1. A collaborative linkage self-adaptive time distribution method for regional road traffic signal lamps is characterized by comprising the following steps:

performing traffic flow information interaction with roadside communication terminals in a target area based on a vehicle networking roadside communication network to obtain traffic flow information of an adjacent signal lamp intersection;

generating a corresponding signal lamp timing strategy according to the traffic flow information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic flow data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation;

and sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so that the signal lamp of the local signal lamp intersection executes a corresponding display state.

2. The regional road traffic signal lamp collaborative linkage adaptive timing method according to claim 1, wherein the generating of the corresponding signal lamp timing strategy according to the traffic information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections, and the traffic data information of the local signal lamp intersection in each direction specifically comprises:

acquiring traffic data information of the local signal lamp intersection in each direction from a preset intersection traffic data information list; acquiring distance information between the intersections of the adjacent signal lamps from a preset intersection mutual relation list; extracting the traffic information in the same direction of the adjacent signal lamp intersections from the traffic information of the adjacent signal lamp intersections;

and inputting the traffic information of the adjacent signal lamp intersections in the same direction and the traffic information of the local signal lamp intersections in each direction into a signal lamp timing model, and performing comprehensive analysis according to the distance information between the adjacent signal lamp intersections to generate a corresponding signal lamp timing strategy.

3. The regional road traffic signal lamp collaborative linkage adaptive timing method according to claim 1, wherein the vehicle flow information interaction is performed with a roadside communication terminal in a target region based on a vehicle networking roadside communication network to obtain the vehicle flow information of an adjacent signal lamp intersection, and specifically comprises:

and performing traffic flow information interaction with a road side communication terminal in the target area based on the vehicle networking road side communication network, judging whether the interaction information has traffic flow information of an adjacent signal lamp intersection, and if so, acquiring the traffic flow information of the adjacent signal lamp intersection.

4. The regional road traffic signal lamp collaborative linkage self-adaptive timing method according to claim 3, wherein the judging whether the interactive information has traffic flow information of an intersection of adjacent signal lamps specifically comprises:

acquiring vector information between the roadside communication terminals and distance information between signal lamp intersections from a preset intersection mutual relation list;

and judging whether the interactive information has traffic information of adjacent signal lamp intersections or not based on the vector information between the roadside communication terminals and the distance information between the signal lamp intersections.

5. The regional road traffic signal lamp cooperative linkage self-adaptive timing method according to claim 2, further comprising:

before generating a corresponding signal lamp timing strategy, constructing a crossing mutual relation list in advance according to the relative position relation of roadside communication terminals arranged at a signal lamp crossing; the intersection mutual relation list comprises vector information between the roadside communication terminals and distance information between signal lamp intersections.

6. The regional road traffic signal lamp cooperative linkage self-adaptive timing method according to claim 2, further comprising:

the method comprises the steps that before a corresponding signal lamp timing strategy is generated, vehicle motion attribute information sent by a vehicle-mounted communication terminal is received in advance, and traffic flow information of a signal lamp intersection in each direction is determined based on the vehicle motion attribute information;

and storing the traffic information of the signal lamp intersection in each direction into the intersection traffic data information list.

7. The regional road traffic signal lamp collaborative linkage self-adaptive timing method according to claim 1, wherein the vehicle networking roadside communication network is a multi-hop ad-hoc roadside communication network established based on vehicle networking communication links between roadside communication terminals within the target region.

8. The utility model provides a regional road traffic signal lamp is adaptive timing device in coordination, its characterized in that includes:

the traffic information interaction unit is used for carrying out traffic information interaction with road side communication terminals in the target area based on a road side communication network of the internet of vehicles to obtain traffic information of intersections of adjacent signal lamps;

the signal lamp timing strategy generating unit is used for generating corresponding signal lamp timing strategies according to the traffic information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation;

and the signal lamp timing strategy sending unit is used for sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so as to enable the signal lamp of the local signal lamp intersection to execute a corresponding display state.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the regional road traffic signal coordinated adaptive timing method according to any one of claims 1 to 7.

10. A non-transitory computer readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the regional road traffic signal collaborative linkage adaptive timing method according to any one of claims 1-7.

Background

At present, most traffic lights in cities adopt a fixed timing scheme, and the traffic volume in each direction is calculated by utilizing a statistical principle, so that the delay time of the traffic lights is determined. However, in practical situations, the road traffic volume is often constantly changing, and particularly, as the automobile holding capacity increases, the road traffic volume continuously increases, the traffic pressure at the intersection increases, and it is difficult to meet the traffic demands under various conditions when the traffic pressure is fixed. Obviously, the timing control algorithm cannot be adjusted in time according to the change of the traffic flow, and the phenomenon that no vehicle passes through in the green light direction and a large number of vehicles wait in the red light direction is likely to occur, so that a great deal of traffic resources are wasted. Therefore, it is necessary to establish an intelligent traffic light signal timing system.

C-V2X (Cellular-Vehicle to evolution) is a Vehicle wireless communication technology based on a Cellular network, and can realize Vehicle intelligent networking communication. Vehicle wireless communication technology for connecting a Vehicle with Everything, namely Vehicle to evolution, V2X technology. Wherein V represents a vehicle, X represents any object interacting with the vehicle, and X is mainly a vehicle, a person, a traffic road-side infrastructure, a network and the like at present. The information mode of V2X interaction includes: vehicle to Vehicle (V2V), Vehicle to Vehicle between roads (V2I), Vehicle to person (V2P), Vehicle to Network (V2N).

In order to solve the problems, in the prior art, the number of vehicles is identified by using the existing road monitoring camera and combining a video identification technology based on a road monitoring system installed at an urban signal lamp intersection, so that an intersection signal lamp timing scheme is improved, the overall traffic efficiency of the urban intersection is improved, and the potential of the existing resources is fully excavated. Along with the rapid development of vehicle intelligent internet communication, a mode of combining a cloud server and a roadside communication terminal is adopted in the prior art, and the mode of improving the passing efficiency of vehicles at the intersection is also provided. However, the above solution usually requires a cloud server to provide support, and the implementation process is complicated and the cost is high. Therefore, how to design a simple and efficient cooperative linkage adaptive timing scheme for regional road traffic signal lamps becomes a problem to be solved urgently in the industry at present.

Disclosure of Invention

Therefore, the invention provides a method and a device for cooperative linkage self-adaptive timing of regional road traffic signal lamps, which aim to solve the problems of high limitation of a control mode of intersection traffic signal lamps, complex implementation process and poor flexibility in the prior art.

The invention provides a collaborative linkage self-adaptive time distribution method for regional road traffic signal lamps, which comprises the following steps:

performing traffic flow information interaction with roadside communication terminals in a target area based on a vehicle networking roadside communication network to obtain traffic flow information of an adjacent signal lamp intersection;

generating a corresponding signal lamp timing strategy according to the traffic flow information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic flow data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation;

and sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so that the signal lamp of the local signal lamp intersection executes a corresponding display state.

Further, the generating of the corresponding signal lamp timing strategy according to the traffic information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections, and the traffic data information of the local signal lamp intersection in each direction specifically includes:

acquiring traffic data information of the local signal lamp intersection in each direction from a preset intersection traffic data information list; acquiring distance information between the intersections of the adjacent signal lamps from a preset intersection mutual relation list; extracting the traffic information in the same direction of the adjacent signal lamp intersections from the traffic information of the adjacent signal lamp intersections and the path planning information of the vehicles;

and inputting the traffic information of the adjacent signal lamp intersections in the same direction and the traffic information of the local signal lamp intersections in each direction into a signal lamp timing model, and performing comprehensive analysis according to the distance information between the adjacent signal lamp intersections to generate a corresponding signal lamp timing strategy.

Further, the vehicle flow information interaction is carried out with the roadside communication terminal in the target area based on the vehicle networking roadside communication network, and the vehicle flow information of the adjacent signal lamp intersection is acquired, which specifically includes:

and performing traffic flow information interaction with a road side communication terminal in the target area based on the vehicle networking road side communication network, judging whether the interaction information has traffic flow information of an adjacent signal lamp intersection, and if so, acquiring the traffic flow information of the adjacent signal lamp intersection.

Further, the determining whether the interactive information has traffic information of an intersection of adjacent signal lamps specifically includes:

acquiring vector information between the roadside communication terminals and distance information between signal lamp intersections from a preset intersection mutual relation list; and judging whether the interactive information has traffic information of adjacent signal lamp intersections or not based on the vector information between the roadside communication terminals and the distance information between the signal lamp intersections.

Further, the method for the cooperative linkage self-adaptive time distribution of the regional road traffic signal lamps further comprises the following steps:

before generating a corresponding signal lamp timing strategy, constructing a crossing mutual relation list in advance according to the relative position relation of roadside communication terminals arranged at a signal lamp crossing; the intersection mutual relation list comprises vector information between the roadside communication terminals and distance information between signal lamp intersections.

Further, the method for the cooperative linkage self-adaptive time distribution of the regional road traffic signal lamps further comprises the following steps:

the method comprises the steps that before a corresponding signal lamp timing strategy is generated, vehicle motion attribute information sent by a vehicle-mounted communication terminal is received in advance, and traffic flow information of a signal lamp intersection in each direction is determined based on the vehicle motion attribute information;

and storing the traffic information of the signal lamp intersection in each direction into the intersection traffic data information list.

Further, the vehicle networking roadside communication network is a multi-hop ad-hoc roadside communication network established based on vehicle networking communication links between roadside communication terminals in the target area.

Correspondingly, the invention also provides a cooperative linkage self-adaptive timing device for the regional road traffic signal lamp, which comprises:

the traffic information interaction unit is used for carrying out traffic information interaction with road side communication terminals in the target area based on a road side communication network of the internet of vehicles to obtain traffic information of intersections of adjacent signal lamps;

the signal lamp timing strategy generating unit is used for generating corresponding signal lamp timing strategies according to the traffic information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation;

and the signal lamp timing strategy sending unit is used for sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so as to enable the signal lamp of the local signal lamp intersection to execute a corresponding display state.

Further, the signal lamp timing strategy generating unit is specifically configured to:

acquiring traffic data information of the local signal lamp intersection in each direction from a preset intersection traffic data information list; acquiring distance information between the intersections of the adjacent signal lamps from a preset intersection mutual relation list; and extracting traffic flow information of the adjacent signal lamp intersection and the local signal lamp intersection in the same direction from the traffic flow information of the adjacent signal lamp intersection;

and inputting the traffic information of the adjacent signal lamp intersections in the same direction and the traffic information of the local signal lamp intersections in each direction into a signal lamp timing model, and performing comprehensive analysis according to the distance information between the adjacent signal lamp intersections to generate a corresponding signal lamp timing strategy.

Further, the traffic information interaction unit is specifically configured to:

and performing traffic flow information interaction with a road side communication terminal in the target area based on the vehicle networking road side communication network, judging whether the interaction information has traffic flow information of an adjacent signal lamp intersection, and if so, acquiring the traffic flow information of the adjacent signal lamp intersection.

Further, the determining whether the interactive information has traffic information of an intersection of adjacent signal lamps specifically includes:

acquiring vector information between the roadside communication terminals and distance information between signal lamp intersections from a preset intersection mutual relation list; and judging whether the interactive information has traffic information of adjacent signal lamp intersections or not based on the vector information between the roadside communication terminals and the distance information between the signal lamp intersections.

Further, regional road traffic signal lamp cooperation linkage self-adaptation timing device still include:

the intersection mutual relation list establishing unit is used for establishing an intersection mutual relation list in advance according to the relative position relation of roadside communication terminals arranged at the signal lamp intersection before generating a corresponding signal lamp timing strategy; the intersection mutual relation list comprises vector information between the roadside communication terminals and distance information between signal lamp intersections.

Further, regional road traffic signal lamp cooperation linkage self-adaptation timing device still include:

the intersection traffic flow data information list establishing unit is used for receiving vehicle motion attribute information sent by a vehicle-mounted communication terminal in advance before generating a corresponding signal lamp timing strategy and determining traffic flow information of a signal lamp intersection in each direction based on the vehicle motion attribute information; and storing the traffic information of the signal lamp intersection in each direction into the intersection traffic data information list.

Further, the vehicle networking roadside communication network is a multi-hop ad-hoc roadside communication network established based on vehicle networking communication links between roadside communication terminals in the target area.

Correspondingly, the invention also provides an electronic device, comprising: the system comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the regional road traffic signal lamp cooperative linkage self-adaptive timing method.

Accordingly, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the regional road traffic signal lamp collaborative linkage adaptive timing method according to any one of the above.

By adopting the regional road traffic signal lamp collaborative linkage self-adaptive timing method, a multi-hop self-organized cellular vehicle networking roadside communication network is established through vehicle networking communication links between regional roadside communication terminals, and a fused data communication network shared by real-time and dynamic information acquisition and distribution of road vehicles is established in combination with the communication links between the cellular vehicle networking roadside communication terminals and vehicle-mounted communication terminals, so that the accuracy and timeliness of data acquisition are improved; through carrying out traffic flow information interaction with roadside communication terminal, acquire the traffic flow information at adjacent signal lamp crossing in real time, and carry out the comprehensive analysis and time spent, generate corresponding signal lamp time spent strategy, realize controlling the signal lamp, it can enough realize that the accurate self-adaptation at single crossing is dynamic when time spent, also can realize that accurate multiple intersection is coordinated to be linked in time spent, and the system time delay is low, and stability is high, the reliability is high and with low costs, greatly improves whole communication smooth and easy degree and the current efficiency of road.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic flow chart of a cooperative linkage adaptive timing method for regional road traffic signal lamps according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a cooperative linkage adaptive timing method for regional road traffic signal lamps according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a minimum unit roadside communication terminal networking between signal lamp intersections according to an embodiment of the present invention;

fig. 4 is a schematic flow chart of receiving and storing traffic flow information in various directions at a signal lamp intersection according to an embodiment of the present invention;

fig. 5 is a complete schematic diagram of a cooperative linkage adaptive timing method for regional road traffic signal lamps according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a cooperative linkage adaptive timing device for regional road traffic signal lamps according to an embodiment of the present invention;

fig. 7 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following describes an embodiment of the regional road traffic signal lamp cooperative linkage adaptive timing method in detail based on the method provided by the invention. As shown in fig. 1, which is a schematic flow chart of a cooperative linkage adaptive timing method for regional road traffic signal lamps according to an embodiment of the present invention, a specific implementation process includes the following steps:

step 101: and performing traffic flow information interaction with road side communication terminals in the target area based on the vehicle networking road side communication network to acquire traffic flow information of the adjacent signal lamp intersections.

In the embodiment of the invention, a multi-hop ad hoc vehicle networking roadside communication network (namely, a C-V2X roadside communication network) in an area needs to be established in advance through a V2X communication link between roadside communication terminals. For example, as shown in fig. 3, it can be understood as an internet-of-vehicles roadside communication network obtained by networking minimum unit roadside communication terminals between signal lamp intersections. And further, a communication link between the road side communication terminal and the vehicle-mounted communication terminal is combined, so that a converged data communication network for real-time and dynamic information acquisition, distribution and sharing of road vehicles can be established.

The vehicle-mounted communication terminal is a V2X vehicle-mounted communication terminal, namely an OBU (On board Unit), which is installed in a road vehicle and used for periodically broadcasting vehicle motion attribute information, such as attribute information of speed, self-position, and vehicle path planning information. The route planning information of the vehicle includes a starting point, an end point, a driving route, and the like of the vehicle, such as route information planned in navigation software.

The roadside communication terminal is a C-V2X roadside communication terminal, namely an RSU (Road Side Unit). The roadside communication terminals are arranged corresponding to signal lamp intersections in the region, vehicle motion attribute information broadcasted by vehicle-mounted communication terminals in the region can be acquired through the established converged data communication network, traffic flow information interaction among the roadside communication terminals is realized, and the local roadside communication terminals analyze and process interaction data in real time.

In the specific implementation process, when the roadside communication terminals are arranged, when the distance between adjacent signal lamp intersections exceeds the communication range of the roadside communication terminals, the roadside communication terminals can be additionally arranged on the road section at the middle position, so that effective V2X communication links with vector relation can be established among the roadside communication terminals at all the intersections.

As shown in fig. 5, in this step, a specific local roadside communication terminal may perform traffic information interaction with other roadside communication terminals in the target area based on the vehicle networking roadside communication network, and determine whether the interaction information includes traffic information of an adjacent signal lamp intersection, if so, acquire the traffic information of the adjacent signal lamp intersection. Wherein, whether the interactive information has the traffic information of the adjacent signal lamp intersection is judged, and the concrete realization process comprises the following steps: acquiring vector information between the other roadside communication terminals and distance information between signal lamp intersections from a preset intersection mutual relation list (namely an intersection mutual relation storage list); and judging whether the interactive information has traffic information of an adjacent signal lamp intersection or not based on the vector information between the other roadside communication terminals and the distance information between the signal lamp intersections. The vehicle networking roadside communication network is a multi-hop ad hoc roadside communication network established based on vehicle networking communication links between roadside communication terminals in a target area. The range of the target area may be determined according to actual conditions, and details are not described herein. As shown in fig. 3, the area range corresponding to the minimum unit road side communication terminal networking between signal light intersections includes a local road side communication terminal 303, and a road side communication terminal 301, a road side communication terminal 302, a road side communication terminal 304, and a road side communication terminal 305 adjacent thereto.

Step 102: and generating a corresponding signal lamp timing strategy according to the traffic flow information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic flow data information of the local signal lamp intersections in all directions. The signal lamp timing strategy is a timing strategy generated corresponding to the local signal lamp intersection.

The adjacent signal lamp intersections and the local signal lamp intersections are in an adjacent relation, and the number of the adjacent signal lamp intersections can be multiple. As shown in fig. 3, the adjacent signal lamp intersections may include a first adjacent signal lamp intersection (the signal lamp intersection is provided with a roadside communication terminal 301 correspondingly), a second adjacent signal lamp intersection (the signal lamp intersection is provided with a roadside communication terminal 302 correspondingly), a third adjacent signal lamp intersection (the signal lamp intersection is provided with a roadside communication terminal 304 correspondingly), and a fourth adjacent signal lamp intersection (the signal lamp intersection is provided with a roadside communication terminal 305 correspondingly). The local signal lamp intersection is adjacent to the first adjacent signal lamp intersection, the second adjacent signal lamp intersection, the third adjacent signal lamp intersection and the fourth adjacent signal lamp intersection. Correspondingly, the roadside communication terminal 301, the roadside communication terminal 302, the roadside communication terminal 304, the roadside communication terminal 305 and the roadside communication terminal 303 (equivalent to the local roadside communication terminal) which are correspondingly arranged at each signal lamp intersection are networked to obtain the vehicle networking roadside communication network.

As shown in fig. 5, in this step, the local roadside communication terminal generates a corresponding signal lamp timing strategy according to the traffic information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections, and the traffic data information of the local signal lamp intersection in each direction, and the specific implementation process includes: acquiring traffic data information of the local signal lamp intersection in each direction from a preset intersection traffic data information list; acquiring distance information between the intersections of the adjacent signal lamps from a preset intersection mutual relation list; extracting traffic information of the adjacent signal lamp intersections in the same direction from the traffic information of the adjacent signal lamp intersections, namely extracting the traffic information of the adjacent signal lamp intersections and the local signal lamp intersections in the same direction from the traffic information of the adjacent signal lamp intersections; and inputting the traffic flow information of the adjacent signal lamp intersections in the same direction and the traffic flow information of the local signal lamp intersections in each direction into a preset signal lamp timing model, and performing comprehensive analysis according to the distance information between the adjacent signal lamp intersections to generate a corresponding signal lamp timing strategy, so that the continuous traffic efficiency is improved according to the traffic flow information of the adjacent signal lamp intersections and the traffic flow information relationship between the upstream and the downstream of the local signal lamp intersections, the optimal integral timing in a target area is realized, and the optimal timing is not only aimed at the own optimal timing of one intersection.

In a specific implementation process, before generating a corresponding signal lamp timing strategy, the intersection mutual relationship list (i.e., intersection mutual relationship storage list) needs to be constructed in advance according to the relative position relationship of roadside communication terminals arranged at a signal lamp intersection, and the intersection mutual relationship list is stored in the corresponding roadside communication terminals, so that corresponding data can be extracted for comprehensive analysis subsequently. The intersection mutual relation list comprises vector information between roadside communication terminals arranged corresponding to signal lamp intersections and distance information between the signal lamp intersections. The vector information between the roadside communication terminals corresponding to each signal lamp intersection is the vector information between the local roadside communication terminal and the roadside communication terminals of other adjacent signal lamp intersections. Wherein the signal light intersection comprises the local signal light intersection and the adjacent signal light intersection.

In addition, as shown in fig. 4, it is necessary to receive vehicle motion attribute information transmitted from the vehicle-mounted communication terminal in advance, determine vehicle lane position data, analyze and process traffic flows in each direction at the intersection based on the vehicle motion attribute information, and determine traffic flow information in each direction at the signal intersection. And storing the traffic information of the signal lamp intersection in each direction into the intersection traffic data information list, and storing the intersection traffic data information list into the corresponding roadside communication terminal, so as to conveniently extract corresponding data for comprehensive analysis.

Step 103: and sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so that the signal lamp of the local signal lamp intersection executes a corresponding display state.

As shown in fig. 2, in this step, the signal light timing strategy refers to a specific signal light timing strategy formed for the traffic conditions of the local signal light intersection in the target area. And sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp crossing by the V2X roadside communication terminal.

In addition, in the embodiment of the invention, a comprehensive signal lamp timing strategy can be formed by a signal lamp timing algorithm self-adaptive timing mode. The comprehensive signal lamp timing strategy can be a signal lamp timing strategy formed according to traffic flow conditions of different signal lamp intersections in the target area, and the comprehensive signal lamp timing strategy is respectively sent to signal lamp controllers of corresponding signal lamp intersections, so that signal lamps of the signal lamp intersections in the area can be cooperatively linked to respectively execute corresponding display states, and the whole traffic passing efficiency in the target area is improved.

In a complete embodiment, firstly, a crossing mutual relation list is established according to the mutual position relation of roadside communication terminals arranged at each signal lamp crossing; the intersection mutual relation list comprises vector information of roadside communication terminals of other intersections adjacent to each roadside communication terminal and distance information between signal lamp intersections, and is stored in each roadside communication terminal system. Then, vehicle motion attribute information such as self position, speed and the like broadcasted to the periphery by the vehicle-mounted communication terminal according to a certain frequency is obtained through the roadside communication terminal; the roadside communication terminal collects vehicle motion attribute information such as self position, speed and the like broadcasted by the vehicle-mounted communication terminal in real time, processes the vehicle motion attribute information to form traffic flow information, and stores the traffic flow information into a crossing traffic flow information list (namely a crossing number-to-vehicle data information storage list) established in the corresponding roadside communication terminal. And finally, interacting traffic flow information in each direction of each adjacent intersection according to a V2X communication link established between each roadside communication terminal, and further processing to form real-time traffic flow information of each intersection in a target area, thereby providing a key basis for self-adaptive timing for a signal lamp timing algorithm, and obtaining a signal lamp timing strategy between each signal lamp intersection by combining comprehensive analysis of distance information between each adjacent intersection. Therefore, a scheme of signal lamp self-adaption collaborative dynamic timing between intersections based on real-time dynamic traffic flow information is formed, and the overall traffic efficiency of the road is improved to the maximum extent.

For an illustration of the application of the signal timing algorithm in each case: when the vehicles in the direction A of the intersection are smaller than the queuing threshold value and the other directions are larger than the preset queuing threshold value, the self-adaptive adjustment of the processing is carried out through a signal lamp timing algorithm, so that the condition that the vehicles pass slowly in other directions or even the vehicles do not exist but need to wait due to overlong green lamp period timing in a small passing direction is avoided; when the vehicles at the intersection are larger than the preset queuing threshold value and the traffic flow at the downstream intersection is smaller than the preset queuing threshold value, the optimal signal lamp timing strategy (namely the timing period) for ensuring that the maximum number of the vehicles at the intersection can continuously pass through the next intersection is obtained by calculating by combining the time threshold value when the vehicles at the intersection reach the next intersection by using a signal lamp timing algorithm, and the continuous traffic capacity among the intersections is improved to the maximum extent; when the traffic flow of the intersection is greater than the preset queuing threshold value and the traffic flow of the downstream intersection is greater than the preset queuing threshold value, the optimal green light timing period is obtained by calculating through a signal light timing algorithm according to the time threshold value of the intersection when the vehicles reach the next intersection and whether the longest queuing between the intersection and the downstream intersection is greater than the tolerance threshold value, the highest-limit passing vehicle number of the intersection is ensured, the passing of the intersection is prevented from being influenced by the overlong queuing caused by the fact that the next intersection cannot pass through while the passing ability of the intersection is improved to the maximum, and the condition that the vehicles are still left between the intersections to wait even if the vehicles are green lights is avoided. It should be noted that when each intersection calculates and analyzes the traffic information in each direction through the signal lamp timing algorithm, the path planning of each vehicle in the traffic information list of the adjacent intersection can be further combined, so that the traffic queuing information prediction can be obtained through more accurate analysis. Wherein, the threshold value can be set according to the actual situation.

According to the technical scheme disclosed by the invention, the accurate data active interaction of traffic flow information is realized by utilizing a C-V2X communication mode, a passive sensing mode is replaced, the dynamic and self-adaptive timing of the traffic lights of multi-intersection linkage with low time delay, high accuracy and high reliability is realized, and the continuous traffic capacity and the traffic efficiency of roads are comprehensively improved. The invention collects and analyzes the self information broadcast by the vehicle-mounted communication terminal of the vehicle in real time through the road-side communication terminal to form the vehicle information in each direction of the intersection, such as position, speed, course and the like, the road-side communication terminal between each signal lamp intersection carries out data interaction and signal lamp timing algorithm processing to form a timing strategy of cooperative linkage of the traffic lights, and the signal lamp controller of each signal lamp intersection receives and executes the corresponding timing strategy, thereby solving the problems of low continuous traffic capacity and low traffic efficiency of the road caused by unreasonable timing of the traffic lights at the intersection.

By adopting the regional road traffic signal lamp collaborative linkage self-adaptive timing method, a multi-hop self-organized cellular vehicle networking roadside communication network is established through vehicle networking communication links between regional roadside communication terminals, and a fused data communication network for real-time and dynamic information acquisition and distribution sharing of road vehicles is established in combination with the communication links between the cellular vehicle networking roadside communication terminals and vehicle-mounted communication terminals, so that the accuracy and timeliness of data acquisition are improved; through carrying out traffic flow information interaction with roadside communication terminal, acquire the traffic flow information at adjacent signal lamp crossing in real time, and carry out the comprehensive analysis and time spent, generate corresponding signal lamp time spent strategy, realize controlling the signal lamp, it can enough realize that the accurate self-adaptation at single crossing is dynamic when time spent, also can realize that accurate multiple intersection is coordinated to be linked in time spent, and the system time delay is low, and stability is high, the reliability is high and with low costs, greatly improves whole communication smooth and easy degree and the current efficiency of road.

Corresponding to the method for the cooperative linkage self-adaptive timing of the regional road traffic signal lamps, the invention also provides a device for the cooperative linkage self-adaptive timing of the regional road traffic signal lamps. Because the embodiment of the device is similar to the embodiment of the method, the description is relatively simple, and the related points can be referred to the description of the embodiment of the method, and the embodiment of the regional road traffic signal lamp cooperative linkage adaptive timing device described below is only schematic. Fig. 6 is a schematic structural diagram of a cooperative linkage adaptive timing device for regional road traffic signal lamps according to an embodiment of the present invention.

The invention relates to a cooperative linkage self-adaptive time distribution device for regional road traffic signal lamps, which specifically comprises the following parts:

the traffic flow information interaction unit 601 is used for performing traffic flow information interaction with roadside communication terminals in a target area based on a vehicle networking roadside communication network to acquire traffic flow information of intersections of adjacent signal lamps;

a signal light timing strategy generating unit 602, configured to generate a corresponding signal light timing strategy according to the traffic information of the adjacent signal light intersections, the distance information between the adjacent signal light intersections, and the traffic data information of the local signal light intersection in each direction; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation;

and a signal lamp timing strategy sending unit 603, configured to send the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection, so that a signal lamp of the local signal lamp intersection executes a corresponding display state.

By adopting the regional road traffic signal lamp collaborative linkage self-adaptive timing device and the regional road traffic signal lamp collaborative linkage self-adaptive timing method, a multi-hop self-organized cellular vehicle networking roadside communication network is established through vehicle networking communication links between regional roadside communication terminals, and a fused data communication network for real-time and dynamic information acquisition and distribution sharing of road vehicles is established in combination with the communication links between the cellular vehicle networking roadside communication terminals and vehicle-mounted communication terminals, so that the accuracy and timeliness of data acquisition are improved; through carrying out traffic flow information interaction with roadside communication terminal, acquire the traffic flow information at adjacent signal lamp crossing in real time, and carry out the comprehensive analysis and time spent, generate corresponding signal lamp time spent strategy, realize controlling the signal lamp, it can enough realize that the accurate self-adaptation at single crossing is dynamic when time spent, also can realize that accurate multiple intersection is coordinated to be linked in time spent, and the system time delay is low, and stability is high, the reliability is high and with low costs, greatly improves whole communication smooth and easy degree and the current efficiency of road.

Corresponding to the provided regional road traffic signal lamp collaborative linkage self-adaptive timing method, the invention also provides electronic equipment. Since the embodiment of the electronic device is similar to the above method embodiment, the description is simple, and please refer to the description of the above method embodiment, and the electronic device described below is only schematic. Fig. 7 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: a processor (processor)701, a memory (memory)702 and a communication bus 703, wherein the processor 701 and the memory 702 communicate with each other through the communication bus 703 and communicate with the outside through a communication interface 704. The processor 701 may invoke logic instructions in the memory 702 to perform a regional road traffic signal coordinated adaptive timing method, the method comprising: performing traffic flow information interaction with roadside communication terminals in a target area based on a vehicle networking roadside communication network to obtain traffic flow information of an adjacent signal lamp intersection; generating a corresponding signal lamp timing strategy according to the traffic flow information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic flow data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation; and sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so that the signal lamp of the local signal lamp intersection executes a corresponding display state.

Furthermore, the logic instructions in the memory 702 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the regional road traffic signal lamp collaborative linkage adaptive timing method provided by the above-mentioned method embodiments, where the method includes: performing traffic flow information interaction with roadside communication terminals in a target area based on a vehicle networking roadside communication network to obtain traffic flow information of an adjacent signal lamp intersection; generating a corresponding signal lamp timing strategy according to the traffic flow information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic flow data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation; and sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so that the signal lamp of the local signal lamp intersection executes a corresponding display state.

In still another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the regional road traffic signal lamp cooperative linkage adaptive timing method provided in the foregoing embodiments, and the method includes: performing traffic flow information interaction with roadside communication terminals in a target area based on a vehicle networking roadside communication network to obtain traffic flow information of an adjacent signal lamp intersection; generating a corresponding signal lamp timing strategy according to the traffic flow information of the adjacent signal lamp intersections, the distance information between the adjacent signal lamp intersections and the traffic flow data information of the local signal lamp intersections in all directions; wherein, the adjacent signal lamp crossing and the local signal lamp crossing are in an adjacent relation; and sending the signal lamp timing strategy to a signal lamp controller of the local signal lamp intersection so that the signal lamp of the local signal lamp intersection executes a corresponding display state.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.