CN104183124B - Trunk road vehicle speed planning method based on single intersection traffic signal information - Google Patents

Abstract

A trunk road vehicle speed planning method based on single intersection traffic signal information includes the following steps that (1) data of the nearest traffic signal lamp are obtained; (2) the distance between a vehicle and the nearest traffic signal lamp is obtained; (3) the time range of the vehicle passing through a traffic intersection is determined; (4) an optimized vehicle speed is calculated; (5) whether the optimized vehicle speed has a computed result is judged, the step (6) is turned to if the optimized vehicle speed has the computed result, and otherwise the vehicle runs at a planned vehicle speed and the step (7) is turned to; (6) the vehicle runs at a constant initial speed and then runs at an accelerated speed or a decelerated speed; (7) the vehicle runs at the accelerated speed or the decelerated speed and then runs at the constant speed; (8) whether the vehicle runs at a too low initial speed for a long time in the step (6) is judged, and if the vehicle runs at the too low initial speed for a long time in the step (6), the step (9) is turned to; (9) accelerated running time, constant speed running time and braking time are calculated; (10) whether the vehicle needs to pass through the next intersection is judged, if the vehicle needs to pass through the next intersection, the step (11) is turned to, and otherwise the vehicle arrives at the destination.

Description

A kind of major trunk roads speed planing method based on isolated intersection traffic signal message

Technical field

The invention belongs to automobile intelligent assist control field, it is related to a kind of major trunk roads based on isolated intersection traffic signal message Speed planing method, also significant for mixed power electric car, Control of Electric Vehicles.

Background technology

Oil crisis is always one of major issue of China's economic development faces.The fuel consumption reducing automobile can have Effect reduces the consumption of petroleum in Urban Transportation field, and China's energy sustainable development is had great importance.Orthodox car The acceleration of fuel consumption and driver and brake operation course, and dead time is closely related.Automobile is transported on through street During row, can freely travel, electromotor remains a constant speed rotation as far as possible, fuel economy is relatively preferable.But, automobile is in city master When running on arterial highway, can be affected by traffic light, constantly carry out accelerating, brake, idling operation, the not only combustion of electromotor Oil consumption increases, and there is potential safety hazard.In fact, in order to reduce the fuel consumption when major trunk roads travel for the automobile, automobile Traveling needs to accomplish following three points as far as possible:

1), when avoiding by traffic intersection, quickly accelerate and brake operating；

2) avoid exterior traffic crossing during red light, idle for a long time；

3) automobile is passed through speed during traffic intersection to control within limits.

Vision and about 75 meters of drive reaction distance due to driver, i.e. automobile has traffic light in distance Traffic intersection makes acceleration within being about 75 meters or brake operating just can affect automobile by way of traffic intersection.But by Accurately the situation of change of traffic light cannot be predicted in driver, therefore may take when by traffic intersection Quick acceleration or braking, and be difficult to actively avoid auto idle speed before red light.

Development with Modern wireless communication technology and ground communication equipment perfect, when automobile travels on major trunk roads, Even if automobile and front have the traffic intersection distance of traffic light up to thousands of rice, remain able to obtain this traffic road in real time Mouth accurately signal information.Speed planing method is exactly according to signal information, speed to be planned, and is supplied to driving Member is as steered reference, thus the method as far as possible controlling the speed of automobile.The method not only can avoid the quick of driver to add Speed and brake operating, and the automobile that makes being capable of maximum possible passes through traffic intersection in green light, and the fuel oil reducing automobile disappears Consumption.But domestic at present, also there is no technology and the method for relevant automobile speed planning.

When the present invention runs for automobile on relatively unobstructed major trunk roads, set up a kind of isolated intersection traffic that is based on and believe The major trunk roads speed planing method of number information.The nearest traffic light in front that the method is obtained by wireless telecommunications system Information, was optimized to automobilism time and acceleration, and by the speed curves cooked up are supplied to driver as Steered reference, so that automobile is it can be avoided that the quick acceleration and deceleration operation that brought due to signal lighties and idle, Reduce fuel consumption when automobile runs on relatively unobstructed major trunk roads.

Content of the invention

Because current China is not to automobile primary arterial highway speed planing method and technology, have impact on automobile to a certain extent Fuel economy, in order to make up this deficiency it is contemplated that the impact of traffic behavior, the present invention is according to the nearest traffic intersection in front Signal information, carries out planning and calculates, and running time and acceleration are optimized to automobile speed, then passes through to advise The speed pulling is supplied to driver as steered reference, thus reducing the fuel consumption of automobile.

The present invention is to be achieved through the following technical solutions.A kind of major trunk roads speed rule based on isolated intersection traffic signal message The method of drawing, comprises the following steps:

Step 1): obtain nearest traffic light data.Automobile enters section, first passes through wireless communication system and obtains Traffic intersection signal lamp delta data t recently^s, s ∈ { g, r }.S is signal lamp type, and g represents green light, and r represents red light.Signal There are two kinds of situations in lamp change situation, as shown in Figure 1.When running into signal lighties and being initially red light, then definition be transformed to for the 1st time green The time of lamp isThe time that 2nd time is transformed to red light isThen the time that the 3rd time is transformed to green light is By that analogy.In the same manner, when being initially green light, thenBy that analogy.

Step 2): obtain the distance with nearest traffic light.Automobile enters i-th section, by wireless location system Obtain automobile and i-th section signal lighties apart from d_i.

Step 3): determine and pass through traffic intersection time range.In view of the flow of road, minimizing automobile as far as possible is needed to pass through The time in section.The mode of operation that the automobile shortest time reaches road cross is: first from initial velocity v₀, with acceleration Big value a_hAccelerate, reach the speed maximum v that road is allowed_limAfterwards, travel at the uniform speed traffic intersection.

Therefore, the acceleration time t of automobile_aFor:

$t_a=\frac{v_{\lim }-v_0}{a_h}$

With speed v_limThe time of traveling at the uniform speed be:

$t_c=\frac{1}{v_{\lim }}[d_i-v_0\left(\frac{v_{\lim }-v_0}{a_h}\right)-\frac{1}{2}a{\left(\frac{v_{\lim }-v_0}{a_h}\right)}^2]$

The automobile shortest time is t by the time at crossing_t,

t_t=t_a+t_c

Automobile passes through traffic intersection_iTime interval the upper limit be t_l, lower limit is t_h, the time by i-th crossing for the automobile Section is

So that being green light during automobile exterior traffic crossing, when automobile passes through i-th crossing with the shortest time, receive Traffic signal information initial signal be green light when, automobile by the time interval of traffic intersection is:

If $t_{k-1}^g<t_t<t_k^r$

Then $\begin{array}{c}{t}_i^l=t_t\\ t_i^h=t_k^r\end{array}$

If $t_{k+1}^g<t_t<t_k^r$

Then $\begin{array}{c}{t}_i^l=t_k^g\\ t_i^h=t_{k+1}^r\end{array}$

In formula, k is signal change number of times.

Step 4): calculation optimization speed.In order to improve the fuel consumption performance of automobile, speed planning algorithm needs to try one's best and protects Hold that speed is constant, reduce unnecessary acceleration or brake operating.The present invention is in relatively unobstructed major trunk roads enterprising driving speed During planning, only once accelerated using automobile or brake operating method.Automobile is first with initial velocity v₀Travel at the uniform speed； Then in moment t_s, the time that carries out is t_eAcceleration or brake operating and pass through traffic intersection, acceleration be a.

In order to ensure the handling capacity of road, it is required that automobile existsPass through traffic intersection in time.In addition, being Improve the fuel economy of automobile, it is required that the speed change of automobile is minimum.Therefore, the present invention is with by time and acceleration Spend absolute value sum as optimization aim, majorized function such as following formula:

min |a|+t

Constraints is:

$v_0{t}_s+(v_0{t}_e+\frac{1}{2}{{\mathrm{at}}_e}^2)=d_l---1)$

2) 0 ＜ t_s＜ t

3) 0 ＜ t_e＜ t

4)t_s+t_e=t

5)t_l≤t≤t_h

6)a_l≤a≤a_h

7)0≤v₀+at_e≤v_lim

In formula, a_lFor acceleration minima, a_hFor acceleration maximum.

Step 5): judge above-mentioned steps 4) equation whether have solution.If there are solution, go to step 6)；If no solved, go to Step 7).

Step 6): at the uniform velocity travelled with initial velocity, then run with acceleration or deceleration；

Step 7): run with acceleration or deceleration, more at the uniform velocity travel；

Step 8): judge step 6) with the presence or absence of being travelled for a long time with too low initial velocity, if it is, going to step 9)；

Step 9): recalculate optimization speed, calculate Accelerating running time, the time of traveling at the uniform speed and parking run time. If automobile is too low with the speed of at the uniform velocity traveling when starting, fuel consumption can be led to still very high.Therefore the present invention is being carried out After speed planning, if automobile is with initial velocity v₀When traveling at the uniform speed, v₀Too small, v₀＜ v_low, and persistent period t_aLong, t_a ＞ t_max.Then in order to avoid automobile travel at the uniform speed speed per hour spend low lead to car load fuel economy lower problem.Traveling at the uniform speed When speed too low in the state of, make automobile accelerate to maximum speed v with relatively good acceleration a ' first_lim, the acceleration time is t_e′；With speed v_limTravel at the uniform speed time t '_a；" brake traffic intersection, and reach speed per hour with relatively gentle deceleration a again Spend for 0, braking time is t_e″；Behind exterior traffic crossing, waiting signal lamp is changed into green light and further accelerates traveling, and the waiting time is t_w.

Therefore, the acceleration time t of automobile_e' it is:

$t_e^{\&prime;}=\frac{v_{\lim }-v_0}{a^{\&prime;}}$

Therefore, braking time t of automobile_e" it is:

$t_e^{\&prime;\&prime;}=\frac{v_{\lim }}{a^{\&prime;\&prime;}}$

With speed v_limThe time t ' that travels at the uniform speed_aFor:

$t_a^{\&prime;}=\frac{1}{v_{\lim }}[d_i-v_0\left(\frac{v_{\lim }-v_0}{a^{\&prime;}}\right)-\frac{1}{2}{a}^{\&prime;}{\left(\frac{v_{\lim }-v_0}{a^{\&prime;}}\right)}^2-(v_{\lim }\frac{v_{\lim }}{a^{\&prime;\&prime;}}-\frac{1}{a}{a}^{\&prime;\&prime;}{\left(\frac{v_{\lim }}{a^{\&prime;\&prime;}}\right)}^2)]$

Waiting time t_wFor

t_w=t_l-t_e′-t_e″-t′_a.

Step 10): judge automobile the need of by next crossing, if it is, proceeding to step 1)；If it is not, then Automobile arrives at, and terminates stroke.

Brief description

Fig. 1 speed planning implementation method schematic diagram；

Fig. 2 test roads figure；

Fig. 3 traffic signal information schematic diagram；

Fig. 4 speed plans curve synoptic diagram；

The major trunk roads speed planning speed curves figure that Fig. 5 obtains；

Traditional driver's regulation speed curve chart that Fig. 6 obtains；

Car model figure in Fig. 7 advisor；

Wherein, d in Fig. 3 and 4_lIt is the distance between current car position and nearest traffic intersection signal lamp.Automobile is being worked as Front position, obtains two kinds of situations that nearest traffic intersection signal lamp data exists, upper figure is to run into signal lighties to be initially red light, under Figure is to run into signal lighties to be initially green light.

In Fig. 5 and 6, upper figure is that distance changes over curve to automobile in the process of moving, and figure below is that automobile is running over Journey medium velocity changes over curve.

Specific embodiment

The invention will be further described below in conjunction with the accompanying drawings.

Because current China is not to automobile primary arterial highway speed planing method and technology, have influence on automobile to a certain extent Fuel economy, not enough in order to make up this, the present invention has carried out speed planning to relatively unobstructed major trunk roads, by obtaining The signal information of the nearest traffic intersection in front, carries out planning and calculates, running time and acceleration are carried out excellent to automobile speed Changing, then the speed planned being supplied to driver as steered reference, thus reducing the fuel consumption of automobile, detailed process As shown in Figure 1.

Embodiment 1

Taking Beijing Zizhuyuan Park South Road to western imperial city root North Street as a example illustrate, vehicle running route figure is as shown in Figure 2. With Zizhuyuan Park South Road as starting point, western imperial city root North Street is terminal.Altogether through ten traffic having traffic light on this road Crossing: Capital Gymnasium South Road, Sanlihe Road, civilian emerging East Street, exhibition road, Che Gongzhuan North Street, Guan Yuanqiao, lane of raising an infant, Zhao step on Yu Lu, Xin Jie Kou street and western imperial city root North Street.

Obtain nearest traffic light data.Automobile enters section, first passes through wireless communication system and obtains inbreeding Logical belisha beacon delta data t^s, s ∈ { g, r }.S is signal lamp type, and g represents green light, and r represents red light.Signal lighties convert There are two kinds of situations in situation, as shown in Figure 3.When running into signal lighties and being initially red light, then definition be transformed to for the 1st time green light when Between beThe time that 2nd time is transformed to red light isThen the time that the 3rd time is transformed to green light is With this Analogize.In the same manner, when being initially green light, then $t_1^r<t_2^g<t_3^r,$ By that analogy.

This testing time is on April 5th, 2014 morning 7:00:00, and automobile is located at starting point (Zizhuyuan Park South Road), now respectively The signal lighties conversion moment t of individual traffic intersection^sArray (unit s) is:

Capital Gymnasium South Road: [45,85,185,235,335,375,475,525,625], initial signal lamp is r；

Sanlihe Road: [45,90,160,205,275,320,390,435,505], initial signal lamp is r；

The emerging East Street of literary composition: [33,89,153,209,273,329,393,449,513], initial signal lamp is r；

Exhibition road: [80,140,225,285,370,430,515,575,635], initial signal lamp is r；

Che Gongzhuan North Street: [73,146,219,292,365,438,511,584,657], initial signal lamp is g；

Official garden bridge: [40,90,245,295,450,500,655,705,860], initial signal lamp is r；

Raise an infant lane: [60,140,225,305,390,470,555,635,720], initial signal lamp is r；

Zhaodengyu Road: [50,140,215,305,380,470,545,635,710], initial signal lamp is r；

Xin Jie Kou street: [87,152,252,317,417,482,582,647,747], initial signal lamp is r；

Western imperial city root North Street: [204,284,344,424,484,564,624,704,764], initial signal lamp is r；

From test starting point to the end, that is, from Zizhuyuan Park South Road to western imperial city root North Street, automobile is apart from the distance of traffic intersection Array d of composition_iFor [501,1184,1671,2062,2525,3051,3823,4083,4526,4849], unit m.

Assume that the initial speed that automobile starts during stroke is 40km/h；The max. speed of road is 50km/h；Automobile plus Speed is 1.5m/s²；Deceleration is -2m/s².

Step 1): automobile, when the South Road of Zizhuyuan Park, first passes through wireless communication system and obtains Capital Gymnasium South Road Traffic light information converting, [45,85,185,235,335,375,475,525,625].Because initial signal lamp is r；Cause This, $t_1^g=45s,$ $t_2^r=85s,$ $t_3^g=185s,$ The like.

Step 2): meanwhile, automobile passes through wireless location system and road-map, it is possible to obtain automobile and Capital Gymnasium south Road apart from d₁, d₁=501m.

Step 3): determine that automobile passes through the time range at Capital Gymnasium South Road.The initial velocity v of automobile₀=40km/h, Accelerated with peak acceleration, a_h=1.5m/s², reach the speed maximum v that road is allowed_limKm/h after=50, travels at the uniform speed To traffic intersection.

Therefore, the acceleration time t of automobile_aFor:

$t_a=\frac{v_{\lim }-v_0}{a_h}=1.8519s$

With speed v_limThe time of traveling at the uniform speed be:

$t_c=\frac{1}{v_{\lim }}[d_i-v_0\left(\frac{v_{\lim }-v_0}{a_h}\right)-\frac{1}{2}a{\left(\frac{v_{\lim }-v_0}{a_h}\right)}^2]=34.4053s$

The time that the automobile shortest time reaches crossing is t_t,

t_t=t_a+t_c=36.2572s

Therefore, the upper limit defining the time interval that automobile passes through traffic intersection i is t_l, lower limit is t_h.

According to the traffic lights information converting at Capital Gymnasium South Road, automobile is initially accelerated to maximal rate, then even It is red light that speed runs to signal lighties during traffic intersection, therefore cannot pass through.So that automobile passes through traffic in green light Crossing, the present invention adopts nearest green time section as the time range of automobile.Permissible according to traffic light information converting Obtain, this interval be [45 85).

Step 4): calculation optimization speed.In order to improve the fuel consumption performance of automobile, speed planning algorithm needs to try one's best and protects Hold that speed is constant, reduce unnecessary acceleration or brake operating.The present invention is in the less major trunk roads of vehicle flowrate enterprising driving speed During planning, only once accelerated using automobile or brake operating method.Automobile is first with initial velocity v₀Travel at the uniform speed； Then in start time t_s, the time that carries out is t_eAcceleration or brake operating and pass through traffic intersection, acceleration be a.Speed is advised Tracing is as shown in Figure 4.

So that the acceleration of automobile is minimum, and ensure the handling capacity of road, it is required that automobile exists Pass through traffic intersection in time.The present invention using acceleration absolute value and by time sum as optimization aim, majorized function is such as Following formula:

min |a|+t

Constraints is:

$v_0{t}_s+(v_0{t}_e+\frac{1}{2}{{\mathrm{at}}_e}^2)=d_l---1)$

2)0≤t_s＜ t

3) 0 ＜ t_e＜ t

4)t_s+t_e=t

5)t_l≤t≤t_h

6)a_l≤a≤a_h

7)0≤v₀+at_e≤v_lim

In formula, a_lFor acceleration minima, -2m/s², a_hFor acceleration maximum, 1.5m/s².

By writing the calculation procedure of above-mentioned formula using matlab, automobile can be obtained from Zizhuyuan Park South Road to capital body During Yu Guan South Road, optimum speed curves are to be traveled at the uniform speed 16.2103s with initial velocity first, then with acceleration 0.0024m/s²Run 28.7897s, by Capital Gymnasium South Road traffic intersection.The run time of whole process is 45s, OK During sailing, automobile is not parking.

Step 5): automobile, when Capital Gymnasium South Road, obtains the traffic light signals information of Sanlihe Road first, this When be 7:00:45.The traffic lights information converting of the Sanlihe Road that automobile receives be [45,115,160,230,275,345,390, 460], initial signal lamp is g.Automobile is d with the distance of the traffic lights of Sanlihe Road₂=1184m-501m=683m.Count first Calculate automobile the shortest by the time with time interval, and calculating is optimized to speed curves.By calculating, optimum can be obtained Speed curves are to be traveled at the uniform speed 0s with initial velocity first, then with deceleration -0.0912m/s²Run 115s, by Sanlihe Road traffic intersection.The run time of whole process is 115s, and automobile is not parking during traveling.

Step 6): automobile, when Sanlihe Road, obtains the traffic light signals information of civilian emerging East Street, first now for 7: 02:40.The traffic lights information converting of the emerging East Street of literary composition that automobile receives is [49,113,169,233,289,353], initial signal lamp For g.Automobile is d with the distance of the traffic lights of civilian emerging East Street₃=1671m-1184m=487m.Further accelerated using first traveling at the uniform speed Or the method running slowly carries out speed planning, find step 4) in equation no solve.Therefore, using first acceleration or deceleration Run, then the mode traveling at the uniform speed carry out speed planning:

Majorized function such as following formula:

min |a|+t

Constraints is:

$(v_0{t}_e+\frac{1}{2}{{\mathrm{at}}_e}^2)+(v_0+{\mathrm{at}}_e)(t-t_e)=d_l---1)$

2)0≤t_e≤t

3)t_l≤ t ＜ t_h

4)a_l≤a≤a_h

5)0≤v₀+at_e≤v_lim

In formula, a_lFor acceleration minima, a_hFor acceleration maximum.

By calculate, can obtain automobile Sanlihe Road arrive civilian emerging East Street during, optimum speed curves be first with acceleration Degree 1.4632m/s²Run 9.0161s, then travel at the uniform speed the civilian emerging East Street of arrival.The run time of whole process is 40s, thus Ensure to pass through civilian emerging East Street in the way of not parking.

Step 7): then automobile, when civilian emerging East Street, passes sequentially through exhibition road, Che Gongzhuan north using said method Street.

Step 8): when automobile is behind Che Gongzhuan North Street, initial velocity is 17.2836km/h, and the time is 7:04:52.This When acquisition official garden bridge traffic light signals information be: [3,158,208,363,413], initial signal lamp is g；With official garden bridge Distance is 526m.Automobile pass through interval judgement be [158208).Automobile speed is carried out first at the uniform velocity again after the speed planning of speed change, Automobile needs to travel at the uniform speed 79.9940s with 2.0487km/h first, then with acceleration as 0.1417m/s²Run 79.0060s.

Step 9) when traveling at the uniform speed in view of automobile initial velocity 2.0487km/h it is assumed that v_lowFor 20km/h, v₀＜ v_low, And run time long it is assumed that t_a=10s, t_s＞ t_a.In order to avoid the long-time low cruise of automobile leads to car load fuel-economy Property bad problem, by the way of the present invention is stopped after accelerate.Maximum speed is accelerated to preferably acceleration a ' relatively v_lim, the Accelerating running time is t_e', with speed v_limTravel at the uniform speed the time be t '_a, then with preferably deceleration a " braking relatively To traffic intersection, and when reaching, speed is 0, and braking time is t_e", exterior traffic crossing, waiting signal lamp is changed into green light again Give it the gun, the waiting time is t_w.Assume a '=1m/s², a "=- 1.5m/s².Described preferably acceleration and relatively relatively Excellent deceleration be in program according to summarizing to driver driving speed curves after, the relatively good acceleration automatically determining and phase To gentle deceleration.

Therefore, the acceleration time t of automobile_e' it is:

$t_e^{\&prime;}=\frac{v_{\lim }-v_0}{a^{\&prime;}}=9.0879s$

Braking time t of automobile_e" it is:

$t_e^{\&prime;\&prime;}=\frac{v_{\lim }}{a^{\&prime;\&prime;}}=9.2593s$

With speed v_limThe time t ' that travels at the uniform speed_aFor:

$t_a^{\&prime;}=\frac{1}{v_{\lim }}[d_6-v_0\left(\frac{v_{\lim }-v_0}{a^{\&prime;}}\right)-\frac{1}{2}{a}^{\&prime;}{\left(\frac{v_{\lim }-v_0}{a^{\&prime;}}\right)}^2-(v_{\lim }\frac{v_{\lim }}{a^{\&prime;\&prime;}}-\frac{1}{a}{a}^{\&prime;\&prime;}{\left(\frac{v_{\lim }}{a^{\&prime;\&prime;}}\right)}^2)]$ $=27.3676s$

Waiting time t_wFor

t_w=t_l-t_e′-t_e″-t′_a=113.6528s

Step 10): continue calculating and raise an infant lane, Zhaodengyu Road, Xin Jie Kou street and western imperial city root North Street, until by west Imperial city root North Street, result of calculation is as shown in Figure 5.Automobile passes through the tenth crossing, that is, total run time of western imperial city root North Street It is 636s.

Contrasted with the speed curves without speed planning algorithm, that is, driver obtains traffic signal letter according to vision Cease and accelerated or deceleration-operation distance be 75m when, speed curves figure is as shown in Figure 6: automobile pass through the tenth crossing, I.e. total run time of western imperial city root North Street is 630s.

It is found that the used time of two kinds of speed curves is essentially the same from Fig. 5 and Fig. 6, differ 6s.But using speed rule The speed curves that method to one's profit is set up, can at utmost avoid automobile to stop before red light, decrease the dead time of automobile；And And accelerate gentler with brake operating, thus at utmost reduce the fuel consumption of automobile.

The vehicle simulation software advisor based on U.S.'s regenerative resource laboratory for the present invention, applies orthodox car model Carry out having or not the transport condition under speed planning control and car load fuel consumption relative analyses, car model is as shown in Figure 7.

Table 1 embodiment 1 is calculated fuel consumption contrast table

Can obtain from table 1, automobile, according to the speed curves being obtained using speed planning algorithm, is compared and do not adopted speed The speed curves that planning algorithm obtains travel, and hundred kilometers of fuel consumptions reduce 14.3%.Therefore, planned using major trunk roads speed and calculate Method can effectively significantly improve the fuel economy of automobile.

Claims (6)

1. a kind of major trunk roads speed planing method based on isolated intersection traffic signal message, comprises the following steps:

Step 1) obtain nearest traffic light data；

Step 2) obtain and the distance of nearest traffic light；

Step 3) determine and pass through traffic intersection time range；

Step 4) using by time and acceleration absolute value sum as optimization aim, calculation optimization speed；

Step 5) judge to optimize whether speed has result of calculation, if it has, then going to step 6)；Otherwise, using planning speed row Sail, go to step 7)；

Step 6) at the uniform velocity travelled with initial velocity, then run with acceleration or deceleration；

Step 7) run with acceleration or deceleration, more at the uniform velocity travel；

Step 8) judge step 6) with the presence or absence of being travelled for a long time with too low initial velocity, if it is, going to step 9)；

Step 9): recalculate optimization speed, calculate Accelerating running time, the time of traveling at the uniform speed and parking run time, first Automobile is made to accelerate to maximum speed v with relatively good acceleration a '_lim, the acceleration time is t_e′；With speed v_limWhen traveling at the uniform speed Between t '_a；With relatively gentle deceleration a, " when braking traffic intersection, and reaching, for 0, braking time is t to speed again_e″；

Step 10) judge whether to need by next crossing, if it is, proceeding to step 1)；Otherwise, arrive at.

2. according to claim 1 method it is characterised in that described step 1) nearest friendship is obtained by wireless communication system Ventilating signal lamp data.

3. according to claim 1 method it is characterised in that described step 2) obtained and inbreeding by wireless location system The distance of ventilating signal lamp.

4. according to claim 1 method it is characterised in that described step 3) in the shortest time calculated by below equation arrive Reach the time t at crossing_t=t_a+t_c；Wherein, t_aFor the acceleration time of automobile, t_cTraveling at the uniform speed the time for automobile；

Wherein, v_limFor the speed maximum allowing, v₀For initial velocity, a_hFor the maximum of acceleration, d_iFor automobile and i-th The distance of the signal lighties in section, α is acceleration.

5. according to claim 4 method it is characterised in that described step 9) in the described Accelerating running time be to accelerate to Maximum speed v_limTime

With speed v_limThe time of traveling at the uniform speed be:

$t_a^{\&prime;}=\frac{1}{v_{\lim }}\&lsqb;d_6-v_0\left(\frac{v_{\lim }-v_0}{a^{\&prime;}}\right)-\frac{1}{2}{a}^{\&prime;}{\left(\frac{v_{\lim }-v_0}{a^{\&prime;}}\right)}^2-\left(v_{\lim }\frac{v_{\lim }}{a^{\&prime;\&prime;}}-\frac{1}{2}{a}^{\&prime;\&prime;}{\left(\frac{v_{\lim }}{a^{\&prime;\&prime;}}\right)}^2\right)\&rsqb;,$

Braking time is

Wherein a ' is to accelerate to maximum speed v_limAcceleration, a " for braking to traffic intersection deceleration.

6. method, it is characterised in that methods described is based on vehicle simulation software advisor, is applied and is passed according to claim 1 System car model carries out having or not the transport condition under speed planning control and car load fuel consumption relative analyses.