CN114550447A - System and method for obtaining intersection information to realize real-time traffic light scheduling - Google Patents
System and method for obtaining intersection information to realize real-time traffic light schedulingDownload PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
Description
Technical Field
The utility model belongs to the technical field of intelligent traffic, and particularly relates to a system and a method for acquiring intersection information to realize real-time traffic light scheduling.
Background
With the gradual improvement of living standard of people, urban vehicles increase sharply, and traffic jam seriously influences the daily life of people and even leads to various traffic accidents. The phenomenon is more obvious when the urban area is a region or a city with aggregated population, and each intersection of the city is a serious disaster area of traffic jam, so that the problem of solving the traffic order of the intersections becomes a major problem. At present, with the proposal of new concepts such as V2X, some traffic signal lamp real-time scheduling methods also appear, as Chinese patent CN201620624073.2 discloses a traffic light with traffic light controller and having the function of dredging block, including pedestrian crossing, pedestrian crossing installs around four fork, and pedestrian crossing's both sides all are equipped with the signal lamp, and one side of signal lamp all is equipped with vehicle induction system, all install the traffic light around four fork, and the traffic light installs on the traffic light controller, the traffic light controller is installed on the supporting seat, and is equipped with image controller and information collection classification ware on the supporting seat, and is equipped with the surveillance camera machine on the image controller. The traffic flow in four directions can be accurately sensed by the vehicle sensing system, and information is fed back to the traffic light controller for analysis, so that the color change of the traffic light can be adjusted in time, the traffic light control system has the function of dredging, saves time of people, reduces environmental pollution, facilitates outgoing of people and relieves pressure of traffic departments; for example, the chinese patent CN201711018649.6 discloses a traffic light control system and an automatic traffic light control method based on the system, which solve the problem that the existing traffic light with a fixed working mode is not beneficial to improving the traffic efficiency of urban roads. According to the number of waiting pedestrians and the number of waiting vehicles in the first bidirectional lane group and the number of waiting pedestrians and the number of waiting vehicles in the second bidirectional lane group, the working signal lamps of the controlled traffic signal lamps are switched, the duration time of the working signal lamps is controlled, and the bidirectional lane group with the large number of waiting pedestrians or the large number of waiting vehicles can pass in the opposite direction. The utility model also controls the traffic signal lamp preferentially according to a high-priority control instruction sent by the urban traffic monitoring center. The utility model is suitable for automatically controlling the traffic signal lamp. The utility model is that the equipment such as the camera, the laser sensor, etc. is arranged at the road end, the information of each lane of the intersection is sensed, and then the traffic light strategy is calculated according to the algorithm unit, so as to achieve the purpose of distributing the traffic flow and solve the problem of traffic jam.
However, the actual intersection situation is often complex, and the equipment such as a camera and a sensor at the end of the road is easily misjudged or even failed due to the influence of complex factors such as severe weather, the shielding of a large truck, the shielding of roadside facilities and the like. In addition, the cost is greatly increased when equipment is installed at all intersections, so that the method has narrow application scenes and low cost performance.
Disclosure of Invention
In order to solve the problems, the utility model provides a system and a method for obtaining intersection information to realize real-time traffic light scheduling, and equipment on an automobile is used for replacing road side equipment, so that the road side is only provided with a calculation unit and an RSU unit, the cost is greatly saved, and the system has higher accuracy and lower system failure rate by performing summary calculation on data acquired by a plurality of vehicles.
In order to solve the technical problem, the technical scheme adopted by the utility model is as follows: a system for acquiring intersection information to realize real-time traffic light scheduling comprises,
the vehicle-mounted equipment is used for acquiring the peripheral information of the vehicle and integrating the peripheral information to form peripheral scene information;
the traffic light module is communicated with the vehicle-mounted equipment and is used for receiving the scene information and analyzing and processing the scene information;
and the high-precision map is communicated with the traffic light module and is used for providing lane information of the intersection.
As an optimization, the in-vehicle apparatus includes,
one or more of a vehicle-mounted camera, a laser radar and a vehicle-mounted sensor are used for acquiring the peripheral information of the vehicle;
the vehicle-mounted processor integrates the acquired peripheral information to form peripheral scene information;
and the on-board unit (OBU) is used for communicating with the traffic light module and sending the scene information to the traffic light module.
As an optimization, the traffic light module comprises,
the road side unit RSU is used for communicating with vehicle-mounted equipment of a plurality of different vehicles and receiving the scene information;
the information micro-processing unit is used for processing the scene information by combining the lane information provided by the high-precision map to form lane-level map information of four directions of the intersection;
and the analysis processing and calculation unit is used for analyzing the lane level map information, acquiring the motor vehicle passing requirement, the non-motor vehicle passing requirement and the pedestrian passing requirement of each lane, obtaining a traffic light strategy through calculation, and adjusting the time of the traffic light through the controller.
As an optimization, the surrounding information includes information of pedestrians, motor vehicles, non-motor vehicles and/or surrounding feature identifiers around the vehicle and motion information thereof.
And as optimization, a to-be-traveled area is arranged on the road side corresponding to the sidewalk of the intersection and is synchronized to the high-precision map, and the to-be-traveled area is used for collecting pedestrian information entering the to-be-traveled area by vehicle-mounted equipment.
Based on the system, the utility model also provides a method for realizing traffic light real-time scheduling by acquiring intersection information, which comprises the following steps,
s1, the vehicle collects the peripheral information through the vehicle-mounted equipment, integrates the peripheral information to form scene information, and sends the scene information to the traffic light module;
s2, collecting lane information of the intersection by the high-precision map, and sending the information to the traffic light module;
s3, the traffic light module receives scene information of each vehicle within a preset range of the intersection, and the scene information is processed by combining lane information and pedestrian information sent by the high-precision map through the information micro-processing unit to form lane-level map information of the intersection in four directions;
s4, analyzing the lane-level map information by an analyzing and processing calculation unit in the traffic light module to obtain the motor vehicle passing requirement, the non-motor vehicle passing requirement and the intersection pedestrian passing requirement of each lane;
s5, acquiring a traffic light strategy according to the traffic demand, and adjusting the time of the traffic light through a controller;
and S6, repeating the steps S1-S5 periodically according to a preset time interval.
As an optimization, the preset range in S3 is within 200 meters before the lane stop line.
As optimization, the lane-level map information includes marking information obtained by marking lane directions of the intersection, the number of lanes in each direction, and the waiting area.
As an optimization, the traffic demand is obtained by analyzing vehicle and/or pedestrian information in the marking information.
Compared with the prior art, the utility model has the following advantages:
on the premise of rapid development of technologies such as V2X and high-precision map technologies, laser radars, sensors, cameras and the like are installed on most of future automobiles, and roadside equipment is replaced by the equipment on the automobiles, so that roadside is only provided with a calculation unit and an RSU unit, the cost is greatly saved, and the data collected by a plurality of vehicles is used for summarizing and calculating, so that the accuracy is higher, and the failure rate of the system is lower.
Drawings
FIG. 1 is a flow chart of the present invention
FIG. 2 is a schematic view of a crossing at a certain direction in the present invention
Fig. 3 is a schematic view of an intersection of the present invention.
Detailed Description
The utility model will be further explained with reference to the drawings and the embodiments.
Example (b): with reference to figures 1-3 of the drawings,
a system for acquiring intersection information to realize real-time traffic light scheduling comprises,
and the vehicle-mounted equipment is used for acquiring the peripheral information of the vehicle and integrating the peripheral information to form peripheral scene information. The vehicle-mounted equipment comprises one or more of a vehicle-mounted camera, a laser radar and a vehicle-mounted sensor and is used for collecting the peripheral information of the vehicle. The surrounding information includes information of pedestrians, motor vehicles, non-motor vehicles and/or surrounding feature identifiers around the vehicle and motion information thereof. The vehicle-mounted processor integrates the acquired peripheral information to form peripheral scene information; and the on-board unit (OBU) is used for communicating with the traffic light module and sending the scene information to the traffic light module. Wherein the information integration means: and the single vehicle arranges the information obtained by the single vehicle into a traffic scene.
The traffic light module is communicated with the vehicle-mounted equipment and is used for receiving the scene information and analyzing and processing the scene information; the traffic light module comprises a light source,
the road side unit RSU is used for communicating with vehicle-mounted equipment of a plurality of different vehicles and receiving the scene information;
the information micro-processing unit is used for processing the scene information by combining the lane information provided by the high-precision map to form lane-level map information of four directions of the intersection;
and the analysis processing and calculation unit is used for analyzing the lane level map information, acquiring the motor vehicle passing requirement, the non-motor vehicle passing requirement and the pedestrian passing requirement of each lane, obtaining a traffic light strategy through calculation, and adjusting the time of the traffic light through the controller.
And the high-precision map is communicated with the traffic light module and is used for providing lane information of the intersection. A road side corresponding to a sidewalk of the intersection is provided with a to-be-traveled area (1.5 m x 2 m), the to-be-traveled area is synchronized to a high-precision map and used for collecting information of pedestrians entering the to-be-traveled area by vehicle-mounted equipment, the pedestrians entering the area are regarded as the pedestrians who will cross the road, and the number of the pedestrians entering the to-be-traveled area can be identified and counted according to a scene collected by the vehicle-mounted equipment.
Based on the system, the utility model also provides a method for realizing traffic light real-time scheduling by acquiring intersection information, which comprises the following steps,
s1, the vehicle collects the peripheral information through the vehicle-mounted equipment, integrates the peripheral information to form scene information, and sends the scene information to the traffic light module;
s2, collecting lane information of the intersection by the high-precision map, and sending the information to the traffic light module;
s3, the traffic light module receives scene information of each vehicle in a preset range of the intersection, and the scene information is processed by combining lane information and pedestrian information sent by the high-precision map through the information micro-processing unit to form lane-level map information of the intersection in four directions; the preset range is within 200 meters before the lane stop line. The lane-level map information includes marking information obtained by marking lane directions of the intersection, the number of lanes in each direction and the area to be driven.
And S4, analyzing the lane-level map information by an analyzing and processing calculation unit in the traffic light module, and acquiring the motor vehicle passing requirement, the non-motor vehicle passing requirement and the intersection pedestrian passing requirement of each lane. The traffic demand is obtained by analyzing vehicle and/or pedestrian information in the marking information.
S5, acquiring a traffic light strategy according to the traffic demand, and adjusting the time of the traffic light through a controller;
and S6, repeating the steps S1-S5 periodically according to a preset time interval.
Specifically, the vehicle-mounted camera, the laser radar and the sensor are adopted to detect peripheral information, the obtained information is preliminarily integrated to form a rough traffic scene, and then the information is transmitted to the roadside traffic light module through the OBU and the RSU.
The scene information to be detected includes: pedestrians, motor vehicles, non-motor vehicles, surrounding feature identifiers, and motion information of each object;
the information integration means: and the single vehicle arranges the information obtained by the single vehicle into a traffic scene.
In the traffic light module, an information receiving unit (road side unit RSU) receives information transmitted by different vehicles within 200m in front of a surrounding stop line and transmits the information to an information micro-processing unit. If the traffic light can not receive the vehicle-end signal, the following possibilities exist: firstly, no vehicle passes through the road; secondly, vehicles pass through the road, but the vehicles do not have corresponding V2X equipment; and thirdly, road side equipment is damaged. The damage of equipment is eliminated, and the other two possibilities can be considered as less vehicles pass through, so that the time of the vehicles passing through the green light can be reduced. If no information is received, the display may also be in accordance with a fixed traffic light duration, such as a red light 24s, yellow light 4s, green light 24s cycle.
The information micro-processing unit receives information collected by different vehicles, and combines with a high-precision map to form lane-level map information of 4 directions, as shown in fig. 2 and fig. 3, the information micro-processing unit is respectively marked as W, N, S, E, each direction is divided into three lanes L, S, R, and in addition, 8 pedestrian waiting areas WP1, WP2, NP1, NP2, SP1, SP2, EP1 and EP2 are also arranged, and then the information micro-processing unit is transmitted into the analysis processing calculation unit.
The analysis processing and calculation unit integrates the information, and analyzes the motor vehicle passing requirement, the non-motor vehicle passing requirement and the intersection pedestrian passing requirement of each lane, the passing requirement of the motor vehicles passes through the combination marked as 'direction + lane', such as information of the number of the motor vehicles under WL, WS and WR, the information of the driving speed and the like, the passing requirement of the non-motor vehicle lanes is uniformly counted into WR, the pedestrian requirement respectively counts the number of people in 8 waiting areas, the number of people is marked as the number of waiting areas, and the number of people in WP1 is marked as WP 1. And obtaining a traffic light strategy according to the traffic demand, and adjusting the time of the traffic light through the controller.
And finishing the traffic light dispatching in the first period, continuing the next period, receiving information transmitted by the vehicle end through the road test, adjusting the traffic light strategy of the next period, and suggesting that the time length of each period is not more than 2 min.
On the premise of rapid development of technologies such as V2X and high-precision map technologies, laser radars, sensors, cameras and the like are installed on most of future automobiles, and roadside equipment is replaced by the equipment on the automobiles, so that roadside is only provided with a calculation unit and an RSU unit, the cost is greatly saved, and the data collected by a plurality of vehicles is used for summarizing and calculating, so that the accuracy is higher, and the failure rate of the system is lower.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (9)
1. A system for obtaining intersection information to realize traffic light real-time scheduling is characterized by comprising,
the vehicle-mounted equipment is used for acquiring the peripheral information of the vehicle and integrating the peripheral information to form peripheral scene information;
the traffic light module is communicated with the vehicle-mounted equipment and is used for receiving the scene information and analyzing and processing the scene information;
and the high-precision map is communicated with the traffic light module and is used for providing lane information of the intersection.
2. The system for acquiring intersection information to realize real-time traffic light scheduling according to claim 1, wherein the vehicle-mounted device comprises,
one or more of a vehicle-mounted camera, a laser radar and a vehicle-mounted sensor are used for acquiring the peripheral information of the vehicle;
the vehicle-mounted processor integrates the acquired peripheral information to form peripheral scene information;
and the vehicle-mounted unit OBU is used for communicating with the traffic light module and sending the scene information to the traffic light module.
3. The system for acquiring intersection information to realize real-time traffic light scheduling according to claim 1, wherein the traffic light module comprises,
the road side unit RSU is used for communicating with vehicle-mounted equipment of a plurality of different vehicles and receiving the scene information;
the information micro-processing unit is used for processing the scene information by combining the lane information provided by the high-precision map to form lane-level map information in four directions of the intersection;
and the analysis processing and calculation unit is used for analyzing the lane-level map information, acquiring the motor vehicle passing demand, the non-motor vehicle passing demand and the pedestrian passing demand of each lane, obtaining a traffic light strategy through calculation, and adjusting the time of the traffic light through the controller.
4. The system for acquiring intersection information to realize real-time traffic light scheduling according to claim 1, wherein the surrounding information comprises information of pedestrians, motor vehicles, non-motor vehicles and/or surrounding feature identifiers around the vehicle and motion information thereof.
5. The system for obtaining intersection information and realizing real-time traffic light scheduling according to claim 1, wherein a waiting area is arranged on a roadside corresponding to a sidewalk of the intersection and synchronized to a high-precision map for a vehicle-mounted device to collect pedestrian information entering the waiting area.
6. A method for realizing traffic light real-time scheduling by acquiring intersection information is characterized by comprising the following steps,
s1, the vehicle collects the peripheral information through the vehicle-mounted equipment, integrates the peripheral information to form scene information, and sends the scene information to the traffic light module;
s2, collecting lane information of the intersection by the high-precision map, and sending the information to the traffic light module;
s3, the traffic light module receives scene information of each vehicle within a preset range of the intersection, and the scene information is processed by combining lane information sent by the high-precision map through the information micro-processing unit to form lane-level map information of the intersection in four directions;
s4, analyzing the lane-level map information by an analyzing and processing calculation unit in the traffic light module to obtain the motor vehicle passing requirement, the non-motor vehicle passing requirement and the intersection pedestrian passing requirement of each lane;
s5, acquiring a traffic light strategy according to the traffic demand, and adjusting the time of the traffic light through a controller;
and S6, repeating the steps S1-S5 periodically according to a preset time interval.
7. The method for obtaining intersection information to achieve real-time traffic light scheduling according to claim 6, wherein the preset range in the step S3 is within 200 meters before a lane stop line.
8. The method for obtaining intersection information to realize real-time traffic light scheduling according to claim 6, wherein the lane-level map information includes marking information obtained by marking lane directions, the number of lanes in each direction, and areas to be traveled of the intersection.
9. The method for obtaining intersection information to achieve real-time traffic light dispatching according to claim 8, wherein the traffic demand is obtained by analyzing vehicle and/or pedestrian information in the mark information.
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