersection or may continuously pass through two traffic light intersections without waiting. A negative association is understood to mean that a traffic light is red when passing through the current traffic light intersection, waiting is needed, and when driving to the next traffic light intersection, the traffic light at that traffic light intersection is also generally red, and the vehicle needs to wait a second time, i.e. the vehicle needs to wait at both traffic light intersections.
Exemplary, if E a If < 0 is positive, then the actual time sum is less than the expected time sum and the vehicle can pass through the two traffic light intersections faster than expected. If E a If the value of 0 is greater than the sum of the actual time and the expected time, the vehicle can pass through the two traffic light intersections more slowly than expected.
S204, if the two traffic light intersections are judged to be the associated traffic light intersections, determining the passing time required by passing through the two traffic light intersections according to the set time determination rule.
Specifically, the set time determination rule may include two methods, where the first method may perform calculation of the traffic time through the second historical driving data, and the second method may perform calculation of the traffic time through the association relationship.
S205, acquiring second historical driving data of the driving track passing through the two traffic light intersections.
In this embodiment, the driving track may be understood as having different driving tracks according to different driving directions after passing through the current traffic light intersection, that is, different driving routes after passing through the current traffic light intersection. The second historical driving data can be understood as the historical driving data of all vehicles passing through the two associated traffic light intersections on a certain day or by a worship, and can include the actual passing time of the two associated traffic light intersections, for example, if one traffic light intersection is an associated traffic light intersection with the next traffic light intersection in the left turn, the right turn and the straight going directions respectively, the actual passing time of the three associated traffic light intersections is included.
Specifically, the execution device respectively acquires second historical driving data of each traffic light at corresponding different driving routes in the two traffic light intersections.
S206, according to the second historical driving data, determining the historical average passing time of the two traffic light intersections.
In this embodiment, the historical average traffic time may be obtained by averaging the traffic time required by the associated traffic light intersection with the second historical driving data including a large amount of data, so as to obtain the historical average traffic time of the associated traffic light intersection, where the historical average traffic time may be obtained by dividing the actual traffic time of each vehicle by the total number of vehicles.
Specifically, for the traffic time of the associated traffic light intersection, the two associated traffic light intersections should be taken as a whole according to the method of adding the traffic time of the two individual traffic light intersections, and the historical average traffic time of the two associated traffic light intersections is obtained according to the second historical driving data of the whole.
S207, determining the historical average passing time as the passing time required by passing through the two traffic light intersections.
Specifically, the present execution apparatus determines the historical average transit time as the transit time required to pass through the two traffic light intersections.
S208, acquiring the association relation of the two traffic light intersections.
Specifically, the executing device obtains the association relationship of the two traffic light intersections, and if the current two traffic light intersections are positive association or negative association. When the difference value between the actual time sum and the expected time sum is smaller than 0, determining that the association relationship between the two traffic light intersections is positive association; otherwise, determining that the association relationship of the two traffic light intersections is negative association.
S209, if the association relation is positive association, the expected passing time required by passing the preceding traffic light intersection in the two traffic light intersections is taken as the passing time required by passing the two traffic light intersections.
In this embodiment, the front traffic light intersection may be understood as an intersection through which a vehicle first passes among the two associated traffic light intersections; a rear traffic light intersection is understood to be an intersection where vehicles pass behind in the associated two traffic light intersections.
Exemplary, if the association is positive, the traffic light of the rear traffic light intersection is generally green, waiting at the rear traffic light intersection is unnecessary, and the expected transit time of the rear traffic light intersection is 0, the expected transit time required by the front traffic light intersection of the two traffic light intersections will be passedAs the passing time required by passing through the two traffic light intersections, the expected passing time required by the front traffic light intersection is Z 1 The passing time required by the crossing of the two traffic lights is Z 1 。
S210, if the association relation is negative association, determining the passing time required by passing through the two traffic light intersections according to the expected passing time corresponding to the two traffic light intersections and the red light running time of the traffic light set in the rear traffic light intersection.
For example, if the association is a negative association, the traffic light at the rear traffic light intersection will typically appear as a red light, and the time required to pass through the two traffic light intersections may be determined in combination with the red light run time of the traffic light. The expected passing time required by the intersection of the front traffic lights is Z 1 The expected passing time required by the rear traffic light intersection is Z 2 The red light running time of the rear traffic light crossing is X 2 The passing time required by the crossing of the two traffic lights can be Z 1 +Z 2 +X 2 。
According to the traffic light intersection passing time determining method provided by the second embodiment, through calculating the expected passing time and the actual average passing time of the traffic light intersection combination pair, the relevance of the two traffic light intersections in the combination pair is determined according to the ratio of the actual time and the expected time sum, and the accurate judgment of the relevance of the two traffic light intersections is realized; according to the actual time and the difference value of the expected time, the association relation is further divided into positive association and negative association, two calculation modes of the traffic time are provided, the historical average traffic time is determined by combining the historical driving data, and the traffic time required by the two traffic light intersections is calculated according to the positive association condition and the negative association condition respectively, so that the predicted traffic time is more consistent with the condition of the actual traffic light intersections, and the prediction result is more accurate.
In order to facilitate better understanding of the technical solution of the embodiments, the following provides an implementation description of an exemplary traffic light intersection passing time determining method:
fig. 5 is an exemplary flowchart of a traffic light intersection traffic time determining method according to a second embodiment of the present invention, taking a traffic light intersection combination pair as an example, and performing exemplary presentation on the traffic light intersection traffic time determining method, as shown in fig. 5, in the second embodiment, the following steps are adopted to determine the traffic light intersection traffic time.
S301, acquiring historical driving data and traffic light running time of a traffic light intersection combination pair;
s302, obtaining the expected passing time of the front traffic light intersection and the rear traffic light intersection to be Z respectively 1 、Z 2 The front and rear actual average transit time is T 1 、T 2 ；
S303, obtaining the expected time sum Z a The sum of the actual time is T a ；
S304 and Ta/Za > 30%. If yes, executing S307; if not, executing S305;
s305, two traffic light intersections are non-associated traffic light intersections;
s306, determining the passing time required by the two traffic light intersections according to the historical average passing time of the two traffic light intersections;
s307, two traffic light intersections are associated traffic light intersections;
S308、T a -Z a and < 0. If yes, then execute S309; if not, executing S311;
S309, the two traffic light intersections are positively correlated;
s310, the passing time of the two traffic light intersections is Z 1 ；
S311, the two traffic light intersections are in negative association;
s312, the passing time of the two traffic light intersections is Z 1 +Z 2 +X 2 (X 2 Red light run time for rear traffic light intersections).
Example III
Fig. 6 is a schematic structural diagram of a traffic light intersection traffic time determining device according to a third embodiment of the present invention. As shown in fig. 6, the apparatus includes: a combination pair determination module 61, an association decision module 62, a transit time determination module 63. Wherein,,
a combination pair determining module 61, configured to determine a combination pair of traffic light intersections that meets a combination condition;
the association judgment module 62 is used for carrying out association judgment on two traffic light intersections in the traffic light intersection combination pair;
the traffic time determining module 63 is configured to determine a traffic time required for passing through the two traffic light intersections according to a set time determining rule if the two traffic light intersections are determined to be associated traffic light intersections.
According to the traffic light intersection passing time determining device provided by the third embodiment, whether two independent traffic light intersections can form a combination pair is determined, association judgment is carried out on the two traffic light intersections in the combination pair, and the passing time of the two associated traffic light intersections is obtained, so that combination prediction of the traffic light intersection passing time is realized, and the predicted passing time is more accurate.
Optionally, the combination pair determining module 61 includes:
and the searching unit is used for searching the adjacent two traffic light intersections from the electronic map.
And the intersection distance determining unit is used for determining the intersection distance of the two adjacent traffic light intersections according to the position information of the two adjacent traffic light intersections.
And the combination pair determining unit is used for taking two adjacent traffic light intersections as the traffic light intersection combination pairs meeting the combination condition if the intersection distance is smaller than the set distance threshold value.
Optionally, the association determination module 62 includes:
and the time determining unit is used for determining the expected passing time and the actual average passing time of each traffic light intersection in the two traffic light intersections.
Further, the time determination unit includes:
the first acquisition subunit is used for acquiring the running time of the traffic lights set by the two traffic light intersections.
The second obtaining subunit is used for obtaining the expected passing time of each traffic light intersection in the two traffic light intersections according to the corresponding running time of the traffic lights.
And the third acquisition subunit is used for acquiring the first historical driving data corresponding to each traffic light intersection in the two traffic light intersections.
And the fourth acquisition subunit is used for acquiring the actual average passing time of each traffic light intersection in the two traffic light intersections through corresponding historical driving data.
A calculating subunit for recording the sum of the two actual average transit times as the actual sum of the times and the sum of the two expected transit times as the expected sum of the times.
And the first determination subunit is used for determining the phase difference proportion of the two traffic light intersections by comparing the actual time sum with the expected time sum.
The second determining subunit is used for determining that the two traffic light intersections are associated traffic light intersections and determining the association relation of the two traffic light intersections if the phase difference proportion is larger than the set proportion threshold value; otherwise, determining that the two traffic light intersections are non-associated traffic light intersections.
Wherein the second determining subunit is specifically configured to:
determining a difference between the actual time sum and the expected time sum; if the difference value is smaller than 0, determining that the association relationship of the two traffic light intersections is positive association; otherwise, determining that the association relationship of the two traffic light intersections is negative association.
And the association judgment unit is used for judging whether the two traffic light intersections are associated traffic light intersections or not according to the corresponding expected traffic time and the actual average traffic time.
Optionally, the transit time determining module 63 is specifically configured to:
acquiring second historical driving data of the driving track passing through the two traffic light intersections; according to the second historical driving data, determining historical average passing time passing through the two traffic light intersections; the historical average transit time is determined as the transit time required to pass through the intersection of two traffic lights.
Acquiring the association relation of two traffic light intersections; if the association relation is positive association, the expected passing time required by passing through the front traffic light intersection in the two traffic light intersections is taken as the passing time required by passing through the two traffic light intersections; if the association relation is negative association, determining the passing time required by the two traffic light intersections according to the expected passing time corresponding to the two traffic light intersections and the red light running time of the traffic light set in the rear traffic light intersection.
The traffic light intersection traffic time determining device provided by the embodiment of the invention can execute the traffic light intersection traffic time determining method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example IV
Fig. 7 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, personal digital assistants, servers, blade servers, mainframes, and other suitable computers, as well as central control terminals integrated into a vehicle. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 7, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, microprocessor, etc. The processor 11 performs the various methods and processes described above, such as a traffic light junction transit time determination method.
In some embodiments, the traffic light intersection transit time determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into the RAM13 and executed by the processor 11, one or more steps of the traffic light junction transit time determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the traffic light intersection transit time determination method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program 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.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. A traffic light intersection transit time determination method, comprising:
determining a traffic light intersection combination pair meeting combination conditions;
performing association judgment on two traffic light intersections in the traffic light intersection combination pair;
if the two traffic light intersections are judged to be the associated traffic light intersections, determining the passing time required by passing through the two traffic light intersections according to a set time determination rule;
The association judgment of the two traffic light intersections in the traffic light intersection combination pair comprises the following steps:
determining the expected passing time and the actual average passing time of each traffic light intersection in the two traffic light intersections;
judging whether the two traffic light intersections are associated traffic light intersections or not according to the corresponding expected traffic time and the actual average traffic time;
the determining the passing time required by passing through the two traffic light intersections according to the set time determining rule comprises the following steps:
acquiring the association relation of the two traffic light intersections;
if the association relation is positive association, taking the expected passing time required by passing through the front traffic light intersection of the two traffic light intersections as the passing time required by passing through the two traffic light intersections;
and if the association relation is negative association, determining the passing time required by passing through the two traffic light intersections according to the expected passing time corresponding to the two traffic light intersections and the red light running time of the traffic light set in the rear traffic light intersection.
2. The method of claim 1, wherein the determining a traffic light intersection combination pair that satisfies a combination condition comprises:
Searching adjacent two traffic light intersections from the electronic map;
determining the intersection distance of two adjacent traffic light intersections according to the position information of the two adjacent traffic light intersections;
and if the intersection distance is smaller than the set distance threshold value, taking the two adjacent traffic light intersections as a traffic light intersection combination pair meeting combination conditions.
3. The method of claim 1, wherein the determining the expected transit time and the actual average transit time for each of the two traffic light intersections comprises:
acquiring the running time of traffic lights set by the two traffic light intersections;
obtaining expected passing time of each traffic light intersection in the two traffic light intersections according to the corresponding running time of the traffic light;
acquiring first historical driving data corresponding to each traffic light intersection in the two traffic light intersections;
and obtaining the actual average passing time of each traffic light intersection in the two traffic light intersections through the first historical driving data.
4. The method of claim 1, wherein the determining whether the two traffic light intersections are associated traffic light intersections based on the respective expected transit times and the actual average transit times comprises:
The sum of the two actual average transit times is recorded as an actual time sum, and the sum of the two expected transit times is recorded as an expected time sum;
determining the phase difference ratio of the two traffic light intersections by the ratio of the actual time sum to the expected time sum;
if the phase difference ratio is larger than a set ratio threshold value, determining that the two traffic light intersections are associated traffic light intersections, and determining an association relationship of the two traffic light intersections; otherwise, determining the two traffic light intersections as non-associated traffic light intersections.
5. The method of claim 4, wherein the determining the association of the two traffic light intersections comprises:
determining a difference between the actual time sum and the expected time sum;
if the difference value is smaller than 0, determining that the association relationship of the two traffic light intersections is positive association; otherwise, determining that the association relationship of the two traffic light intersections is negative association.
6. The method of claim 1, wherein determining the transit time required to pass through the two traffic light intersections according to the set time determination rule comprises:
acquiring second historical driving data of the driving track passing through the two traffic light intersections;
According to the second historical driving data, determining historical average passing time passing through the two traffic light intersections;
and determining the historical average passing time as the passing time required by passing through the two traffic light intersections.
7. A traffic light crossing traffic time determining device is characterized by comprising
The combination pair determining module is used for determining a traffic light intersection combination pair meeting combination conditions;
the association judgment module is used for carrying out association judgment on the two traffic light intersections in the traffic light intersection combination pair;
the traffic time determining module is used for determining the traffic time required by passing through the two traffic light intersections according to a set time determining rule if the two traffic light intersections are judged to be the associated traffic light intersections;
wherein, the association decision module includes:
the time determining unit is used for determining the expected passing time and the actual average passing time of each traffic light intersection in the two traffic light intersections;
the association judging unit is used for judging whether the two traffic light intersections are associated traffic light intersections or not according to the corresponding expected traffic time and the actual average traffic time;
the transit time determining module is specifically configured to:
Acquiring the association relation of the two traffic light intersections;
if the association relation is positive association, taking the expected passing time required by passing through the front traffic light intersection of the two traffic light intersections as the passing time required by passing through the two traffic light intersections;
and if the association relation is negative association, determining the passing time required by passing through the two traffic light intersections according to the expected passing time corresponding to the two traffic light intersections and the red light running time of the traffic light set in the rear traffic light intersection.
8. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the traffic light intersection transit time determination method of any one of claims 1-6.
9. A computer readable storage medium storing computer instructions for causing a processor to perform the traffic light intersection transit time determination method of any one of claims 1-6.
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