CN105976621A - Device and method for guiding vehicle to pass across intersection without stopping based on vehicle speed induction strategy - Google Patents
Device and method for guiding vehicle to pass across intersection without stopping based on vehicle speed induction strategy Download PDFInfo
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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Abstract
The invention discloses a device and method for guiding a vehicle to pass across an intersection without stopping based on vehicle speed induction strategy, and belongs to the field of urban transportation control and automobile auxiliary driving. The method is characterized by, to begin with, a signal machine control unit receives real-time signals and position signals of traffic lights at one intersection in real time, adapts to non-periodically-changing timing information and provides road traffic information ahead; then, data transmission is realized between the signal machine control unit and a vehicle-mounted control unit zigbee wireless transmission unit; and finally, according to the obtained data information, a vehicle-mounted control unit generates a vehicle control strategy in real time according to different driving conditions to guide vehicles to speed up or slow down to pass through the intersection without stopping. The device and method realize the effect that the vehicle can reach and pass through the intersection within the green light phase, ensure the vehicle to pass through the intersection without stopping, overcomes the problems of congestion and too much delay, improve discharge capacity of the intersection, and are easy to operate.
Description
Technical field
The invention belongs to Urban Transportation control and automobile assistant driving field, be specifically related to a kind of based on car speed
Induction strategies guides the not parking device and method by crossing of vehicle.
Background technology
A host of facts show, the crowding phenomenon of urban intersection is the most serious, and the delay of more than 80% concentrates on road, city
Crossing, road, the 50% of the traffic capacity deficiency road of level-crossing.It is said that in general, enter the vehicle of crossing, owing to being subject to
The effect of signal lights, driving states to be changed, stops completely and not exclusively stops and will cause the damage of vehicle hour
Lose.Classical signal lamp control crossing there is many drawbacks so that vehicle close to or by crossing time easily cause
Congestion in road, even can occur vehicle accident, cause the wasting of resources and economic loss.In actual vehicle operation, by
Can not predict the traffic timing of front cross mouth in driver, vehicle stops to walk also to directly results in waste and the tail of fuel frequently
The discharge of gas.In existing technology, there is techniques below problem: (1) most of installation cost is higher；(2) great majority simply pin
Selection to transportation network optimal path, the vehicle individually for section, upstream, crossing is not induced；(3) great majority grind
Study carefully and in advance timing information is stored in processing means, but this processing means can not identify that the signal of not mechanical periodicity is joined automatically
Time.
Chinese patent (CN103996300A) discloses the not parking public transport induction passed through of a kind of crossing public transit vehicle
Method, particularly as follows: first, loads public transport vehicle-mounted infomation apparatus and obtains bus to the letter in real time such as time leaving from station and link travel time
Breath, on-site inspection simultaneously obtains the data such as public transit system operation data, public bus network Back ground Information and crossing control program；Its
Secondary, that control centre feeds back according to on-vehicle information instrument public transport arrival time, it was predicted that public transport arrives to signal week residing during crossing
Phase position；Finally, according to the signal period position residing for bus due in, generate bus pacesetting control strategy anti-
Feeding vehicle-mounted instrument, induction bus is not parking by signalized intersections, but integrative design intersection scheme is investigation in advance,
The integrative design intersection scheme of not mechanical periodicity can not be adapted to.
Chinese patent (CN103198686A) discloses a kind of vehicle that reduces and rushes the speed Induction Control method of amber light probability,
The method, although it is contemplated that the driving behavior of driver and the characteristic of intersection signal timing scheme, proposes speed targetedly
Induction strategies, reduces vehicle punching and rushes the probability of amber light, but do not improve the not parking probability by crossing of vehicle, especially
It is that anticipation vehicle arrives next intersection signal state when being red light.
Summary of the invention
For solving the deficiency that prior art exists, the invention provides a kind of based on car speed induction strategies guiding vehicle
The not parking device and method by crossing, the traffic efficiency of solution crossing is low, the problem of vehicle parking number of times.
The present invention is achieved through the following technical solutions above-mentioned technical purpose.
A kind of based on the car speed induction strategies guiding not parking device by crossing of vehicle, including semaphore control
Unit and vehicular control unit, described semaphore control unit and vehicular control unit pass through radio communication；
It is single that described semaphore control unit includes that signal controlling machine, semaphore control unit GPS module, microprocessor control
Unit MCU and semaphore control unit zigbee wireless transmission unit；
Described signal controlling machine, semaphore control unit GPS module respectively with the input of microprocessor control unit MCU
It is connected, for receiving live signal and the position signalling of crossing's traffic lights of crossing's traffic lights；Described microprocessor
The outfan of control unit MCU is connected with semaphore control unit zigbee wireless transmission unit, by semaphore control unit
Zigbee wireless transmission unit and vehicular control unit carry out data communication；
Described vehicular control unit includes vehicular control unit zigbee wireless transmission unit, vehicular control unit GPS mould
Block, vehicle-mounted perception unit, vehicle-mounted microprocessor control unit MCU and vehicle intelligent terminal；
Described vehicular control unit zigbee wireless transmission unit, vehicular control unit GPS module and vehicle-mounted perception unit
Input with vehicle-mounted microprocessor control unit MCU is connected respectively, for being wirelessly transferred by vehicular control unit zigbee
Unit and semaphore control unit carry out data communication, the position signalling receiving vehicle and the operating state signal of vehicle, described
The outfan of vehicle-mounted microprocessor control unit MCU is connected with vehicle intelligent terminal, for showing the induction information that vehicle travels.
Further, the live signal of described crossing traffic lights includes keeping straight on and left rotaring signal.
Further, the operating state signal of described vehicle includes speed and the acceleration of vehicle.
Further, described vehicle intelligent terminal includes display module and voice module.
Further, to obtain crossing's traffic lights in real time inconsiderate by coding for described microprocessor control unit MCU
The timing information of phase change；Described microprocessor control unit MCU is connect by vehicular control unit zigbee wireless transmission unit
The running status returned the vehicle to the garage and knock off and position signalling, it is thus achieved that road ahead jam situation.
A kind of based on the car speed induction strategies guiding not parking method by crossing of vehicle, comprise the following steps:
S1, the timing information of crossing's traffic lights is learnt by microprocessor control unit MCU, if crossing is red
The timing information of green light changes, then the timing information of crossing's traffic lights is carried out more by microprocessor control unit MCU1
Newly, timing information T=[TR, TG, TY] and after storage change；
S2, timing information T=[TR, TG, TY] after S1 storage change, signal are controlled by microprocessor control unit MCU
Crossing's traffic lights that the live signal of crossing's traffic lights that machine gathers and semaphore control unit GPS module gather
Position signalling passes through semaphore control unit zigbee wireless transmission unit and vehicular control unit zigbee wireless transmission unit
Send vehicle-mounted microprocessor control unit MCU to；
S3, timing information T=after the S1 storage change that vehicle-mounted microprocessor control unit MCU receives [TR, TG,
TY], signal controlling machine gather the live signal of crossing's traffic lights, semaphore control unit GPS module gather intersection
At Kou, the position signalling of traffic lights and the real time position of vehicle of vehicular control unit GPS module collection, vehicle-mounted perception unit are adopted
The operating state signal of the vehicle of collection calculates, and concrete calculating process is:
S3.1, vehicle current driving speed v gathered by vehicle-mounted perception unit, by vehicular control unit GPS module
Obtain current vehicle position (X1, Y1)；
S3.2, according to current vehicle position (X1, Y1) and the position (X of crossing's traffic lightsj, Yj), obtain vehicle and intersect
The distance of mouthBy vehicle and distance L of crossing and vehicle current driving speed v, obtain car
Travel to time of crossing with current vehicle speed
S4, travels vehicle to the time t of crossing with current vehicle speed and carries out the remaining time of crossing traffic lights
Relatively, wherein the remaining time of crossing's traffic lights, (tr was red light remaining time, and tg is green light remaining time, and ty is amber light
Remaining time) it is the signal timing in timing information T=[TR, TG, TY] after S1 storage change and crossing's traffic lights
Live signal in the difference of signal timing；
A the signal phase of () crossing traffic lights is red light, tr is red light remaining time
When t < during tr, represent vehicle with current vehicle speed arrive at crossing time signal phase as red light, compare vehicle not parking
By the desired speed of crossingWith the speed limit scope [Vmin, Vmax] of crossing, obtain expecting induced velocity model
Enclose [v1, v2], whereinNow v > [v1, v2], vehicle-mounted microprocessor
Control unit MCU generates deceleration induction strategies；
As tr < t, < during tr+TG, representing that vehicle can be not parking by crossing with current vehicle speed traveling, system generates
Induction strategies is that vehicle keeps current vehicle speed to travel；
As t > tr+TG time, represent vehicle with present speed arrive at crossing time signal phase for next red light, compare car
The not parking desired speed by crossingWith the speed limit scope [Vmin, Vmax] of crossing, obtain expectation and lure
Lead velocity interval [v1, v2], whereinNow v < [v1, v2], vehicle-mounted
Microprocessor control unit MCU generates accelerates induction strategies；
B the signal phase of () crossing traffic lights is green light, tg is green light remaining time
When t < during tg+TY, represents that vehicle can be not parking by crossing with current vehicle speed traveling, vehicle-mounted microprocessor control
The induction strategies that unit MCU processed generates is that vehicle keeps current vehicle speed to travel；
When tg+TY < t < during tg+TY+TR, represents that the signal phase that vehicle travels when arriving at crossing with current vehicle speed is red
Lamp, compares the not parking speed limit scope [Vmin, Vmax] by the desired speed of crossing Yu crossing of vehicle, wherein crossing
Desired speed for removingOutside speed；If there is expectation induced velocity scope
Vehicle-mounted microprocessor control unit MCU generates deceleration induction strategies；If there is expectation induced velocity scopeCar
Carry microprocessor control unit MCU and induction strategies is accelerated in generation；If the not parking desired speed by crossing of vehicle and friendship
There is not common factor in the speed limit scope [Vmin, Vmax] of prong, does not the most take induction, driver freely judge；
As t > tg+TY+TR time, representing that vehicle travels with present speed can be not parking by crossing, and system generates
Induction strategies is that vehicle keeps current vehicle speed to travel；
S5, the induction strategies that intelligent vehicle mounted terminal (9) generates according to vehicle-mounted microprocessor control unit MCU (8), to driving
Member carries out voice and display reminding respectively.
Further, the voice message in described S5 includes the gentliest stepping on the gas, please reducing speed and please keep current vehicle speed row
Sail.
The invention has the beneficial effects as follows:
(1) present invention is by installing vehicular control unit, induces vehicle from inside, the speed carried out from vehicle interior
Degree induction behavior, is not related to the adjustment of outside traffic signal timing scheme, will not impact other traffic user, have
Feasibility；
(2) present invention is by analyzing the traffic light signal timing in section, crossing, the crossing distance away from this car in real time,
To the not parking induced velocity scope by crossing of vehicle can be made, decrease intersection delay, vehicle parking number of times and subtract
The anxious acceleration and deceleration behavior of few vehicle.
(3) the zigbee wireless transmission unit in the present invention has MANET function, can be used for bicycle control, it is possible to carry out
Extension networking, carries out the control of many cars by the transport information obtaining crossing, and can be according to these sections, information acquisition front
Traffic.
(4) present invention arranges signal controlling machine unit and vehicular control unit respectively in crossing with driving vehicle,
Generate car speed Guidance control strategy in real time, and be prompted to driver by voice module and display module, enable the vehicle to
Not parking by crossing, improve the traffic efficiency of crossing, reduce vehicle parking number of times, be finally reached raising transportation network
The purpose of traffic efficiency；Additionally car speed Guidance control strategy can reduce the urgency acceleration of vehicle and anxious deceleration behavior, reaches
Improve vehicle safety, the purpose of stability, and reduce the oil consumption of vehicle to a certain extent.
Accompanying drawing explanation
Fig. 1 is a kind of overall framework guiding the not parking device by crossing of vehicle based on car speed induction strategies
Figure；
Fig. 2 is the not parking control flow chart by crossing system of vehicle；
Fig. 3 is to guide the not parking car speed induction strategies figure by crossing of vehicle；
Fig. 4 is crossing phase information schematic diagram；
Fig. 5 is crossing craspedodrome traffic signal timing and vehicle arrives at crossing schematic diagram；
Fig. 6 is crossing left rotaring signal lamp timing and vehicle arrives at crossing schematic diagram；
Fig. 7 is to guide the not parking schematic diagram by crossing of vehicle based on car speed induction strategies.
Wherein: 1-signal controlling machine, 2-semaphore control unit GPS module, 3-microprocessor control unit MCU, 4-believes
Number machine control unit zigbee wireless transmission unit, 5-vehicular control unit zigbee wireless transmission unit, 6-vehicle-mounted control list
Unit's GPS module, 7-vehicle-mounted perception unit, vehicle-mounted microprocessor control unit MCU of 8-, 9-vehicle intelligent terminal, white-green light,
Lycoperdon polymorphum Vitt-amber light, black-red light.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is also
It is not limited to this.It should be noted that, the combination of technical characteristic described in following embodiment or technical characteristic should not be recognized
For being isolated, they can be mutually combined thus be reached superior technique effect.
The not parking device by crossing of vehicle is guided based on car speed induction strategies as it is shown in figure 1, a kind of, including
Semaphore control unit and vehicular control unit, semaphore control unit and vehicular control unit pass through radio communication；
Semaphore control unit includes signal controlling machine 1, semaphore control unit GPS module 2, microprocessor control unit
MCU3 and semaphore control unit zigbee wireless transmission unit 4；Vehicular control unit include vehicular control unit zigbee without
Line transmission unit 5, vehicular control unit GPS module 6, vehicle-mounted perception unit 7, vehicle-mounted microprocessor control unit MCU8 and vehicle-mounted
Intelligent terminal 9；Vehicle-mounted perception unit 7 uses six axle motion process assembly MPU6050 collection vehicle real-time six-freedom motion ginsengs
Number, vehicle intelligent terminal 9 includes display module and voice module, microprocessor control unit MCU 3 and vehicle-mounted microprocessor control
Unit MCU8 processed all uses MC9S12XET256 chip；
Signal controlling machine 1, semaphore control unit GPS module 2 respectively with the input of microprocessor control unit MCU 3
It is connected, for receiving live signal and the position signalling of crossing's traffic lights of crossing's traffic lights；Microprocessor controls
The outfan of unit MCU 3 is connected with semaphore control unit zigbee wireless transmission unit 4, by semaphore control unit
Zigbee wireless transmission unit 4 and vehicular control unit carry out data communication；The live signal of crossing's traffic lights includes directly
Row and left rotaring signal；
Vehicular control unit zigbee wireless transmission unit 5, vehicular control unit GPS module 6 and vehicle-mounted perception unit 7 lead to
Cross the RS232 serial ports input respectively with vehicle-mounted microprocessor control unit MCU 8 to be connected, be used for passing through vehicular control unit
Zigbee wireless transmission unit 5 and semaphore control unit carry out data communication, the position signalling receiving vehicle and the fortune of vehicle
Row status signal, the outfan of vehicle-mounted microprocessor control unit MCU 8 is connected with vehicle intelligent terminal 9, is used for showing vehicle
The induction information travelled；The operating state signal of vehicle includes speed and the acceleration of vehicle.
As in figure 2 it is shown, microprocessor control unit MCU 3 to obtain crossing's traffic lights in real time by coding inconsiderate
The timing information of phase change；Microprocessor control unit MCU 3 is received by vehicular control unit zigbee wireless transmission unit 5
The running status of vehicle and position signalling, it is thus achieved that road ahead jam situation；And by above-mentioned information with [(Xj, Yj), tr/tg,
(TR, TG, TY), Vmax, Vmin, con/smo] form store in case transmission uses.
Semaphore control unit zigbee wireless transmission unit 4 and vehicular control unit zigbee wireless transmission unit 5 groups
Become a kind of wireless transmission unit guiding the not parking device by crossing of vehicle based on car speed induction strategies.
The all of module of Zigbee module powers on i.e. automatic network-building, intra-network-module such as power down, network tool self-regeneration merit
Energy；Can carry out data dissemination by serial ports between arbitrary node with instruction mode, the form of data transmission is: 0xFD (data
Transmission order)+0x0A (data length)+0x73 0x79 (destination address)+0x01 0x02 0x03 0x04 0x05 0x06
0x07 0x08 0x09 0x10 (data, altogether 0x0A Bytes)；Its transmission range is 1600 meters, therefore selects 1000 meters for letter
Number good range, i.e. when the vehicle distance away from crossing is 1km, starts to generate induction strategies, and arranges serial ports speed and be
115200bps。
Semaphore control unit zigbee wireless transmission unit 4 is by [(Xj,Yj), tr/tg, (R, G, Y), Vmax, Vmin,
Con/smo] form data transmit to vehicular control unit zigbee wireless transmission unit 5；Vehicular control unit zigbee without
The data of [(X, Y), v] form are transmitted to semaphore control unit zigbee wireless transmission unit 4 by line transmission unit 5.
As in figure 2 it is shown, the operation principle of semaphore control unit:
(1) as shown in Figure 4, semaphore control unit obtain intersection signal timing information (routine arrange in phase place shape
Formula is: red light, green light, amber light, therefore may determine that 3s is amber light, before 3s for green light, be red light after 3s), and signal is joined
Shi Jinhang real-time update, update mode is: the information obtained stored with the form of T=[TR, TG, TY], if obtain in real time
Information T1=[TR1, TG1, TY1] is identical with T=[TR, TG, TY], then T=[TR, TG, TY] stores Information invariability, if T1 and T
Difference, then be updated to T1 by T data, and craspedodrome signal timing dial schematic diagram is as it is shown in figure 5, left rotaring signal timing schematic diagram such as Fig. 6 institute
Show.
(2) by T=[TR, TG, TY] information compared with signal timing dial tr and tg obtained in real time, red, green light phase is obtained
The countdown of position: r=TR-tr, g=TG-tg.
(3) semaphore control unit GPS module 2 is by the positional information (X of crossingj,Yj) store to microprocessor control list
Unit MCU 3.
(4) the Maximum speed limit Vmax of road is stored into minimum speed limit Vmin it is available for microprocessor control unit MCU 3
The data mode obtained.
(5) road traffic condition is divided into two kinds of situations: " blocking up, congestion ", " unimpeded, smoothy ".
(6) wiht strip-lattice type is [(X by microprocessor control unit MCU 3j,Yj), tr/tg, (R, G, Y), Vmax, Vmin,
Con/smo] data.
A kind of based on the car speed induction strategies guiding not parking method by crossing of vehicle, it is characterised in that bag
Include following steps:
S1, the timing information of crossing's traffic lights is learnt by microprocessor control unit MCU 3, if crossing
The timing information of traffic lights changes, then the timing information of crossing's traffic lights is entered by microprocessor control unit MCU (3)
Row updates, and timing information T=[TR, TG, TY] after storage change；
S2, microprocessor control unit MCU 3 is by timing information T=[TR, TG, TY] after S1 storage change, signal control
The crossing that the live signal of crossing's traffic lights that machine 1 processed gathers and semaphore control unit GPS module 2 gather is red green
The position signalling of lamp is wirelessly transferred by semaphore control unit zigbee wireless transmission unit 4 and vehicular control unit zigbee
Unit 5 sends vehicle-mounted microprocessor control unit MCU 8 to；
S3, timing information T=after the S1 storage change that vehicle-mounted microprocessor control unit MCU 8 receives [TR, TG,
TY], signal controlling machine 1 gather the live signal of crossing's traffic lights, semaphore control unit GPS module 2 gather friendship
The real time position of vehicle that at prong, the position signalling of traffic lights and vehicular control unit GPS module 6 gather, vehicle-mounted perception unit
The operating state signal of 7 vehicles gathered calculates, and concrete calculating process is:
S3.1, vehicle current driving speed v gathered by vehicle-mounted perception unit 7, by vehicular control unit GPS module
6 obtain current vehicle position (X1, Y1)；
S3.2, according to current vehicle position (X1, Y1) and the position (X of crossing's traffic lightsj, Yj), obtain vehicle and intersect
The distance of mouthBy vehicle and distance L of crossing and vehicle current driving speed v, obtain car
Travel to time of crossing with current vehicle speed
S4, as shown in Fig. 3 Yu Fig. 7 (dash area in Fig. 7 is expectation induced velocity scope), by vehicle with current vehicle speed
Travel to the time t of crossing and compare the remaining time of crossing traffic lights, wherein the remaining of crossing's traffic lights
The remaining time is the reality of the signal timing in timing information T=[TR, TG, TY] after S1 storage change and crossing's traffic lights
Time signal in the difference of signal timing；
A the signal phase of () crossing traffic lights is red light, tr is red light remaining time
When t < during tr, represent vehicle with current vehicle speed arrive at crossing time signal phase as red light, compare vehicle not parking
By the desired speed of crossingWith the speed limit scope [Vmin, Vmax] of crossing, obtain expecting induced velocity model
Enclose [v1, v2], whereinNow v > [v1, v2], vehicle-mounted microprocessor
Control unit MCU 8 generates deceleration induction strategies；
As tr < t, < during tr+TG, representing that vehicle can be not parking by crossing with current vehicle speed traveling, system generates
Induction strategies is that vehicle keeps current vehicle speed to travel；
As t > tr+TG time, represent vehicle with present speed arrive at crossing time signal phase for next red light, compare car
The not parking desired speed by crossingWith the speed limit scope [Vmin, Vmax] of crossing, obtain expectation and lure
Lead velocity interval [v1, v2], whereinNow v < [v1, v2], vehicle-mounted
Microprocessor control unit MCU 8 generates accelerates induction strategies；
B the signal phase of () crossing traffic lights is green light, tg is green light remaining time
When t < during tg+TY, represents that vehicle can be not parking by crossing with current vehicle speed traveling, vehicle-mounted microprocessor control
The induction strategies that unit MCU 8 processed generates is that vehicle keeps current vehicle speed to travel；
When tg+TY < t < during tg+TY+TR, represents that the signal phase that vehicle travels when arriving at crossing with current vehicle speed is red
Lamp, compares the not parking speed limit scope [Vmin, Vmax] by the desired speed of crossing Yu crossing of vehicle, wherein crossing
Desired speed for removingOutside speed；If there is expectation induced velocity scope
Vehicle-mounted microprocessor control unit MCU 8 generates deceleration induction strategies；If there is expectation induced velocity scope
Generation is accelerated induction strategies by vehicle-mounted microprocessor control unit MCU 8；If the not parking desired speed by crossing of vehicle
There is not common factor with the speed limit scope [Vmin, Vmax] of crossing, the most do not take induction, driver freely judge；
As t > tg+TY+TR time, representing that vehicle travels with present speed can be not parking by crossing, and system generates
Induction strategies is that vehicle keeps current vehicle speed to travel.
S5, the induction strategies that intelligent vehicle mounted terminal 9 generates according to vehicle-mounted microprocessor control unit MCU8, divides driver
Do not carry out voice and display reminding；Voice message includes the gentliest stepping on the gas, please reducing speed and current vehicle speed please be kept to travel.
When acceleration behavior is taked in current induction strategies prompting, vehicle intelligent terminal 9 text importing " tr/tg/ty " (color by
Currently detected signal lights determines), " expectation induced velocity scope ", voice message simultaneously " is the gentliest stepped on the gas "；
When deceleration behavior is taked in current induction strategies prompting, vehicle intelligent terminal 9 text importing " tr/tg/ty " (color by
Currently detected signal lights determines), " expectation induced velocity scope ", voice message simultaneously " please reduce speed "；
When current induction strategies prompting keeps current vehicle speed to travel, vehicle intelligent terminal 9 text importing " tr/tg/ty " (face
Color is determined by currently detected signal lights), " expectation induced velocity scope ", voice message simultaneously " please keep current vehicle speed row
Sail ".
Although having been presented for some embodiments of the present invention herein, it will be appreciated by those of skill in the art that
Without departing from the spirit of the invention, the embodiments herein can be changed.Above-described embodiment is exemplary, no
Should be using the embodiments herein as the restriction of interest field of the present invention.
Claims (7)
1. one kind guides the not parking device by crossing of vehicle based on car speed induction strategies, it is characterised in that include
Semaphore control unit and vehicular control unit, described semaphore control unit and vehicular control unit pass through radio communication；
Described semaphore control unit includes that signal controlling machine (1), semaphore control unit GPS module (2), microprocessor control
Unit MCU (3) and semaphore control unit zigbee wireless transmission unit (4)；
Described signal controlling machine (1), semaphore control unit GPS module (2) respectively with microprocessor control unit MCU (3)
Input is connected, for receiving live signal and the position signalling of crossing's traffic lights of crossing's traffic lights；Described micro-
The outfan of processor control unit MCU (3) is connected with semaphore control unit zigbee wireless transmission unit (4), by letter
Number machine control unit zigbee wireless transmission unit (4) and vehicular control unit carry out data communication；
Described vehicular control unit includes vehicular control unit zigbee wireless transmission unit (5), vehicular control unit GPS module
(6), vehicle-mounted perception unit (7), vehicle-mounted microprocessor control unit MCU (8) and vehicle intelligent terminal (9)；
Described vehicular control unit zigbee wireless transmission unit (5), vehicular control unit GPS module (6) and vehicle-mounted perception list
Unit (7) passes through the RS232 serial ports input respectively with vehicle-mounted microprocessor control unit MCU (8) and is connected, for by vehicle-mounted control
Unit zigbee wireless transmission unit (5) processed and semaphore control unit carry out data communication, the position signalling receiving vehicle and
The operating state signal of vehicle, the outfan of described vehicle-mounted microprocessor control unit MCU (8) and vehicle intelligent terminal (9) phase
Even, for showing the induction information that vehicle travels.
The most according to claim 1 a kind of based on the car speed induction strategies guiding not parking dress by crossing of vehicle
Put, it is characterised in that the live signal of described crossing traffic lights includes keeping straight on and left rotaring signal.
The most according to claim 1 a kind of based on the car speed induction strategies guiding not parking dress by crossing of vehicle
Put, it is characterised in that the operating state signal of described vehicle includes speed and the acceleration of vehicle.
The most according to claim 1 a kind of based on the car speed induction strategies guiding not parking dress by crossing of vehicle
Put, it is characterised in that described vehicle intelligent terminal (9) includes display module and voice module.
The most according to claim 1 a kind of based on the car speed induction strategies guiding not parking dress by crossing of vehicle
Put, it is characterised in that described microprocessor control unit MCU (3) obtains crossing's traffic lights not in real time by coding
The timing information of mechanical periodicity；Described microprocessor control unit MCU (3) is wirelessly transferred list by vehicular control unit zigbee
Unit (5) receives running status and the position signalling of vehicle, it is thus achieved that road ahead jam situation.
6. one kind guides the not parking method by crossing of vehicle based on car speed induction strategies, it is characterised in that include
Following steps:
S1, the timing information of crossing's traffic lights is learnt by microprocessor control unit MCU (3), if crossing is red
The timing information of green light changes, then the timing information of crossing's traffic lights is carried out by microprocessor control unit MCU (3)
Update, and timing information T=[TR, TG, TY] after storage change；
S2, microprocessor control unit MCU (3) is by timing information T=[TR, TG, TY] after S1 storage change, signal controlling machine
(1) crossing that the live signal of the crossing's traffic lights gathered and semaphore control unit GPS module (2) gather is red green
The position signalling of lamp passes through semaphore control unit zigbee wireless transmission unit (4) and the wireless biography of vehicular control unit zigbee
Defeated unit (5) sends vehicle-mounted microprocessor control unit MCU (8) to；
S3, timing information T=[TR, TG, TY] after the S1 storage change that vehicle-mounted microprocessor control unit MCU (8) receives,
The friendship that the live signal of crossing's traffic lights that signal controlling machine (1) gathers, semaphore control unit GPS module (2) gather
The real time position of vehicle that at prong, the position signalling of traffic lights and vehicular control unit GPS module (6) gather, vehicle-mounted perception list
The operating state signal of the vehicle that unit (7) gathers calculates, and concrete calculating process is:
S3.1, vehicle current driving speed v gathered by vehicle-mounted perception unit (7), by vehicular control unit GPS module
(6) current vehicle position (X is obtained1, Y1)；
S3.2, according to current vehicle position (X1, Y1) and the position (X of crossing's traffic lightsj, Yj), obtain vehicle and crossing
DistanceBy distance L and vehicle current driving speed v of vehicle and crossing, obtain vehicle with
Current vehicle speed travels the time to crossing
S4, travels vehicle to the time t of crossing with current vehicle speed and compares the remaining time of crossing traffic lights,
When wherein the remaining time of crossing's traffic lights is the signal lights in timing information T=[TR, TG, TY] after S1 storage change
Between with the difference of the signal timing in the live signal of crossing's traffic lights；
A the signal phase of () crossing traffic lights is red light, tr is red light remaining time
When t < during tr, represent vehicle with current vehicle speed arrive at crossing time signal phase as red light, compare that vehicle is not parking to be passed through
The desired speed of crossingWith the speed limit scope [Vmin, Vmax] of crossing, obtain expecting induced velocity scope
[v1, v2], whereinNow v > [v1, v2], vehicle-mounted microprocessor control
Unit MCU (8) processed generates deceleration induction strategies；
When tr < t < during tr+TG, represents that vehicle can be not parking by crossing, the induction that system generates with current vehicle speed traveling
Strategy keeps current vehicle speed to travel for vehicle；
As t > tr+TG time, represent vehicle with present speed arrive at crossing time signal phase for next red light, compare vehicle not
Stop the desired speed by crossingWith the speed limit scope [Vmin, Vmax] of crossing, obtain expectation induction speed
Degree scope [v1, v2], whereinNow v < [v1, v2], vehicle-mounted micro-place
Reason device control unit MCU (8) generates accelerates induction strategies；
B the signal phase of () crossing traffic lights is green light, tg is green light remaining time
As t, < during tg+TY, representing that vehicle can be not parking by crossing with current vehicle speed traveling, vehicle-mounted microprocessor controls single
The induction strategies that unit MCU (8) generates is that vehicle keeps current vehicle speed to travel；
When tg+TY < t < during tg+TY+TR, represent that vehicle travels signal phase when arriving at crossing as red light with current vehicle speed,
The relatively not parking speed limit scope [Vmin, Vmax] by the desired speed of crossing Yu crossing of vehicle, wherein crossing
Desired speed is for removingOutside speed；If there is expectation induced velocity scopeCar
Carry microprocessor control unit MCU (8) and generate deceleration induction strategies；If there is expectation induced velocity scope
Generation is accelerated induction strategies by vehicle-mounted microprocessor control unit MCU (8)；If the not parking desired speed by crossing of vehicle
There is not common factor with the speed limit scope [Vmin, Vmax] of crossing, the most do not take induction, driver freely judge；
As t > tg+TY+TR time, representing that vehicle travels with present speed can be not parking by crossing, the induction that system generates
Strategy keeps current vehicle speed to travel for vehicle.
S5, the induction strategies that intelligent vehicle mounted terminal (9) generates according to vehicle-mounted microprocessor control unit MCU (8), divides driver
Do not carry out voice and display reminding.
The most according to claim 6 a kind of based on the car speed induction strategies guiding not parking side by crossing of vehicle
Method, it is characterised in that the voice message in described S5 includes the gentliest stepping on the gas, please reducing speed and please keep current vehicle speed row
Sail.
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