CN109523810A - A kind of signalized intersections speed guidance System and method for based on car networking - Google Patents
A kind of signalized intersections speed guidance System and method for based on car networking Download PDFInfo
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- CN109523810A CN109523810A CN201811389923.5A CN201811389923A CN109523810A CN 109523810 A CN109523810 A CN 109523810A CN 201811389923 A CN201811389923 A CN 201811389923A CN 109523810 A CN109523810 A CN 109523810A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
Abstract
The present invention relates to a kind of, and the signalized intersections speed based on car networking guides system, which is characterized in that including signal acquisition module, wireless transport module, signal processing module and multimedia video/voice broadcast module；The guided vehicle road suggestion module is used for the driving information according to the vehicle of storage, judge vehicle intersection driving direction, it is specified that target lane, and suggest that vehicle transforms to target lane, subsequently into acceleration/braking suggestion module；The acceleration/braking suggestion module is used for according to the road information of running section of storage, the driving information of signal controlling machine status information and vehicle and treated traffic information, it establishes and refers to mobility model, using the acceleration of DC-GLOSA algorithms selection vehicle at this time, instant acceleration/braking strategy is determined.Present invention reduces the operation complexity of driver, reduces the stop frequency at signalized intersections and improve driver comfort.
Description
Technical field
The invention belongs to field of intelligent transportation technology, and in particular to a kind of signalized intersections speed guidance based on car networking
System and method for.
Background technique
In urban road driving environment, since driver can not predict the real-time change of front cross message signal lamp, only
Blind pilotage can be selected, it is improper to may result in speed control, causes unnecessary stop frequency to increase, it means that more
Traffic congestion, a large amount of fuel oil waste, or even traffic accident can be caused.
For this problem, presently, there are two kinds of main means, and one is the traffic lights controls based on adaptive vehicle flowrate
Technology processed distributes the time to optimize green light, and another way is the intersection speed bootstrap technique under car networking environment
(GLOSA, Green Light Optimal Speed Advisory).Car networking environment refer to using it is advanced wireless communication,
The technologies such as sensor and internet realize (V2V, Vehicle to Vehicle) between vehicle, vehicle and traffic infrastructure it
Between (V2I, Vehicle to Infrastructure) multidate information real-time, interactive, and on its basis carry out vehicle actively pacify
Full control and road coordinated management.V2I technology needs to lay roadside device, is widely used in traffic state information publication.It is based on
The intersection speed bootstrap technique of car networking by V2I make Traffic signal control machine phase and timing information (SPaT,
Signal Phase and Timing), road traffic safety limitation, information and the vehicle such as speed variation limitation share, GLOSA
Position and running condition information in conjunction with vehicle itself provide suggestion speed for driver, and guidance driver passes through in green light
Intersection.
A kind of existing method is merged with inertial navigation sensors INS using smart phone GPS and generates route map, shooting view
Frequency come infer traffic light signals dispatch, and be published to net connection vehicle in.Although this can be significantly reduced crossing infrastructure at
This, but it the shortcomings that be due to image procossing, sensor fusion and propagation delay, there are several seconds for the signal time table of identification
Delay；There is also a kind of speeds of combination vehicle driveline detailed status to guide system, but this method is with intersection
A possibility that center lays particular emphasis on intersection total throughout, causes acceleration unnecessary, increases fuel consumption and accident；And
The suggestion average speed on section is provided, this may will disperse the attention of driver, to check whether it meets GLOSA
Speed suggestion, reduce the safety of driving.
Summary of the invention
For the deficiencies in the prior art, it is an object of the present invention to propose that a kind of signal based on car networking is handed over
Prong speed guides System and method for, and sensor passes signal delay, the attention of driver are dispersed in the prior art for solution
And lead to the problem of drive safety is insufficient, fuel consumption is big and is easy to happen traffic accident.
In order to solve the above-mentioned technical problem, the present invention is realised by adopting the following technical scheme:
A kind of signalized intersections speed based on car networking guides system, including signal acquisition module, wireless transport module,
Signal processing module and multimedia video/voice broadcast module；
The signal acquisition module is used in the guidance section of signalized intersections through roadside unit RSU acquisition traveling road
The road information and signal controlling machine status information of section, also acquire the driving information of vehicle, the guidance by board unit OBU
In 300m-500m of the section for upstream region before stop line；
The wireless transport module is connected RSU with OBU using short-range communication technology DSRC, and signal acquisition module is adopted
The driving information of the road information of the running section collected, signal controlling machine status information and vehicle is transmitted to signal processing module
In；
The signal processing module is arranged in smart phone, including preprocessing module and speed guide suggestion module, institute
Stating speed guiding module includes guided vehicle road suggestion module and acceleration/braking suggestion module；
The preprocessing module is used for the traveling of the road information of running section, signal controlling machine status information and vehicle
After information is stored and pre-processed, the traffic information that obtains that treated, according to the driving information of the vehicle of storage and treated hands over
Communication breath, judges whether vehicle allows lane change, if so, otherwise entering acceleration/braking suggestion into guided vehicle road suggestion module
Module；
The guided vehicle road suggestion module is used for the driving information of the vehicle according to storage, judges vehicle in intersection
Driving direction suggests that vehicle transforms to target lane, it is specified that target lane, subsequently into acceleration/braking suggestion module；
The acceleration/braking suggestion module is used for the road information of the running section according to storage, signal controlling machine state
The driving information of information and vehicle and treated traffic information are established and refer to mobility model, utilize DC-GLOSA algorithms selection
The acceleration of vehicle at this time determines instant acceleration/braking strategy；
Instant acceleration/braking plan that the multimedia video/voice broadcast module is provided according to acceleration/braking suggestion module
Slightly driver provides driving and suggests.
Further, the signal acquisition module includes following submodule:
Module 1.1: when vehicle drive into guidance section when, guidance section in, RSU acquire running section road information and
Signal controlling machine status information, the road information of the running section include the location information P of intersection IiIt is advised with running section
Fixed vehicle speed intervals Iv=[vmin,vmax], the signal controlling machine status information includes the phase of intersection signal controlling machine
With timing information SPaT, wherein vminFor the minimum speed of vehicle, vmaxFor the maximum speed of vehicle, the guidance section is to stop
Before fare in the 300m-500m of upstream region.
The location information P for the intersection I that module 1.2:RSU will acquirei, intersection signal controlling machine phase and timing
Vehicle speed intervals I as defined in information SPaT, running sectionv=[vmin,vmax] etc. information by DSRC share to guidance section in
By the driving information of GPS and INS fusion acquisition vehicle, the driving information of the vehicle includes the position letter of vehicle by OBU, OBU
Cease Pu, velocity information vcur, course information Route, steady Acceleration Control section Ia=[amin,amax] and the intersection that will drive into
Mouth I, wherein aminFor the minimum acceleration and a of vehiclemin< 0, amaxFor the peak acceleration of vehicle；
Further, the preprocessing module includes following submodule:
Module 2.1: by the road information of the collected running section of OBU, the row of signal controlling machine status information and vehicle
It sails information to store by Bluetooth transmission into signal processing module, and carries out information pre-processing in smart phone, obtain pre- place
Traffic information after reason, the Top Runby D and green time window GW=with treated traffic information includes vehicle
[tstart,tend], wherein the tstartAt the beginning of being green light window, the tendIt is the end time of green light window；
Module 2.1: according to the traffic that obtains that treated of the driving information of the vehicle stored in module 2.1 and module 2.1
Information, the driving information of the vehicle include signalized intersections position PiIt is, described that treated that traffic information includes Top Runby
D, with signalized intersections position PiCentered on, it is specified that forbid lane change range R, if D > R, uplink region allows changing Lane, then
Into guided vehicle road suggestion module, if D≤R, uplink region vehicle forbids changing Lane, then enters acceleration/braking and suggest mould
Block, wherein the range of R value is [20,200] m.
Further, green light window time GW=[t described in module 2.1start,tend] calculation method it is as follows:
When OBU collects the phase and timing information SPaT of signal controlling machine status information, formula (1), formula (2) are utilized
T is calculated with formula (3)startAnd tend,
T=TRed+TGreen+TAmber (1)
In formula (1), T indicates the traffic light time of signalized intersections, TRed,TGreen,TAmberIt is red, green and amber respectively
The duration of amber colored lights, in formula (2), formula (3), Phase is the signal lamp state in current time lane, and TPC is signal control
At the time of next phase of machine status information processed corresponds to.
Further, the guided vehicle road suggestion module includes following submodule:
Module 3.1: according to the driving information of the vehicle of storage, the driving information of the vehicle include OBU by GPS and
The location information P of the vehicle of INS fusion acquisitionuWith course information Route, lower a road section that vehicle will drive into is prejudged
nextRoad；
Module 3.2: the relationship between analysis current road segment Road, nextRoad and the intersection that will be driven into is sentenced
Driving direction of the disconnected vehicle after entering crossing, the driving direction includes: left-hand rotation, straight trip or right-hand rotation；
Module 3.3: the driving direction that module 3.2 selects is set as the target lane that driver provides vehicle, prompt is driven
The person of sailing shifts to target lane in time.
Further, the acceleration/braking suggestion module includes following submodule:
Module 4.1: believed according to the traveling of the road information of the running section of storage, signal controlling machine status information and vehicle
Breath and treated traffic information are established and refer to mobility model, and the mobile reference model includes distance parameter DstopWith five
From current time to by time parameter TTC needed for crossing, the Top Runby D of treated traffic information the includes vehicle
And green time window GW=[tstart,tend], the driving information of vehicle includes vehicle speed information vcur；
Module 4.2: the reference mobility model established according to module 4.1 obtains the TTC time window W of vehicleTTC=
[tminTTC,tmaxTTC], wherein tminTTCFor the minimum value of the time parameter of vehicle, tmaxTTCFor the maximum of the time parameter of vehicle
Value；
Module 4.3: DC-GLOSA algorithm, the W that comparison module 4.2 obtains are utilizedTTC=[tminTTC,tmaxTTC] and GW=
[tstart,tend] between relationship, instant acceleration/braking strategy is determined according to obtained relationship.
Further, in module 4.1 according to the road information of the running section of storage, signal controlling machine status information and
The driving information of vehicle and treated traffic information are established and refer to mobility model, and the mobile reference model includes distance ginseng
Number DstopRefer to five from current time to by time parameter TTC needed for crossing:
(1) peak acceleration model M A: vehicle peak acceleration a is usedmaxSpeed is improved up to current maximum speed
vmax, then with maximum speed vmaxIt drives at a constant speed, corresponds to the smallest TTC, i.e. tminTTC:
(2) Constant Acceleration MODEL C A, with constant acceleration adecIt gives it the gun, so that in tendWhen speed reach it is current most
Big speed vmax, the TTC under CA model is denoted as tdecTTC:
(3) constant-velocity model CS keeps current vehicle speed to be denoted as t until passing through intersection, the TTC under CS modelcurTTC:
(4) constant braking MODEL C B, the acceleration kept constant carries out retarding braking, so that vehicle is in tstartWhen speed drop
To vmin, the TTC under CB model is denoted as tincTTC, which is denoted as ainc:
(5) maximum brake model MB, uses aminSpeed is reduced until reaching vmin, then with constant minimum speed vmin
Traveling corresponds to maximum TTC, i.e. tmaxTTC:
(6) deceleration model DS, with constant acceleration aminSlow down, until vehicle is parked near crossing completely, accordingly
Stopping distance is denoted as Dstop, the DstopLess than D:
Further, DC-GLOSA algorithm, the W that comparison module 4.2 obtains are utilized in module 4.3TTC=[tminTTC,
tmaxTTC] and GW=[tstart,tend] between relationship, determine that instant acceleration/braking strategy refers to according to obtained relationship:
(1) work as tmin>tend, retarding braking and low speed slide pass through intersection in next green light window, wherein
Work as Dstop> D, provides strategy: emergency braking；Work as Dstop< D provides strategy using DS model: brake simultaneously low speed slide；
(2) work as tmin<tend<tdec, provide strategy: control acceleration is [adec,amax]；
(3) work as tdec<tend<tcur, provide strategy: control acceleration is [0, adec]；
(4) work as tcur<tstart<tinc, provide strategy: control acceleration is [ainc,0]；
(5) work as tinc<tstart<tmax, provide strategy: control acceleration is [amin,ainc]；
(6) work as tmax<tstart, signal lamp is red or amber, wherein works as Dstop> D, provides strategy: emergency braking；When
Dstop< D provides strategy using DS model: braking simultaneously low speed slide；
(7) in other cases, acceleration/braking strategy is not provided.
Further, the multimedia video/voice broadcast module according to provide instant of acceleration/braking suggestion module plus
Speed/braking strategy, which provides driving for driver, suggests referring to:
Instant acceleration/braking plan that the multimedia video/voice broadcast module is provided according to acceleration/braking suggestion module
It slightly, is that driver broadcasts driving suggestion by video/audio by the strategy transmission to video/audio interface.
A kind of signalized intersections speed bootstrap technique based on car networking, includes the following steps:
Step 1: when vehicle drives into the guidance section an of signalized intersections, passing through roadside unit in guidance section
RSU acquires the road information and signal controlling machine status information of running section, using short-range communication technology DSRC by RSU and vehicle
Carrier unit OBU connection, OBU receives the road information of the collected running section of RSU and signal controlling machine status information, OBU are adopted
Collect vehicle driving information, it is described guidance section be stop line before upstream region 300m-500m in；
Step 2: by the road information of the collected running section of OBU, the traveling of signal controlling machine status information and vehicle
Information is transmitted in smart phone and stores, while information pre-processing is carried out in smart phone, the traffic letter that obtains that treated
Breath judges whether vehicle allows to become according to the driving information of the vehicle of storage and step 2 traffic information that obtains that treated
Otherwise road enters step 4 if so, entering step 3；
Step 3: according to step 1 obtain vehicle driving information, judge vehicle in the driving direction of intersection, it is specified that
Target lane, and suggest that vehicle transforms to target lane, enter step 4；
Step 4: according to the road information of the running section of step 2 storage, the row of signal controlling machine status information and vehicle
It sails information and step 2 traffic information that obtains that treated, establishes and refer to mobility model, utilize DC-GLOSA algorithms selection vehicle
Acceleration at this time determines instant acceleration/braking strategy；
Step 5: smart phone provides driving for driver and suggests according to acceleration/braking strategy of step 4, when vehicle into
When entering the guidance section of next intersection, return step 1, update message stack.
The present invention can generate it is below the utility model has the advantages that
The present invention proposes a kind of DC-GLOSA algorithm, by comparing the row of current vehicle centered on the preference of driver
It sails state and six kinds refers to mobility model, periodically provide fine degree moderate row for driver immediately using smart phone
Vehicle acceleration/braking degree immediately is held in vehicle suggestion by the thrust of control pedal.Avoid signal delay, equipment letter
Single, at low cost, interactivity is strong, reduces the operation complexity of driver, can be realized and reduces parking time at signalized intersections
Number improves fuel efficiency and driver comfort, and driver is made to concentrate one's energy to manipulate vehicle progress safe driving.
Detailed description of the invention
Fig. 1 is structural framing schematic diagram of the invention；
Fig. 2 is work flow diagram of the invention；
Fig. 3 is communication technology block schematic illustration of the invention；
Fig. 4 is green light window time schematic diagram of the invention；
Fig. 5 is that speed of the invention guides operation schematic diagram；
Fig. 6 refers to mobility model schematic diagram for of the invention six；
Fig. 7 is DC-GLOSA algorithm flow chart of the invention；
Fig. 8 is emulation traffic scene figure of the invention；
Fig. 9 is artificial network traffic model figure of the invention；
Figure 10 is that emulation wagon flow speed of the invention guides scene figure；
Figure 11 is simulated vehicle speeds of the invention-time change comparison diagram；
Figure 12 is the instantaneous oil consumption of emulation vehicle-time change comparison diagram of the invention；
Figure 13 is emulation vehicle section oil consumption total amount comparison diagram of the invention；
Specific embodiment
The present invention is described in further detail with attached drawing with reference to embodiments:
In order to solve the above-mentioned technical problem, the present invention is realised by adopting the following technical scheme:
A kind of signalized intersections speed based on car networking guides system, including signal acquisition module, wireless transport module,
Signal processing module and multimedia video/voice broadcast module；
The signal acquisition module is used in the guidance section of signalized intersections through roadside unit RSU acquisition traveling road
The road information and signal controlling machine status information of section, also acquire the driving information of vehicle, the guidance by board unit OBU
In 300m-500m of the section for upstream region before stop line；
The wireless transport module is connected RSU with OBU using short-range communication technology DSRC, and signal acquisition module is adopted
The driving information of the road information of the running section collected, signal controlling machine status information and vehicle is transmitted to signal processing module
In；
The signal processing module is arranged in smart phone, including preprocessing module and speed guide suggestion module, institute
Stating speed guiding module includes guided vehicle road suggestion module and acceleration/braking suggestion module；
The preprocessing module is used for the traveling of the road information of running section, signal controlling machine status information and vehicle
After information is stored and pre-processed, the traffic information that obtains that treated, according to the driving information of the vehicle of storage and treated hands over
Communication breath, judges whether vehicle allows lane change, if so, otherwise entering acceleration/braking suggestion into guided vehicle road suggestion module
Module；
The guided vehicle road suggestion module is used for the driving information of the vehicle according to storage, judges vehicle in intersection
Driving direction suggests that vehicle transforms to target lane, it is specified that target lane, subsequently into acceleration/braking suggestion module；
The acceleration/braking suggestion module is used for the road information of the running section according to storage, signal controlling machine state
The driving information of information and vehicle and treated traffic information are established and refer to mobility model, utilize DC-GLOSA algorithms selection
The acceleration of vehicle at this time determines instant acceleration/braking strategy；
Instant acceleration/braking plan that the multimedia video/voice broadcast module is provided according to acceleration/braking suggestion module
Slightly driver provides driving and suggests.
The present invention proposes a kind of DC-GLOSA algorithm, by comparing the row of current vehicle centered on the preference of driver
It sails state and six kinds refers to mobility model, periodically provide fine degree moderate row for driver immediately using smart phone
Vehicle acceleration/braking degree immediately is held in vehicle suggestion by the thrust of control pedal.Avoid signal delay, equipment letter
Single, at low cost, interactivity is strong, reduces the operation complexity of driver, can be realized and reduces parking time at signalized intersections
Number improves fuel efficiency and driver comfort, and driver is made to concentrate one's energy to manipulate vehicle progress safe driving.
Specifically, the signal acquisition module includes following submodule:
Module 1.1: when vehicle drive into guidance section when, guidance section in, RSU acquire running section road information and
Signal controlling machine status information, the road information of the running section include the location information P of intersection IiIt is advised with running section
Fixed vehicle speed intervals Iv=[vmin,vmax], the signal controlling machine status information includes the phase of intersection signal controlling machine
With timing information SPaT, wherein vminFor the minimum speed of vehicle, vmaxFor the maximum speed of vehicle, the guidance section is to stop
Before fare in the 300m-500m of upstream region.
The location information P for the intersection I that module 1.2:RSU will acquirei, intersection signal controlling machine phase and timing
Vehicle speed intervals I as defined in information SPaT, running sectionv=[vmin,vmax] etc. information by DSRC share to guidance section in
By the driving information of GPS and INS fusion acquisition vehicle, the driving information of the vehicle includes the position letter of vehicle by OBU, OBU
Cease Pu, velocity information vcur, course information Route, steady Acceleration Control section Ia=[amin,amax] and the intersection that will drive into
Mouth I, wherein aminFor the minimum acceleration and a of vehiclemin< 0, amaxFor the peak acceleration of vehicle；
Specifically, the preprocessing module includes following submodule:
Module 2.1: by the road information of the collected running section of OBU, the row of signal controlling machine status information and vehicle
It sails information to store by Bluetooth transmission into signal processing module, and carries out information pre-processing in smart phone, obtain pre- place
Traffic information after reason, the Top Runby D and green time window GW=with treated traffic information includes vehicle
[tstart,tend], wherein the tstartAt the beginning of being green light window, the tendIt is the end time of green light window；
Module 2.1: according to the traffic that obtains that treated of the driving information of the vehicle stored in module 2.1 and module 2.1
Information, the driving information of the vehicle include signalized intersections position PiIt is, described that treated that traffic information includes Top Runby
D, with signalized intersections position PiCentered on, it is specified that forbid lane change range R, if D > R, uplink region allows changing Lane, then
Into guided vehicle road suggestion module, if D≤R, uplink region vehicle forbids changing Lane, then enters acceleration/braking and suggest mould
Block, wherein the range of R value is [20,200] m.
Preferably, green light window time GW=[t described in module 2.1start,tend] calculation method it is as follows:
When OBU collects the phase and timing information SPaT of signal controlling machine status information, formula (1), formula (2) are utilized
T is calculated with formula (3)startAnd tend,
T=TRed+TGreen+TAmber (1)
In formula (1), T indicates the traffic light time of signalized intersections, TRed,TGreen,TAmberIt is red, green and amber respectively
The duration of amber colored lights, in formula (2), formula (3), Phase is the signal lamp state in current time lane, and TPC is signal control
At the time of next phase of machine status information processed corresponds to.
Specifically, the guided vehicle road suggestion module includes following submodule:
Module 3.1: according to the driving information of the vehicle of storage, the driving information of the vehicle include OBU by GPS and
The location information P of the vehicle of INS fusion acquisitionuWith course information Route, lower a road section that vehicle will drive into is prejudged
nextRoad；
Module 3.2: the relationship between analysis current road segment Road, nextRoad and the intersection that will be driven into is sentenced
Driving direction of the disconnected vehicle after entering crossing, the driving direction includes: left-hand rotation, straight trip or right-hand rotation；
Module 3.3: the driving direction that module 3.2 selects is set as the target lane that driver provides vehicle, prompt is driven
The person of sailing shifts to target lane in time.
Specifically, the acceleration/braking suggestion module includes following submodule:
Module 4.1: believed according to the traveling of the road information of the running section of storage, signal controlling machine status information and vehicle
Breath and treated traffic information are established and refer to mobility model, and the mobile reference model includes distance parameter DstopWith five
From current time to by time parameter TTC needed for crossing, the Top Runby D of treated traffic information the includes vehicle
And green time window GW=[tstart,tend], the driving information of vehicle includes vehicle speed information vcur；
Module 4.2: the reference mobility model established according to module 4.1 obtains the TTC time window W of vehicleTTC=
[tminTTC,tmaxTTC], wherein tminTTCFor the minimum value of the time parameter of vehicle, tmaxTTCFor the maximum of the time parameter of vehicle
Value；
Module 4.3: DC-GLOSA algorithm, the W that comparison module 4.2 obtains are utilizedTTC=[tminTTC,tmaxTTC] and GW=
[tstart,tend] between relationship, instant acceleration/braking strategy is determined according to obtained relationship.
Preferably, according to the road information of the running section of storage, signal controlling machine status information and vehicle in module 4.1
Driving information and treated traffic information, establish and refer to mobility model, the mobile reference model includes distance parameter
DstopRefer to five from current time to by time parameter TTC needed for crossing:
(1) peak acceleration model M A: vehicle peak acceleration a is usedmaxSpeed is improved up to current maximum speed
vmax, then with maximum speed vmaxIt drives at a constant speed, corresponds to the smallest TTC, i.e. tminTTC:
(2) Constant Acceleration MODEL C A, with constant acceleration adecIt gives it the gun, so that in tendWhen speed reach it is current most
Big speed vmax, the TTC under CA model is denoted as tdecTTC:
(3) constant-velocity model CS keeps current vehicle speed to be denoted as t until passing through intersection, the TTC under CS modelcurTTC:
(4) constant braking MODEL C B, the acceleration kept constant carries out retarding braking, so that vehicle is in tstartWhen speed drop
To vmin, the TTC under CB model is denoted as tincTTC, which is denoted as ainc:
(5) maximum brake model MB, uses aminSpeed is reduced until reaching vmin, then with constant minimum speed vmin
Traveling corresponds to maximum TTC, i.e. tmaxTTC:
(6) deceleration model DS, with constant acceleration aminSlow down, until vehicle is parked near crossing completely, accordingly
Stopping distance is denoted as Dstop, the DstopLess than D:
Specifically, utilizing DC-GLOSA algorithm, the W that comparison module 4.2 obtains in module 4.3TTC=[tminTTC,tmaxTTC]
With GW=[tstart,tend] between relationship, determine that instant acceleration/braking strategy refers to according to obtained relationship:
(1) work as tmin>tend, retarding braking and low speed slide pass through intersection in next green light window, wherein
Work as Dstop> D, provides strategy: emergency braking；Work as Dstop< D provides strategy using DS model: brake simultaneously low speed slide；
(2) work as tmin<tend<tdec, provide strategy: control acceleration is [adec,amax]；
(3) work as tdec<tend<tcur, provide strategy: control acceleration is [0, adec]；
(4) work as tcur<tstart<tinc, provide strategy: control acceleration is [ainc,0]；
(5) work as tinc<tstart<tmax, provide strategy: control acceleration is [amin,ainc]；
(6) work as tmax<tstart, signal lamp is red or amber, wherein works as Dstop> D, provides strategy: emergency braking；When
Dstop< D provides strategy using DS model: braking simultaneously low speed slide；
(7) in other cases, acceleration/braking strategy is not provided.
Specifically, multimedia video/the voice broadcast module according to provide instant of acceleration/braking suggestion module plus
Speed/braking strategy, which provides driving for driver, suggests referring to:
Instant acceleration/braking plan that the multimedia video/voice broadcast module is provided according to acceleration/braking suggestion module
It slightly, is that driver broadcasts driving suggestion by video/audio by the strategy transmission to video/audio interface.
A kind of signalized intersections speed bootstrap technique based on car networking, includes the following steps:
Step 1: when vehicle drives into the guidance section an of signalized intersections, passing through roadside unit in guidance section
RSU acquires the road information and signal controlling machine status information of running section, using short-range communication technology DSRC by RSU and vehicle
Carrier unit OBU connection, OBU receives the road information of the collected running section of RSU and signal controlling machine status information, OBU are adopted
Collect vehicle driving information, it is described guidance section be stop line before upstream region 300m-500m in；
Step 2: by the road information of the collected running section of OBU, the traveling of signal controlling machine status information and vehicle
Information is transmitted in smart phone and stores, while information pre-processing is carried out in smart phone, the traffic letter that obtains that treated
Breath judges whether vehicle allows to become according to the driving information of the vehicle of storage and step 2 traffic information that obtains that treated
Otherwise road enters step 4 if so, entering step 3；
Step 3: according to step 1 obtain vehicle driving information, judge vehicle in the driving direction of intersection, it is specified that
Target lane, and suggest that vehicle transforms to target lane, enter step 4；
Step 4: according to the road information of the running section of step 2 storage, the row of signal controlling machine status information and vehicle
It sails information and step 2 traffic information that obtains that treated, establishes and refer to mobility model, utilize DC-GLOSA algorithms selection vehicle
Acceleration at this time determines instant acceleration/braking strategy；
Step 5: smart phone provides driving for driver and suggests according to acceleration/braking strategy of step 4, when vehicle into
When entering the guidance section of next intersection, return step 1, update message stack.
The present invention proposes a kind of DC-GLOSA algorithm, by comparing the row of current vehicle centered on the preference of driver
It sails state and six kinds refers to mobility model, periodically provide fine degree moderate row for driver immediately using smart phone
Vehicle acceleration/braking degree immediately is held in vehicle suggestion by the thrust of control pedal.Avoid signal delay, equipment letter
Single, at low cost, interactivity is strong, reduces the operation complexity of driver, can be realized and reduces parking time at signalized intersections
Number improves fuel efficiency and driver comfort, and driver is made to concentrate one's energy to manipulate vehicle progress safe driving.
Specifically, step 1 includes following sub-step:
Step 1.1: when vehicle drive into guidance section when, guidance section in, RSU acquire running section road information and
Signal controlling machine status information, the road information of the running section include the location information P of intersection IiIt is advised with running section
Fixed vehicle speed intervals Iv=[vmin,vmax], the signal controlling machine status information includes the phase of intersection signal controlling machine
With timing information SPaT, wherein vminFor the minimum speed of vehicle, vmaxFor the maximum speed of vehicle, the guidance section is to stop
Before fare in the 300m-500m of upstream region.
Step 1.2:, the location information P for the intersection I that RSU will acquirei, intersection signal controlling machine phase and when
Vehicle speed intervals I as defined in sequence information SPaT, running sectionv=[vmin,vmax] etc. information by DSRC share to guidance section in
OBU, OBU by GPS and INS fusion acquisition vehicle driving information, the driving information of the vehicle includes the position of vehicle
Information Pu, velocity information vcur, course information Route, steady Acceleration Control section Ia=[amin,amax] and the friendship that will drive into
Prong I, wherein aminFor the minimum acceleration and a of vehiclemin< 0, amaxFor the peak acceleration of vehicle；
Preferably, RSU stores the SPaT information of signal controlling machine in the form of a table；It is with eight-phase traffic signal controlling machine
Example, period 90s, phase state respectively represent the signal lamp state from north side each lane of clockwise direction, each track direction
It is that from right to left, crossing connects 4 sections, there are 3 entrance lanes in each section, totally 12 lanes, i.e. 12 signals.It establishes
SPaT information table as shown in Table 1:
Table 1:
Specifically, step 2 includes following sub-step:
Step 2.1: smart phone is as the communication relay between driver and OBU, by the collected running section of OBU
The driving information of road information, signal controlling machine status information and vehicle passes through Bluetooth transmission into smart phone, and in intelligence
Information pre-processing is carried out in mobile phone, obtains pretreated traffic information, described traffic information includes vehicle with treated
Top Runby D and green time window GW=[tstart,tend], wherein the tstartAt the beginning of being green light window, institute
State tendIt is the end time of green light window；
Preferably, the GW=of green light window time described in step 2.1 [tstart,tend] calculation method it is as follows:
When OBU collects the phase and timing information SPaT of signal controlling machine status information, formula (1), formula (2) are utilized
T is calculated with formula (3)startAnd tend,
T=TRed+TGreen+TAmber (1)
In formula (1), T indicates the traffic light time of signalized intersections, TRed,TGreen,TAmberIt is red, green and amber respectively
The duration of amber colored lights, in formula (2), formula (3), Phase is the signal lamp state in current time lane, and TPC is signal control
At the time of next phase of machine status information processed corresponds to.
Step 2.2: according to the traffic that obtains that treated of the driving information of the vehicle stored in step 2.1 and step 2.1
Information, the driving information of the vehicle include signalized intersections position PiIt is, described that treated that traffic information includes Top Runby
D, with signalized intersections position PiCentered on, it is specified that forbid lane change range R, if D > R, uplink region allows changing Lane, then
4 are entered step, if D≤R, uplink region vehicle forbids changing Lane, then enters step 5, wherein the range of R value is
[20,200]m。
Specifically, step 3 includes following sub-step:
Step 3.1: according to the driving information for the vehicle that step 1 obtains, the driving information of the vehicle includes that OBU passes through
The location information P of the vehicle of GPS and INS fusion acquisitionuWith course information Route, lower a road section that vehicle will drive into is prejudged
nextRoad；
Step 3.2: the relationship between analysis current road segment Road, nextRoad and the intersection that will be driven into is sentenced
Driving direction of the disconnected vehicle after entering crossing, the driving direction includes: left-hand rotation, straight trip or right-hand rotation；
Step 3.3: the driving direction that step 3.2 is selected is set as the target lane that driver provides vehicle, and prompt is driven
The person of sailing shifts to target lane in time.
Specifically, step 4 includes following sub-step:
Step 4.1: according to the road information of the running section of step 2 storage, signal controlling machine status information and vehicle
Driving information and step 2 obtain that treated traffic information, establishes and refers to mobility model, the mobile reference model include away from
From parameter DstopWith five from current time to by time parameter TTC needed for crossing, treated the traffic information packet
Include Top Runby D and green time window the GW=[t of vehiclestart,tend], the driving information of vehicle includes car speed letter
Cease vcur；
Step 4.2: the reference mobility model established according to step 4.1 obtains the TTC time window W of vehicleTTC=
[tminTTC,tmaxTTC], wherein tminTTCFor the minimum value of the time parameter of vehicle, tmaxTTCFor the maximum of the time parameter of vehicle
Value；
Step 4.3: utilizing DC-GLOSA algorithm, the W that comparison step 4.2 obtainsTTC=[tminTTC,tmaxTTC] and GW=
[tstart,tend] between relationship, instant acceleration/braking strategy is determined according to obtained relationship.
Preferably, step 4.1 includes following sub-step:
The mobile reference model includes from current time to by five time parameter TTC needed for crossing and apart from ginseng
Number DstopRefer to:
(1) peak acceleration model M A: vehicle peak acceleration a is usedmaxSpeed is improved up to current maximum speed
vmax, then with maximum speed vmaxIt drives at a constant speed, corresponds to the smallest TTC, i.e. tminTTC:
(2) Constant Acceleration MODEL C A, with constant acceleration adecIt gives it the gun, so that in tendWhen speed reach it is current most
Big speed vmax, the TTC under CA model is denoted as tdecTTC:
(3) constant-velocity model CS keeps current vehicle speed to be denoted as t until passing through intersection, the TTC under CS modelcurTTC:
(4) constant braking MODEL C B, the acceleration kept constant carries out retarding braking, so that vehicle is in tstartWhen speed drop
To vmin, the TTC under CB model is denoted as tincTTC, which is denoted as ainc:
(5) maximum brake model MB, uses aminSpeed is reduced until reaching vmin, then with constant minimum speed vmin
Traveling corresponds to maximum TTC, i.e. tmaxTTC:
(6) deceleration model DS, with constant acceleration aminSlow down, until vehicle is parked near crossing completely, accordingly
Stopping distance is denoted as Dstop, the DstopLess than D:
To guarantee driving safety, DstopShould be less than D, otherwise, vehicle may at crossing with front truck or pedestrian collision, this
When, driver should strongly push brake plate to carry out emergency braking, make the complete ramp to stop of vehicle.
Preferably, DC-GLOSA algorithm, the W that comparison step 4.2 obtains are utilized in step 4.3TTC=[tminTTC,tmaxTTC]
With GW=[tstart,tend] between relationship, determine that instant acceleration/braking strategy refers to according to obtained relationship:
(1) work as tmin>tend, at this time signal lamp be green, even if but vehicle with peak acceleration amaxAccelerate, it can not be
Green light passes through crossing before terminating, and needs retarding braking and low speed slide, passes through intersection in next green light window,
In,
(1a) works as Dstop> D, driver answer emergency braking；
(1b) works as Dstop< D, driver should use DS model, brake simultaneously low speed slide.
(2) work as tmin<tend<tdec, vehicle drives into intersection near the green light end time, and remaining time is nervous, currently
Speed is excessively slow, to guarantee that vehicle should be by Acceleration Control in [a by crossing before green light terminatesdec,amax], it is proposed that driver
Actively accelerate；
(3) work as tdec<tend<tcur, vehicle drives into intersection near the green light end time, and remaining time is slightly nervous,
Current vehicle speed is slightly slow, and to make vehicle before green light terminates by crossing, vehicle only need to be by Acceleration Control [0, adec], that is, it builds
View driver slightly accelerates；
(4) work as tcur<tstart<tinc, vehicle drives into intersection near the green light time started, and current vehicle speed is slightly fast, away from
The green light time started is slightly long, and to make vehicle after green light starts by crossing, vehicle need to only be controlled braking acceleration in [ainc,
0], that is, suggest that driver slightly brakes；
(5) work as tinc<tstart<tmax, vehicle drives into intersection near the green light time started, and current vehicle speed is too fast, away from
The green light time started is long, and to guarantee that vehicle passes through crossing after green light starts, vehicle should control braking acceleration in [amin,
ainc], it is proposed that driver actively brakes；
(6) work as tmax<tstart, when vehicle reaches crossing, signal lamp is red or amber, needs retarding braking and low speed
It slides, passes through crossing when green light window comes, wherein
(6a) works as Dstop> D, driver answer emergency braking；
(6b) works as Dstop< D, driver should use DS model, brake simultaneously low speed slide；
(7) in other cases, vehicle maintains the original state to continue to travel can pass through intersection in green light window, no
Acceleration/braking strategy is provided.
Specifically, step 5 includes following sub-step:
Step 5.1: smart phone obtains after the acceleration of step 4/braking suggests, by the suggestion be transferred to multimedia video/
Voice broadcast module；
Step 5.2: being that driver broadcasts driving suggestion by video/audio interface；
Step 5.3: when vehicle enters the guidance section of next intersection, return step 1, update message stack, to reach
The effect that newest driving is suggested is broadcasted to for driver.
Wherein, it is played since video/speech message usually requires several seconds, this is still played in smart phone disappears
When breath, new notice may be generated.To avoid misleading driver, newly-generated message, which can postpone till current casting, to be terminated.When
When having multiple messages, for the present invention using a kind of special data structure, i.e. message stack S keeps in all message that do not broadcast.Choosing
It selects newest message to be broadcasted, and all remaining suggestions is abandoned.The structure of message stack S is as shown in table 2:
Table 2:
As described in Figure 2, the invention proposes a kind of, and the signalized intersections speed based on car networking guides system, including trackside
Unit R SU, on board unit OBU, wireless transport module and smart phone；
The roadside unit RSU is arranged in both sides of the road and signal lamp intersection, for obtaining the road of running section
Information, the real-time acquisition time dispatch list from signal controlling machine, are communicated by wireless transport module and OBU；
The wireless transport module, for the OBU in section and RSU will be guided to connect by dedicated short-range communication technology DSRC
It connects, carries out real-time data interaction；
The on board unit OBU is used to obtain the driving information of vehicle, and from the received traveling road of wireless transport module
The road information and time scheduling table of section, the vehicle traveling information include vehicle position information, course information and vehicle speed information；
The smart phone includes guided vehicle road suggestion module and acceleration/braking suggestion module；It can collect and handle vehicle
The driving information of the road information of the running section transmitted at carrier unit OBU, time scheduling table and vehicle, judge vehicle whether
In the range of allowing lane change, and guided vehicle road suggestion and acceleration/braking suggestion are provided for driver；Specifically, the vehicle row
Sailing information includes vehicle position information, course information and vehicle speed information.
The speed guidance suggestion module includes guided vehicle road suggestion module and acceleration/braking suggestion module, for working as vehicle
When driving into guidance section, according to running section road information, signal controlling machine status information, vehicle traveling information, vehicle is judged
Whether in the range of allowing lane change, and guided vehicle road suggestion and acceleration/braking suggestion are provided for driver；
The guided vehicle road suggestion module, for allowing to obtain the course information of vehicle within the scope of lane change, sentence when vehicle
Disconnected vehicle intersection driving direction, it is specified that its guided vehicle road, it is proposed that vehicle is guaranteeing that security situation downconverts to target
On lane；
In the guided vehicle road suggestion module guide road section scope be stop line before upstream region 300m -500m it is any
Lane；
Specifically, the acceleration/braking suggestion module, which includes six, refers to mobility model, it is based on vehicle current running state
Classification, using the speed bootstrap algorithm DC-GLOSA (Driver Centric-GLOSA) centered on driver, correspondingly
Instant acceleration/braking suggestion appropriate is provided with a kind of mobility model for driver.
The following provides a specific embodiment of the present invention, it should be noted that the invention is not limited to implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment 1
Simulation example is used by Wireless Network Simulation device OMNET++ and microscopic traffic simulation device SUMO (Simulation of
Urban Mobility) bidirectional couple open source car networking simulation frame Veins, emulation content is mainly the vehicle of signalized intersections
Speed guidance, makes vehicle is not parking to pass through intersection.
Traffic scene is the crossroad in two-way 6 lane, and lane speed limit is Iv=[20,60] (km/h), simulation communication is adopted
With the dedicated IEEE802.11p wireless communication standard of car networking, specific traffic simulation scene is as shown in figure 8, parameter such as 3 institute of table
Show.
Table 3:
Network communication, can be accurate mainly using the network simulation model for being based on vehicle mobile ad-hoc network (VANET)
The network communications scenarios of simulation car networking, as shown in Figure 9.Each communication module and its function are as shown in table 4 in model.
Table 4:
It is arranged according to simulation parameter, each car, according to the guided vehicle road of judgement, is permitting after driving into designation range in emulation
Perhaps regulation lane is faded within the scope of lane change；Execute DC-GLOSA algorithm, in conjunction with mobile reference model calculate it is appropriate it is instant accelerate/
Braking is suggested.Assuming that vehicle, at away from crossing 90m, signal lamp is green, GW=[0,3], WTTC=[8,20], Dstop=20,
tmin>tend, D > Dstop, i.e., vehicle also can not be by intersection at the end of green light, but in retarding braking and can keep making
Speed low speed slide after dynamic is to stop line.Therefore, it is suggested that vehicle uses DS model, retarding braking simultaneously keeps low speed slide,
Next green light moment passes through crossing when arriving.Traffic simulation scene when vehicle is by signal cross crossing is as shown in Figure 10.
Figure 11 is the speed-time change comparison diagram for emulating vehicle in guidance section.Wherein (a) is " no to suggest ", i.e.,
Guidance vehicle and the comparison of non-guide car speed under CS model, guide the rate curve of vehicle more more steady than non-guide vehicle
It is fixed；(b) under DS model guidance vehicle and the comparison of non-guide car speed, guide vehicle elder generation braking deceleration, after at the uniform velocity slide,
Rather than guidance vehicle can stop at crossing, wait next green light phase；It (c) is guidance vehicle under MB, CB model and non-guide
Car speed comparison, wherein guidance vehicle suggestion use MB model before this, then use CB model, be finally CS model at the uniform velocity
Traveling, rather than guide vehicle that can then stop at crossing waits next green light phase (d) as the guidance vehicle under CA model and non-draws
Guide-car velocity contrast, guidance vehicle first accelerate, after at the uniform velocity, rather than guide vehicle speed curve shaking always.
Figure 12 is instantaneous oil consumption-time change comparison diagram of aforementioned four vehicle.As shown, the instantaneous oil consumption of vehicle
With the variation degree of car speed, i.e. acceleration is directly proportional.Guide the rate curve of vehicle more more stable than non-guide vehicle, because
This guides the instantaneous oil consumption of vehicle compared with non-guide vehicle, and curve is more stable.
Figure 13 is emulation vehicle section oil consumption total amount comparison diagram.In figure, 1-4 group respectively corresponds above-mentioned a-d vehicle.It is each
In group, left side is the section oil consumption total amount for guiding vehicle, and right side is the section oil consumption total amount of non-guidance vehicle.It can obviously see
Out, guide the section oil consumption total amount of vehicle smaller than non-guide vehicle.
A kind of signalized intersections speed bootstrap technique based on car networking designed by the present invention is with the preference of driver
Center proposes a kind of DC-GLOSA algorithm, refers to mobility model by comparing the driving status of current vehicle and six kinds, utilizes intelligence
The multimedia UI of energy mobile phone periodically provides fine degree moderate driving suggestion for driver, passes through the thrust of control pedal
To hold vehicle acceleration/braking degree immediately.Equipment is simple, at low cost, interactivity is strong, reduces the complicated for operation of driver
Degree can be realized and reduce stop frequency at signalized intersections, improve fuel efficiency and driver comfort, and concentrates driver
Energy manipulates vehicle and carries out safe driving.
Claims (10)
1. a kind of signalized intersections speed based on car networking guides system, which is characterized in that including signal acquisition module, wirelessly
Transmission module, signal processing module and multimedia video/voice broadcast module；
The signal acquisition module is used to acquire running section by roadside unit RSU in the guidance section of signalized intersections
Road information and signal controlling machine status information also acquire the driving information of vehicle, the guidance section by board unit OBU
In 300m-500m for upstream region before stop line；
The wireless transport module is connected RSU with OBU using short-range communication technology DSRC, and signal acquisition module is collected
The road information of running section, signal controlling machine status information and vehicle driving information be transmitted in signal processing module；
The signal processing module is arranged in smart phone, including preprocessing module and speed guide suggestion module, the vehicle
Fast guiding module includes guided vehicle road suggestion module and acceleration/braking suggestion module；
The preprocessing module is used for the driving information of the road information of running section, signal controlling machine status information and vehicle
After storing and pre-processing, the traffic information that obtains that treated, according to the driving information of the vehicle of storage and treated that traffic is believed
Breath, judges whether vehicle allows lane change, if so, otherwise entering acceleration/braking into guided vehicle road suggestion module and suggesting mould
Block；
The guided vehicle road suggestion module is used for the driving information of the vehicle according to storage, judges vehicle in the traveling of intersection
Direction suggests that vehicle transforms to target lane, it is specified that target lane, subsequently into acceleration/braking suggestion module；
The acceleration/braking suggestion module is used for the road information of the running section according to storage, signal controlling machine status information
With the driving information of vehicle and treated traffic information, establishes and refer to mobility model, utilize DC-GLOSA algorithms selection vehicle
Acceleration at this time determines instant acceleration/braking strategy；
Multimedia video/the voice broadcast module is according to instant acceleration/braking strategy that acceleration/braking suggestion module provides
Driver provides driving and suggests.
2. the signalized intersections speed based on car networking guides system as described in claim 1, which is characterized in that the signal
Acquisition module includes following submodule:
Module 1.1: when vehicle drives into guidance section, in guidance section, RSU acquires the road information and signal of running section
Control machine status information, the road information of the running section include the location information P of intersection IiWith as defined in running section
Vehicle speed intervals Iv=[vmin,vmax], the signal controlling machine status information include intersection signal controlling machine phase and when
Sequence information SPaT, wherein vminFor the minimum speed of vehicle, vmaxFor the maximum speed of vehicle, the guidance section is stop line
In the 300m-500m of preceding upstream region.
The location information P for the intersection I that module 1.2:RSU will acquirei, intersection signal controlling machine phase and timing information
Vehicle speed intervals I as defined in SPaT, running sectionv=[vmin,vmax] etc. information by DSRC share to guidance section in OBU,
For OBU by the driving information of GPS and INS fusion acquisition vehicle, the driving information of the vehicle includes the location information P of vehicleu、
Velocity information vcur, course information Route, steady Acceleration Control section Ia=[amin,amax] and the intersection I that will drive into,
Wherein, aminFor the minimum acceleration and a of vehiclemin< 0, amaxFor the peak acceleration of vehicle.
3. the signalized intersections speed based on car networking guides system as described in claim 1, which is characterized in that the pre- place
Managing module includes following submodule:
Module 2.1: the traveling of the road information of the collected running section of OBU, signal controlling machine status information and vehicle is believed
Breath is stored by Bluetooth transmission into signal processing module, and information pre-processing is carried out in smart phone, after obtaining pretreatment
Traffic information, the Top Runby D and green time window GW=with treated traffic information includes vehicle
[tstart,tend], wherein the tstartAt the beginning of being green light window, the tendIt is the end time of green light window；
Module 2.1: according to the driving information of the vehicle stored in module 2.1 and module 2.1 traffic information that obtains that treated,
The driving information of the vehicle includes signalized intersections position Pi, described treated that traffic information includes Top Runby D, with letter
Number intersection position PiCentered on, it is specified that forbid lane change range R, if D > R, uplink region allows changing Lane, then enters and lead
To lane suggestion module, if D≤R, uplink region vehicle forbids changing Lane, then enters acceleration/braking suggestion module,
In, the range of R value is [20,200] m.
4. the signalized intersections speed based on car networking guides system as claimed in claim 3, which is characterized in that module 2.1
Described in green light window time GW=[tstart,tend] calculation method it is as follows:
When OBU collects the phase and timing information SPaT of signal controlling machine status information, formula (1), formula (2) and formula are utilized
(3) t is calculatedstartAnd tend,
T=TRed+TGreen+TAmber (1)
In formula (1), T indicates the traffic light time of signalized intersections, TRed,TGreen,TAmberIt is red respectively, it is green and amber
The duration of light, in formula (2), formula (3), Phase is the signal lamp state in current time lane, and TPC is signal controlling machine
At the time of next phase of status information corresponds to.
5. the signalized intersections speed based on car networking guides system as described in claim 1, which is characterized in that the guiding
Lane suggestion module includes following submodule:
Module 3.1: according to the driving information of the vehicle of storage, the driving information of the vehicle includes that OBU is melted by GPS and INS
Close the location information P of the vehicle of acquisitionuWith course information Route, lower a road section nextRoad that vehicle will drive into is prejudged；
Module 3.2: the relationship between analysis current road segment Road, nextRoad and the intersection that will be driven into judges vehicle
Enter crossing after driving direction, the driving direction includes: left-hand rotation, straight trip or right-hand rotation；
Module 3.3: the driving direction that module 3.2 selects is set as the target lane that driver provides vehicle, prompts driver
Target lane is shifted in time.
6. the signalized intersections speed based on car networking guides system as described in claim 1, which is characterized in that described to add
Speed/braking suggestion module includes following submodule:
Module 4.1: according to the road information of the running section of storage, signal controlling machine status information and vehicle driving information and
Treated traffic information is established and refers to mobility model, and the mobile reference model includes distance parameter DstopWith five from working as
The preceding moment to by time parameter TTC needed for crossing, the Top Runby D of treated traffic information the includes vehicle and
Green time window GW=[tstart,tend], the driving information of vehicle includes vehicle speed information vcur；
Module 4.2: the reference mobility model established according to module 4.1 obtains the TTC time window W of vehicleTTC=[tminTTC,
tmaxTTC], wherein tminTTCFor the minimum value of the time parameter of vehicle, tmaxTTCFor the maximum value of the time parameter of vehicle；
Module 4.3: DC-GLOSA algorithm, the W that comparison module 4.2 obtains are utilizedTTC=[tminTTC,tmaxTTC] and GW=[tstart,
tend] between relationship, instant acceleration/braking strategy is determined according to obtained relationship.
7. the signalized intersections speed based on car networking guides system as claimed in claim 6, which is characterized in that module 4.1
The road information of the middle running section according to storage, the driving information of signal controlling machine status information and vehicle and treated hand over
Communication breath, establishes and refers to mobility model, the mobile reference model includes distance parameter DstopWith five from current time to logical
Time parameter TTC needed for crossing crossing refers to:
(1) peak acceleration model M A: vehicle peak acceleration a is usedmaxSpeed is improved up to current maximum speed vmax, so
Afterwards with maximum speed vmaxIt drives at a constant speed, corresponds to the smallest TTC, i.e. tminTTC:
(2) Constant Acceleration MODEL C A, with constant acceleration adecIt gives it the gun, so that in tendWhen speed reach current maximum speed
Spend vmax, the TTC under CA model is denoted as tdecTTC:
(3) constant-velocity model CS keeps current vehicle speed to be denoted as t until passing through intersection, the TTC under CS modelcurTTC:
(4) constant braking MODEL C B, the acceleration kept constant carries out retarding braking, so that vehicle is in tstartWhen speed be down to
vmin, the TTC under CB model is denoted as tincTTC, which is denoted as ainc:
(5) maximum brake model MB, uses aminSpeed is reduced until reaching vmin, then with constant minimum speed vminTraveling,
Corresponding to maximum TTC, i.e. tmaxTTC:
(6) deceleration model DS, with constant acceleration aminSlow down, it is corresponding to stop until vehicle is parked near crossing completely
Distance is denoted as Dstop, the DstopLess than D:
8. the signalized intersections speed based on car networking guides system as claimed in claim 6, which is characterized in that module 4.3
It is middle to utilize DC-GLOSA algorithm, the W that comparison module 4.2 obtainsTTC=[tminTTC,tmaxTTC] and GW=[tstart,tend] between
Relationship determines that instant acceleration/braking strategy refers to according to obtained relationship:
(1) work as tmin>tend, retarding braking and low speed slide pass through intersection in next green light window, wherein work as Dstop
> D, provides strategy: emergency braking；Work as Dstop< D provides strategy using DS model: brake simultaneously low speed slide；
(2) work as tmin<tend<tdec, provide strategy: control acceleration is [adec,amax]；
(3) work as tdec<tend<tcur, provide strategy: control acceleration is [0, adec]；
(4) work as tcur<tstart<tinc, provide strategy: control acceleration is [ainc,0]；
(5) work as tinc<tstart<tmax, provide strategy: control acceleration is [amin,ainc]；
(6) work as tmax<tstart, signal lamp is red or amber, wherein works as Dstop> D, provides strategy: emergency braking；Work as Dstop<
D provides strategy using DS model: braking simultaneously low speed slide；
(7) in other cases, acceleration/braking strategy is not provided.
9. the signalized intersections speed based on car networking guides system as described in claim 1, which is characterized in that more matchmakers
Volumetric video/voice broadcast module provides row according to instant acceleration/braking strategy that acceleration/braking suggestion module provides for driver
Vehicle suggestion refers to:
Instant acceleration/braking strategy that the multimedia video/voice broadcast module is provided according to acceleration/braking suggestion module,
It is that driver broadcasts driving suggestion by video/audio by the strategy transmission to video/audio interface.
10. a kind of signalized intersections speed bootstrap technique based on car networking, which comprises the steps of:
Step 1: when vehicle drives into the guidance section an of signalized intersections, being adopted in guidance section by roadside unit RSU
The road information and signal controlling machine status information for collecting running section, using short-range communication technology DSRC by RSU and on board unit
OBU connection, OBU receive the road information and signal controlling machine status information of the collected running section of RSU, and OBU acquires vehicle
Driving information, it is described guidance section be stop line before upstream region 300m-500m in；
Step 2: by the road information of the collected running section of OBU, the driving information of signal controlling machine status information and vehicle
It is transmitted in smart phone and stores, while carrying out information pre-processing in smart phone, obtain that treated traffic information, root
According to the driving information and step 2 of the vehicle of the storage traffic information that obtains that treated, judge whether vehicle allows lane change, if
It is then to enter step 3, otherwise enters step 4；
Step 3: according to step 1 obtain vehicle driving information, judge vehicle intersection driving direction, it is specified that target
Lane, and suggest that vehicle transforms to target lane, enter step 4；
Step 4: being believed according to the traveling of the road information of the running section of step 2 storage, signal controlling machine status information and vehicle
Breath and step 2 obtain that treated traffic information, establishes and refers to mobility model, at this time using DC-GLOSA algorithms selection vehicle
Acceleration, determine instant acceleration/braking strategy；
Step 5: smart phone provides driving for driver and suggests according to acceleration/braking strategy of step 4, when under vehicle entrance
When the guidance section of one intersection, return step 1, update message stack.
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