Trunk green wave vehicle-road cooperative control strategy based on straight-going priority

The invention provides a main line green wave vehicle-road cooperative control strategy based on straight-going priority, and the strategy comprises the steps: collecting the left and right turning afflux amount of an upstream intersection and the straight-going retention amount of the current intersection in the previous period through roadside equipment, and calculating the phase difference advance time and phase difference of two adjacent intersections, so as to reduce the travel time of a straight-going traffic flow; the method comprises the following steps: acquiring vehicle arrival data of a green wave straight phase during a green light period through roadside equipment, and then calculating green light prolonging time of the green wave straight phase so as to reduce the vehicle retention amount of a straight traffic flow; and finally, vehicle speed guidance is carried out through roadside equipment, edge computing equipment, OBU equipment and roadside display equipment, so that each steering traffic f