CN110782681A - Traffic indicator light self-adaptive control method, device, terminal and storage medium - Google Patents

Traffic indicator light self-adaptive control method, device, terminal and storage medium Download PDF

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CN110782681A
CN110782681A CN201910859401.5A CN201910859401A CN110782681A CN 110782681 A CN110782681 A CN 110782681A CN 201910859401 A CN201910859401 A CN 201910859401A CN 110782681 A CN110782681 A CN 110782681A
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vehicle
zebra crossing
road
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pedestrian
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CN110782681B (en
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金晨
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Ping An Technology Shenzhen Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a self-adaptive control method of a traffic indicator light, which comprises the following steps: detecting whether pedestrians exist in a waiting area of the zebra crossing and whether vehicles exist in an acquisition area of the branch; when no pedestrian exists and no vehicle exists, the indicating lamp in the passing direction of the trunk road is controlled to be green, and the indicating lamps in the passing direction of the branch road and the zebra crossing are controlled to be red; when a vehicle is detected and the driving direction of the vehicle is recognized as a left turn, controlling the display color and the display time of an indicator lamp in the left traffic direction of the main road; when the pedestrian is detected and recognized to wait for passing the zebra crossing, the display colors and the display time of the indicator lamps in all traffic directions of the intersection are controlled. The invention also provides a traffic indicator light self-adaptive control device, a terminal and a storage medium. The invention can reduce the waiting time of vehicles on the branch and the time of pedestrians waiting for passing the zebra crossing, and improve the traffic safety of pedestrians and driving vehicles.

Description

Traffic indicator light self-adaptive control method, device, terminal and storage medium
Technical Field
The invention relates to the technical field of video monitoring, in particular to a traffic indicator light self-adaptive control method, a device, a terminal and a storage medium.
Background
With the rapid development of economy in China, the number of private cars is increasing, and the phenomena of road congestion and road blockage are becoming more and more serious, wherein the contradiction between pedestrians and driving is the most prominent. At the present stage, pedestrians and traveling vehicles occupy road resources to cause frequent traffic accidents, and the traffic accidents are a great hidden danger of urban road traffic.
At present, a lot of intersections for controlling traffic by traffic lights exist in cities, the control of the traffic lights at the intersections basically does not realize intellectualization, parameters such as the conversion sequence and the conversion time of the traffic lights are all fixedly set by manpower, the dynamic change of pedestrian flow and traffic flow cannot be adapted, and the traffic efficiency is not high; on the other hand, unreasonable traffic signal lamp timing easily causes the vehicle to queue too long, or causes the pedestrian to cross the road and wait for too long, causes the vehicle to pass the crossing by force or the pedestrian to make a hard rush the traffic light, aggravates the right of way dispute of people and vehicles, and has lower safety.
Therefore, if pedestrians and traveling vehicles exist, the traffic lights are dynamically controlled in real time, waiting time of the pedestrians and the traveling vehicles is reduced, road passing safety of the pedestrians and the traveling vehicles is improved, and road congestion is relieved.
Disclosure of Invention
In view of the above, there is a need for an adaptive control method, device, terminal and storage medium for traffic lights, which can reduce the waiting time of vehicles on a branch and the waiting time of pedestrians on a zebra crossing, and improve the traffic safety of pedestrians and traveling vehicles.
A first aspect of the present invention provides a traffic light adaptive control method, the method comprising:
detecting whether pedestrians exist in a waiting area of the zebra crossing and whether vehicles exist in an acquisition area of the detection branch;
when detecting that no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the collection area of the branch road, controlling an indicator lamp in the passing direction of the trunk road to display green, and simultaneously controlling the indicator lamps in the passing direction of the branch road and the zebra crossing to display red;
when a vehicle is detected in the collection area of the branch, identifying the driving direction of the vehicle;
when the driving direction of the vehicle is recognized as a left turn, controlling the display color and the display time of an indicator lamp in the left traffic direction of the main road;
when a pedestrian is detected in the waiting area of the zebra crossing, identifying whether the pedestrian waits for the zebra crossing;
and when the pedestrian is identified to wait for passing the zebra crossing, controlling the display color and the display time of the indicator lamp in each passing direction of the intersection.
In a preferred embodiment, said controlling the display color and the display time of the indicator lamp in the left traffic direction of the trunk road when the traveling direction of the vehicle is recognized as a left turn comprises:
when the driving direction of the vehicle is recognized as a left turn, the step of controlling the indicator lamp on the left traffic direction of the main road to change comprises the following steps:
acquiring display colors and display time of an indicator lamp at a left intersection on the main road;
when the indicator light of the left road junction on the trunk road is a red light and L/V is less than tLG, controlling a green light countdown t1 on the trunk road to be min (L/V, tLRp-1.3L/V); when the indicator light of the left road junction on the main road is a red light and L/V is greater than tLG, controlling a green light countdown t1 on the main road to be min (L/V, tLR1+ 1.3L/V); when the indicator light of the left intersection on the main road is green, controlling the green light countdown t1 on the main road to be tLR2+ 1.3L/V;
where L is a distance from the main road before the vehicle on the branch road turns left to the main road, V is a maximum traveling speed on the branch road, tLG is a time from the red light to the next green light, tLRp is a time from just becoming the red light, tLR1 is a time from becoming the red light next, and tLR2 is a time from the green light to the next red light.
In a preferred embodiment, the method further comprises:
when the driving direction of the vehicle is recognized as a right turn, controlling the display time and the display color of the indicator lamps in each passing direction of the intersection to be unchanged;
and when the driving direction of the vehicle is identified to be straight, the indicator lamps in all the passing directions of the intersection are controlled to change.
In a preferred embodiment, the identifying the traveling direction of the vehicle includes:
identifying the number plate of each vehicle in the acquisition area by adopting a preset vehicle number plate identification algorithm;
tracking vehicles with the same number plate by adopting a preset target tracking algorithm;
acquiring continuous preset number of images from the tracked multi-frame images;
judging whether a turn light flickers in the images of the continuous preset number;
when no turn light flashes, recognizing that the driving direction of the vehicle is straight;
when a turn signal lamp flickers and a left turn signal lamp flickers, recognizing that the driving direction of the vehicle is left turning;
and when the turn signal lamp flickers and the right turn signal lamp flickers, identifying that the driving direction of the vehicle is a right turn.
In a preferred embodiment, the determining whether the turn signal is flashing in a preset number of consecutive images includes:
acquiring a red component in each image;
screening out a target red component which is larger than a preset component threshold value from the red components;
judging whether the areas of the regions corresponding to the target red components in each image are consistent;
when the areas of the regions corresponding to the target red components in each image are consistent, judging whether the positions of the regions corresponding to the target red components in each image relative to the number plate are consistent;
when the positions of the areas corresponding to the target red components in each image are consistent relative to the number plate, determining that the turn lights flicker in the images of the continuous preset number;
when the areas of the regions corresponding to the target red components in each image are not consistent; or when the areas of the regions corresponding to the target red components in each image are consistent, but the positions of the regions corresponding to the target red components relative to the number plate are inconsistent, determining that no turn signal lamp in the images of the continuous preset number of sheets flickers.
In a preferred embodiment, the identifying whether the pedestrian is waiting for the zebra crossing comprises:
calculating the time length of the pedestrian in the waiting area of the zebra crossing;
judging whether the duration is greater than a preset duration threshold value or not;
when the time length is larger than a preset time length threshold value, determining that the pedestrian waits for the zebra crossing;
and when the duration is less than or equal to the preset duration threshold, determining that the pedestrian is not waiting for the zebra crossing.
In a preferred embodiment, the detecting whether there is a pedestrian in the waiting area of the zebra crossing and whether there is a vehicle in the collecting area of the detecting branch comprises:
acquiring a first image in a waiting area of the zebra crossing acquired by preset first image acquisition equipment;
acquiring a second image in an acquisition area of the branch acquired by preset second image acquisition equipment;
detecting the first image and the second image respectively by adopting a target detection algorithm;
when the detection result is that pedestrians exist in the first image, determining that pedestrians exist in the waiting area of the zebra crossing, and when the detection result is that no pedestrians exist in the first image, determining that no pedestrians exist in the waiting area of the zebra crossing;
and when the detection result is that the vehicle is in the second image, determining that the vehicle is in the acquisition area of the branch, and when the detection result is that the vehicle is not in the second image, determining that the vehicle is not in the acquisition area of the branch.
A second aspect of the present invention provides a traffic light adaptive control apparatus, the apparatus comprising:
the detection module is used for detecting whether pedestrians exist in a waiting area of the zebra crossing and whether vehicles exist in an acquisition area of the detection branch;
the control module is used for controlling the indicator light in the passing direction of the trunk road to display green and controlling the indicator light in the passing direction of the branch road and the zebra crossing to display red when detecting that no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the collection area of the branch road;
the identification module is used for identifying the driving direction of the vehicle when the vehicle is detected in the collection area of the branch;
the control module is further used for controlling the display color and the display time of the indicator lamp in the left traffic direction of the main road when the driving direction of the vehicle is recognized as left turning;
the identification module is further used for identifying whether the pedestrian waits for the zebra crossing or not when the pedestrian is detected to be in the waiting area of the zebra crossing;
the control module is also used for controlling the display colors and the display time of the indicating lamps in all passing directions of the intersection when the pedestrian is identified to wait for the zebra crossing.
A third aspect of the invention provides a terminal comprising a processor for implementing the traffic light adaptive control method when executing a computer program stored in a memory.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the traffic light adaptive control method.
In summary, the traffic indicator light self-adaptive control method, device, terminal and storage medium provided by the invention mainly aim at the problems in two scenes, namely, the main road, the zebra crossing, the main road and the branch road, and can reasonably control the display time and the display color of the traffic indicator light according to the detected conditions of pedestrians in the waiting area of the zebra crossing and vehicles in the collection area of the branch road, reduce the waiting time of the vehicles on the branch road or the time for the pedestrians to wait for the zebra crossing, improve the traffic safety of the pedestrians and the vehicles, alleviate the road congestion phenomenon, and have higher safety; secondly, the traffic lights are controlled, and the time delay problem is also considered, so that the condition that the vehicles on the trunk road are emergently braked due to sudden control of traffic light change is avoided; in addition, traffic lights near the intersection are also considered to control the change of the indicator light of the current intersection.
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 described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an adaptive control method for a traffic light according to an embodiment of the present invention.
Fig. 2 is a structural diagram of an adaptive control device for a traffic light according to a second embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a terminal according to a third embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. 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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example one
Fig. 1 is a flowchart of an adaptive control method for a traffic light according to an embodiment of the present invention.
In this embodiment, for a terminal that needs to perform adaptive control on a traffic light, the function of adaptive control on a traffic light provided by the method of the present invention may be directly integrated on the terminal, or may be operated in the terminal in the form of a Software Development Kit (SKD).
As shown in fig. 1, the adaptive control method for traffic lights specifically includes the following steps, and the sequence of the steps in the flowchart can be changed and some steps can be omitted according to different requirements.
And S11, detecting whether pedestrians exist in the waiting area of the zebra crossing and whether vehicles exist in the acquisition area of the detection branch.
In this embodiment, a traffic light control system and an image acquisition device are disposed at an intersection, for example, an intersection or a T-junction. Usually, one of all traffic directions of the intersection is a trunk road, the intersection of the trunk road and the trunk road is a branch road, and in addition, a zebra crossing is further arranged on the trunk road at a position close to the intersection for pedestrians to pass through the trunk road.
The acquisition distance or the acquisition range of the image acquisition device can be preset, and the image of the vehicle or the pedestrian in the passing direction can be acquired only within the preset acquisition distance or the preset acquisition range. An image acquisition device can be correspondingly arranged for the zebra crossing and is used for acquiring the image of the pedestrian in the waiting area of the zebra crossing; an image acquisition device may be correspondingly provided for the branch for acquiring images of vehicles within the acquisition area of the branch.
The waiting area of the zebra crossing is a preset area for pedestrians to wait for passing the zebra crossing, and the acquisition area of the branch is a preset area on the branch for acquiring images of vehicles.
In an optional embodiment, the detecting whether there is a pedestrian in the waiting area of the zebra crossing and whether there is a vehicle in the collecting area of the detecting branch comprises:
acquiring a first image in a waiting area of the zebra crossing acquired by preset first image acquisition equipment;
acquiring a second image in an acquisition area of the branch acquired by preset second image acquisition equipment;
detecting the first image and the second image respectively by adopting a target detection algorithm;
when the detection result is that pedestrians exist in the first image, determining that pedestrians exist in the waiting area of the zebra crossing, and when the detection result is that no pedestrians exist in the first image, determining that no pedestrians exist in the waiting area of the zebra crossing;
and when the detection result is that the vehicle is in the second image, determining that the vehicle is in the acquisition area of the branch, and when the detection result is that the vehicle is not in the second image, determining that the vehicle is not in the acquisition area of the branch.
In this embodiment, a first image capturing device and a second image capturing device may be preset, where the first image capturing device is configured to capture pedestrians in a waiting area of a zebra crossing, and the first image capturing device is configured to capture vehicles in a capturing area of a branch. An image acquired by the first image acquisition device is called a first image, and an image acquired by the second image acquisition device is called a second image.
The target detection algorithm may be a fast multi-target detection algorithm (You Only Look one: Better, Faster, Stronger, YOLO), and may simultaneously detect a plurality of targets in an image, and select a contour region of each target using a rectangular frame. The target detection algorithm is the prior art, and the invention is not described in detail herein. The first image and the second image can be simultaneously detected by adopting a target detection algorithm in a parallel processing mode, so that whether a pedestrian exists in the first image or not and whether a vehicle exists in the second image or not are detected; and further determining whether pedestrians exist in the waiting area of the zebra crossing and vehicles exist in the collection area of the branch.
And S12, when detecting that no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the collection area of the branch road, controlling the indicator light in the passing direction of the trunk road to display green, and simultaneously controlling the indicator light in the passing direction of the branch road and the zebra crossing to display red.
In this embodiment, no pedestrian is in the waiting area of the zebra crossing, which indicates that no pedestrian waits for the zebra crossing. And no vehicle is in the collection area of the branch, which indicates that no vehicle needs to travel from the branch to the main road.
And calling a scene when no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the acquisition area of the branch as an idle scene, and calling a corresponding time period as an idle time period. In idle time section, can control the pilot lamp on the trunk road and show for green light, the pilot lamp on simultaneous control branch road and the zebra crossing shows for the red light, so, has increased the display time of green light on the trunk road in other words, reduces the vehicle on the trunk road and waits for the time of red light to be convenient for vehicle on the trunk road can be smooth and easy current, has alleviated traffic pressure on the trunk road.
And S13, when the vehicle is detected in the collection area of the branch, identifying the driving direction of the vehicle.
Since the intersection does not allow parking, when a vehicle on a branch road travels to the intersection, the vehicle must travel to the main road connected to the branch road. Compared with the main road, the branch road can be called as a secondary road, and when vehicles are arranged on the secondary road, the traffic demand on the secondary road is considered. And if the secondary road has a traffic demand, the indicator lamp on the main road is controlled to change from green to red, and meanwhile, the indicator lamp on the branch road is controlled to change from red to green, so that the vehicles on the main road are forbidden to pass, and the vehicles in the collection area of the branch road are allowed to drive to the main road.
When the vehicles are detected in the collection area of the branch road, the driving direction of the vehicles needs to be identified, and the display time and the display color of the indicator lamps in each passing direction of the intersection are conveniently controlled according to the driving direction.
In an optional embodiment, the identifying the driving direction of the vehicle comprises:
identifying the number plate of each vehicle in the acquisition area by adopting a preset vehicle number plate identification algorithm;
tracking vehicles with the same number plate by adopting a preset target tracking algorithm;
acquiring continuous preset number of images from the tracked multi-frame images;
judging whether a turn light flickers in the images of the continuous preset number;
when no turn light flashes, recognizing that the driving direction of the vehicle is straight;
when a turn signal lamp flickers and a left turn signal lamp flickers, recognizing that the driving direction of the vehicle is left turning;
and when the turn signal lamp flickers and the right turn signal lamp flickers, identifying that the driving direction of the vehicle is a right turn.
In this embodiment, when a plurality of vehicles appear on the branch road, the number plate of each vehicle can be identified by adopting a preset vehicle number plate identification algorithm, and then the vehicles with the same number plate are subjected to target tracking according to a preset target tracking algorithm. Of course, if only one vehicle is detected on the branch road, the number plate of the vehicle does not need to be identified and the vehicle does not need to be tracked, only a plurality of images of the vehicle need to be continuously acquired, and then whether the turn lights flicker or not exists in the continuous plurality of images is judged.
The preset vehicle license plate recognition algorithm and the preset target tracking algorithm are pre-stored algorithms, and are prior art, and the invention is not elaborated herein.
In an optional embodiment, the determining whether there is a turn signal flashing in a preset number of consecutive images includes:
acquiring a red component in each image;
screening out a target red component which is larger than a preset component threshold value from the red components;
judging whether the areas of the regions corresponding to the target red components in each image are consistent;
when the areas of the regions corresponding to the target red components in each image are consistent, judging whether the positions of the regions corresponding to the target red components in each image relative to the number plate are consistent;
when the positions of the areas corresponding to the target red components in each image are consistent relative to the number plate, determining that the turn lights flicker in the images of the continuous preset number;
when the areas of the regions corresponding to the target red components in each image are not consistent; or when the areas of the regions corresponding to the target red components in each image are consistent, but the positions of the regions corresponding to the target red components relative to the number plate are inconsistent, determining that no turn signal lamp in the images of the continuous preset number of sheets flickers.
In this embodiment, since the appearances of different vehicles are different, the relative positions of the turn signals are also different. And because the turn lights of the vehicle are all red, when the turn lights are flickering, more red components are inevitably generated in the pixels in the image. Therefore, whether the turn lights are on or off can be judged by acquiring the red component, and then whether the areas of the areas corresponding to the red component are the same and whether the positions of the areas corresponding to the red component relative to the number plate are consistent or not can be judged to determine whether the turn lights are on or off.
This embodiment can be directed against the vehicle of different outward appearances, and the homoenergetic detects out that whether the indicator is twinkling comparatively accurately, and the rate of accuracy of the traffic direction that the discernment was obtained is higher, can not cause the erroneous judgement. When the red component is larger than a preset component threshold value, the area of the area corresponding to the red component is kept consistent, and the position of the area is left relative to the number plate, the left turn light is indicated to flicker; and when the red component is larger than the preset component threshold value, the area of the area corresponding to the red component is kept consistent, and the position relative to the number plate is right, indicating that the right turn light flickers. Otherwise, it indicates that no turn signal lamp is flashing.
And S14, when the driving direction of the vehicle is recognized as a left turn, controlling the display color and the display time of the indicator lamp in the left traffic direction of the main road.
In this embodiment, if it is recognized that the vehicle on the branch road intends to turn left, the passing direction of the side of the trunk road adjacent to the branch road and the indicator light in the passing direction of the branch road need to be controlled at this time. If the indicator light on the side of the trunk road close to the branch road in the passing direction is suddenly changed from green to red, the vehicle on the side of the trunk road close to the branch road in the passing direction can not be braked to cause traffic safety accidents, and therefore the remaining time displayed by the green light must be controlled when the indicator light on the side of the trunk road close to the branch road in the passing direction is changed, so that the safety of the vehicle is improved.
Specifically, the transformations described in the following table may be referenced.
Figure BDA0002199272960000101
The interval time of the secondary road twice green light is more than t3, wherein the time t1, t2 and t3 are fixed values given in advance.
In an alternative embodiment, when the traveling direction of the vehicle is recognized as a left turn, controlling the display color and the display time of the indicator lamp in the left traffic direction of the trunk road includes:
acquiring display colors and display time of an indicator lamp at a left intersection on the main road;
when the indicator light of the left road junction on the trunk road is a red light and L/V is less than tLG, controlling a green light countdown t1 on the trunk road to be min (L/V, tLRp-1.3L/V); when the indicator light of the left road junction on the main road is a red light and L/V is greater than tLG, controlling a green light countdown t1 on the main road to be min (L/V, tLR1+ 1.3L/V); when the indicator light of the left intersection on the main road is green, controlling the green light countdown t1 on the main road to be tLR2+ 1.3L/V;
where L is a distance from the main road before the vehicle on the branch road turns left to the main road, V is a maximum traveling speed on the branch road, tLG is a time from the red light to the next green light, tLRp is a time from just becoming the red light, tLR1 is a time from becoming the red light next, and tLR2 is a time from the green light to the next red light.
Namely, when the vehicles on the branch road are driven to the main road in advance and turn left, the condition of the traffic lights close to the intersection can be considered for the conversion control of the indicating lights.
In an optional embodiment, the method further comprises:
when the driving direction of the vehicle is recognized as a right turn, controlling the display time and the display color of the indicator lamps in each passing direction of the intersection to be unchanged;
and when the driving direction of the vehicle is identified to be straight, the indicator lamps in all the passing directions of the intersection are controlled to change.
In this embodiment, when the vehicle on the branch road turns right, the driving of other vehicles in each passing direction of the intersection is not affected, that is, the traffic influence is not caused, so that if the vehicle is identified to turn right, the indicator lights in each passing direction of the intersection are not changed, the display color and the display time of the indicator lights in each passing direction of the intersection are controlled to be unchanged, that is, the indicator lights in the passing direction of the trunk road are kept green, and the indicator lights in the passing direction of the branch road are kept red. If the vehicle is identified to be in a straight-going mode, all the indicator lamps in the passing direction of the intersection need to be controlled to be changed, because if only the indicator lamps in one of the main road, the branch road or the zebra crossing are controlled to be changed, and the indicator lamps in other passing directions are not changed, traffic safety accidents can be caused.
S15, when the pedestrian is detected in the waiting area of the zebra crossing, identifying whether the pedestrian waits for the zebra crossing.
Compared with the main road, the zebra crossing can be called as a secondary road, and when pedestrians exist on the secondary road, the traffic demand on the secondary road is considered. And if the traffic demand is on the secondary road, controlling the indicator light on the main road to change from green to red, and simultaneously controlling the indicator light on the secondary road to change from red to green, namely controlling the indicator light on the zebra crossing to change from red to green, thereby forbidding the traffic of the vehicles on the main road and allowing the pedestrians in the waiting area of the zebra crossing to pass through the zebra crossing. And as the pedestrian may just pass through the intersection when arriving at the intersection, but does not have the intention of passing through the zebra crossing, if the pedestrian is detected in the waiting area of the zebra crossing, the pedestrian is determined to wait for the zebra crossing and obviously does not accord with the actual scene, so that the pedestrian needs to be identified to determine whether the pedestrian waits for the zebra crossing.
In an optional embodiment, the identifying whether the pedestrian is waiting for the zebra crossing comprises:
calculating the time length of the pedestrian in the waiting area of the zebra crossing;
judging whether the duration is greater than a preset duration threshold value or not;
when the time length is larger than a preset time length threshold value, determining that the pedestrian waits for the zebra crossing;
and when the duration is less than or equal to the preset duration threshold, determining that the pedestrian is not waiting for the zebra crossing.
In this embodiment, the first image acquisition device acquires pedestrians in the waiting area of the zebra crossing in real time, records the time length of the acquired pedestrians, and determines whether the pedestrians wait for the zebra crossing by comparing the size relationship between the time length and a preset time length threshold.
The pedestrian is specified to wait for passing the zebra crossing in the waiting area of the zebra crossing, so that the accuracy of identifying whether the pedestrian passes the zebra crossing is improved, and the pedestrian can be specified to wait in the specified waiting area when passing the zebra crossing.
Further, when the pedestrian is determined to wait for the zebra crossing and the indicator light in the zebra crossing traffic direction is a green light, and the pedestrian is detected to be still in the waiting area of the zebra crossing, prompt information is output. The prompt information is used for prompting the pedestrian to cross the zebra crossing or prompting the pedestrian not to stay in the waiting area of the zebra crossing all the time.
And S16, when the pedestrian is identified to wait for the zebra crossing, controlling the display color and the display time of the indicator lamp in each passing direction of the intersection.
In this embodiment, if it is identified that the pedestrian waits for passing the zebra crossing, the indicator lights in all traffic directions at the intersection need to be controlled to be changed, because if only the indicator light in one traffic direction of the main road, the branch road or the zebra crossing is controlled to be changed, the indicator lights in other traffic directions are not changed, and traffic safety accidents are easily caused.
Specifically, the process of performing the conversion control on the indicator lights in each passing direction of the intersection is shown in the table, and is not described in detail herein.
It should be noted that, in real life, the indicator lights in each passing direction of the intersection are all related, for example, the indicator lights in the north and south passing directions are green lights, and the indicator lights in the east and west passing directions are necessarily red lights; similarly, the indicator light in the north-south traffic direction is a red light, and the indicator light in the east-west traffic direction is a green light necessarily. Therefore, according to the idea of the present invention, the speed of the change of the indicator number of the indicator lamp of each color can be adaptively controlled.
In conclusion, the traffic indicator light self-adaptive control method provided by the invention mainly aims at the problems of a main road, a zebra crossing, a main road and a branch road under two scenes, can reasonably control the display time and the display color of a traffic signal light according to the detected conditions of pedestrians in the waiting area of the zebra crossing and vehicles in the collection area of the branch road, reduces the waiting time of the vehicles on the branch road or the time for the pedestrians to wait for the zebra crossing, improves the traffic safety of the pedestrians and the vehicles, relieves the road congestion phenomenon, and has higher safety; secondly, the traffic lights are controlled, and the time delay problem is also considered, so that the condition that the vehicles on the trunk road are emergently braked due to sudden control of traffic light change is avoided; in addition, traffic lights near the intersection are also considered to control the change of the indicator light of the current intersection.
Example two
Fig. 2 is a structural diagram of an adaptive control device for a traffic light according to a second embodiment of the present invention.
In some embodiments, the traffic light adaptive control apparatus 20 may include a plurality of functional modules comprised of program code segments. The program code of the various program segments in the traffic light adaptive control apparatus 20 may be stored in a memory of the terminal and executed by at least one processor to perform (see detailed description of fig. 1) adaptive control of the traffic light.
In this embodiment, the traffic light adaptive control device 20 may be divided into a plurality of functional modules according to the functions performed by the traffic light adaptive control device. The functional module may include: the device comprises a detection module 201, a control module 202, an identification module 203 and a prompt module 204. The module referred to herein is a series of computer program segments capable of being executed by at least one processor and capable of performing a fixed function and is stored in memory. In the present embodiment, the functions of the modules will be described in detail in the following embodiments.
The detection module 201 is configured to detect whether there is a pedestrian in a waiting area of the zebra crossing and whether there is a vehicle in an acquisition area of the detection branch.
In this embodiment, a traffic light control system and an image acquisition device are disposed at an intersection, for example, an intersection or a T-junction. Usually, one of all traffic directions of the intersection is a trunk road, the intersection of the trunk road and the trunk road is a branch road, and in addition, a zebra crossing is further arranged on the trunk road at a position close to the intersection for pedestrians to pass through the trunk road.
The acquisition distance or the acquisition range of the image acquisition device can be preset, and the image of the vehicle or the pedestrian in the passing direction can be acquired only within the preset acquisition distance or the preset acquisition range. An image acquisition device can be correspondingly arranged for the zebra crossing and is used for acquiring the image of the pedestrian in the waiting area of the zebra crossing; an image acquisition device may be correspondingly provided for the branch for acquiring images of vehicles within the acquisition area of the branch.
The waiting area of the zebra crossing is a preset area for pedestrians to wait for passing the zebra crossing, and the acquisition area of the branch is a preset area on the branch for acquiring images of vehicles.
In an optional embodiment, the detecting module 201 for detecting whether there is a pedestrian in the waiting area of the zebra crossing and whether there is a vehicle in the collecting area of the detecting branch includes:
acquiring a first image in a waiting area of the zebra crossing acquired by preset first image acquisition equipment;
acquiring a second image in an acquisition area of the branch acquired by preset second image acquisition equipment;
detecting the first image and the second image respectively by adopting a target detection algorithm;
when the detection result is that pedestrians exist in the first image, determining that pedestrians exist in the waiting area of the zebra crossing, and when the detection result is that no pedestrians exist in the first image, determining that no pedestrians exist in the waiting area of the zebra crossing;
and when the detection result is that the vehicle is in the second image, determining that the vehicle is in the acquisition area of the branch, and when the detection result is that the vehicle is not in the second image, determining that the vehicle is not in the acquisition area of the branch.
In this embodiment, a first image capturing device and a second image capturing device may be preset, where the first image capturing device is configured to capture pedestrians in a waiting area of a zebra crossing, and the first image capturing device is configured to capture vehicles in a capturing area of a branch. An image acquired by the first image acquisition device is called a first image, and an image acquired by the second image acquisition device is called a second image.
The target detection algorithm may be a fast multi-target detection algorithm (You Only Look one: Better, Faster, Stronger, YOLO), and may simultaneously detect a plurality of targets in an image, and select a contour region of each target using a rectangular frame. The target detection algorithm is the prior art, and the invention is not described in detail herein. The first image and the second image can be simultaneously detected by adopting a target detection algorithm in a parallel processing mode, so that whether a pedestrian exists in the first image or not and whether a vehicle exists in the second image or not are detected; and further determining whether pedestrians exist in the waiting area of the zebra crossing and vehicles exist in the collection area of the branch.
The control module 202 is configured to control an indicator light in a passing direction of a trunk road to display green when it is detected that no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the collection area of the branch road, and control the indicator light in the passing direction of the branch road and the zebra crossing to display red.
In this embodiment, no pedestrian is in the waiting area of the zebra crossing, which indicates that no pedestrian waits for the zebra crossing. And no vehicle is in the collection area of the branch, which indicates that no vehicle needs to travel from the branch to the main road.
And calling a scene when no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the acquisition area of the branch as an idle scene, and calling a corresponding time period as an idle time period. In idle time section, can control the pilot lamp on the trunk road and show for green light, the pilot lamp on simultaneous control branch road and the zebra crossing shows for the red light, so, has increased the display time of green light on the trunk road in other words, reduces the vehicle on the trunk road and waits for the time of red light to be convenient for vehicle on the trunk road can be smooth and easy current, has alleviated traffic pressure on the trunk road.
The identification module 203 is used for identifying the driving direction of the vehicle when the vehicle is detected in the collection area of the branch.
Since the intersection does not allow parking, when a vehicle on a branch road travels to the intersection, the vehicle must travel to the main road connected to the branch road. Compared with the main road, the branch road can be called as a secondary road, and when vehicles are arranged on the secondary road, the traffic demand on the secondary road is considered. And if the secondary road has a traffic demand, the indicator lamp on the main road is controlled to change from green to red, and meanwhile, the indicator lamp on the branch road is controlled to change from red to green, so that the vehicles on the main road are forbidden to pass, and the vehicles in the collection area of the branch road are allowed to drive to the main road.
When the vehicles are detected in the collection area of the branch road, the driving direction of the vehicles needs to be identified, and the display time and the display color of the indicator lamps in each passing direction of the intersection are conveniently controlled according to the driving direction.
In an alternative embodiment, the identifying module 203 identifies the driving direction of the vehicle includes:
identifying the number plate of each vehicle in the acquisition area by adopting a preset vehicle number plate identification algorithm;
tracking vehicles with the same number plate by adopting a preset target tracking algorithm;
acquiring continuous preset number of images from the tracked multi-frame images;
judging whether a turn light flickers in the images of the continuous preset number;
when no turn light flashes, recognizing that the driving direction of the vehicle is straight;
when a turn signal lamp flickers and a left turn signal lamp flickers, recognizing that the driving direction of the vehicle is left turning;
and when the turn signal lamp flickers and the right turn signal lamp flickers, identifying that the driving direction of the vehicle is a right turn.
In this embodiment, when a plurality of vehicles appear on the branch road, the number plate of each vehicle can be identified by adopting a preset vehicle number plate identification algorithm, and then the vehicles with the same number plate are subjected to target tracking according to a preset target tracking algorithm. Of course, if only one vehicle is detected on the branch road, the number plate of the vehicle does not need to be identified and the vehicle does not need to be tracked, only a plurality of images of the vehicle need to be continuously acquired, and then whether the turn lights flicker or not exists in the continuous plurality of images is judged.
The preset vehicle license plate recognition algorithm and the preset target tracking algorithm are pre-stored algorithms, and are prior art, and the invention is not elaborated herein.
In an optional embodiment, the determining whether there is a turn signal flashing in a preset number of consecutive images includes:
acquiring a red component in each image;
screening out a target red component which is larger than a preset component threshold value from the red components;
judging whether the areas of the regions corresponding to the target red components in each image are consistent;
when the areas of the regions corresponding to the target red components in each image are consistent, judging whether the positions of the regions corresponding to the target red components in each image relative to the number plate are consistent;
when the positions of the areas corresponding to the target red components in each image are consistent relative to the number plate, determining that the turn lights flicker in the images of the continuous preset number;
when the areas of the regions corresponding to the target red components in each image are not consistent; or when the areas of the regions corresponding to the target red components in each image are consistent, but the positions of the regions corresponding to the target red components relative to the number plate are inconsistent, determining that no turn signal lamp in the images of the continuous preset number of sheets flickers.
In this embodiment, since the appearances of different vehicles are different, the relative positions of the turn signals are also different. And because the turn lights of the vehicle are all red, when the turn lights are flickering, more red components are inevitably generated in the pixels in the image. Therefore, whether the turn lights are on or off can be judged by acquiring the red component, and then whether the areas of the areas corresponding to the red component are the same and whether the positions of the areas corresponding to the red component relative to the number plate are consistent or not can be judged to determine whether the turn lights are on or off.
This embodiment can be directed against the vehicle of different outward appearances, and the homoenergetic detects out that whether the indicator is twinkling comparatively accurately, and the rate of accuracy of the traffic direction that the discernment was obtained is higher, can not cause the erroneous judgement. When the red component is larger than a preset component threshold value, the area of the area corresponding to the red component is kept consistent, and the position of the area is left relative to the number plate, the left turn light is indicated to flicker; and when the red component is larger than the preset component threshold value, the area of the area corresponding to the red component is kept consistent, and the position relative to the number plate is right, indicating that the right turn light flickers. Otherwise, it indicates that no turn signal lamp is flashing.
The control module 202 is used for controlling the display color and the display time of the indicator lamp in the left traffic direction of the trunk road when the driving direction of the vehicle is recognized to be left turning.
In this embodiment, if it is recognized that the vehicle on the branch road intends to turn left, the passing direction of the side of the trunk road adjacent to the branch road and the indicator light in the passing direction of the branch road need to be controlled at this time. If the indicator light on the side of the trunk road close to the branch road in the passing direction is suddenly changed from green to red, the vehicle on the side of the trunk road close to the branch road in the passing direction can not be braked to cause traffic safety accidents, and therefore the remaining time displayed by the green light must be controlled when the indicator light on the side of the trunk road close to the branch road in the passing direction is changed, so that the safety of the vehicle is improved.
Specifically, the transformations described in the following table may be referenced.
The interval time of the secondary road twice green light is more than t3, wherein the time t1, t2 and t3 are fixed values given in advance.
In an alternative embodiment, when the driving direction of the vehicle is a left turn, the control module 202 controls the display color and the display time of the indicator light in the left traffic direction of the trunk road to include:
acquiring display colors and display time of an indicator lamp at a left intersection on the main road;
when the indicator light of the left road junction on the trunk road is a red light and L/V is less than tLG, controlling a green light countdown t1 on the trunk road to be min (L/V, tLRp-1.3L/V); when the indicator light of the left road junction on the main road is a red light and L/V is greater than tLG, controlling a green light countdown t1 on the main road to be min (L/V, tLR1+ 1.3L/V); when the indicator light of the left intersection on the main road is green, controlling the green light countdown t1 on the main road to be tLR2+ 1.3L/V;
where L is a distance from the main road before the vehicle on the branch road turns left to the main road, V is a maximum traveling speed on the branch road, tLG is a time from the red light to the next green light, tLRp is a time from just becoming the red light, tLR1 is a time from becoming the red light next, and tLR2 is a time from the green light to the next red light.
Namely, when the vehicles on the branch road are driven to the main road in advance and turn left, the condition of the traffic lights close to the intersection can be considered for the conversion control of the indicating lights.
In an alternative embodiment, the control module 202 is further configured to:
when the driving direction of the vehicle is recognized as a right turn, controlling the display time and the display color of the indicator lamps in each passing direction of the intersection to be unchanged;
and when the driving direction of the vehicle is identified to be straight, the indicator lamps in all the passing directions of the intersection are controlled to change.
In this embodiment, when the vehicle on the branch road turns right, the driving of other vehicles in each passing direction of the intersection is not affected, that is, the traffic influence is not caused, so that if the vehicle is identified to turn right, the indicator lights in each passing direction of the intersection are not changed, the display color and the display time of the indicator lights in each passing direction of the intersection are controlled to be unchanged, that is, the indicator lights in the passing direction of the trunk road are kept green, and the indicator lights in the passing direction of the branch road are kept red. If the driving direction of the vehicle is identified to be straight, all the indicator lights in the passing direction of the intersection need to be controlled to be changed, because if only the indicator light in one passing direction of the main road, the branch road or the zebra crossing is controlled to be changed, and the indicator lights in other passing directions are not changed, traffic safety accidents can be caused.
The identifying module 203 is further configured to identify whether the pedestrian waits for the zebra crossing when the pedestrian is detected in the waiting area of the zebra crossing.
Compared with the main road, the zebra crossing can be called as a secondary road, and when pedestrians exist on the secondary road, the traffic demand on the secondary road is considered. And if the traffic demand is on the secondary road, controlling the indicator light on the main road to change from green to red, and simultaneously controlling the indicator light on the secondary road to change from red to green, namely controlling the indicator light on the zebra crossing to change from red to green, thereby forbidding the traffic of the vehicles on the main road and allowing the pedestrians in the waiting area of the zebra crossing to pass through the zebra crossing. And as the pedestrian may just pass through the intersection when arriving at the intersection, but does not have the intention of passing through the zebra crossing, if the pedestrian is detected in the waiting area of the zebra crossing, the pedestrian is determined to wait for the zebra crossing and obviously does not accord with the actual scene, so that the pedestrian needs to be identified to determine whether the pedestrian waits for the zebra crossing.
In an alternative embodiment, the identifying module 203 identifying whether the pedestrian is waiting for the zebra crossing comprises:
calculating the time length of the pedestrian in the waiting area of the zebra crossing;
judging whether the duration is greater than a preset duration threshold value or not;
when the time length is larger than a preset time length threshold value, determining that the pedestrian waits for the zebra crossing;
and when the duration is less than or equal to the preset duration threshold, determining that the pedestrian is not waiting for the zebra crossing.
In this embodiment, the first image acquisition device acquires pedestrians in the waiting area of the zebra crossing in real time, records the time length of the acquired pedestrians, and determines whether the pedestrians wait for the zebra crossing by comparing the size relationship between the time length and a preset time length threshold.
The pedestrian is specified to wait for passing the zebra crossing in the waiting area of the zebra crossing, so that the accuracy of identifying whether the pedestrian passes the zebra crossing is improved, and the pedestrian can be specified to wait in the specified waiting area when passing the zebra crossing.
And the prompting module 204 is used for outputting prompting information when it is determined that the pedestrian waits for the zebra crossing and the indicator light in the zebra crossing traffic direction is a green light and the pedestrian is detected to be still in the waiting area of the zebra crossing.
The prompt information is used for prompting the pedestrian to cross the zebra crossing or prompting the pedestrian not to stay in the waiting area of the zebra crossing all the time.
The control module 202 is further configured to control the display color and the display time of the indicator lights in each passing direction of the intersection when the pedestrian is identified to wait for the zebra crossing.
In this embodiment, if it is identified that the pedestrian waits for passing the zebra crossing, the indicator lights in all traffic directions at the intersection need to be controlled to be changed, because if only the indicator light in one traffic direction of the main road, the branch road or the zebra crossing is controlled to be changed, the indicator lights in other traffic directions are not changed, and traffic safety accidents are easily caused.
Specifically, the process of performing the conversion control on the indicator lights in each passing direction of the intersection is shown in the table, and is not described in detail herein.
It should be noted that, in real life, the indicator lights in each passing direction of the intersection are all related, for example, the indicator lights in the north and south passing directions are green lights, and the indicator lights in the east and west passing directions are necessarily red lights; similarly, the indicator light in the north-south traffic direction is a red light, and the indicator light in the east-west traffic direction is a green light necessarily. Therefore, according to the idea of the present invention, the speed of the change of the indicator number of the indicator lamp of each color can be adaptively controlled.
In summary, the traffic indicator light self-adaptive control device provided by the invention mainly aims at the problems of the main road, the zebra crossing, the main road and the branch road in two scenes, can reasonably control the display time and the display color of the traffic signal light according to the detected conditions of pedestrians in the waiting area of the zebra crossing and vehicles in the collection area of the branch road, reduces the waiting time of the vehicles on the branch road or the time for the pedestrians to wait for the zebra crossing, improves the traffic safety of the pedestrians and the traveling vehicles, relieves the road congestion phenomenon, and has higher safety; secondly, the traffic lights are controlled, and the time delay problem is also considered, so that the condition that the vehicles on the trunk road are emergently braked due to sudden control of traffic light change is avoided; in addition, traffic lights near the intersection are also considered to control the change of the indicator light of the current intersection.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a terminal according to a third embodiment of the present invention. In the preferred embodiment of the present invention, the terminal 3 includes a memory 31, at least one processor 32, at least one communication bus 33, and a transceiver 34.
It will be appreciated by those skilled in the art that the configuration of the terminal shown in fig. 3 is not limiting to the embodiments of the present invention, and may be a bus-type configuration or a star-type configuration, and the terminal 3 may include more or less hardware or software than those shown, or a different arrangement of components.
In some embodiments, the terminal 3 includes a terminal capable of automatically performing numerical calculation and/or information processing according to preset or stored instructions, and the hardware includes but is not limited to a microprocessor, an application specific integrated circuit, a programmable gate array, a digital processor, an embedded device, and the like. The terminal 3 may further include a client device, which includes, but is not limited to, any electronic product capable of performing human-computer interaction with a client through a keyboard, a mouse, a remote controller, a touch panel, or a voice control device, for example, a personal computer, a tablet computer, a smart phone, a digital camera, and the like.
It should be noted that the terminal 3 is only an example, and other existing or future electronic products, such as those that can be adapted to the present invention, should also be included in the scope of the present invention, and are included herein by reference.
In some embodiments, the memory 31 is used for storing program codes and various data, such as devices installed in the terminal 3, and realizes high-speed and automatic access to programs or data during the operation of the terminal 3. The Memory 31 includes a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an electronically Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory (EEPROM)), an optical Read-Only disk (CD-ROM) or other optical disk Memory, a magnetic disk Memory, a tape Memory, or any other medium that can be used to carry or store data.
In some embodiments, the at least one processor 32 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same or different functions, including one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The at least one processor 32 is a Control Unit (Control Unit) of the terminal 3, connects various components of the entire terminal 3 using various interfaces and lines, and executes various functions of the terminal 3 and processes data by running or executing programs or modules stored in the memory 31 and calling data stored in the memory 31.
In some embodiments, the at least one communication bus 33 is arranged to enable connection communication between the memory 31 and the at least one processor 32 or the like.
Although not shown, the terminal 3 may further include a power supply (such as a battery) for supplying power to various components, and preferably, the power supply may be logically connected to the at least one processor 32 through a power management device, so as to implement functions of managing charging, discharging, and power consumption through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The terminal 3 may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The integrated unit implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a terminal, or a network device) or a processor (processor) to execute parts of the methods according to the embodiments of the present invention.
In a further embodiment, in conjunction with fig. 2, the at least one processor 32 may execute operating means of the terminal 3 as well as installed various types of applications, program codes, etc., such as the various modules described above.
The memory 31 has program code stored therein, and the at least one processor 32 can call the program code stored in the memory 31 to perform related functions. For example, the respective modules illustrated in fig. 2 are program codes stored in the memory 31 and executed by the at least one processor 32, thereby implementing the functions of the respective modules.
In one embodiment of the invention, the memory 31 stores a plurality of instructions that are executed by the at least one processor 32 to implement all or a portion of the steps of the method of the invention.
Specifically, the at least one processor 32 may refer to the description of the relevant steps in the embodiment corresponding to fig. 1, and details are not repeated here.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules 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.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or that the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. A method for adaptive control of a traffic light, the method comprising:
detecting whether pedestrians exist in a waiting area of the zebra crossing and whether vehicles exist in an acquisition area of the detection branch;
when detecting that no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the collection area of the branch road, controlling an indicator lamp in the passing direction of the trunk road to display green, and simultaneously controlling the indicator lamps in the passing direction of the branch road and the zebra crossing to display red;
when a vehicle is detected in the collection area of the branch, identifying the driving direction of the vehicle;
when the driving direction of the vehicle is recognized as a left turn, controlling the display color and the display time of an indicator lamp in the left traffic direction of the main road;
when a pedestrian is detected in the waiting area of the zebra crossing, identifying whether the pedestrian waits for the zebra crossing;
and when the pedestrian is identified to wait for passing the zebra crossing, controlling the display color and the display time of the indicator lamp in each passing direction of the intersection.
2. The method of claim 1, wherein when the travel direction of the vehicle is identified as a left turn, controlling the display color and the display time of the indicator light in the left traffic direction of the trunk road comprises:
when the driving direction of the vehicle is recognized as a left turn, the step of controlling the indicator lamp on the left traffic direction of the main road to change comprises the following steps:
acquiring display colors and display time of an indicator lamp at a left intersection on the main road;
when the indicator light of the left road junction on the trunk road is a red light and L/V is less than tLG, controlling a green light countdown t1 on the trunk road to be min (L/V, tLRp-1.3L/V); when the indicator light of the left road junction on the main road is a red light and L/V is greater than tLG, controlling a green light countdown t1 on the main road to be min (L/V, tLR1+ 1.3L/V); when the indicator light of the left intersection on the main road is green, controlling the green light countdown t1 on the main road to be tLR2+ 1.3L/V;
where L is a distance from the main road before the vehicle on the branch road turns left to the main road, V is a maximum traveling speed on the branch road, tLG is a time from the red light to the next green light, tLRp is a time from just becoming the red light, tLR1 is a time from becoming the red light next, and tLR2 is a time from the green light to the next red light.
3. The method of claim 1, wherein the method further comprises:
when the driving direction of the vehicle is recognized as a right turn, controlling the display time and the display color of the indicator lamps in each passing direction of the intersection to be unchanged;
and when the driving direction of the vehicle is identified to be straight, the indicator lamps in all the passing directions of the intersection are controlled to change.
4. The method of any one of claims 1 to 3, wherein the identifying the direction of travel of the vehicle comprises:
identifying the number plate of each vehicle in the acquisition area by adopting a preset vehicle number plate identification algorithm;
tracking vehicles with the same number plate by adopting a preset target tracking algorithm;
acquiring continuous preset number of images from the tracked multi-frame images;
judging whether a turn light flickers in the images of the continuous preset number;
when no turn light flashes, recognizing that the driving direction of the vehicle is straight;
when a turn signal lamp flickers and a left turn signal lamp flickers, recognizing that the driving direction of the vehicle is left turning;
and when the turn signal lamp flickers and the right turn signal lamp flickers, identifying that the driving direction of the vehicle is a right turn.
5. The method of claim 4, wherein the determining whether the turn signal is flashing in a predetermined number of consecutive images comprises:
acquiring a red component in each image;
screening out a target red component which is larger than a preset component threshold value from the red components;
judging whether the areas of the regions corresponding to the target red components in each image are consistent;
when the areas of the regions corresponding to the target red components in each image are consistent, judging whether the positions of the regions corresponding to the target red components in each image relative to the number plate are consistent;
when the positions of the areas corresponding to the target red components in each image are consistent relative to the number plate, determining that the turn lights flicker in the images of the continuous preset number;
when the areas of the regions corresponding to the target red components in each image are not consistent; or when the areas of the regions corresponding to the target red components in each image are consistent, but the positions of the regions corresponding to the target red components relative to the number plate are inconsistent, determining that no turn signal lamp in the images of the continuous preset number of sheets flickers.
6. The method of any one of claims 1 to 3, wherein the identifying whether the pedestrian is waiting past the zebra crossing comprises:
calculating the time length of the pedestrian in the waiting area of the zebra crossing;
judging whether the duration is greater than a preset duration threshold value or not;
when the time length is larger than a preset time length threshold value, determining that the pedestrian waits for the zebra crossing;
and when the duration is less than or equal to the preset duration threshold, determining that the pedestrian is not waiting for the zebra crossing.
7. The method of any one of claims 1 to 3, wherein said detecting whether there is a pedestrian in the waiting area of the zebra crossing and whether there is a vehicle in the collection area of the branch comprises:
acquiring a first image in a waiting area of the zebra crossing acquired by preset first image acquisition equipment;
acquiring a second image in an acquisition area of the branch acquired by preset second image acquisition equipment;
detecting the first image and the second image respectively by adopting a target detection algorithm;
when the detection result is that pedestrians exist in the first image, determining that pedestrians exist in the waiting area of the zebra crossing, and when the detection result is that no pedestrians exist in the first image, determining that no pedestrians exist in the waiting area of the zebra crossing;
and when the detection result is that the vehicle is in the second image, determining that the vehicle is in the acquisition area of the branch, and when the detection result is that the vehicle is not in the second image, determining that the vehicle is not in the acquisition area of the branch.
8. An adaptive control apparatus for a traffic light, the apparatus comprising:
the detection module is used for detecting whether pedestrians exist in a waiting area of the zebra crossing and whether vehicles exist in an acquisition area of the detection branch;
the control module is used for controlling the indicator light in the passing direction of the trunk road to display green and controlling the indicator light in the passing direction of the branch road and the zebra crossing to display red when detecting that no pedestrian exists in the waiting area of the zebra crossing and no vehicle exists in the collection area of the branch road;
the identification module is used for identifying the driving direction of the vehicle when the vehicle is detected in the collection area of the branch;
the control module is further used for controlling the display color and the display time of the indicator lamp in the left traffic direction of the main road when the driving direction of the vehicle is recognized as left turning;
the identification module is further used for identifying whether the pedestrian waits for the zebra crossing or not when the pedestrian is detected to be in the waiting area of the zebra crossing;
the control module is also used for controlling the display colors and the display time of the indicating lamps in all passing directions of the intersection when the pedestrian is identified to wait for the zebra crossing.
9. A terminal, characterized in that the terminal comprises a processor for implementing the traffic light adaptive control method according to any one of claims 1 to 7 when executing a computer program stored in a memory.
10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the adaptive control method for traffic lights according to any one of claims 1 to 7.
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