CN115206110A - Vehicle speed determination method and device, electronic equipment and storage medium - Google Patents
Vehicle speed determination method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN115206110A CN115206110A CN202210940118.7A CN202210940118A CN115206110A CN 115206110 A CN115206110 A CN 115206110A CN 202210940118 A CN202210940118 A CN 202210940118A CN 115206110 A CN115206110 A CN 115206110A
- Authority
- CN
- China
- Prior art keywords
- green wave
- vehicle
- speed
- information
- intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 14
- 239000000126 substance Substances 0.000 claims 1
- 238000013473 artificial intelligence Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000001960 triggered effect Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 210000001638 cerebellum Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000007418 data mining Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- 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
-
- 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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The disclosure provides a vehicle speed determination method, a vehicle speed determination device, electronic equipment and a storage medium, and relates to the technical field of unmanned driving and intelligent interconnection in the technical field of artificial intelligence. The specific implementation scheme is as follows: the method comprises the steps of obtaining position information and intersection information of a vehicle, determining a vehicle triggering green wave mode according to the position information and the intersection information, calculating a target green wave speed of the vehicle, and informing a driver of the target green wave speed. According to the method for determining the vehicle speed, the vehicle triggering green wave mode is determined according to the position information and the intersection information, the target green wave speed of the vehicle is calculated, and the driver is informed of the target green wave speed, so that the function that the terminal device provides the green wave speed is achieved, the vehicle can obtain the target green wave speed, the driver is helped to avoid red lights such as the intersection and the like as far as possible, the vehicle passes through the intersection in the green light state, and the passing efficiency of the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of unmanned driving and intelligent interconnection technologies in the field of artificial intelligence technologies, and in particular, to a method and an apparatus for determining a vehicle speed, an electronic device, and a storage medium.
Background
At present, in order to allow a vehicle to pass through an intersection in the shortest time on the premise of safety, or to allow the vehicle to stop at a certain intersection and to have red lights and the like as little as possible, the vehicle can run at a green wave speed to avoid passing through the intersection at the red lights and the like and at a green light state.
However, the industry does not have a terminal device capable of providing the green wave speed, so that the vehicle is difficult to acquire the green wave speed, and the traffic efficiency of the vehicle is general.
Disclosure of Invention
The disclosure provides a vehicle speed determination method, a vehicle speed determination device, an electronic device and a storage medium.
According to a first aspect, there is provided a method of determining vehicle speed, comprising: acquiring position information and intersection information of a vehicle; determining a vehicle triggering green wave mode according to the position information and the intersection information, and calculating a target green wave speed of the vehicle; and informing the driver of the target green wave speed.
According to a second aspect, there is provided a vehicle speed determination apparatus comprising: the acquisition module is used for acquiring the position information and the intersection information of the vehicle; the calculation module is used for determining the vehicle triggering green wave mode according to the position information and the intersection information and calculating the target green wave speed of the vehicle; and the notification module is used for notifying the driver of the target green wave speed.
According to a third aspect, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of determining vehicle speed according to the first aspect of the disclosure.
According to a fourth aspect, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to execute the method of determining a vehicle speed according to the first aspect of the present disclosure.
According to a fifth aspect, there is provided a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of determining a vehicle speed according to the first aspect of the disclosure.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic flow chart diagram of a method of determining vehicle speed according to a first embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram of a method of determining vehicle speed according to a second embodiment of the present disclosure;
fig. 3 is a block diagram of a vehicle speed determination apparatus according to a first embodiment of the present disclosure;
fig. 4 is a block diagram of a vehicle speed determination apparatus according to a second embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device used to implement the method of determining vehicle speed of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Artificial Intelligence (AI) is a technical science that studies and develops theories, methods, techniques and application systems for simulating, extending and expanding human Intelligence. At present, the AI technology has the advantages of high automation degree, high accuracy and low cost, and is widely applied.
The unmanned driving is the ultimate manifestation of intellectualization, and the computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like and technologies are intensively applied, so that the unmanned driving is a typical high and new technology complex. With the continuous improvement of the unmanned technology, the market scale of the unmanned automobile industry will grow rapidly. The core technology system for unmanned driving can be mainly divided into three layers of perception, decision and execution. The sensing system is equivalent to eyes and ears of a person, is responsible for sensing surrounding environment and collecting and processing environmental information and in-vehicle information, and mainly comprises technologies such as a vehicle-mounted camera, a laser radar, a millimeter wave radar and an ultrasonic radar. The decision-making system is equivalent to the brain of a person, is responsible for data integration, path planning, navigation and decision-making judgment, and mainly comprises core technologies such as a high-precision map and an internet of vehicles. The execution system is equivalent to the cerebellum and the limbs of a human body, is responsible for driving actions such as acceleration, braking, steering and the like of an automobile, and mainly comprises core technologies such as a drive-by-wire chassis and the like.
The intelligent interconnection is based on the internet of things technology, platform type intelligent hardware is used as a carrier, an intelligent network for information acquisition, processing, analysis and application is carried out among intelligent terminals, people and cloud services according to an agreed communication protocol and a data interaction standard by combining cloud computing and big data application, the intelligent interconnection has comprehensive capabilities of high-speed movement, big data analysis and mining, intelligent induction and application, can be infiltrated and fused to the traditional industry, improves the service capability of the traditional industry, connects hundreds of industries and carries out online, offline and cross-border full marketing.
A method, an apparatus, an electronic device, and a storage medium for determining a vehicle speed according to an embodiment of the present disclosure are described below with reference to the drawings.
Fig. 1 is a flowchart illustrating a vehicle speed determination method according to a first embodiment of the present disclosure.
As shown in fig. 1, the method for determining a vehicle speed according to the embodiment of the present disclosure may specifically include the following steps:
s101, acquiring the position information and the intersection information of the vehicle.
Specifically, the executing subject of the vehicle speed determining method according to the embodiment of the present disclosure may be the vehicle speed determining apparatus provided by the embodiment of the present disclosure, and the vehicle speed determining apparatus may be a hardware device having a data information processing capability and/or software necessary for driving the hardware device to operate. Alternatively, the execution body may include a workstation, a server, a computer, a user terminal, and other devices. The user terminal includes, but is not limited to, a mobile phone, a computer, an intelligent voice interaction device, an intelligent household appliance, a vehicle-mounted terminal, and the like. Specifically, the device for determining the Vehicle speed may be a terminal device equipped with end-side software on a Vehicle, where the end-side software establishes a communication relationship with a V2X (Vehicle-to-event) service side, and the method for determining the Vehicle speed according to the embodiment of the present disclosure is executed by the terminal device equipped with the end-side software on the Vehicle.
It can be understood by those skilled in the art that the green wave speed of the vehicle is to let the vehicle pass through the intersection in the shortest time under the safety premise, or let the vehicle stop at a certain intersection or the like at the red light as little as possible, and the vehicle can avoid passing through the intersection at the red light at the intersection or the like by running at the green wave speed and in the green light state.
In the embodiment of the present disclosure, the position information is positioning information of the vehicle at the current time, and the intersection information is data information of a plurality of intersections. And acquiring the position information and the intersection information of the vehicle for subsequent processing. It should be noted that, the position information is obtained by a vehicle-mounted terminal device, and the intersection information is sent to the V2X service Side by a Road Side device RSCU (Road Side Computing Unit), and those skilled in the art can understand that the RSCU is a Computing module, a device, or a facility that is deployed along a Road, a highway, or at a field end and cooperates with other facilities or systems to complete traffic information aggregation, processing, and decision, which is not described in detail in this disclosure.
S102, determining a vehicle triggering green wave mode according to the position information and the intersection information, and calculating a target green wave speed of the vehicle.
Specifically, the green wave mode indicates that the vehicle can run at a green wave speed, the target green wave speed indicates an effective recommended running speed of the vehicle when the green wave mode is triggered, whether the vehicle triggers the green wave mode is determined according to the position information and intersection information of the vehicle acquired in step S101, if the vehicle triggers the green wave mode, that is, the vehicle can run at the green wave speed, the target green wave speed of the vehicle is calculated, otherwise, the target green wave speed is not calculated. It should be noted that the intersection information includes intersection congestion information and traffic light state information, where the traffic light state information includes green light countdown length information.
And S103, informing the driver of the target green wave speed.
Specifically, the driver, i.e., the driver of the vehicle, notifies the driver of the target green wave velocity calculated in step S102, so that the driver adjusts the velocity of the vehicle according to the target green wave velocity
In summary, the method for determining a vehicle speed according to the embodiments of the present disclosure obtains the position information and the intersection information of the vehicle, determines the vehicle trigger green wave mode according to the position information and the intersection information, calculates the target green wave speed of the vehicle, and notifies the driver of the target green wave speed. According to the method for determining the vehicle speed, the vehicle triggering green wave mode is determined according to the position information and the intersection information, the target green wave speed of the vehicle is calculated, and the driver is informed of the target green wave speed, so that the function that the terminal device provides the green wave speed is achieved, the vehicle can obtain the target green wave speed, the driver is helped to avoid red lights such as the intersection and the like as far as possible, the vehicle passes through the intersection in the green light state, and the passing efficiency of the vehicle is improved.
Fig. 2 is a flowchart illustrating a vehicle speed determination method according to a second embodiment of the present disclosure.
As shown in fig. 2, based on the embodiment shown in fig. 1, the method for determining the vehicle speed according to the embodiment of the disclosure may specifically include the following steps:
s201, acquiring the position information and the intersection information of the vehicle.
It should be noted that step S201 in this embodiment is the same as step S101 in the above embodiment, and is not described again here.
The "determining the vehicle trigger green wave mode based on the position information and the intersection information" in step S102 in the above embodiment may specifically include the following steps S202 to S205.
And S202, determining a target intersection according to the position information and the intersection information.
Specifically, the target intersection, that is, the intersection through which the vehicle needs to travel at the green wave speed, is determined according to the position information and the intersection information obtained in step S201, that is, the intersection corresponding to the position information of the vehicle is matched in the intersection information, and the intersection is the target intersection.
And S203, acquiring the distance from the vehicle to the target intersection according to the position information.
Specifically, the distance, that is, the length of the road from the vehicle to the target intersection is obtained according to the position information of the vehicle obtained in step S201, so as to obtain the distance from the vehicle to the target intersection determined in step S202 for subsequent processing.
And S204, calculating the theoretical speed of the vehicle according to the traffic light state information and the distance.
Specifically, the traffic light state information, that is, the information of the indicator light which is currently on, includes green light information and non-green light information, the green light information includes green light countdown length information, the theoretical speed, that is, the time required for the vehicle to pass through the target intersection under the traffic light state information, that is, the green light, and the theoretical speed of the vehicle is calculated according to the traffic light state information in the intersection information and the distance from the vehicle to the target intersection acquired in step S203.
As a possible implementation, the theoretical speed of the vehicle may be calculated from the green light countdown length information and the distance. For example, if the countdown time length of the green light is 30 seconds and the distance from the vehicle to the target intersection is 600 meters, the quotient of 20 meters/second obtained by dividing the distance and the time length is the theoretical speed of the vehicle, which means that the vehicle needs to travel at a speed not lower than 20 meters/second before the green light ends to pass through the target intersection.
S205, if the intersection congestion information is not congested, the traffic light state information is green, and the theoretical speed meets the speed requirement, determining that the vehicle triggers a green wave mode.
Specifically, the intersection congestion information may specifically include congestion, non-congestion and the like, the speed requirement indicates that the theoretical speed cannot be lower than a preset speed and cannot exceed a speed limit of the intersection, the preset speed is a preset lower speed, the limit is a speed corresponding to the speed limit information in the intersection information, the intersection congestion information, the traffic light state information and the theoretical speed are judged, and if the intersection congestion information is non-congestion, the traffic light state information is a green light and the theoretical speed meets the speed requirement, it is determined that the vehicle triggers a green wave mode, that is, the vehicle can run at the green wave speed.
It is to be added here that if the intersection congestion information is congestion and/or the traffic light status information is non-green and/or the theoretical speed does not meet the speed requirement, it is determined that the vehicle does not trigger the green wave mode. It should be noted that, when the intersection congestion information is congestion, the green wave speed cannot play a role in improving the traffic efficiency, and the green wave mode is not triggered; when the red and green light state information is non-green light, the vehicle is in a pause state and cannot pass through the intersection, and the green wave mode is not triggered; when the theoretical speed does not meet the speed requirement, the vehicle speed is too low or the vehicle exceeds the road speed limit, and the green wave mode is not triggered.
The "calculating the target green wave speed of the vehicle" in step S102 in the above-described embodiment may specifically include the following steps S206 to S209.
And S206, acquiring a green wave speed interval of the vehicle according to the speed limit information.
Specifically, the green wave speed interval, that is, the range of the green wave speed, is obtained according to the speed limit information, so as to perform subsequent processing. Alternatively, the relationship between the green wave speed interval and the speed limit may be [ (speed limit/2 + 5), (speed limit-5) ]. For example, the speed limit of a main road in a city is usually 60-80km/h, and if the speed limit of a certain road is 60km/h, the green wave speed interval is [35, 55], i.e. the green wave speed needs to be 35-55 km/h.
And S207, acquiring a green wave speed array of the vehicle according to the green wave speed interval.
Specifically, the green wave velocity array includes at least one green wave velocity, and the green wave velocity array is an array formed by a plurality of velocities in the green wave velocity interval, and the green wave velocity array of the vehicle is obtained according to the green wave velocity interval obtained in step S206 for subsequent processing. It should be noted that, the specific acquisition mode of the green wave velocity array is not limited too much in the present disclosure, and may be set according to actual situations.
As one possible embodiment, a section division base number is acquired, and the green wave velocity section is divided according to the section division base number to obtain a green wave velocity array of the vehicle. The section division base number is a base number for dividing the green wave velocity section. For example, continuing with the above example, if the interval division base number is 5, and the green wave velocity interval [35, 55] is divided, the corresponding green wave velocity array is [35,40,45,50,55], which is easily seen to include 5 green wave velocities.
And S208, calculating the passing time corresponding to each green wave speed in the green wave speed array according to the green wave speed array and the distance.
Specifically, the passing time, that is, the time required for the vehicle to pass through the intersection, is calculated according to the green wave velocity array of the vehicle obtained in step S207 and the distance from the vehicle to the target intersection obtained in step S203, and the passing time corresponding to each green wave velocity in the green wave velocity array is calculated. For example, each green wave velocity in the green wave velocity array [35,40,45,50,55] in the above example is calculated, and the distance and each green wave velocity are divided, so that the quotient obtained is the transit time corresponding to the green wave velocity, and 5 green wave velocities correspond to 5 transit times.
S209, the target green wave speed is determined according to the passing time.
Specifically, the target green wave velocity is determined according to the passing time corresponding to each green wave velocity in the green wave velocity array calculated in step S208.
As one possible embodiment, if the passage time of the green wave velocity in the green wave velocity array is less than or equal to the green light count-down time information, the green wave velocity is determined to be the target green wave velocity of the vehicle. When the passing time of the plurality of green wave velocities in the green wave velocity array is less than or equal to the green light count-down time information, one green wave velocity with the highest velocity is selected as the target green wave velocity.
The "notification of the target green wave speed to the driver" in step S103 in the above-described embodiment may specifically include the following steps S210 to S211.
And S210, sending the target green wave speed to the target terminal equipment.
Specifically, the target terminal device, that is, a terminal device that notifies the driver of the target green wave velocity, for example, a vehicle-mounted smart mirror, transmits the target green wave velocity determined in step S209 to the target terminal device.
And S211, informing the driver of the target green wave speed through the target terminal device.
Specifically, the driver is notified of the target green wave velocity by the target terminal device. Alternatively, the driver may be notified by presenting and voice-broadcasting the target green wave velocity on the target terminal device. For example, after the target green wave speed is sent to the vehicle-mounted intelligent rearview mirror, the vehicle-mounted intelligent rearview mirror informs the driver to adjust the speed of the vehicle to the green wave speed through card display and voice broadcast.
In summary, the method for determining a vehicle speed according to the embodiments of the present disclosure obtains position information and intersection information of a vehicle, determines a target intersection according to the position information and the intersection information, obtains a distance from the vehicle to the target intersection according to the position information, calculates a theoretical speed of the vehicle according to traffic light state information and the distance, determines that the vehicle triggers a green wave mode if the intersection congestion information is non-congestion, the traffic light state information is a green light, and the theoretical speed meets a speed requirement, obtains a green wave speed interval of the vehicle according to speed limit information, obtains a green wave speed array of the vehicle according to the green wave speed interval, calculates a passing time corresponding to each green wave speed in the green wave speed array according to the green wave speed array and the distance, determines a target green wave speed according to the passing time, sends the target green wave speed to a target terminal device, and notifies the target green wave speed to a driver through the target terminal device. According to the method for determining the vehicle speed, the vehicle triggering green wave mode is determined according to the position information and the intersection information, the target green wave speed of the vehicle is calculated, and the driver is informed of the target green wave speed, so that the function that the terminal device provides the green wave speed is achieved, the vehicle can obtain the target green wave speed, the driver is helped to avoid red lights such as the intersection and the like as far as possible, the vehicle passes through the intersection in the green light state, and the passing efficiency of the vehicle is improved. Meanwhile, the green wave mode triggered by the vehicle is determined according to the intersection congestion information, the traffic light state information and the theoretical speed, the vehicle can be guaranteed to normally run at the green wave speed, the passing time is calculated according to the distance and the green wave speed array obtained from the green wave speed interval, the target green wave speed is determined according to the passing time, the accuracy of the target green wave speed is improved, and the passing efficiency of the vehicle is further improved.
Fig. 3 is a block diagram of a vehicle speed determination apparatus according to a first embodiment of the present disclosure.
As shown in fig. 3, a vehicle speed determination apparatus 300 according to an embodiment of the present disclosure includes: an acquisition module 301, a calculation module 302, and a notification module 303.
The obtaining module 301 is configured to obtain position information and intersection information of a vehicle.
The calculating module 302 is configured to determine a vehicle trigger green wave mode according to the position information and the intersection information, and calculate a target green wave speed of the vehicle.
A first notification module 303 for notifying the driver of the target green wave speed.
It should be noted that the above explanation of the embodiment of the method for determining a vehicle speed is also applicable to the device for determining a vehicle speed according to the embodiment of the present disclosure, and the specific process is not described herein again.
In summary, the vehicle speed determination apparatus according to the embodiment of the present disclosure acquires the position information and the intersection information of the vehicle, determines the vehicle trigger green wave mode according to the position information and the intersection information, calculates the target green wave speed of the vehicle, and notifies the driver of the target green wave speed. According to the device for determining the vehicle speed, the vehicle triggering green wave mode is determined according to the position information and the intersection information, the target green wave speed of the vehicle is calculated, and the driver is informed of the target green wave speed, so that the function that the terminal device provides the green wave speed is achieved, the vehicle can obtain the target green wave speed, the driver is helped to avoid red lights such as the intersection and the like as far as possible, but the vehicle passes through the intersection in the green light state, and the traffic efficiency of the vehicle is improved.
Fig. 4 is a block diagram of a vehicle speed determination apparatus according to a second embodiment of the present disclosure.
As shown in fig. 4, a vehicle speed determination apparatus 400 according to an embodiment of the present disclosure includes: an acquisition module 401, a calculation module 402 and a notification module 403.
The obtaining module 401 has the same structure and function as the obtaining module 301 in the previous embodiment, the calculating module 402 has the same structure and function as the calculating module 302 in the previous embodiment, and the notifying module 403 has the same structure and function as the notifying module 303 in the previous embodiment.
Further, the intersection information includes intersection congestion information and traffic light status information, and the calculating module 402 includes: the first determining unit is used for determining a target intersection according to the position information and the intersection information; the first acquisition unit is used for acquiring the distance from the vehicle to the target intersection according to the position information; the first calculation unit is used for calculating the theoretical speed of the vehicle according to the traffic light state information and the distance; and the second determination unit is used for determining that the vehicle triggers the green wave mode if the intersection congestion information is not congested, the traffic light state information is a green light and the theoretical speed meets the speed requirement.
Further, the calculating module 402 further includes: and the third determining unit is used for determining that the vehicle does not trigger the green wave mode if the intersection congestion information is congestion and/or the traffic light state information is non-green light and/or the theoretical speed does not meet the speed requirement.
Further, the traffic light state information includes green light countdown length information, and the first calculation unit includes: and the calculating subunit is used for calculating the theoretical speed of the vehicle according to the green light countdown length information and the distance.
Further, the intersection information includes speed limit information, and the calculating module 402 includes: the second acquisition unit is used for acquiring a green wave speed interval of the vehicle according to the speed limit information; the third acquisition unit is used for acquiring a green wave velocity array of the vehicle according to the green wave velocity interval, and the green wave velocity array comprises at least one green wave velocity; the second calculation unit is used for calculating the passing time corresponding to each green wave speed in the green wave speed array according to the green wave speed array and the distance; and the fourth determining unit is used for determining the target green wave speed according to the passing time.
Further, the third obtaining unit includes: an acquisition subunit configured to acquire a partition division base number; and the division subunit is used for dividing the green wave speed interval according to the interval division base number to obtain a green wave speed array of the vehicle.
Further, the fourth determination unit includes: and the determining subunit is used for determining the green wave speed as the target green wave speed of the vehicle if the passing time of the green wave speed in the green wave speed array is less than or equal to the green light countdown length information.
Further, the notification module 403 includes: a transmitting unit 4031 configured to transmit the target green wave velocity to the target terminal device; a notification unit 4032 for notifying the driver of the target green wave velocity by the target terminal device.
It should be noted that the above explanation of the embodiment of the method for determining a vehicle speed is also applicable to the device for determining a vehicle speed according to the embodiment of the present disclosure, and the specific process is not described herein again.
In summary, the apparatus for determining a vehicle speed according to the embodiments of the present disclosure obtains position information and intersection information of a vehicle, determines a target intersection according to the position information and the intersection information, obtains a distance from the vehicle to the target intersection according to the position information, calculates a theoretical speed of the vehicle according to traffic light state information and the distance, determines that the vehicle triggers a green wave mode if the intersection congestion information is not congested, the traffic light state information is a green light, and the theoretical speed meets a speed requirement, obtains a green wave speed interval of the vehicle according to speed limit information, obtains a green wave speed array of the vehicle according to the green wave speed interval, calculates a passing time corresponding to each green wave speed in the green wave speed array according to the green wave speed array and the distance, determines a target green wave speed according to the passing time, sends the target green wave speed to a target terminal device, and notifies the target green wave speed to a driver through the target terminal device. According to the device for determining the vehicle speed, the vehicle triggering green wave mode is determined according to the position information and the intersection information, the target green wave speed of the vehicle is calculated, and the driver is informed of the target green wave speed, so that the function that the terminal device provides the green wave speed is achieved, the vehicle can acquire the target green wave speed, the driver is helped to avoid red lights such as the intersection and the like as far as possible, the vehicle passes through the intersection in the green light state, and the passing efficiency of the vehicle is improved. Meanwhile, the green wave mode triggered by the vehicle is determined according to the intersection congestion information, the traffic light state information and the theoretical speed, the vehicle can be guaranteed to normally run at the green wave speed, the passing time is calculated according to the distance and the green wave speed array obtained from the green wave speed interval, the target green wave speed is determined according to the passing time, the accuracy of the target green wave speed is improved, and the passing efficiency of the vehicle is further improved.
In the technical scheme of the disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the common customs of public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the electronic device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, such as the determination method of the vehicle speed shown in fig. 1 to 4. For example, in some embodiments, the vehicle speed determination method may be implemented as a computer software program tangibly embodied in a machine-readable storage medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the above described method of determining a vehicle speed may be performed. Alternatively, in other embodiments, the calculation unit 501 may be configured by any other suitable means (e.g. by means of firmware) to perform the vehicle speed determination method.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable vehicle speed determination device such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable storage medium may be a tangible storage medium that may contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable storage medium may be a machine-readable signal storage medium or a machine-readable storage medium. A machine-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server may be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in a traditional physical host and VPS service ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server incorporating a blockchain.
According to an embodiment of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the steps of the method of determining a vehicle speed shown in the above-mentioned embodiment of the present disclosure.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (19)
1. A method of determining vehicle speed, comprising:
acquiring position information and intersection information of a vehicle;
determining a vehicle triggering green wave mode according to the position information and the intersection information, and calculating a target green wave speed of the vehicle;
and informing the driver of the target green wave speed.
2. The method of claim 1, wherein the intersection information comprises intersection congestion information and traffic light status information, and the determining that the vehicle triggers a green wave mode based on the location information and the intersection information comprises:
determining a target intersection according to the position information and the intersection information;
acquiring the distance from the vehicle to the target intersection according to the position information;
calculating the theoretical speed of the vehicle according to the traffic light state information and the distance;
and if the intersection congestion information is not congested, the traffic light state information is a green light, and the theoretical speed meets the speed requirement, determining that the vehicle triggers a green wave mode.
3. The method of claim 2, further comprising:
and if the intersection congestion information is congestion and/or the traffic light state information is non-green light and/or the theoretical speed does not meet the speed requirement, determining that the vehicle does not trigger a green wave mode.
4. The method of claim 2, wherein the traffic light status information includes green light countdown length information, the calculating a theoretical speed of the vehicle from the traffic light status information and the distance includes:
and calculating the theoretical speed of the vehicle according to the green light countdown length information and the distance.
5. The method of claim 1, wherein the intersection information includes speed limit information, and the calculating a target green wave speed of the vehicle includes:
acquiring a green wave speed interval of the vehicle according to the speed limit information;
acquiring a green wave velocity array of the vehicle according to the green wave velocity interval, wherein the green wave velocity array comprises at least one green wave velocity;
calculating the passing time corresponding to each green wave speed in the green wave speed array according to the green wave speed array and the distance;
and determining the target green wave speed according to the passing time.
6. The method of claim 5, wherein said obtaining a green wave velocity array for the vehicle from the green wave velocity interval comprises:
acquiring an interval division base number;
and dividing the green wave speed interval according to the interval division base number to obtain the green wave speed array of the vehicle.
7. The method of claim 5, wherein said determining a target green wave velocity from said transit time comprises:
determining that the green wave velocity is a target green wave velocity of the vehicle if the passing time of the green wave velocity in the green wave velocity array is less than or equal to the green light countdown length information.
8. The method of claim 1, wherein said notifying a driver of said target green wave speed comprises:
sending the target green wave speed to target terminal equipment;
and informing the driver of the target green wave speed through the target terminal equipment.
9. A vehicle speed determination apparatus comprising:
the acquisition module is used for acquiring the position information and the intersection information of the vehicle;
the calculation module is used for determining the vehicle triggering green wave mode according to the position information and the intersection information and calculating the target green wave speed of the vehicle;
and the notification module is used for notifying the driver of the target green wave speed.
10. The apparatus of claim 9, wherein the intersection information comprises intersection congestion information and traffic light status information, and the calculation module comprises:
the first determining unit is used for determining a target intersection according to the position information and the intersection information;
the first acquisition unit is used for acquiring the distance from the vehicle to the target intersection according to the position information;
the first calculation unit is used for calculating the theoretical speed of the vehicle according to the traffic light state information and the distance;
and the second determination unit is used for determining that the vehicle triggers the green wave mode if the intersection congestion information is not congested, the traffic light state information is a green light and the theoretical speed meets the speed requirement.
11. The apparatus of claim 10, wherein the computing module further comprises:
and the third determining unit is used for determining that the vehicle does not trigger the green wave mode if the intersection congestion information is congestion and/or the traffic light state information is non-green light and/or the theoretical speed does not meet the speed requirement.
12. The apparatus of claim 10, wherein the traffic light status information comprises green light countdown length information, the first calculation unit comprising:
and the calculating subunit is used for calculating the theoretical speed of the vehicle according to the green light countdown length information and the distance.
13. The apparatus of claim 9, wherein the intersection information comprises speed limit information, and the calculation module comprises:
the second acquisition unit is used for acquiring a green wave speed interval of the vehicle according to the speed limit information;
a third obtaining unit, configured to obtain a green wave velocity array of the vehicle according to the green wave velocity interval, where the green wave velocity array includes at least one green wave velocity;
the second calculation unit is used for calculating the passing time corresponding to each green wave speed in the green wave speed array according to the green wave speed array and the distance;
and the fourth determining unit is used for determining the target green wave speed according to the passing time.
14. The apparatus of claim 13, wherein the third obtaining unit comprises:
an obtaining subunit, configured to obtain an interval division base number;
and the division subunit is used for dividing the green wave speed interval according to the interval division base number to obtain the green wave speed array of the vehicle.
15. The apparatus of claim 13, wherein the fourth determining unit comprises:
a determining subunit, configured to determine that the green wave speed is a target green wave speed of the vehicle if the passing time of the green wave speed in the green wave speed array is less than or equal to the green light count-down length information.
16. The apparatus of claim 9, wherein the notification module comprises:
a transmitting unit, configured to transmit the target green wave velocity to a target terminal device;
and the notification unit is used for notifying the driver of the target green wave speed through the target terminal equipment.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
19. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210940118.7A CN115206110A (en) | 2022-08-05 | 2022-08-05 | Vehicle speed determination method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210940118.7A CN115206110A (en) | 2022-08-05 | 2022-08-05 | Vehicle speed determination method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115206110A true CN115206110A (en) | 2022-10-18 |
Family
ID=83585738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210940118.7A Pending CN115206110A (en) | 2022-08-05 | 2022-08-05 | Vehicle speed determination method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115206110A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103021193A (en) * | 2012-11-21 | 2013-04-03 | 华南理工大学 | Green wave coordination control method for artery facing to running speed section |
| CN112216105A (en) * | 2020-09-21 | 2021-01-12 | 浙江吉利控股集团有限公司 | Vehicle speed guiding method and device, vehicle and storage medium |
| CN112700667A (en) * | 2020-12-22 | 2021-04-23 | 北京百度网讯科技有限公司 | Method, apparatus, electronic device, and medium for assisting vehicle driving |
| CN113327419A (en) * | 2021-05-31 | 2021-08-31 | 北京百度网讯科技有限公司 | Green wave speed determination method and device, electronic equipment and storage medium |
| CN113903181A (en) * | 2021-09-30 | 2022-01-07 | 中国重汽集团济南动力有限公司 | Vehicle green wave vehicle speed guiding system and method based on LTE-V2X |
| CN114005281A (en) * | 2021-11-25 | 2022-02-01 | 深圳市凯立德科技股份有限公司 | Intersection green wave guiding method, vehicle-mounted unit and computer readable storage medium |
| KR20220045123A (en) * | 2021-06-30 | 2022-04-12 | 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. | Green wave velocity determination method, device, electronic equipment and storage medium |
-
2022
- 2022-08-05 CN CN202210940118.7A patent/CN115206110A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103021193A (en) * | 2012-11-21 | 2013-04-03 | 华南理工大学 | Green wave coordination control method for artery facing to running speed section |
| CN112216105A (en) * | 2020-09-21 | 2021-01-12 | 浙江吉利控股集团有限公司 | Vehicle speed guiding method and device, vehicle and storage medium |
| CN112700667A (en) * | 2020-12-22 | 2021-04-23 | 北京百度网讯科技有限公司 | Method, apparatus, electronic device, and medium for assisting vehicle driving |
| CN113327419A (en) * | 2021-05-31 | 2021-08-31 | 北京百度网讯科技有限公司 | Green wave speed determination method and device, electronic equipment and storage medium |
| KR20220045123A (en) * | 2021-06-30 | 2022-04-12 | 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. | Green wave velocity determination method, device, electronic equipment and storage medium |
| CN113903181A (en) * | 2021-09-30 | 2022-01-07 | 中国重汽集团济南动力有限公司 | Vehicle green wave vehicle speed guiding system and method based on LTE-V2X |
| CN114005281A (en) * | 2021-11-25 | 2022-02-01 | 深圳市凯立德科技股份有限公司 | Intersection green wave guiding method, vehicle-mounted unit and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113071493B (en) | Method, apparatus, storage medium and program product for lane change control of vehicle | |
| CN112700667A (en) | Method, apparatus, electronic device, and medium for assisting vehicle driving | |
| CN113741485A (en) | Control method and device for cooperative automatic driving of vehicle and road, electronic equipment and vehicle | |
| CN112580571A (en) | Vehicle running control method and device and electronic equipment | |
| CN113071476A (en) | Autonomous parking method, device and equipment and automatic driving vehicle | |
| CN115273477A (en) | Crossing driving suggestion pushing method, device and system and electronic equipment | |
| CN115092130A (en) | Vehicle collision prediction method, device, electronic apparatus, medium, and vehicle | |
| CN115158319A (en) | Vehicle lane changing method, device, electronic equipment and storage medium | |
| CN113722342A (en) | High-precision map element change detection method, device and equipment and automatic driving vehicle | |
| CN113091737A (en) | Vehicle-road cooperative positioning method and device, automatic driving vehicle and road side equipment | |
| CN115206110A (en) | Vehicle speed determination method and device, electronic equipment and storage medium | |
| CN114852068A (en) | Pedestrian collision avoidance method, device, equipment and storage medium | |
| CN115973190A (en) | Decision-making method and device for automatically driving vehicle and electronic equipment | |
| CN115171075A (en) | Road type identification method, device and equipment | |
| CN114973735A (en) | Formation method, device, equipment, vehicle and medium for automatic driving vehicle | |
| CN114655254A (en) | Automatic driving vehicle control method and device and electronic equipment | |
| CN114333314A (en) | Vehicle-road cooperative information processing method, device and system | |
| CN114379587A (en) | Method and device for avoiding pedestrian in automatic driving | |
| CN114779705A (en) | Method, device, electronic equipment and system for controlling automatic driving vehicle | |
| CN114333381A (en) | Data processing method and device for automatic driving vehicle and electronic equipment | |
| CN114155731A (en) | Data processing method and device for automatic driving vehicle and automatic driving vehicle | |
| CN115171412B (en) | Method, system and device for displaying running state of vehicle | |
| CN115294764B (en) | Crosswalk area determination method, crosswalk area determination device, crosswalk area determination equipment and automatic driving vehicle | |
| CN113791564B (en) | Remote control method, device, equipment, cloud server and control system | |
| CN116453374A (en) | Information display method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231013 Address after: 100176 101, floor 1, building 1, yard 7, Ruihe West 2nd Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Apollo Zhilian (Beijing) Technology Co.,Ltd. Applicant after: Apollo Zhixing Technology (Guangzhou) Co.,Ltd. Address before: 100176 Room 101, 1st floor, building 1, yard 7, Ruihe West 2nd Road, Beijing Economic and Technological Development Zone, Beijing Applicant before: Apollo Zhilian (Beijing) Technology Co.,Ltd. |