CN111260921B - Temporary parking method and system based on intelligent lamp pole - Google Patents
Temporary parking method and system based on intelligent lamp pole Download PDFInfo
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- CN111260921B CN111260921B CN202010056541.1A CN202010056541A CN111260921B CN 111260921 B CN111260921 B CN 111260921B CN 202010056541 A CN202010056541 A CN 202010056541A CN 111260921 B CN111260921 B CN 111260921B
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- 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
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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- H04W4/024—Guidance services
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- H—ELECTRICITY
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Abstract
The invention discloses a temporary parking method and system based on an intelligent lamp pole. The method comprises the following steps: acquiring the current position and the driving route of a vehicle; acquiring all lamp post base station information of a driving route of the vehicle by taking the current position of the vehicle as a starting point; acquiring the rear vehicle running speed of the vehicle and the average speed of the traffic flow behind the vehicle; the parking allowance is calculated and it is determined whether the vehicle can perform the parking. The method and the system solve the technical problem of how to judge when the vehicle can be temporarily parked.
Description
Technical Field
The invention belongs to the technical field of intelligent lamp poles, and particularly relates to a temporary parking method and system based on an intelligent lamp pole.
Background
Currently, 5G communication technology is in a commercial exploration stage, and various 5G applications such as automatic driving and remote mechanical arm control become a hot spot of current research based on the ultra-low delay characteristic of 5G communication. Domestic and foreign automobile enterprises adopt an automatic driving technology as a future automobile development direction, and provide various automatic driving related technologies, for example, a Chinese patent with the publication number of CN110341708A provides a blind area automatic driving control method and a system, and the method and the system can acquire the position of a vehicle according to an internet of vehicles platform, judge whether the vehicle enters a blind area scene, and send a control instruction to control the vehicle. Chinese patent publication No. CN110428619A proposes an intelligent driving method based on a vehicle-road coordination system, where the vehicle-road coordination system includes a vehicle-mounted end installed on a target vehicle and a plurality of road-surface transmitting ends arranged beside the target road at intervals, and the intelligent vehicle adjusts a driving route in real time by the road-surface transmitting end, an adjacent vehicle-mounted end and a traffic signal control system, and by combining with its own information. Chinese patent publication No. CN110335488A proposes a method and an apparatus for automatic driving of a vehicle based on vehicle-road coordination, which uses a preset road-side sensor to obtain real-time road condition information, generates a real-time driving suggestion for a target vehicle according to current real-time position information, destination information, and real-time road condition information of the vehicle, and controls the target vehicle to perform automatic driving.
The automatic driving technology can ensure that the vehicle normally runs on a road, when the vehicle needs to be parked temporarily, the automatic driving technology needs the remote server to receive and analyze data detected by the vehicle sensor and generate a control command to control the vehicle, the higher control command generation time delay and the signal transmission time delay cause the overlong reaction time of temporary parking of the vehicle, the optimal temporary parking opportunity is missed, and the vehicle does not react sensitively to the change of the external situation in the temporary parking process, so that the potential safety hazard exists in the temporary parking of the vehicle.
At present, no technical scheme based on an intelligent lamp pole for judging whether an automatic driving vehicle can stop temporarily or not, whether congestion is caused by stopping or not and how to start after stopping exists. Therefore, a temporary parking method and system based on the intelligent lamp pole are provided.
Disclosure of Invention
In order to solve the above problems, the invention provides a temporary parking method and system based on an intelligent lamp pole. The method comprises three relatively independent methods, specifically: a temporary parking method based on a smart lamp pole, a method for judging congestion caused by temporary parking based on the smart lamp pole, and a method for judging vehicle starting after temporary parking based on the smart lamp pole.
The invention relies on a base station system (intelligent lamp pole) erected on a lamp pole and an automatic driving vehicle system.
The invention discloses a temporary parking method based on an intelligent lamp post, which comprises the following steps:
acquiring the current position and the driving route of a vehicle;
acquiring all lamp post base station information of a driving route of the vehicle by taking the current position of the vehicle as a starting point;
acquiring the rear vehicle running speed of the vehicle and the average speed of the traffic flow behind the vehicle;
calculating the temporary parking tolerance according to the driving speed of the vehicle behind the vehicle and the average speed of the traffic flow;
and judging whether the temporary parking allowance is larger than a parking threshold, if so, judging that the vehicle can execute the temporary parking.
Preferably, the acquiring the current position of the vehicle and predicting the driving route of the vehicle includes:
planning a navigation path according to the current position and the destination position of the vehicle;
and comprehensively selecting the navigation path according to the distance, the time and/or the traffic flow, and taking the selected navigation path as the driving route of the vehicle.
Preferably, the acquiring the rear vehicle running speed of the vehicle and the average speed of the traffic flow behind the vehicle includes:
identifying the vehicle which is in the same lane as the vehicle and is positioned right behind the vehicle, and acquiring the running speed of the vehicle, namely the running speed w of the rear vehicle0；
Acquiring traffic flow speeds in the coverage area of N lamp post base stations behind the vehicle on a vehicle running route, wherein the N value is preset;
and calculating the average value of the traffic flow speed in the coverage area of the N lamp post base stations behind the vehicle on the driving route of the vehicle, and recording the average value as the average traffic flow speed v behind the vehicle.
Preferably, the calculating the temporary stop allowance according to the driving speed of the vehicle behind and the average speed of the traffic flow comprises:
the rear vehicle running speed is recorded as w0The average speed of the traffic flow behind the vehicle is recorded as v;
according to the rear vehicle running speed w of the vehicle0And the average speed v of the flow of the vehicle behind calculates the provisional parking allowance x,
where k is a calculation coefficient set in advance.
A method for judging congestion caused by temporary parking based on a smart lamp pole is characterized by comprising the following steps:
acquiring the average traffic flow speed and the temporary parking time during temporary parking;
calculating a congestion weight value caused by temporary parking according to the average speed of the traffic flow during the temporary parking, the average speed of the traffic flow before the temporary parking and the temporary parking time;
and judging whether the congestion weight value caused by temporary parking is larger than a congestion threshold value, if so, judging that the vehicle behind is congested caused by the temporary parking, and ending the temporary parking.
Preferably, the calculating a congestion weight value caused by temporary parking according to the average traffic speed at the time of temporary parking, the average traffic speed before the temporary parking, and the temporary parking time includes:
the average speed of the traffic flow in the area where the vehicles are temporarily parked is recorded as r, the average speed of the traffic flow before temporary parking is recorded as v, and the temporary parking time is recorded as t;
calculating a congestion weight value y caused by temporary parking according to the average traffic flow speed r in the area where the temporarily parked vehicles are located, the average traffic flow speed v before the temporary parking and the temporary parking time t,
where g is a calculation coefficient set in advance.
A starting judgment method for a temporarily parked vehicle based on an intelligent lamp pole is characterized by comprising the following steps:
acquiring the running speed and the remaining plugging distance of a vehicle behind a lane on the left side of the vehicle;
calculating a temporary stop starting safety factor according to the running speed of the vehicle behind the left lane of the vehicle and the remaining stoppering distance;
and judging whether the temporary parking starting safety coefficient is greater than a preset safety threshold value or not, and if so, judging that the current vehicle can finish the temporary parking and start.
Preferably, the acquiring the running speed and the remaining jam distance of the vehicle behind the left lane of the vehicle comprises:
identifying a left lane of the vehicle temporary stop location;
acquiring the running speed of the nearest vehicle behind the vehicle in the left lane and recording as w1；
And identifying the distance between the front vehicle and the rear vehicle which is closest to the vehicle in parallel in the left lane, and recording the distance as the remaining jam distance s of the vehicle in the left lane.
Preferably, the calculating the temporary stop starting safety factor according to the running speed and the residual jam distance of the vehicle behind the left lane of the vehicle comprises:
the speed of the vehicle behind the left lane of the vehicle, denoted as w1；
The remaining plugging distance of the vehicle in the left lane is recorded as s;
according to the running speed w of the vehicle behind the left lane of the vehicle1And calculating the temporary stop starting safety factor p according to the residual plugging distance s.
Further preferably, the speed w is based on the traveling speed w of the vehicle behind the left lane of the vehicle1Calculating the temporary stop starting safety coefficient according to the residual plugging distance s
Or
Where e is a calculation coefficient set in advance, f1And f2Is a weighting calculation coefficient set in advance.
A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the above method.
The utility model provides a system of berthing temporarily based on wisdom lamp pole which characterized in that includes:
a lamp post;
a vehicle;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method described above.
The method and the system have the advantages that:
(1) by predicting the vehicle running route and judging the lamp post base station on the vehicle running route, the function of controlling the temporary parking of the vehicle is transferred from the remote server to the nearby lamp post base station, so that the control time delay is reduced, and the control efficiency is improved.
(2) And calculating the temporary parking tolerance according to the speed of the rear vehicle in the same lane and the average speed of the traffic flow in the rear area, and judging that the vehicle can execute the temporary parking when the temporary parking tolerance is larger than a parking threshold value, so that a basis is provided for selecting a proper temporary parking time.
(3) The temporary stop starting safety factor is calculated according to the running speed of the vehicle behind the vehicle left lane and the residual jam distance of the vehicle left lane, starting is allowed when the temporary stop starting safety factor is larger than a safety threshold value, and the risk of starting the temporary stop vehicle can be effectively reduced.
Drawings
Fig. 1 is a flowchart of a temporary parking method based on a smart light pole according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating the detailed steps of step S01 in FIG. 1;
FIG. 3 is a flowchart illustrating the detailed steps of step S03 in FIG. 1;
FIG. 4 is a flowchart illustrating the detailed steps of step S04 in FIG. 1;
fig. 5 is a flowchart of a method for determining congestion caused by temporary parking based on a smart light pole according to a second embodiment of the present invention;
fig. 6 is a flowchart showing the detailed steps of step S02 in fig. 5;
fig. 7 is a flowchart of a method for determining vehicle starting after temporary parking based on a smart lamp post according to a third embodiment of the present invention;
fig. 8 is a flowchart showing the detailed steps of step S01 in fig. 7;
fig. 9 is a flowchart showing the detailed steps of step S02 in fig. 7;
fig. 10 is a schematic structural view of a temporary parking system based on a smart light pole according to a fifth embodiment of the present invention.
Detailed Description
The following describes in detail preferred embodiments of the present invention.
The embodiment of the invention relies on the existing base station system (intelligent lamp pole) erected on the lamp pole and an automatic driving system.
The temporary parking method based on the intelligent lamp pole in the embodiment of the invention is realized as shown in fig. 1 according to the following steps:
step S01, acquiring the current position and the driving route of the vehicle;
step S02, all lamp post base station information of the vehicle driving route is obtained by taking the current position of the vehicle as a starting point;
step S03, acquiring the rear vehicle running speed of the vehicle and the average speed of the traffic flow behind the vehicle;
step S04, calculating the temporary parking tolerance according to the driving speed of the vehicle behind the vehicle and the average speed of the traffic flow;
and step S05, judging whether the temporary parking tolerance is larger than a parking threshold, if so, judging that the vehicle can execute the temporary parking.
In a preferred mode as shown in fig. 2, the step S01 of obtaining the current position of the vehicle and predicting the driving route of the vehicle includes:
step S011, obtaining a destination position of the vehicle;
step S012, planning navigation path according to current position and destination position of vehicle;
and S013, comprehensively selecting a navigation path according to the distance, the time and/or the traffic flow, and taking the selected navigation path as the driving route of the vehicle.
In the embodiment, the destination position of the vehicle is obtained, the navigation path is planned according to the current position and the destination position of the vehicle, and the navigation path with short distance and short time is selected as the current driving route of the vehicle.
In a preferred embodiment shown in fig. 3, the step S03 of obtaining the rear vehicle running speed of the vehicle and the average speed of the traffic flow behind the vehicle includes:
step S031, identify the vehicle in the same lane as the vehicle and right behind the vehicle and obtain its driving speed, record as the driving speed w of the rear vehicle0；
Step S032, obtaining traffic flow speed in an area covered by N lamp post base stations behind a vehicle on a vehicle driving route, wherein the N value is preset;
step S033, calculating an average value of the traffic flow velocities in the areas covered by the N lamppost base stations behind the vehicle on the vehicle traveling route, and recording the average value as the average traffic flow velocity v behind the vehicle.
In this embodiment, it is recognized that the lane where the current vehicle is located is the rightmost lane, and the driving speed of the vehicle which is located in the same lane as the vehicle and is located right behind the vehicle is w0The traffic flow speed in the area covered by the base stations with 3 lamp poles behind the vehicle on the driving route is obtained, and the average value v is calculated to be 40 (kilometer/hour).
In a preferred embodiment shown in fig. 4, the step S04 of calculating the temporary stop allowance based on the traveling speed of the vehicle behind the vehicle and the average speed of the traffic flow includes:
step S041, recording the driving speed of the rear vehicle as w0The average speed of the traffic flow behind the vehicle is recorded as v;
step S042, according to the rear vehicle running speed w of the vehicle0And the average speed v of the flow of the vehicle behind calculates the provisional parking allowance x,
where k is a calculation coefficient set in advance.
In the present embodiment, the rear vehicle running speed w of the vehicle070, the average speed v of the vehicle flow behind the vehicle is 40, the preset calculation coefficient k is 1, and the temporary stop allowance is calculated
And step S05, judging whether the temporary parking tolerance is larger than a parking threshold, if so, judging that the vehicle can execute the temporary parking. In the present embodiment, the preset parking threshold is 0.6, and at this time, the provisional parking allowance x is 0.75>0.6, and it is determined that the vehicle can perform the provisional parking (the vehicle immediately comes to a stop after the vehicle passes).
The second method for judging congestion caused by temporary parking based on the intelligent lamp pole, disclosed by the embodiment of the invention, is implemented as shown in fig. 5 according to the following steps:
step S01, acquiring the average traffic flow speed and the temporary parking time during the temporary parking;
step S02, calculating a congestion weight value caused by temporary parking according to the average speed of the traffic flow during the temporary parking, the average speed of the traffic flow before the temporary parking and the temporary parking time;
and step S03, judging whether the congestion weight value caused by temporary parking is larger than a congestion threshold value, if so, judging that the congestion of the vehicle behind due to the temporary parking needs to be ended, and ending the temporary parking.
In this embodiment, the average speed of the traffic flow in the area where the vehicle is located when the vehicle is parked is obtained at certain time intervals (1 minute), and the parking time is recorded.
In a preferred embodiment shown in fig. 6, the step S02 of calculating the congestion weight value caused by temporary stop according to the average traffic speed at the time of temporary stop, the average traffic speed before the temporary stop and the temporary stop time includes:
s021, recording the average speed of the traffic flow in the area where the vehicle temporarily stops as r, recording the average speed of the traffic flow before the vehicle temporarily stops as v, and recording the time of the vehicle temporarily stopping as t;
step S022, calculating a congestion weight value y caused by temporary stop according to the average speed r of the traffic flow in the area where the temporarily stopped vehicles are located, the average speed v of the traffic flow before the temporary stop and the temporary stop time t,
where g is a calculation coefficient set in advance.
In the present embodiment, the average traffic flow speed r in the area where the temporarily parked vehicle is located at a certain time is 30, the average traffic flow speed v before the temporarily parked vehicle is 40, the temporarily parked time t is 10 minutes, the calculation coefficient g set in advance is 1, and the average traffic flow speed r in the area where the temporarily parked vehicle is located,Calculating a congestion weight value caused by temporary parking according to the average traffic flow speed v and the temporary parking time t before the temporary parking
And step S03, judging whether the congestion weight value caused by temporary parking is larger than the congestion threshold value, if so, judging that the temporary parking needs to be ended. In this embodiment, the congestion threshold is set to 2 in advance, and when the congestion weight value y caused by the temporary stop is 2.5>2, it is determined that the temporary stop needs to be ended.
The third method for judging the starting of the temporarily parked vehicle based on the intelligent lamp pole, disclosed by the embodiment of the invention, is realized as shown in fig. 7 according to the following steps:
step S01, acquiring the running speed and the remaining jam distance of the vehicle behind the left lane of the vehicle;
step S02, calculating a temporary stop starting safety factor according to the running speed of the vehicle behind the left lane of the vehicle and the residual jam distance;
and step S03, judging whether the temporary parking starting safety coefficient is larger than a preset safety threshold value, and if so, judging that the current vehicle can finish the temporary parking and start.
In a preferred embodiment shown in fig. 8, the step S01 of obtaining the running speed and the remaining jam distance of the vehicle behind the left lane of the vehicle includes:
step S011, identifying a left lane of the vehicle at the temporary parking position;
step S012, obtaining the running speed of the nearest vehicle behind the vehicle in the left lane, and recording as w1；
In step S013, the distance between the front and rear vehicles closest to the vehicle in parallel in the left lane is identified and recorded as the remaining jam distance S of the vehicle in the left lane.
In the present embodiment, the left lane of the vehicle temporary stop position in which the closest vehicle behind the vehicle parallel position is identifiedSpeed of travel w1And acquiring the distance s between the front vehicle and the rear vehicle which are closest to the vehicle in parallel in the left lane, which is 30 kilometers per hour.
In a preferred embodiment shown in fig. 9, the step S02 of calculating the tentative stop and departure safety factor according to the running speed of the vehicle behind the left lane of the vehicle and the remaining jam distance includes:
step S021, recording the running speed of the vehicle behind the left lane of the vehicle as w1；
Step S022, recording the residual plugging distance of the vehicle in the left lane as S;
step S023, according to the running speed w of the vehicle behind the left lane of the vehicle1And calculating the temporary stop starting safety factor p according to the residual plugging distance s.
Preferably, the speed w is based on the speed of the vehicle behind the left lane1Calculating the temporary stop starting safety coefficient according to the residual plugging distance s
Where e is a calculation coefficient set in advance.
In the present embodiment, the traveling speed w of the vehicle behind the left lane of the vehicle130, 40, 1, and the calculation coefficient e is set in advance, according to the running speed w of the vehicle behind the left lane of the vehicle1Calculating the temporary stop starting safety coefficient according to the residual plugging distance s
And step S03, judging whether the temporary parking starting safety coefficient is larger than a preset safety threshold value, and if so, judging that the current vehicle can finish the temporary parking and start. In this embodiment, the preset safety threshold is 0.5, and at this time, the temporary stop/start safety factor p is 1.33>0.5, and it is determined that the current vehicle can finish the temporary stop and start.
The fourth method for judging the starting of the temporarily parked vehicle based on the intelligent lamp pole is realized by the following steps:
step S01, acquiring the running speed and the remaining jam distance of the vehicle behind the left lane of the vehicle;
step S02, calculating a temporary stop starting safety factor according to the running speed of the vehicle behind the left lane of the vehicle and the residual jam distance;
and step S03, judging whether the temporary parking starting safety coefficient is larger than a preset safety threshold value, and if so, judging that the current vehicle can finish the temporary parking and start.
In a preferred embodiment, the step S01 of obtaining the running speed and the remaining jam distance of the vehicle behind the left lane of the vehicle includes:
step S011, identifying a left lane of the vehicle at the temporary parking position;
step S012, obtaining the running speed of the nearest vehicle behind the vehicle in the left lane, and recording as w1；
In step S013, the distance between the front and rear vehicles closest to the vehicle in parallel in the left lane is identified and recorded as the remaining jam distance S of the vehicle in the left lane.
In the present embodiment, the left lane of the vehicle temporary stop position is identified in which the traveling speed w of the nearest vehicle behind the vehicle parallel position1And acquiring the distance s between the front vehicle and the rear vehicle which are closest to the vehicle in parallel in the left lane, which is 30 kilometers per hour.
In a preferred embodiment, the step S02 of calculating the tentative stop and start safety factor according to the running speed and the remaining jam distance of the vehicle behind the left lane of the vehicle includes:
step S021, recording the running speed of the vehicle behind the left lane of the vehicle as w1；
Step S022, recording the residual plugging distance of the vehicle in the left lane as S;
step S023, according to the running speed w of the vehicle behind the left lane of the vehicle1And calculating the temporary stop starting safety factor p according to the residual plugging distance s.
Preferably, the speed w is based on the speed of the vehicle behind the left lane1Calculating the temporary stop starting safety coefficient according to the residual plugging distance s
Wherein f is1And f2Is a weighting calculation coefficient set in advance.
In the present embodiment, the traveling speed w of the vehicle behind the left lane of the vehicle130, 40, and a weighting calculation coefficient f set in advance1＝10，f20.01, according to the running speed w of the vehicle behind the left lane of the vehicle1Calculating the temporary stop starting safety coefficient according to the residual plugging distance s
And step S03, judging whether the temporary parking starting safety coefficient is larger than a preset safety threshold value, and if so, judging that the current vehicle can finish the temporary parking and start. In this embodiment, the preset safety threshold is 0.5, and at this time, the temporary stop/start safety factor p is 0.73>0.5, and it is determined that the current vehicle can finish the temporary stop and start.
A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method of any of the above embodiments.
A fifth temporary parking system based on a smart lamp pole according to an embodiment of the present invention is shown in fig. 10, and is characterized by including:
a lamp post;
a vehicle;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method of any of the embodiments described above.
The method and system of the present invention are not limited to control of autonomous vehicles, but may be used to assist in any of driving a vehicle, a ship, a bicycle, a train, an airplane, or a pedestrian.
Of course, those skilled in the art should realize that the above embodiments are only used for illustrating the present invention, and not as a limitation to the present invention, and that the changes and modifications of the above embodiments will fall within the protection scope of the present invention as long as they are within the scope of the present invention.
Claims (7)
1. A temporary parking method based on an intelligent lamp pole is characterized by comprising the following steps:
acquiring the current position and the driving route of a vehicle;
acquiring all lamp post base station information of a driving route of the vehicle by taking the current position of the vehicle as a starting point;
acquiring the rear vehicle running speed of the vehicle and the average speed of the traffic flow behind the vehicle;
calculating the temporary parking tolerance according to the driving speed of the vehicle behind and the average speed of the traffic flow: the rear vehicle running speed is recorded as w0The average speed of the traffic flow behind the vehicle is recorded as v; according to the rear vehicle running speed w of the vehicle0And the average speed v of the flow of the vehicle behind calculates the provisional parking allowance x,
where k is a calculation coefficient set in advance;
and judging whether the temporary parking allowance is larger than a parking threshold, if so, judging that the vehicle can execute the temporary parking.
2. The intelligent lamp pole-based temporary parking method as claimed in claim 1, wherein the obtaining of the rear driving speed of the vehicle and the average speed of traffic flow behind the vehicle comprises:
recognizing that the vehicle is in the same lane and is located right behind the vehicleAnd obtaining the driving speed of the vehicle and recording the driving speed as the driving speed w of the rear vehicle0；
Acquiring traffic flow speeds in the coverage area of N lamp post base stations behind the vehicle on a vehicle running route, wherein the N value is preset;
and calculating the average value of the traffic flow speed in the coverage area of the N lamp post base stations behind the vehicle on the driving route of the vehicle, and recording the average value as the average traffic flow speed v behind the vehicle.
3. A method for judging congestion caused by temporary parking based on a smart lamp pole is characterized by comprising the following steps:
acquiring the average traffic flow speed and the temporary parking time during temporary parking;
calculating a congestion weight value caused by temporary parking according to the average speed of the traffic flow during the temporary parking, the average speed of the traffic flow before the temporary parking and the temporary parking time: the average speed of the traffic flow in the area where the vehicles are temporarily parked is recorded as r, the average speed of the traffic flow before temporary parking is recorded as v, and the temporary parking time is recorded as t; calculating a congestion weight value y caused by temporary parking according to the average traffic flow speed r in the area where the temporarily parked vehicles are located, the average traffic flow speed v before the temporary parking and the temporary parking time t,
wherein g is a calculation coefficient set in advance;
and judging whether the congestion weight value caused by temporary parking is larger than a congestion threshold value, if so, judging that the vehicle behind is congested caused by the temporary parking, and ending the temporary parking.
4. A starting judgment method for a temporarily parked vehicle based on an intelligent lamp pole is characterized by comprising the following steps:
acquiring the running speed and the remaining plugging distance of a vehicle behind a lane on the left side of the vehicle;
calculating a temporary stop starting safety factor according to the running speed and the residual stopping distance of the vehicle behind the left lane of the vehicle: the speed of the vehicle behind the left lane of the vehicle is recordedw1(ii) a The remaining plugging distance of the vehicle in the left lane is recorded as s; according to the running speed w of the vehicle behind the left lane of the vehicle1Calculating a temporary stop starting safety factor p according to the residual plugging distance s,
or
Where e is a calculation coefficient set in advance, f1And f2Is a weighting calculation coefficient set in advance;
and judging whether the temporary parking starting safety coefficient is greater than a preset safety threshold value or not, and if so, judging that the current vehicle can finish the temporary parking and start.
5. The method for judging the starting of the temporarily parked vehicle based on the intelligent lamp pole as claimed in claim 4, wherein the step of obtaining the driving speed and the remaining jam distance of the vehicle behind the left lane of the vehicle comprises the following steps:
identifying a left lane of the vehicle temporary stop location;
acquiring the running speed of the nearest vehicle behind the vehicle in the left lane and recording as w1；
And identifying the distance between the front vehicle and the rear vehicle which is closest to the vehicle in parallel in the left lane, and recording the distance as the remaining jam distance s of the vehicle in the left lane.
6. A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method according to any one of claims 1-5.
7. The utility model provides a system of berthing temporarily based on wisdom lamp pole which characterized in that includes:
a lamp post;
a vehicle;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010056541.1A CN111260921B (en) | 2020-01-18 | 2020-01-18 | Temporary parking method and system based on intelligent lamp pole |
Applications Claiming Priority (1)
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