1. A full-automatic intelligent flow control traffic system is characterized by comprising:

the vehicle sensors are at least arranged at the inlet and the outlet of each section of road and used for sensing passing vehicles, and each inlet and/or outlet is provided with one vehicle sensor and used for sensing the number of vehicles in each lane;

the traffic signal lamp group comprises signal lamps arranged at the entrance of each road section, a first controller and a second controller, wherein the first controller and the second controller are in communication connection with the signal lamps and the vehicle sensors of each road section;

and the main control center is used for setting the optimal passing speed each time, and controlling the first controller of the signal lamp corresponding to the current lane in the next road section to work according to the vehicle passing condition and the optimal passing speed of the current lane in the current road section detected by the vehicle sensor.

2. The system according to claim 1, wherein the vehicle passing condition includes a time when a first vehicle enters a current lane in a current road section after a green light of a signal light of an entrance is turned on, and the main control center calculates a next green light switching time of the signal light of the current lane in a next road section according to the time when the first vehicle enters the current lane in the current road section, a length of the current lane in the current road section and an optimal passing speed, and sends the next green light switching time to the first controller.

3. The system according to claim 2, wherein the traffic conditions further include a time when a last vehicle enters a current lane in a current road section before a red light of a signal lamp of the entrance is turned on, and the main control center calculates a next red light switching time of the signal lamp of the current lane in a next road section according to the time when the last vehicle enters the current lane in the current road section, the length of the current lane in the current road section and the optimal passing speed, and sends the next red light switching time to the first controller.

4. The system according to claim 2, wherein the traffic conditions further include the number of vehicles to be passed in the current lane in the current road section after the red light of the signal lamp of the entrance is turned on, and the main control center further adjusts the optimal passing speed of the current lane in the next road section according to the number of vehicles to be passed in the current lane in the current road section.

5. The system according to claim 4, wherein the main control center further comprises a load detection unit for detecting the number of vehicles to be passed in the current lane in the current road section and the current road sectionWhether the ratio of the lengths of the inner current lanes exceeds the maximum ratio i₀Or whether the next green light switching time of the signal light of the current lane in the next road section exceeds the maximum time length T₁And when at least one of the two conditions is met, the main control center switches the signal lamp of the current lane in the next road section to a green lamp.

6. The system according to claim 1, further comprising a sensor disposed in the pedestrian waiting area and a delay module, wherein the sensor is configured to detect the number of pedestrians in the pedestrian waiting area and the length of the pedestrian waiting area, and the delay module is configured to adjust a time duration for delaying switching of the color of the signal lamp according to a detection result of the sensor.

7. The system according to claim 1, wherein the main control center further comprises a comparison unit for comparing the vehicle number detection results of the vehicle sensors of two lanes crossing each other and a feedback unit for increasing the green duration of more lanes of the vehicle to be passed and decreasing the green duration of less lanes of the vehicle to be passed according to the comparison result of the comparison unit.

8. The system according to claim 7, wherein the main control center further comprises a dynamic flow distribution unit, and the dynamic flow distribution unit is configured to alternately stagger the jump time of the green signal lamps of each lane of the road section before the merging area through the first controller.

9. The system according to any one of claims 1 to 8, wherein the main control center further comprises an emergency automatic alarm module in communication connection with the vehicle sensors, and the emergency automatic alarm module is configured to report a position of a certain vehicle sensor after the certain vehicle sensor senses that the vehicle is stationary for more than a set time period.

10. The system of claim 9, wherein the emergency automatic alarm module further comprises an emergency control module, and the emergency control module is configured to control the first controller to switch an entrance signal light of the lane corresponding to the certain vehicle sensor to a red light or off after the certain vehicle sensor senses that the vehicle is stationary for more than a set time period, and to control the first controller to switch an entrance signal light of the lane corresponding to the certain vehicle sensor to a green light after the certain vehicle sensor senses that the vehicle starts to move.

11. The system according to any one of claims 1 to 8, further comprising a first interface unit and a second interface unit connected to the main control center, wherein the first interface unit is used for externally connecting a database of a target parking area to obtain information of remaining parking spaces in the target parking area; the second interface unit is used for interacting with a vehicle end to acquire the terminal point requirement and the vehicle position information of the vehicle; the main control center is further used for judging whether the current vehicle has the condition of entering the target parking area or not according to the remaining parking space information of the target parking area and the position information of the vehicle with the same terminal requirement, and prompting the vehicle end through the second interface unit.

12. The full-automatic intelligent flow control traffic system according to any one of claims 1 to 8, further comprising a vehicle end, wherein the main control center further pushes the display state of the signal lamps at each intersection on the current time map to the vehicle end in real time.

13. The system according to any one of claims 1 to 8, further comprising a timing unit and a third interface unit connected to the main control center, wherein the third interface unit is connected to the timing unit, the timing unit obtains the pre-jump information and duration of each signal lamp and the destination requirement and vehicle position information of the vehicle from the main control center, and calculates the signal lamp waiting duration required for the vehicle to reach the destination according to the destination requirement and vehicle position information of the vehicle and the pre-jump information and duration of each signal lamp.

14. An intelligent traffic flow control method is characterized by comprising the following steps:

sensing vehicles passing through each lane of an inlet and an outlet of each road section;

setting an optimal passing speed, and controlling each signal lamp to display the optimal passing speed for each time for prompting the vehicle to pass through the current road section;

and controlling a signal lamp corresponding to the current lane in the next road section to display a corresponding color so as to control the passing condition according to the vehicle passing condition and the optimal passing speed of the current lane in the current road section detected by the vehicle sensor.

15. An intelligent traffic flow control method, which is used in a zebra crossing section and a right-turn lane without a signal lamp for indicating vehicle passing, comprising:

detecting whether the ratio of the number of vehicles to be passed of the current lane in the current road section to the length of the current lane in the current road section exceeds a maximum ratio i₀Or whether the next green light switching time of the signal light of the current lane in the next road section exceeds the maximum time length T₁；

When at least one of the two conditions is satisfied, the signal light of the current lane in the next road section is switched to green light.

16. The intelligent traffic flow control method according to claim 15, further comprising:

detecting whether a pedestrian enters a waiting area or not;

when the number of pedestrians in the waiting area exceeds a certain number, a red signal lamp for forbidding vehicles to pass is turned on, a green lamp of the zebra crossing is turned on, and counting down is started, so that the pedestrians can pass at a set time;

if no pedestrian passes through the system, the green signal lamp for allowing the vehicle to pass is always turned on, and the vehicle can pass through all the time;

when the condition that the ratio k of the number of the vehicles to be passed of the current lane in the current road section to the length of the current lane in the current road section is smaller than or equal to the normal ratio i is detected₁，i₁＜i₀And when the waiting area still has pedestrians to wait, the entrance indicator light of the next road section is switched to the red light, the sidewalk is switched to the green light, the intersection is switched to the pedestrian, and the zebra crossing traffic countdown is started.

Background

With the increasing urbanization process, the number and density of urban population are increasing. The rapid development of urbanization inevitably leads to the continuous increase of urban traffic demand, when the urban traffic demand is greater than urban traffic supply, the increase of supply-demand contradiction will cause urban traffic jam, and with the continuous development of national economy, the supply-demand imbalance will lead to more and more serious traffic jam.

The urban traffic jam not only causes the increase of living cost and frequent traffic accidents, but also seriously hinders the development pace of cities, so that the problem of urban traffic jam is urgently solved. Usually, means for solving the problem of traffic congestion is to preferentially develop a public transportation system and reasonably plan a city, but these means usually need to consume very high cost and cannot be realized in a short time, so that the application difficulty is large, and the actual application process is very slow.

Disclosure of Invention

In view of the defects in the prior art, the invention provides a full-automatic intelligent flow control traffic system and an intelligent flow control method, which can realize intelligent control of traffic flow in a short time with high efficiency and low cost, have low popularization difficulty and effectively relieve the current situation of urban traffic jam.

In order to achieve the purpose, the invention adopts the following technical scheme:

a fully automatic intelligent flow control traffic system, comprising:

the vehicle sensors are at least arranged at the inlet and the outlet of each section of road and used for sensing passing vehicles, and each inlet and/or outlet is provided with one vehicle sensor and used for sensing the number of vehicles in each lane;

the traffic signal lamp group comprises signal lamps arranged at the entrance of each road section, a first controller and a second controller, wherein the first controller and the second controller are in communication connection with the signal lamps and the vehicle sensors of each road section;

and the main control center is used for setting the optimal passing speed each time, and controlling the first controller of the signal lamp corresponding to the current lane in the next road section to work according to the vehicle passing condition and the optimal passing speed of the current lane in the current road section detected by the vehicle sensor.

As one implementation manner, the vehicle passing condition includes a moment when the first vehicle enters the current lane in the current road section after the green light of the signal lamp of the entrance is turned on, and the main control center calculates the next green light switching moment of the signal lamp of the current lane in the next road section according to the moment when the first vehicle enters the current lane in the current road section, the length of the current lane in the current road section and the optimal passing speed, and sends the next green light switching moment to the first controller.

As one implementation manner, the vehicle passing condition further includes a time when a last vehicle enters a current lane in a current road section before a red light of a signal lamp of an entrance is turned on, and the main control center calculates a next red light switching time of the signal lamp of the current lane in a next road section according to the time when the last vehicle enters the current lane in the current road section, the length of the current lane in the current road section and the optimal passing speed, and sends the next red light switching time to the first controller.

As one implementation manner, the vehicle passing condition further includes the number of vehicles to be passed in the current lane in the current road section after the red light of the signal lamp of the entrance is turned on, and the main control center further adjusts the optimal passing speed of the current lane in the next road section according to the number of vehicles to be passed in the current lane in the current road section.

As one embodiment, the main control center further includes a load detection unit, and the load detection unit is configured to detect whether a ratio of the number of vehicles to be passed through in the current lane in the current road section to the length of the current lane in the current road section exceeds a maximum ratio i₀Or whether the next green light switching time of the signal light of the current lane in the next road section exceeds the maximum time length T₁And when at least one of the two conditions is met, the main control center switches the signal lamp of the current lane in the next road section to a green lamp.

As one embodiment, the full-automatic intelligent flow control traffic system further comprises an inductor and a delay module, the inductor is arranged in a pedestrian waiting area, the inductor is used for detecting the number of pedestrians in the pedestrian waiting area and the length of the pedestrian waiting area, and the delay module is used for adjusting the time length for delaying the switching of the color of the signal lamp according to the detection result of the inductor.

As one embodiment, the main control center further includes a comparison unit and a feedback unit, the comparison unit is configured to compare vehicle number detection results of vehicle sensors of two lanes crossing each other, and the feedback unit is configured to increase the duration of green lights of more lanes of the vehicle to be passed and decrease the duration of green lights of less lanes of the vehicle to be passed according to the comparison result of the comparison unit.

As one embodiment, the main control center further includes a dynamic flow dividing unit, and the dynamic flow dividing unit is configured to alternately stagger the jump time of the green signal lamps of each lane of the road segment before the confluence area through the first controller.

As one implementation manner, the main control center further includes an emergency automatic alarm module in communication connection with the vehicle sensors, and the emergency automatic alarm module is configured to report a position of a certain vehicle sensor after the certain vehicle sensor senses that the vehicle is stationary for more than a set time period.

As one embodiment, the emergency automatic alarm module further includes an emergency control module, and the emergency control module is configured to control the first controller to switch an entrance signal lamp of a lane corresponding to the certain vehicle sensor to a red light or to turn off the entrance signal lamp after the certain vehicle sensor senses that the vehicle is stationary for more than a set time period, and control the first controller to switch an entrance signal lamp of a lane corresponding to the certain vehicle sensor to a green light after the certain vehicle sensor senses that the vehicle starts to move.

As one implementation mode, the full-automatic intelligent flow control traffic system further comprises a first interface unit and a second interface unit which are connected with the main control center, wherein the first interface unit is used for being externally connected with a database of a target parking area so as to obtain the information of the remaining parking spaces of the target parking area; the second interface unit is used for interacting with a vehicle end to acquire the terminal point requirement and the vehicle position information of the vehicle; the main control center is further used for judging whether the current vehicle has the condition of entering the target parking area or not according to the remaining parking space information of the target parking area and the position information of the vehicle with the same terminal requirement, and prompting the vehicle end through the second interface unit.

As one implementation mode, the full-automatic intelligent flow control traffic system further comprises a vehicle end, and the master control center further pushes the signal lamp display states of all intersections on the current time map to the vehicle end in real time.

As one implementation mode, the full-automatic intelligent flow control traffic system further comprises a timing unit and a third interface unit connected with the main control center, the third interface unit is connected with the timing unit, the timing unit acquires the pre-jump information and the duration of each signal lamp and the destination requirement and the vehicle position information of the vehicle from the main control center, and calculates the signal lamp waiting duration required by the vehicle to reach the destination according to the destination requirement and the vehicle position information of the vehicle and the pre-jump information and the duration of each signal lamp.

Another object of the present invention is to provide an intelligent traffic flow control method, including:

sensing vehicles passing through each lane of an inlet and an outlet of each road section;

setting an optimal passing speed, and controlling each signal lamp to display the optimal passing speed for each time for prompting the vehicle to pass through the current road section;

and controlling a signal lamp corresponding to the current lane in the next road section to display a corresponding color so as to control the passing condition according to the vehicle passing condition and the optimal passing speed of the current lane in the current road section detected by the vehicle sensor.

Still another object of the present invention is to provide an intelligent traffic flow control method for a zebra crossing section and a right-turn lane without a signal lamp for indicating vehicle traffic, comprising:

detecting whether the ratio of the number of vehicles to be passed in the current lane in the current road section to the length of the current lane in the current road section exceeds a maximum ratio i0 or whether the next green light switching time of a signal light of the current lane in the next road section exceeds a maximum time length T1;

when at least one of the two conditions is satisfied, the signal light of the current lane in the next road section is switched to green light.

As one embodiment, the intelligent traffic flow control method further includes:

detecting whether a pedestrian enters a waiting area or not;

when the number of pedestrians in the waiting area exceeds a certain number, a red signal lamp for forbidding vehicles to pass is turned on, a green lamp of the zebra crossing is turned on, and counting down is started, so that the pedestrians can pass at a set time;

if no pedestrian passes through the system, the green signal lamp for allowing the vehicle to pass is always turned on, and the vehicle can pass through all the time;

when the condition that the ratio k of the number of the vehicles to be passed of the current lane in the current road section to the length of the current lane in the current road section is smaller than or equal to the normal ratio i is detected₁，i₁＜i₀And pedestrians still remain in the waiting areaAnd when waiting, switching the entrance indicator light of the next road section into a red light, switching the sidewalk into a green light, switching the intersection into the pedestrian passage, and starting the zebra crossing passage countdown.

The full-automatic intelligent flow control traffic system can control traffic signal lamps in real time according to intersection flow in different directions of each road section, adjust the optimal passing time in each direction, prompt the optimal passing speed of each time when a vehicle passes through each road section, and control the starting and the duration of the green light of the next signal lamp according to the distance, the speed and the like of the next road section in all the intersection networks, thereby most effectively shortening the waiting time of passing, improving the passing efficiency, improving the phenomenon of traffic jam, saving time and energy cost for people, reducing the energy consumption and emission pollution of the waiting time and achieving the effect of more environmental protection.

Drawings

Fig. 1 is a schematic structural diagram of a full-automatic intelligent flow control traffic system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a structure of one of the road segments according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a traffic light set according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a road simulation design for an area according to an embodiment of the present invention;

FIG. 5 is a schematic view of a simulated road condition of the road shown in FIG. 4;

FIG. 6 is a schematic diagram of a simulated road condition at intersection seven of FIG. 5;

fig. 7 is a schematic diagram of a simulated road condition at the first intersection in fig. 5.

The numbers in the figures illustrate the following:

10-a vehicle sensor; 20-traffic signal light group; 21-signal lamp; 22-a first controller; 23-a second controller; 30-a master control center; c-vehicle.

Detailed Description

In the present invention, the terms "disposed", "provided" and "connected" are to be understood in a broad sense. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

The terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing and simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a schematic structural diagram of a full-automatic intelligent flow control traffic system according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of one road segment according to an embodiment of the present invention.

Referring to fig. 1 and 2, the present invention provides a full-automatic intelligent flow control traffic system, which mainly comprises:

the vehicle sensor 10 is provided with a plurality of inlets and outlets which are at least arranged on each road (road 1, road 2, … …, road m) and used for sensing passing vehicles C (vehicles 1, vehicles 2, … …, vehicles n), wherein m and n are integers larger than 1, the inlet and the outlet of each road are respectively provided with one vehicle sensor 10 and used for sensing the number of the vehicles on each lane, and when the vehicle sensors are needed, the number of people waiting to pass through at the intersection can be sensed, and when the condition allows, one sensor can simultaneously sense the inlet and the outlet of each road;

the traffic signal lamp group 20 is provided with a plurality of groups, each group of traffic signal lamp group 20 comprises a signal lamp 21 arranged at the entrance of each road section, a first controller 22 and a second controller 23 which are in communication connection with the signal lamp 21 and the vehicle sensor 10 of each road section, the first controller 22 is used for controlling the signal lamp to display corresponding colors so as to control the traffic condition, the second controller 23 is used for controlling each signal lamp to display the optimal traffic speed (shown in figure 3) for prompting the vehicle to pass through the current road section, when the optimal traffic speed is displayed, the lane direction corresponding to the optimal traffic speed is displayed at the same time so as to represent the suggested optimal traffic speed of each lane, the vehicle can be watched according to figure 3, the optimal traffic speeds of the left-going, the straight-going and the right-going are respectively 42, 45 and 52(Km/h), and the predicted traffic duration can be displayed when the signal lamp is green;

the main control center 30 is configured to set an optimal passing speed each time, and control the first controller of the signal lamp corresponding to the current lane in the next road segment to work according to the vehicle passing condition of the current lane in the current road segment detected by the vehicle sensor and the optimal passing speed, so as to avoid congestion in each lane and shorten the waiting time for vehicle passing.

Correspondingly, the embodiment also provides an intelligent traffic flow control method, which comprises the following steps:

the number of the vehicles passing through each lane at the entrance and the exit of each road section can be sensed, and the number of the people waiting to pass through the intersection can be sensed when needed;

setting an optimal passing speed, and controlling each signal lamp to display the optimal passing speed for prompting the vehicle to pass through the current road section;

and controlling a signal lamp corresponding to the current lane in the next road section to display a corresponding color so as to control the passing condition according to the vehicle passing condition and the optimal passing speed of the current lane in the current road section detected by the vehicle sensor.

It should be noted that, as shown in fig. 2, each road section generally includes a plurality of lanes, each lane is provided with a vehicle sensor 10, fig. 2 shows that the road is a bidirectional lane, and each unidirectional lane has only two lanes, a plurality of sets of vehicle sensors may be further provided between an entrance and an exit of each road section, each set of vehicle sensors includes a vehicle sensor provided above each lane of the unidirectional lane, preferably at least two sets of vehicle sensors are provided between the entrance and the exit of each road section, for example, vehicle sensors may be provided between the entrance and the exit of each road section, and at 1/2 and 3/4 of each road section.

When the vehicle sensor 10 (at the end of the road) at the entrance of the road section senses that a vehicle enters, the main control center 30 starts counting the number of vehicles, and if a vehicle passes through within a preset short time period (for example, within 5 seconds), it represents that the vehicle continuously enters the road section. The "vehicle passing condition" may include a time when the first vehicle enters a current lane in the current road section, a time when the last vehicle enters the current lane in the current road section, and a number of vehicles to be passed in the current lane in the current road section, which may be detected by the vehicle sensor.

In this embodiment, the passing time of the signal lamp may be adjusted in real time according to the number of vehicles to be passed in each lane in each road section, when it is detected that the number of vehicles to be passed in the current lane in the current road section is large, the congestion risk of the lane in the road section is large, and the main control center 30 may extend the passing time of the lane in the road section by controlling the first controller 22.

Specifically, the main control center 30 further includes a comparison unit for comparing the vehicle number detection results of the vehicle sensors of the two lanes crossing each other, and a feedback unit for increasing the green duration of the lanes where the vehicle to be passed is more and decreasing the green duration of the lanes where the vehicle to be passed is less according to the comparison result of the comparison unit. Therefore, the switching sequence of the traffic lights at the intersection is not changed all the time, but is intelligently switched in real time according to the actual intersection, so that the main control center 30 can realize the optimal passing speed of the intersection by changing the original skipping sequence of the signal lights at the intersection, and the passing efficiency is improved.

Fig. 4 is a schematic diagram of a road simulation design of a certain area according to an embodiment of the present invention, fig. 5 is a schematic diagram of a simulated road condition of the road shown in fig. 4, and fig. 6 is a schematic diagram of a simulated road condition of a seventh intersection in fig. 5. It can be seen that, in the figure, there are very many vehicles C on the upper right lane of the intersection seven, and there are fewer vehicles C on the upper and lower lanes of the intersection seven, so the main control center 30 can increase the passing time in the left and right directions by closing the passing in the up and down directions, that is, the first controller switches the signal lights of the straight upper and lower lanes of the intersection seven to red, and switches the signal lights of the lanes in the left and right directions of the intersection seven to green, so that more time is left for the passing in the upper right side, and the vehicle congestion phenomenon in the upper right side of the intersection seven can be relieved.

Considering that the existing signal lamps are all independently controlled, the situation that the green light is switched to the red light when a vehicle is seen to be far away just before passing often occurs, and even the situation that the yellow light flickers and the red light is turned on for the longest waiting time just before the vehicle is ready to pass through an intersection occurs. In the embodiment, the road sections in the area are centrally managed by using the networking type full-automatic intelligent flow control traffic system, so that the vehicle passing time in the corresponding direction can be adjusted in real time according to the number of the vehicles to be passed in each lane of each road section, and the time when the next signal lamp 21 is switched to the green lamp can be controlled in real time according to specific vehicle conditions, so that the vehicles C can encounter fewer red lamps in the driving process. The main control center calculates the next green light switching time of the signal light of the current lane in the next road section according to the time when the first vehicle enters the current lane in the current road section, the length of the current lane in the current road section and the optimal passing speed, and sends the next green light switching time to the first controller, and the first controller of the corresponding lane in the next road section controls the switching time of the corresponding signal light.

Specifically, as shown in fig. 5 and 7, at the first intersection, the vehicle 1 moves straight to the right, the vehicle 2 turns right and downward, and the signal lights 21 at the entrance of the next section of road of the vehicle 1 and the vehicle 2 all display the optimal passing speed for prompting to pass through the section, as shown in fig. 5, the distance for the vehicle 1 to pass through the first intersection to enter the next intersection is 800m, and the optimal passing speed for entering the section from the first intersection is 50Km/h, theoretically, the vehicle 1 needs 58s to reach the fourth intersection, the signal lights 21 of the four straight lanes at the intersection can be controlled by the main control center 20 through the first controller 22 at the section for 55s and then switched to green lights, and the vehicle 1 can pass through directly when reaching the fourth intersection. Similarly, the distance between the intersection four and the intersection seven in the straight-ahead direction is 600m, and the optimal passing speed of the vehicle entering the road section from the intersection four is 54Km/h, so theoretically, the vehicle 1 needs 40s to reach the intersection seven, the signal lamp 21 of the straight-ahead lane at the intersection seven can be controlled by the main control center 20 through the first controller 22 of the road section and switched to the green lamp after 37s, and the vehicle 1 can directly pass through the road when reaching the intersection seven.

For another example, when the vehicle 2 turns from the intersection to the lower right, the optimal passing speed of the road section is 60Km/h, and the distance between the first intersection and the next second intersection is 300m, theoretically, the vehicle 2 needs 36s to reach the second intersection, the signal light 21 of the straight lane at the second intersection can be controlled by the main control center 20 to be switched to green light after passing through the first controller 22 of the road section for 33s, and the vehicle 2 can directly pass through when reaching the second intersection. The distance between the second intersection and the next third intersection is 1000m, the optimal passing speed of the second intersection entering the road section is 45Km/h, theoretically, the number 2 vehicle needs 56s when reaching the third intersection, the signal lamp 21 of the straight lane at the third intersection can be controlled by the main control center 20 through the first controller 22 of the road section and switched to the green lamp after 53s, and the number 2 vehicle can directly pass through when reaching the third intersection.

By the mode, the full-automatic intelligent flow control traffic system controls the switching time of the upper signal lamp and the lower signal lamp of the lane in real time according to the passing condition of vehicles in all directions, the passing with the lowest waiting time is further realized, and the networking system optimizes the signal lamp control process according to the road conditions of all road sections.

In addition, for the last vehicle continuously entering the road section, the main control center can also calculate the next red light switching time of the signal lamp of the current lane in the next road section according to the time when the last vehicle enters the current lane in the current road section, the length of the current lane in the current road section and the optimal passing speed, and send the next red light switching time to the first controller, so that the last vehicle continuously passing through can also pass through the next intersection at one time.

In addition, the optimal passing speed is related to the number of vehicles to be passed in the current lane and the length of the current lane in the next road section. The vehicle passing condition also comprises the number of the vehicles to be passed in the current lane in the current road section after the red light of the signal lamp of the entrance is turned on, and the main control center also adjusts the optimal passing speed of the current lane in the next road section according to the number of the vehicles to be passed in the current lane in the current road section. Specifically, if the number of vehicles to be passed in the current lane in each road section is large, the optimal passing speed of the next road section is increased, so that congestion is effectively dredged; if the number of the vehicles to be passed in the current lane in each road section is small, the optimal passing speed of the next road section can be reduced, the vehicles can pass through other lanes, and the phenomenon of vehicle congestion cannot be caused.

Preferably, the process of setting the optimal passing speed of each road section specifically includes:

s1, setting the initial optimal passing speed v₀。

The initial optimum traffic speed v₀For a fixed value, each road section may be different to an ideal value without considering actual road conditions, and the value can be set according to the length of the road section to be passed, and the longer the road section is, the initial optimal passing speed v of the road section is₀The larger the distance, the shorter the distance, and the initial optimal traffic speed v of the distance₀The smaller;

and S2, detecting the traffic flow of the current lane in the current road section, and changing the optimal passing speed of each road section before and after according to the traffic flow of the current lane in the current road section.

For example, if the traffic flow of the current lane in the current road section is large, it indicates that too many vehicles waiting to pass through will inevitably cause more vehicles to rush into the intersection, so the optimal passing speed of the next road section can be increased in advance, the vehicle passing can be accelerated, and the phenomenon that the vehicle waits at the next intersection can be avoided in advance. And if the traffic flow of the current road section is larger, the current road section is not suitable for more vehicles to flow in, the optimal passing speed of the previous road section can be reduced in advance, the vehicle entering speed is slowed down, the traffic flow of the current road section is reduced to a normal value, and then the optimal passing speed of the previous road section is increased.

In this embodiment, the full-automatic intelligent flow control traffic system further includes an inductor and a delay module, the inductor is arranged in the pedestrian waiting area, the inductor is used for detecting the number of pedestrians in the pedestrian waiting area and the length (queuing length) of the pedestrian waiting area, and the delay module can adjust the time length for delaying the color of the switching signal lamp according to the detection result of the inductor. For example, when the sensor detects that the number of pedestrians in the pedestrian waiting area is large, the delay module may extend the duration of the red light of the vehicle, and feed the instruction back to the main control center 30 for performing the coordination control of the signal lights; when the sensor detects that the length of the pedestrian waiting area is short, which means that the pedestrian can pass through the area quickly, the delay module can shorten the duration of the red light of the vehicle and feed the instruction back to the main control center 30 for the coordinated control of the signal lights.

In order to realize real-time tracking of vehicle information, the full-automatic intelligent flow control traffic system of the embodiment further comprises a camera device arranged at an inlet and/or an outlet of each section of road, the camera device can capture image information of a vehicle and upload the image information to the main control center 30, the image information can comprise shooting time and at least one of a license plate, a face and a position, and the position of the vehicle can be realized through the nearest vehicle sensor 10. Through counting license plate information and face information, information of communication vehicles and vehicle personnel in each road section can be accurately obtained, fake-licensed vehicles, criminals and the like can be captured timely through networking with a traffic management system, and switching moments of corresponding signal lamps can be controlled in real time through finding suspicious vehicles or personnel, so that capture, investigation and the like are facilitated.

Further, the main control center 30 may further include an emergency automatic alarm module in communication connection with the vehicle sensors, where the emergency automatic alarm module is configured to report a position of a certain vehicle sensor after the certain vehicle sensor senses that the vehicle is stationary for more than a set time period. The traffic police can arrive at the designated position in time according to the reported position information to confirm whether an accident exists.

Furthermore, the emergency automatic alarm module further comprises an emergency control module, when a certain vehicle sensor senses that the vehicle is fixed for more than a set time, the emergency control module controls the first controller 22 to switch the entrance signal lamp 21 of the lane corresponding to the certain vehicle sensor to a red light or turn off so as to block the vehicle entering the road section, and thus, secondary accidents and congestion can be avoided; when the certain vehicle sensor senses that the vehicle starts to move, the emergency control module may control the first controller 21 to switch the entrance signal light 21 of the lane corresponding to the certain vehicle sensor to a green light, so as to recover the traffic of the lane and the road section.

In addition, the full-automatic intelligent flow control transportation system of this embodiment may further include a first interface unit and a second interface unit connected to the main control center 30, where the first interface unit may be used to externally connect databases (e.g., databases of commercial parking lots and databases of public parking lots) of each destination parking area (e.g., locations with dense personnel such as scenic spots, rest areas, and oil stations) to obtain remaining parking space information of the destination parking area, where the parking area may include a parking area in a place or may include a roadside parking lot allowing parking. The second interface unit may be used to interact with the vehicle end to obtain vehicle end point requirements and vehicle position information. The main control center 30 may determine whether the current vehicle having the same destination requirement has the condition of entering the destination parking area according to the remaining parking space information of the destination parking area and the position information of the vehicle having the same destination requirement, and prompt the vehicle end through the second interface unit.

The first interface unit can be connected with a database of each parking lot, and the second interface unit can be connected with terminal equipment at a vehicle end, such as a mobile phone, a vehicle-mounted equipment end, a wireless transceiver end in a vehicle and the like, so as to realize data transmission. The vehicle end can be internally provided with an APP (application program), a driver can reserve a destination through the APP, the main control center 30 can know the number of vehicles in a parking lot from a database of a destination parking area, the number of vehicles coming on the way is acquired from reservation information of the built-in APP of the vehicle end, so that the number of the remaining possible parking spaces of the driver who prepares to reserve the same destination later is reminded, the driver can accurately know whether the destination has the parking spaces, the driver can conveniently make a plan in advance when no parking space exists, the destination reservation prompting trip is realized, the reserved driver is informed to determine the direction when the parking space exists, and unnecessary traffic jam is avoided.

Optionally, the vehicle end may also be included in a fully automatic intelligent flow control traffic system. By means of the vehicle end, the master control center can also push the state information of each signal lamp to the vehicle in real time, for example, through a built-in APP of the vehicle end, a driver can obtain the signal lamp display state (displayed in the form of a map) of each road junction on a map at the current time in real time, and therefore the driver can plan a driving route conveniently, and the congestion probability is reduced.

The full-automatic intelligent flow control traffic system can further comprise a third interface unit connected with the main control center 30, the third interface unit can be connected with a timing unit, the timing unit can acquire pre-jump information and duration of each signal lamp from the main control center 30 and also can acquire terminal point requirement and vehicle position information of a vehicle from the main control center 30, and the timing unit can calculate signal lamp waiting duration required by the vehicle to reach a terminal point according to the terminal point requirement and the vehicle position information of the vehicle and the pre-jump information and duration of each signal lamp. The data information provided by the timing unit can be provided for the takeaway system, for example, the waiting time of the signal lamp can be introduced as the basis for timing of the takeaway system, and after the waiting time of the signal lamp is brought into the allowed overtime time limit by the takeaway system, the phenomenon that a rider rushes a red light due to fear of overtime of an order can be avoided as far as possible, so that the traffic accident occurrence rate is reduced, the road congestion is avoided, and the takeaway system is more humanized.

In addition, through the terminal device at the vehicle end, the main control center 30 can also conveniently guide the vehicle to shunt and guide the flow, and combine with the vehicle sensor to prompt the vehicle to pass through the optimal passing speed of the current lane in the current road section, and the driver can plan the route according to the prompt at the first time so as to avoid congestion.

In order to quantify the congestion condition of the road more accurately, the embodiment measures the congestion condition of the road by the ratio k of the number N of vehicles to be passed in the current lane to the length L of the current lane in the current road section, wherein k is N/L. The embodiment also has a load alarm mechanism, when k exceeds the maximum ratio i₀And when the traffic jam is serious, the traffic jam is required to be dredged, the alarm information can remind traffic managers through a main control center by means of picture display, an indicator lamp, a buzzer and the like, and the position of the vehicle sensor of the road section can be reported through an emergency automatic alarm module.

At some intersections with heavy traffic, such as schools, factories, subway entrances and exits, etc., there are zebra crossing sections and right-turn dedicated lanes without signal lamps for indicating vehicles to pass, and traffic jam and traffic accidents are easily caused because whether the vehicles pass or not cannot be accurately prompted, and many inconveniences are caused because people are required to command on site. The main control center 30 further comprises a load detection unit, which is used to detect whether the ratio k between the number of vehicles to be passed through in the current lane in the current road section and the length of the current lane in the current road section exceeds the maximum ratio i₀(too many vehicles on the road), and whether the next green light switching time of the signal light of the current lane in the next road section exceeds the maximum time length T or not can be detected₁(the vehicle waits too long to cause the jam), when one of the two conditions is satisfied, the main control center 30 can switch the signal light of the current lane in the next road section to the green light, so as to relieve the condition that the motor lane is slow to pass.

Specifically, if the traffic light is a zebra crossing section without a traffic light indicating vehicle traffic, or a scene requiring a right turn (such as a peak time of commuting, the traffic of zebra crossings is large), the intelligent traffic scheme here may be:

(1) the vehicle sensor detects the pedestrian traffic condition in real time, when a certain number of pedestrians enter the waiting area, a red light (namely a red signal lamp) for forbidding the traffic is turned on, a green light of the zebra crossing is turned on and starts to count down, and the pedestrians can pass at the set time;

(2) a green light (namely, a green signal light) for allowing the vehicle to pass is turned on, the vehicle continuously passes through, if the vehicle sensor detects that no pedestrian passes through, the green light is turned on all the time, and the vehicle can pass all the time;

(3) when the pedestrians pass through the road, the situation that the road section is congested due to the fact that the pedestrians are always too many frequently occurs, at the moment, the load detection unit detects whether the ratio k of the number of vehicles to be passed through of the current lane in the current road section to the length of the current lane in the current road section exceeds the maximum ratio i₀Or detecting whether the waiting time for switching the green light of the next road section exceeds the maximum time length T₁If the traffic light is in the green light state, the main control center controls the first controller to switch the entrance indicator light of the next road section into the green light state, and the sidewalk is switched into the red light state, so that the vehicle can rapidly pass through the next road section at the optimal passing speed of the next road section;

(4) when the vehicle sensor detects that the ratio k of the number of vehicles to be passed of the current lane in the current road section to the length of the current lane in the current road section is less than or equal to a normal ratio i₁(Normal road vehicle Density, i)₁＜i₀) And when the waiting area still has pedestrians to wait, the entrance indicator light of the next road section can be switched to the red light, the sidewalk is switched to the green light, the intersection is switched to the pedestrian, and the zebra crossing traffic countdown is started.

In a real scene, because the vehicles in the confluence area are feared to meet and collide, the speed of the vehicles at the confluence area is quite low, and the traffic in the confluence area is slow and is often congested. The embodiment also aims at the junction (region) of confluenceAccording to the intelligent traffic scheme, the main control center 30 may further include a dynamic shunting unit, and when the data of the main control center 30 indicates that the confluence load occurs at the intersection, the dynamic shunting unit may alternately stagger the jumping time of the green signal lamps of each lane of the road section in front of the confluence area through the first controller. For example, when lanes of two roads merge, a signal light of a road section preceding the merging area of the two lanes may be set to a different color by the first controller. So that the confluence area always allows one road section to pass and the other road section waits; when lanes of a plurality of road sections are converged, the green signal lamps of the road section before the confluence area of the lane corresponding to each road section are set to be sequentially displayed, every two converged lanes cannot be released at the same time, alternate release is achieved, off-peak shunting is achieved, and therefore the confluence area does not need to worry about slow driving caused by side-to-side driving. Alternatively, the optimal passing speed of the two lanes can be adjusted by the second controller and displayed by a signal lamp, or the driver of each vehicle is informed by the vehicle end, so that the time when the two lanes are converged into the merging area is staggered, namely L₁/V₁≠L₂/V₂，L₁、L₂Respectively the length of two road sections of the confluence zone, V₁、V₂Respectively correspond to L₁、L₂The optimal traffic speed can realize off-peak shunting traffic at the confluence position, the vehicle pause and congestion are reduced as much as possible, and each lane is green without confluence load.

Considering that there are some special traffic scenarios, for example, when special vehicles such as 110, 120, 119 need to pass preferentially, the embodiment further has an emergency passing scheme for such special vehicles, specifically including the following steps:

s01, determining the starting point and the end point of the special vehicle

The starting point and the ending point of the current special vehicle can be interactively acquired with the vehicle end through the second interface unit, wherein the starting point of the vehicle can be the vehicle end with a built-in GPS, so that the position information of the vehicle is improved, the ending point of the vehicle can be input by a driver through the vehicle end, the input mode can be input by instructions on software or physical keys, and the input mode is not limited herein.

S02 planning optimal emergency scheme

The planning of the optimal emergency scheme comprises a route scheme and a switching scheme of signal lamps on the route. The starting point and the terminal point of the special vehicle are acquired by the second interface unit and uploaded to the main control center 30, the main control center 30 firstly calculates all route schemes connecting the starting point and the terminal point, then calculates the predicted time of the special vehicle reaching the terminal point at full speed under the condition that all green lights pass in the midway of the starting point and the terminal point, and then selects the route scheme with the shortest time and the shortest vehicle in the midway.

Thus, in screening for an optimal contingency plan, the present embodiment considers both distance traveled and vehicle congestion conditions, e.g., when k exceeds the maximum ratio i₀And if the road section is difficult to allow the road section, selecting other road sections.

S03, executing an optimal emergency scheme

After the optimal emergency plan is determined, the main control center 30 issues the plan to the vehicle end of the corresponding special vehicle through the second interface unit. When the vehicle sensor detects that the special vehicle at the corresponding position starts to run along the issued route scheme of the optimal emergency scheme, an instruction is fed back to the main control center, so that the first controller implements the switching scheme of each signal lamp on the route in the optimal emergency scheme, and the special vehicle is ensured to reach the expected end point at the fastest speed.

In addition to the special traffic scenarios mentioned above requiring emergency solutions, the occurrence of some accidents may also result in road segments requiring emergency solutions. For example, when the traffic system fails due to various reasons (such as accidents or caused by electric power, transmission, signals, equipment and the like), and the vehicle sensor cannot normally operate, the main control center automatically changes the traffic signal lamp set of the failed intersection into the working mode of the ordinary signal lamp temporarily, so that automatic control is not performed during the failure, and the normal operation of traffic at other networked intersections is not affected.

In summary, the fully-automatic intelligent flow control traffic system of the present invention centrally manages the traffic of vehicles in each road section in the area by the main control center, can control the traffic signal lamps in real time according to the intersection flow rate of each road section in different directions, adjust the optimal traffic duration in each direction, and prompt the optimal traffic speed of the vehicles passing each road section, and the system can control the start and duration of the green light of the next signal lamp according to the distance and speed of the next road section in all the networked intersections, thereby most effectively shortening the waiting time for traffic and improving the traffic jam. In addition, the passing time and the passing duration of the next signal lamp can be adjusted in real time according to the distance and the vehicle speed, the pedestrian passing duration is distributed according to the number of pedestrians and the pedestrian congestion condition, and the pedestrian and vehicle tracks can be tracked in real time by using information such as license plates and faces. The full-automatic intelligent flow control traffic system also considers various traffic needs, and can realize intelligent traffic schemes such as load alarm, intelligent traffic of zebra crossings in special environments, intelligent traffic of traffic areas, intelligent traffic light switching, destination reservation and travel prompting, fault emergency, takeout timing and the like.

The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.