CN104680814B - A kind of crossing steady yellow safe driving control method based on wireless technology - Google Patents
A kind of crossing steady yellow safe driving control method based on wireless technology Download PDFInfo
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Abstract
The invention discloses a kind of crossing steady yellow safe driving control method based on wireless technology, comprise the steps：Step 1, detect each vehicle present speed v and to stop line apart from S(v)；Step 2, the data of collection is sent in center-controlling computer data base；Step 3, calculate each vehicle required separation distance S when vehicle stops completely under current vehicle speed v；Step 4, according to S and S(v)Comparative result generate command adapted thereto；Step 5, adjustment yellow time step 6, transmitting command adapted thereto are to the car-mounted terminal corresponding to vehicle or mobile phone terminal；Step 7, described car-mounted terminal or mobile phone terminal are reported after receiving instruction and are driven prompting.The present invention is using intelligent active warning technology, there is provided in good time, accurate, enough induction informations for driver, can realize safe efficient current when amber light is bright to be opened, give full play to quick, comfortable, the safe efficiency of road, can be to be applicable in car networking afterwards.
Description
Technical field
The present invention relates to radio communication and traffic signalization technology, more particularly to a kind of based on wireless technology towards
Crossing steady yellow safe driving control method.
Background technology
《People's Republic of China's law on road traffic safety implementing regulations》Steady yellow is specified, controls in signal and intersect
Mouthful, " when amber light is bright, the vehicle having passed past stop line can continue to pass through." meaning when to be that amber light is bright open, represents the logical of the direction
Row power closes to an end, and red light will open bright.Steady yellow is the alarm signal that intersection right-of-way is substituted, in intersection signal
A kind of transitional control paces are belonged in control program.Its purpose is to guarantee safely to switch from a signal phase
To another signal phase, enable driving vehicle safety arrestment after stop line farther out apart from stop line, and ensure distance
The nearer driving vehicle of stop line can pass through crossing, to reach the purpose of " warning ramp to stop ".
Analyzed by the above effect to steady yellow and purpose it has been found that being not tight to the regulation of amber light in regulation
Careful, in addition to " vehicle having passed past stop line can continue to pass through ", also should include not crossing stop line but cannot be
The vehicle of safety arrestment after stop line.Do not expressly state otherwise in this point regulation, this leads to the use of amber light all the time
It is problematic in that, many people contain " finally quickly through " this kind of meaning to the understanding of amber light, or even should be warning script
The amber light of lamp, as " accelerating advance notice lamp ", does not only slow down when relatively seeing that amber light is bright at a distance apart from stop line and adds on the contrary
Speed！Exactly described " going through stop light " behavior, often results in pernicious vehicle accident, or passes through, to urban highway traffic in impact crossing
Safety causes very big hidden danger.There are some researches show, in the vehicle accident occurring on China's urban road, have more than 60% to occur handing over
Prong, and the statistical data of traffic control department shows that " going through stop light " is to cause one of main cause of intersection traffic accidents.Existing pin
The regulation of steady yellow vehicle pass-through is not considered vehicle travel to away from stop line nearer when, the unexpected saltus step of signal lighties becomes amber light
Bright, then cannot safety arrestment after stop line, be unscientific, be also inadequate hommization.
Therefore, it is necessary to design a kind of safe driving control method towards crossing steady yellow, induction vehicle is in Huang
Lamp opens bright moment safety arrestment or speed limit passes through crossing, improves the travel safety of crossing.
Content of the invention
Present invention aim to overcome that the shortcoming and defect that existing steady yellow vehicle pass-through specifies, provide a kind of being based on no
Line technology towards crossing steady yellow safe driving control method.
The purpose of the present invention is achieved through the following technical solutions：
A kind of crossing steady yellow safe driving control method based on wireless technology, comprises the steps：
Step 1, in signalized crossing, when letting pass at the end of corresponding green time with certain entrance driveway vehicle, pass through
Detection means detect amber light open each vehicle present speed v in bright moment crossing inlet road detection zone and to stop line away from
From S(v)；
Step 2, the data of collection is sent to center-controlling computer by wireless routing or wire message way, and is saved in
In the data base of center-controlling computer；
Step 3, described center-controlling computer calculate each vehicle required separation distance when vehicle stops completely under current vehicle speed v
S；
Step 4, by each vehicle under current vehicle speed v, vehicle stops completely when required separation distance S and each vehicle to stop line
Apart from S(v)It is compared, if S>S(v), then institute's measuring car can not stop completely in stop line, center-controlling computer generate phase
The vehicle answered passes through instruction, to point out to induce vehicle to pass through, if S≤S(v), then institute's measuring car can stop completely in stop line,
Center-controlling computer generates red braking information instruction accordingly, to point out to induce vehicle parking；
Step 5, described center-controlling computer are according to the time Maximum constraint passing through stop line in transitable vehicle
Signal controlling machine is to yellow timeIt is adjusted；
Step 6, described center-controlling computer launch command adapted thereto to the car-mounted terminal of corresponding vehicle by wireless device
Or mobile phone terminal；
Step 7, described car-mounted terminal or mobile phone terminal are reported after receiving instruction and are driven prompting, make accordingly for driver
Driving behavior.
Further, in step 1, described detection means is vicariouss detection means, the determination of described detection zone according to
According to computing formula:
Wherein：
S0-- the ultimate range of detection zone to stop line,
v0-- the restriction speed in section,
t0-- in the response time that driver brakes in intersection parking, value is 1.3s,
t1-- docking process brake force increases the time, and value is 0.3s,
μ -- coefficient of road adhesion,
G-- acceleration of gravity, value is 9.8m/s2,
L-- additional distance, value is 15m,
During Practical Calculation, concrete section that l is located with crossing and change, μ is subject to the factor such as pavement behavior, weather, temperature
Deng impact, actual value refers to table 1.
Table 1. coefficient of road adhesion reference value
Further, during the real time traffic data collecting described in step 2 is sent to using wireless wifi circulation way
Heart control computer.
Further, in step 3, when under current vehicle speed v, vehicle stops completely, required separation distance S is determined by equation below：
Further, in step 4, center-controlling computer generates corresponding vehicle and passes through instruction, to point out to induce vehicle
The step passed through specifically includes：
Step 41, calculating vehicle stop completely in stop line and braking distance is S(v)When supposition speed v ', wherein：
Step 41, ask for described supposition speed v ' and travel speed limit v with section vehiclemMeansigma methodssWherein：
Step 41, whenWhen, vehicle detection speed is relatively slow, and center-controlling computer generates corresponding yellow police
Row information instructs, to point out this vehicle suitably to accelerate to pass through；WhenWhen, detected vehicular velocity is relatively fast, and center is controlled
Computer processed generates accordingly green traffic information, to point out this vehicle at the uniform velocity to pass through.
Further, in step 5, described center-controlling computer according in transitable vehicle by the time of stop line
Maximum constraint signal controlling machine is to yellow timeThe step being adjusted specifically includes：
Step 51, calculate each vehicle from amber light open bright to the transit time T crossing stop line；
Step 52, ask for the maximum of T of described transit time Tmax；
Step 53, by the maximum of T of transit time TmaxWith crossing t of initial yellow timeY 0It is compared, ifThen reply yellow time enters line delay adjustment, to meet current yellow time tY≥Tmax, enable the vehicle to safety logical
Cross crossing；IfThen yellow time is not adjusted；IfThen will carry out yellow time shortening adjusting
Whole, to meet current yellow time tYSlightly larger than Tmax.
Further, in step 51, described transit time T include each vehicle keeping straight on, turn left, turn right in the case of by stopping
The time T of fareDirectly、TLeft、TRight, wherein：
Left-hand bend vehicle speed is：v1=v- Δ v1,
Δv1=1.96D1+2.2G1,
Had according to Newton's second law：
Work as vt01>S(v)When,
Work as vt01<S(v)When,
Right-hand bend vehicle speed is：v2=v- Δ v2,
Δv2=1.96D2+2.2G2,
Work as vt0>S(v)When,
Work as vt0<S(v)When,
Wherein：
to1Vehicle opens the bright moment to the response time making corresponding driving behavior from amber light；
V amber light opens bright moment car speed；
v1、v2The left and right speed changed trains or buses after even deceleration；
Δv1、Δv2Average speed decreasing value, calculates as speed decreasing value；
D1、D2Degree of curvature；
G1、G2The average gradient in road ramp；
The i section gradient；
μ coefficient of road adhesion.
Further, described step 52 specifically includes：
Step 521, calculate each car keep straight on, turn left, turn right in the case of pass through the time T of stop lineDirectly、TLeft、TRight?
Big value Tmaxi=max { TStraight i, TLeft i, TRight i}；
Step 522, the T of each vehicle of calculatingmaxiMaximum of Tmax=max { Tmax1,Tmax2..., Tmaxn}.
Further, in step 6, described wireless device is wireless router.
The present invention compared with prior art, has the advantage that and effect：
(1) amber light opens the bright moment, the vehicle in signalized crossing detection zone, when meeting current condition
By crossing, be unsatisfactory for current condition all by stopping brake.Compare general signal to control, it is possible to reduce because during amber light not
Can completely brake and cross stop line and form " going through stop light " or the phenomenon that is forced to make a dash across the red light, reduce intersection traffic accidents
Incidence rate, make can not completely parking vehicle pass through crossing, improve the traffic efficiency of crossing, decrease stop frequency,
Stop delay and the queue length of next cycle.
(2) eliminate the factors such as front truck interference simultaneously, it is to avoid fore-aft vehicle driving behavior is inharmonious and lead to knock into the back
Phenomenon occurs, and improves the safety that intersection vehicles pass through.
(3) in the present invention, yellow time becomes with crossing actual traffic situation, improves yellow time utilization rate,
Decrease lost time, improve safety and the robustness of crossing.
(4) real time information of each vehicle when the present invention opens bright by gathering crossing monitored area amber light, and to information
It is analyzed processing, taken into full account the actual traffic situation of each vehicle, more rationalized and hommization than current programme, carry
The science that high vehicle passes through in crossing steady yellow with effective.
Brief description
Fig. 1 is the schematic flow sheet of the embodiment of the present invention.
Fig. 2 be in the embodiment of the present invention crossing vehicle flow to schematic diagram.
Fig. 3 is the principle schematic of the embodiment of the present invention.
Fig. 4 is yellow time adjustment schematic flow sheet in the embodiment of the present invention.
Specific embodiment
With specific embodiment, the goal of the invention of the present invention is described in further detail below in conjunction with the accompanying drawings, embodiment is not
Here can repeat one by one, but embodiments of the present invention are not therefore defined in following examples.
In the present embodiment, if certain city inner plane crossing entrance driveway is unidirectional three tracks, crossing limits speed
For v0=36km/h, surface friction coefficient μ=0.75, left-hand rotation radius are R1=25m, right-hand rotation radius R2=10m.Driver's is anti-
T between seasonable0=1.3s, brake control power increases stage t1=0.3s, amber light opens bright moment limited area 9 cars, such as Fig. 1,2
Shown.
A kind of crossing steady yellow safe driving control method based on wireless technology, including step：
Step S1：In signalized crossing, when with the end of certain entrance driveway vehicle corresponding green time of clearance, pass through
Detection means detect amber light open each vehicle present speed v in bright moment crossing inlet road detection zone and to stop line away from
From S(v), detection means collect speed v of each car in limited area by sequence number 1～9 be respectively 28.8km/h, 21.6km/h,
28.8km/h, 28.8km/h, 25.2km/h, 21.6km/h, 36.0km/h, 32.4km/h, 28.8km/h and with stop line away from
From S(v)It is respectively 1.7m, 3.3m, 4.5m, 9.6m, 10.7m, 12.2m, 16.6m, 21.7m, 22.8m.
Step S2：The vehicle real time traffic data that detection means is collected passes to central computer, is saved in center
In the data base of computer,
With the information of vehicles that collects of detector center will be sent to by wireless routing or wire message way controlling and calculate
Machine, and be saved in the data base of center-controlling computer.
Step S3, described center-controlling computer calculate each vehicle under current vehicle speed v vehicle when stopping completely required away from
From S, wherein
Step S4, by each vehicle under current vehicle speed v, vehicle stops completely when required separation distance S and each vehicle to stop line
Apart from S(v)It is compared, if S>S(v), then institute's measuring car can not stop completely in stop line, center-controlling computer generate phase
The vehicle answered passes through instruction, to point out to induce vehicle to pass through, if S≤S(v), then institute's measuring car can stop completely in stop line,
Center-controlling computer generates red braking information instruction accordingly, to point out to induce vehicle parking；
Step S5, described center-controlling computer are according to the time Maximum constraint passing through stop line in transitable vehicle
Signal controlling machine is to yellow timeIt is adjusted；
Step S6, described center-controlling computer are passed through wireless wifi and are launched command adapted thereto to the car-mounted terminal of corresponding vehicle
Or mobile phone terminal；
Step S7, described car-mounted terminal or mobile phone terminal are reported after receiving instruction and are driven prompting, make accordingly for driver
Driving behavior.
Further, in step 1, described detection means is vicariouss detection means, the determination of described detection zone according to
According to computing formula:
Wherein：
S0-- the ultimate range of detection zone to stop line,
v0-- the restriction speed in section,
t0-- in the response time that driver brakes in intersection parking, value is 1.3s,
t1-- docking process brake force increases the time, and value is 0.3s,
μ -- coefficient of road adhesion,
G-- acceleration of gravity, value is 9.8m/s2,
L-- additional distance, value is 15m,
During Practical Calculation, concrete section that l is located with crossing and change, μ is subject to the factor such as pavement behavior, weather, temperature
Deng impact.
Further, during the real time traffic data collecting described in step 2 is sent to using wireless wifi circulation way
Heart control computer.
Further, in step 4, center-controlling computer generates corresponding vehicle and passes through instruction, to point out to induce vehicle
The step passed through specifically includes：
Step 41, calculating vehicle stop completely in stop line and braking distance is S(v)When supposition speed v ', wherein：
Step 42, ask for described supposition speed v ' and travel speed limit v with section vehiclemMeansigma methodssWherein：
Step 43, whenWhen, vehicle detection speed is relatively slow, and center-controlling computer generates corresponding yellow and leads to
Row instruction, to point out this vehicle suitably to accelerate to pass through；WhenWhen, detected vehicular velocity is relatively fast, and center controls meter
Calculation machine generates accordingly green pass-through command, to point out this vehicle at the uniform velocity to pass through.
Further, in step 5, described center-controlling computer according in transitable vehicle by the time of stop line
Maximum constraint signal controlling machine is to yellow timeThe step being adjusted specifically includes：
Step 51, calculate each vehicle from amber light open bright to the transit time T crossing stop line；
Step 52, ask for the maximum of T of described transit time Tmax；
Step 53, by the maximum of T of transit time TmaxWith crossing t of initial yellow timeY 0It is compared, ifThen reply yellow time enters line delay adjustment, to meet current yellow time tY≥Tmax, enable the vehicle to safety logical
Cross crossing；IfThen yellow time is not adjusted；IfThen will carry out yellow time shortening adjusting
Whole, to meet current yellow time tYSlightly larger than Tmax.
Further, in step 51, described transit time T include each vehicle keeping straight on, turn left, turn right in the case of by stopping
The time T of fareDirectly、TLeft、TRight, wherein：
Left-hand bend vehicle speed is：v1=v- Δ v1,
Δv1=1.96D1+2.2G1,
Had according to Newton's second law：
Work as vt01>S(v)When,
Work as vt01<S(v)When,
Right-hand bend vehicle speed is：v2=v- Δ v2,
Δv2=1.96D2+2.2G2,
Work as vt0>S(v)When,
Work as vt0<S(v)When,
Wherein：
to1Vehicle opens the bright moment to the response time making corresponding driving behavior from amber light；
V amber light opens bright moment car speed；
v1、v2The left and right speed changed trains or buses after even deceleration；
Δv1、Δv2Average speed decreasing value, calculates as speed decreasing value；
D1、D2Degree of curvature (is spent)；
G1、G2The average gradient (%) in road ramp；
The i section gradient；
μ coefficient of road adhesion.
Further, described step 52 specifically includes：
Step 521, calculate each car keep straight on, turn left, turn right in the case of pass through the time T of stop lineDirectly、TLeft、TRight?
Big value Tmaxi=max { TStraight i, TLeft i, TRight i}；
Step 522, the T of each vehicle of calculatingmaxiMaximum of Tmax=max { Tmax1,Tmax2..., Tmaxn}.
Further, in step 6, described wireless device is wireless router.
In the present embodiment, as shown in Fig. 2 and table two, can draw：
For vehicle 1:V=28.8km/h, S(v)=1.7m, S=15.95m.S>S(v), it is unsatisfactory for vehicle parking braking
Condition, meanwhile,Detected vehicular velocity is relatively fast, and center-controlling computer generates accordingly green traffic information, with
This vehicle is pointed out at the uniform velocity to pass through crossing；
2) vehicle 2：V=21.0km/h, S(v)=3.3m, S=11.15m.S>S(v), it is unsatisfactory for the bar of vehicle parking braking
Part, meanwhile,Vehicle detection speed is relatively slow, and center-controlling computer generates corresponding yellow pass-through command, to carry
Show that this vehicle suitably accelerates to pass through crossing；
3) vehicle 3：V=28.8km/h, S(v)=4.5m, S=15.95m.S>S(v), it is unsatisfactory for the bar of vehicle parking braking
Part, meanwhile,Detected vehicular velocity is relatively fast, and center-controlling computer generates accordingly green traffic information, to carry
Show that this vehicle at the uniform velocity passes through crossing；
4) vehicle 4：V=28.8km/h, S(v)=9.6m, S=15.95m.S>S(v), it is unsatisfactory for the bar of vehicle parking braking
Part, meanwhile,Detected vehicular velocity is relatively fast, and center-controlling computer generates accordingly green traffic information, to carry
Show that this vehicle at the uniform velocity passes through crossing；
5) vehicle 5：V=25.2km/h, S(v)=10.7m, S=13.48m.S>S(v), it is unsatisfactory for the bar of vehicle parking braking
Part, meanwhile,Detected vehicular velocity is relatively fast, and center-controlling computer generates accordingly green traffic information, to carry
Show that this vehicle at the uniform velocity passes through crossing；
6) vehicle 6：V=21.6km/h, S(v)=12.2m, S=11.15m.S<S(v), vehicle can safety arrestment, generate
Accordingly red braking instruction, to induce vehicle parking to brake；
7) vehicle 7：V=36km/h, S(v)=16.6m, S=21.30m.S>S(v), it is unsatisfactory for the bar of vehicle parking braking
Part, meanwhile,Detected vehicular velocity is relatively fast, and center-controlling computer generates accordingly green traffic information, to carry
Show that this vehicle at the uniform velocity passes through crossing；
8) vehicle 8：V=32.4km/h, S(v)=21.7m, S=18.85m.S<S(v), meet the bar of vehicle parking braking
Part, generates red braking instruction accordingly, to induce vehicle parking to brake.
9) vehicle 9：V=28.8km/h, S(v)=22.80m, S=15.95m.S<S(v), meet the bar of vehicle parking braking
Part, generates accordingly red braking instruction, to induce vehicle parking to brake.
Table 2 analysis processing result
As shown in figure 3, in this signal phase, the vehicle 1,3,4,5,7 in detection zone will be even according to the green receiving
Fast pass-through command at the uniform velocity passes through crossing；Vehicle 2 can be pointed out suitably to accelerate by intersecting according to the yellow pass-through command receiving
Mouthful, and vehicle 6,8,9 will receive red braking hint instructions, skidding within yellow time.
Meanwhile, central computer, according to the information of vehicles of collection, is analyzed to yellow time calculating:
1) vehicle 1 keeping straight on, turn left, turn right in the case of by the time T of stop lineDirectly、TLeft、TRightMaximum of Tmax1=
0.22s；
2) vehicle 2 keeping straight on, turn left, turn right in the case of by the time T of stop lineDirectly、TLeft、TRightMaximum of Tmax2=
0.54s；
3) vehicle 3 keeping straight on, turn left, turn right in the case of by the time T of stop lineDirectly、TLeft、TRightMaximum of Tmax3=
0.57s；
4) vehicle 4 keeping straight on, turn left, turn right in the case of by the time T of stop lineDirectly、TLeft、TRightMaximum of Tmax4=
1.20s；
5) vehicle 5 keeping straight on, turn left, turn right in the case of by the time T of stop lineDirectly、TLeft、TRightMaximum of Tmax5=
1.59s；
6) vehicle 7 keeping straight on, turn left, turn right in the case of by the time T of stop lineDirectly、TLeft、TRightMaximum of Tmax7=
2.00s；
To sum up, this signal phase yellow time Tmax=max { Tmax1,Tmax2,Tmax3,Tmax4,Tmax5,Tmax7}=2.00s,
The desirable t in actual crossing setting amber light durationY=2.00s.Yellow time adjustment flow process is as shown in Figure 4.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change of other multi-forms or variation.There is no need to be exhaustive to all of embodiment.All the present invention's
Any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (8)
1. a kind of crossing steady yellow safe driving control method based on wireless technology is it is characterised in that include following walking
Suddenly：
Step 1, in signalized crossing, when letting pass at the end of corresponding green time with certain entrance driveway vehicle, by detection
Device detects that amber light opens each vehicle present speed v in bright moment crossing inlet road detection zone and the distance to stop line
S(v)；
Step 2, the data of collection is sent to center-controlling computer by wireless routing or wire message way；
Step 3, described center-controlling computer calculate each vehicle required separation distance S when vehicle stops completely under current vehicle speed v；
Step 4, by each vehicle under current vehicle speed v, vehicle stops completely when required separation distance S and each vehicle to stop line distance
S(v)It is compared, if S>S(v), then institute's measuring car can not stop completely in stop line, center-controlling computer generates corresponding
Vehicle passes through instruction, to point out to induce vehicle to pass through, if S≤S(v), then institute's measuring car can stop completely in stop line, center
Control computer generates red braking information instruction accordingly, to point out to induce vehicle parking；
Step 5, described center-controlling computer are according to the time Maximum constraint signal passing through stop line in transitable vehicle
Control machine is to yellow timeIt is adjusted；
Step 6, described center-controlling computer launch command adapted thereto to the car-mounted terminal corresponding to vehicle or handss by wireless device
Machine terminal；
Step 7, described car-mounted terminal or mobile phone terminal are reported after receiving instruction and are driven prompting, make corresponding driving for driver
Behavior；
In described step 1, described detection means is vicariouss detection means, and the determination of described detection zone is public according to calculating
Formula:
Wherein：
S0-- the ultimate range of detection zone to stop line,
v0-- the restriction speed in section,
t0-- in the response time that driver brakes in intersection parking, value is 1.3s,
t1-- docking process brake force increases the time, and value is 0.3s,
μ -- coefficient of road adhesion,
G-- acceleration of gravity, value is 9.8m/s2,
L-- additional distance, value is 15m.
2. the crossing steady yellow safe driving control method based on wireless technology according to claim 1, its feature
It is：The real time traffic data collecting described in step 2 is sent to center-controlling computer using wireless wifi circulation way.
3. the crossing steady yellow safe driving control method based on wireless technology according to claim 1, its feature
It is, in step 3, when under current vehicle speed v, vehicle stops completely, required separation distance S is determined by equation below：
4. the crossing steady yellow safe driving control method based on wireless technology according to claim 3, its feature
It is, in step 4, center-controlling computer generates corresponding vehicle and passes through instruction, to point out the step tool inducing vehicle to pass through
Body includes：
Step 41, calculating vehicle stop completely in stop line and braking distance is S(v)When supposition speed v ', wherein：
Step 42, ask for described supposition speed v ' and travel speed limit v with section vehiclemMeansigma methodss v, wherein：
Step 43, whenWhen, vehicle detection speed is relatively slow, and center-controlling computer generates corresponding yellow alert row letter
Breath instruction, to point out this vehicle suitably to accelerate to pass through；WhenWhen, detected vehicular velocity is relatively fast, and center controls meter
Calculation machine generates accordingly green traffic information, to point out this vehicle at the uniform velocity to pass through.
5. the crossing steady yellow safe driving control method based on wireless technology according to claim 1, its feature
It is：In step 5, described center-controlling computer is believed by the time Maximum constraint of stop line according in transitable vehicle
Number control machine is to yellow timeThe step being adjusted specifically includes：
Step 51, calculate each vehicle from amber light open bright to the transit time T crossing stop line；
Step 52, ask for the maximum of T of described transit time Tmax；
Step 53, by the maximum of T of transit time TmaxWith crossing t of initial yellow timeY 0It is compared, ifThen
Reply yellow time enters line delay adjustment, to meet current yellow time tY≥Tmax, enable the vehicle to safety crossing；
IfThen yellow time is not adjusted；IfThen will carry out yellow time shortening adjustment, be worked as with meeting
Front yellow time tYSlightly larger than Tmax.
6. the crossing steady yellow safe driving control method based on wireless technology according to claim 5, its feature
It is：In step 51, described transit time T include each vehicle keeping straight on, turn left, turn right in the case of by the time of stop line
TDirectly、TLeft、TRight, wherein：
Left-hand bend vehicle speed is：v1=v- Δ v1,
Δv1=1.96D1+2.2G1,
Had according to Newton's second law：
Work as vt01>S(v)When,
Work as vt01<S(v)When,
Right-hand bend vehicle speed is：v2=v- Δ v2,
Δv2=1.96D2+2.2G2,
Work as vt0>S(v)When,
Work as vt0<S(v)When,
Wherein：
to1Vehicle opens the bright moment to the response time making corresponding driving behavior from amber light；
V amber light opens bright moment car speed；
v1、v2The left and right speed changed trains or buses after even deceleration；
Δv1、Δv2Average speed decreasing value, calculates as speed decreasing value；
D1、D2Degree of curvature；
G1、G2The average gradient in road ramp；
The i section gradient；
μ coefficient of road adhesion.
7. the crossing steady yellow safe driving control method based on wireless technology according to claim 6, its feature
It is, described step 52 specifically includes：
Step 521, calculate each car keep straight on, turn left, turn right in the case of pass through the time T of stop lineDirectly、TLeft、TRightMaximum
Tmaxi=max { TStraight i, TLeft i, TRight i}；
Step 522, the T of each vehicle of calculatingmaxiMaximum of Tmax=max { Tmax1,Tmax2..., Tmaxn}.
8. the crossing steady yellow safe driving control method based on wireless technology according to claim 1, its feature
It is：In step 6, described wireless device is wireless router.
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| CN201510076858.0A CN104680814B (en) | 2015-02-12 | 2015-02-12 | A kind of crossing steady yellow safe driving control method based on wireless technology |
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| CN105814501A (en) * | 2016-01-17 | 2016-07-27 | 衣佳鑫 | Vehicle-mounted method and system based on IOT (Internet of Things) |
| CN105654754B (en) * | 2016-01-20 | 2018-11-27 | 深圳前海达闼云端智能科技有限公司 | Vehicle control method and device |
| CN106157644B (en) * | 2016-07-06 | 2019-04-02 | 江苏大学 | A kind of speed guidance system and its implementation reducing intersection parking number |
| CN106128125B (en) * | 2016-08-01 | 2018-06-26 | 江苏大学 | A kind of speed bootstrap technique that control intersection is preferentially sensed for main road |
| CN106710070B (en) * | 2017-01-23 | 2019-01-01 | 宣城良知知识产权服务有限公司 | The bus of Internet of Things interactive terminal is installed |
| CN110217230A (en) * | 2018-03-02 | 2019-09-10 | 宝沃汽车（中国）有限公司 | Vehicle drive assisting method, device and vehicle |
| CN108922177B (en) * | 2018-06-29 | 2021-08-10 | 东南大学 | Speed control system and method for unmanned vehicle passing through intersection |
| CN110874944B (en) * | 2018-08-31 | 2021-04-02 | 北京图森智途科技有限公司 | Parking control method, parking server, vehicle controller and vehicle |
| CN109360438B (en) * | 2018-11-29 | 2022-02-15 | 驭势科技（北京）有限公司 | Vehicle speed decision system and method based on traffic lights |
| CN113619595A (en) * | 2020-05-08 | 2021-11-09 | 上海汽车集团股份有限公司 | Driving assisting method, device and system |
| CN115565384A (en) * | 2021-04-06 | 2023-01-03 | 彭小林 | Non-motor vehicle traffic rule compliance system based on intelligent traffic |
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| CN103198686B (en) * | 2013-03-26 | 2015-04-01 | 东南大学 | Vehicle speed induction control method for reducing probability that vehicle breaks yellow light |
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