CN105719500B - Time occlusion intersection speed based on bus or train route collaboration guides system and method - Google Patents
Time occlusion intersection speed based on bus or train route collaboration guides system and method Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The present invention discloses a kind of time occlusion intersection speed guidance system and method based on bus or train route collaboration, it includes roadside unit and on board unit that the speed, which guides system, wherein, roadside unit includes trackside information acquisition module, trackside locating module and trackside information communication module, and on board unit includes on-vehicle information acquisition module, vehicle positioning module, on-vehicle information communication module, data processing module and information display module.Time occlusion intersection speed bootstrap technique based on bus or train route collaboration guides system using the speed, in the information input speed pilot model that trackside information acquisition module and on-vehicle information acquisition module are acquired, calculate can suggestion speed for reference, assist driver to pass through intersection in current green light phase by information display module.
Description
Technical field
The present invention relates to intelligent transportation fields.Intersection is occluded more particularly, to a kind of time based on bus or train route collaboration
Speed guides system and method.
Background technique
In recent years, with the communication technology, the development of sensor technology, bus or train route coordination technique becomes the research heat of field of traffic
Point.The traffic efficiency of urban road especially intersection can be effectively improved using bus or train route coordination technique, Real-Time Sharing intersects message
Number timing information and vehicle running state information, the guidance of intersection speed can be drive into vehicle efficiently, safety intersection mentions
For technical support.
Intersection is the multiple area of traffic accident in urban road, and data statistics according to investigations, the friendship in intersection occurs for China
Interpreter thus account for about the 1/3 of road traffic accident.It is the major reason of generation of causing the accident that intersection, which is made a dash across the red light, including vehicle robs row
It is not intended to make a dash across the red light caused by the intentional red light violation behavior passed through at a high speed and unpredictable green light or amber light end time separated
Zhang Hangwei.Simultaneously as whether intersection can be passed through during the unpredictable green light of driver, there are drivers to hesitate now
As affecting the traffic efficiency of intersection.Speed guidance is a kind of solution intersection safety, efficiency in bus or train route cooperative surroundings
Effective ways.
In terms of the speed guidance of intersection, usually believed at present using timing information in intersection obtained and vehicle driving
Breath establishes speed pilot model and makes vehicle that safe distance be kept to pass through intersection.Existing method deposits insufficient both ways a, side
Face speed pilot model lays particular emphasis on the efficiency or safety that vehicle passes through intersection, cannot achieve intersection efficiency and safety two
The accurate speed of person's equilibrium guides；On the other hand, input parameter required for existing method is more, causes pilot model complicated,
Computational efficiency is low.
Accordingly, it is desirable to provide a kind of time occlusion intersection speed based on bus or train route collaboration guides system and method.
Summary of the invention
It is an object of the present invention to provide a kind of, and the time occlusion intersection speed based on bus or train route collaboration guides system.
It is another object of the present invention to provide a kind of times based on bus or train route collaboration to occlude intersection speed guidance side
Method.
In order to achieve the above objectives, it uses for reference high-speed railway intelligence train and occludes control thought, " time closes for introducing in intersection
Plug " constrained procedure, by the intersection green light duration according to when safe bus head away from carrying out being divided into multiple off-period sections, each
Off-period section can arrange a vehicle to pass through intersection.Based on the intersection speed bootstrap technique of " time occlusion ", guaranteeing to sail
When entering vehicle safety, efficiently passing through intersection, speed bootstrap technique is simplified.
The present invention adopts the following technical solutions:
A kind of time occlusion intersection speed guidance system based on bus or train route collaboration, it includes trackside list which, which guides system,
Member and on board unit.Roadside unit, including trackside information acquisition module, trackside locating module and information communication module, Road
Side information acquisition module, the current traffic signal timing information in intersection where side unit for acquiring；Trackside locating module is used
The Intersections GPS position information where acquisition roadside unit；Trackside information communication module, for believing traffic signal timing
Breath and the signal lamp GPS position information are transferred on board unit.On board unit, including it is on-vehicle information acquisition module, vehicle-mounted fixed
Position module, on-vehicle information communication module, data processing module and information display module, wherein on-vehicle information acquisition module, is used for
The velocity and acceleration information of intersection vehicles is driven into acquisition；Vehicle positioning module, for acquiring the GPS for driving into intersection vehicles
Location information；On-vehicle information communication module, for receiving the information of the trackside information communication module transfer；Data processing mould
Block is based on the time for handling the data information in the on-vehicle information acquisition module and on-vehicle information communication module
Occlusion constrained procedure obtains suggestion speed；Information display module, for will pass through the information of data processing module processing into
Row display.
Preferably, Intersections timing information is green light phase residue duration Tg。
Preferably, trackside information communication module and on-vehicle information communication module are the wireless communication module to match each other, nothing
Line communication module includes but is not limited to use WiFi or LiFi wireless communication module.
Preferably, roadside unit is mounted on trackside Intersections transverse arm or column.
Preferably, vehicle-mounted data processing module is SCM system.
Preferably, information display module is Vehicular instrument panel display device.
Preferably, information display module is the display device being external on Vehicular instrument panel.
Preferably, information display module is to be external on Vehicular instrument panel and display information is shown to vehicle with virtual form
Display device on front windshield.
A method of the time occlusion intersection speed guidance system based on bus or train route collaboration carries out speed guidance, this method
Constraint condition includes:
(1), during final distribution is in green light phase by the moment；
(2), finally guidance speed must not be higher than road speed limit.
The information input speed pilot model that this method acquires trackside information acquisition module and on-vehicle information acquisition module
In, calculate can suggestion speed for reference, assist driver to pass through in current green light phase by information display module
Intersection.This method specifically comprises the following steps:
S1: when the current green light phase residue in intersection where trackside information acquisition module acquires the roadside unit continues
Between Tg。
S2: trackside locating module acquires Intersections GPS position information where the roadside unit, obtains signal lamp
GPS location coordinate is (xL, yL), xLFor its abscissa, yLFor its ordinate, and stop the location information as the intersection
Fare location information.
S3: trackside information communication module is by the traffic signal timing information green light phase residue duration TgWith the letter
Signal lamp GPS location coordinate (xL, yL) it is transferred to the on board unit.
S4: on-vehicle information acquisition module acquires the speed V for driving into intersection jth vehicle0jWith acceleration a.
S5: intersection jth vehicle GPS position information is driven into the acquisition of vehicle positioning module, and intersection jth vehicle is driven into acquisition
GPS location coordinate (xV, yV), xVFor its abscissa, yVFor its ordinate.
S6: data processing module by the data information in the on-vehicle information acquisition module and on-vehicle information communication module into
Row processing obtains suggestion speed based on time occlusion constrained procedure, wherein occluding constrained procedure based on the time includes following step
It is rapid:
S601: the distance L of jth spacing ion-exchange prong stop line is calculatedj
S602: from current green light phase time T0Rise, with when safe bus head away from tsWhen current green light phase being continued for interval
Between TgIt is divided, forms n off-period section, each off-period section is there are 1 vehicle or vehicle, i-th of period is not present
Finish time TiAre as follows:
Ti=T0-i*ts
Off-period section [the T of formation0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] vehicle is used as to pass through intersection
The alternative period of mouth, wherein 0≤i≤n, 0≤Ti≤T0；
S603: judge moment T0Whether 1st vehicle nearest apart from intersection is in dead ship condition:
If so, T0=Tg-ts-tq, tqTime, otherwise, T are lost for the starting of stopped vehicle0=Tg-ts；
S604: for the 1st vehicle, off-period section [T0,T1] it is it by the alternative period of intersection, judgement should
Can vehicle to be no more than speed limit V in the alternative periodmaxSpeed by intersection, meet condition then to suggest that speed passes through friendship
Otherwise prong selects parking or using next off-period section as the new alternative period；For subsequent jth vehicle, selection occlusion
Period [Ti, Ti-ts] guide vehicle to pass through intersection as by alternative period of intersection, wherein TiFor -1 vehicle of jth
Pass through intersection occupied occlusion finish time period；
S605: judge TiWhether the moment is still green light phase, if so, carrying out next step judgement；Otherwise, in order to prevent
It, which makes a dash across the red light, causes danger, it is guided to stop before stop line；
S606: judge that whether jth vehicle is travelled by original speed earlier than TiMoment passes through intersection parking line, i.e.,
If so, it collides with front truck in order to prevent, deceleration guidance need to be carried out, it is ensured that it is in [Ti, Ti-ts] period
By intersection parking line, speed is guided are as follows:
In formula, V0jFor the speed for driving into intersection jth vehicle, a is the acceleration for driving into intersection jth vehicle, tiFor jth
Vehicle passes through the time of intersection parking line, and t according to the distribution occlusion periodi=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, acceleration guidance need to be carried out, it is ensured that it is in TiMoment passes through intersection parking
Line guides speed are as follows:
S607: judge to suggest whether speed is lower than road Maximum speed limit V obtained by speed pilot modelmax:
If so, driving into intersection jth vehicle according to suggestion speed VjTraveling can be in distribution off-period section [Ti, Ti-ts]
Driver is supplied to by information display module by intersection parking line, and by the suggestion speed；
Otherwise, the next off-period section [T of jth vehicle is distributed toi-ts, Ti-2ts] by intersection parking line, it returns
S605 step, continues to judge.
S7: the suggestion speed handled by the data processing module is exported and is shown by information display module.
Beneficial effects of the present invention are as follows:
1, wireless communication technique is applied to intersection, communication module performance is good at present, price is low；
2, the green light duration is divided into off-period section, it can be achieved that speed, which precisely guides, passes through intersection；
3, it is a kind of aid decision-making system, avoids the driver behavior for forcing interference driver；
4, speed boot policy is intuitive and easy to understand.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows the time occlusion intersection speed guidance system and method working principle diagram based on bus or train route collaboration.
Fig. 2 shows roadside unit structural block diagrams.
Fig. 3 shows on board unit structural block diagram.
Fig. 4 shows the logical flow chart of time occlusion constrained procedure.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
Fig. 1 shows the time occlusion intersection speed guidance system and method working principle diagram based on bus or train route collaboration.It is a kind of
Time occlusion intersection speed based on bus or train route collaboration guides system, and it includes roadside unit and vehicle-mounted list which, which guides system,
Member.Fig. 2 shows roadside unit structural block diagrams.Roadside unit, including trackside information acquisition module, trackside locating module and information are logical
Module is interrogated, wherein trackside information acquisition module, the current traffic signal timing information in intersection where side unit for acquiring；Road
Side positioning module, for Intersections GPS position information where acquiring roadside unit；Trackside information communication module, is used for
Traffic signal timing information and the signal lamp GPS position information are transferred on board unit.Fig. 3 shows on board unit structural frames
Figure.On board unit, including on-vehicle information acquisition module, vehicle positioning module, on-vehicle information communication module, data processing module and
Speed display module, wherein on-vehicle information acquisition module, for acquiring the velocity and acceleration information for driving into intersection vehicles；Vehicle
Locating module is carried, for acquiring the GPS position information for driving into intersection vehicles；On-vehicle information communication module, it is described for receiving
The information of trackside information communication module transfer；Data processing module is used for the on-vehicle information acquisition module and on-vehicle information
Data information in communication module is handled, and obtains suggestion speed based on time occlusion constrained procedure；Information display module is used
It is shown in by the information for passing through the data processing module processing.
Intersections timing information is green light phase residue duration Tg。
Trackside information communication module and on-vehicle information communication module are the wireless communication module to match each other, using WiFi or
The wireless communication techniques such as LiFi.Data processing module is SCM system, and it is horizontal that roadside unit is mounted on trackside Intersections
On arm or column.On board unit is installed on vehicle, and information display module for Vehicular instrument panel display device or is external to vehicle
Display device on instrument board, or be external on Vehicular instrument panel and display information with virtual form is shown to vehicle
Display device on front windshield.
Fig. 4 shows the logical flow chart of time occlusion constrained procedure.A kind of time occlusion intersection based on bus or train route collaboration
Speed bootstrap technique includes the following steps:
S1: when the current green light phase residue in intersection where trackside information acquisition module acquires the roadside unit continues
Between Tg。
S2: trackside locating module acquires Intersections GPS position information where the roadside unit, obtains signal lamp
GPS location coordinate is (xL, yL), xLFor its abscissa, yLFor its ordinate, and stop the location information as the intersection
Fare location information.
S3: trackside information communication module is by the traffic signal timing information green light phase residue duration TgWith the letter
Signal lamp GPS location coordinate (xL, yL) it is transferred to the on board unit.
S4: on-vehicle information acquisition module acquires the speed V for driving into intersection jth vehicle0jWith acceleration a.
S5: intersection jth vehicle GPS position information is driven into the acquisition of vehicle positioning module, and intersection jth vehicle is driven into acquisition
GPS location coordinate (xV, yV), xVFor its abscissa, yVFor its ordinate.
S6: data processing module by the data information in the on-vehicle information acquisition module and on-vehicle information communication module into
Row processing obtains suggestion speed based on time occlusion constrained procedure, wherein occluding constrained procedure based on the time includes following step
It is rapid:
S601: the distance L of jth spacing ion-exchange prong stop line is calculatedj
S602: from current green light phase time T0Rise, with when safe bus head away from tsWhen current green light phase being continued for interval
Between TgIt is divided, forms n off-period section, each off-period section is there are 1 vehicle or vehicle, i-th of period is not present
Finish time TiAre as follows:
Ti=T0-i*ts
Off-period section [the T of formation0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] vehicle is used as to pass through intersection
The alternative period of mouth, wherein 0≤i≤n, 0≤Ti≤T0；
S603: judge moment T0Whether 1st vehicle nearest apart from intersection is in dead ship condition:
If so, T0=Tg-ts-tq, tqTime, otherwise, T are lost for the starting of stopped vehicle0=Tg-ts；
S604: for the 1st vehicle, off-period section [T0,T1] it is it by the alternative period of intersection, judgement should
Can vehicle to be no more than speed limit V in the alternative periodmaxSpeed by intersection, meet condition then to suggest that speed passes through friendship
Otherwise prong selects parking or using next off-period section as the new alternative period；For subsequent jth vehicle, selection occlusion
Period [Ti, Ti-ts] guide vehicle to pass through intersection as by alternative period of intersection, wherein TiFor -1 vehicle of jth
Pass through intersection occupied occlusion finish time period；
S605: judge TiWhether the moment is still green light phase, if so, carrying out next step judgement；Otherwise, in order to prevent
It, which makes a dash across the red light, causes danger, it is guided to stop before stop line；
S606: judge that whether jth vehicle is travelled by original speed earlier than TiMoment passes through intersection parking line, i.e.,
If so, it collides with front truck in order to prevent, deceleration guidance need to be carried out, it is ensured that it is in [Ti, Ti-ts] period
By intersection parking line, speed is guided are as follows:
In formula, V0jFor the speed for driving into intersection jth vehicle, a is the acceleration for driving into intersection jth vehicle, tiFor jth
Vehicle passes through the time of intersection parking line, and t according to the distribution occlusion periodi=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, acceleration guidance need to be carried out, it is ensured that it is in TiMoment passes through intersection parking
Line guides speed are as follows:
S607: judge to suggest whether speed is lower than road Maximum speed limit V obtained by speed pilot modelmax:
If so, driving into intersection jth vehicle according to suggestion speed VjTraveling can be in distribution off-period section [Ti, Ti-ts]
Driver is supplied to by display module by intersection parking line, and by the suggestion speed；
Otherwise, the next off-period section [T of jth vehicle is distributed toi-ts, Ti-2ts] by intersection parking line, it returns
S605 step, continues to judge.
S7: the suggestion speed handled by the data processing module is exported and is shown by information display module.
Time based on bus or train route collaboration in the present invention occludes intersection speed bootstrap technique, and this method is obtained by roadside unit
Intersections timing information and signal lamp GPS location are taken, is transferred to these information using trackside information communication module
Drive into the vehicle of intersection.On board unit is using Intersections timing information, signal lamp GPS location, car speed and adds
Speed, vehicle GPS position, by speed pilot model for vehicle provide can suggestion speed for reference, to guarantee to drive into intersection
Mouth vehicle efficient during current green light phase, safety can pass through intersection.
Specifically, roadside unit acquires traffic signal timing information by trackside information acquisition module, pass through trackside positioning mould
Block acquires signal lamp position information as intersection parking line position.Pass through the tracksides information communication such as WiFi, LiFi
Roadside unit acquisition information is transferred to certain power and drives into the vehicle of intersection by module, makes vehicle to drive into intersection certain
(100~200 meters) can receive these information in range.On board unit acquires car speed using on-vehicle information acquisition module
With acceleration, by vehicle positioning module acquire current vehicle location, and with on-vehicle information communication module receive by trackside
The information that unit transmission comes is merged, and is input in the speed pilot model of data processing module, and it is suitable to drive into vehicle selection
Away from the off-period section for interval, it is fast that suggestion refer to for driver is calculated based on time period when safe bus head
Degree.The suggestion speed provided is supplied to driver by display module on board unit, for guiding vehicle efficient, safety
Pass through intersection.
The vehicle that intersection is driven into during green light phase is received in a certain range of intersection from road
The signal timing dial information and signal lamp GPS location of side unit, on board unit combine the car speed and acceleration, vehicle of acquisition
GPS location is input in the speed pilot model of single-chip microcontroller.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (9)
1. a kind of time occlusion intersection speed based on bus or train route collaboration guides system, which is characterized in that speed guidance system
System includes roadside unit and on board unit, wherein
Roadside unit, including trackside information acquisition module, trackside locating module and trackside information communication module, wherein
Trackside information acquisition module, the traffic signal timing information current for intersection where acquiring the roadside unit；
Trackside locating module, for Intersections GPS position information where acquiring the roadside unit；
Trackside information communication module, for the traffic signal timing information and the signal lamp GPS position information to be transferred to institute
State on board unit；
On board unit, including on-vehicle information acquisition module, vehicle positioning module, on-vehicle information communication module, data processing module
And information display module, wherein
On-vehicle information acquisition module, for acquiring the velocity and acceleration information for driving into intersection vehicles；
Vehicle positioning module, for acquiring the GPS position information for driving into intersection vehicles；
On-vehicle information communication module, for receiving the information of the trackside information communication module transfer；
Data processing module, for carrying out the data information in the on-vehicle information acquisition module and on-vehicle information communication module
Processing obtains suggestion speed based on time occlusion constrained procedure；
Information display module, for showing the information for passing through the data processing module processing；
Wherein, described to obtain suggestion speed based on time occlusion constrained procedure and include the following steps:
Step 1: calculating the distance L of jth spacing ion-exchange prong stop linej
Wherein, xLFor the abscissa in the signal lamp GPS position information, yLFor the vertical seat in the signal lamp GPS position information
Mark, xVFor the abscissa driven into the jth vehicle GPS position information of intersection, yVTo drive into intersection jth vehicle GPS position information
In ordinate；
Step 2: from current green light phase time T0Rise, with when safe bus head away from tsTo be spaced current green light Phase Duration
TgIt is divided, forms n off-period section, each off-period section is there are 1 vehicle or vehicle is not present, i-th of period knot
Beam moment TiAre as follows:
Ti=T0-i*ts
Off-period section [the T of formation0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] as vehicle by intersection
The alternative period, wherein i, j, n are natural number, 0≤i≤n, 0≤Ti≤T0；
Step 3: judging moment T0Whether 1st vehicle nearest apart from intersection is in dead ship condition:
If so, T0=Tg-ts-tq, tqTime, otherwise, T are lost for the starting of stopped vehicle0=Tg-ts；
Step 4: for the 1st vehicle, off-period section [T0,T1] it is it by the alternative period of intersection, judge that this is standby
Select vehicle in the period can be to be no more than speed limit VmaxSpeed by intersection, meet condition then to suggest that speed passes through intersection
Mouthful, otherwise select parking or using next off-period section as the new alternative period；For subsequent jth vehicle, when selection occludes
Between section [Ti, Ti-ts] as the alternative period for passing through intersection, guidance vehicle passes through intersection, wherein TiIt is logical for -1 vehicle of jth
Spend intersection occupied occlusion finish time period；
Step 5: judging TiWhether the moment is still green light phase, if so, carrying out next step judgement；Otherwise, in order to prevent its
It makes a dash across the red light and causes danger, it is guided to stop before stop line；
Step 6: judging that whether jth vehicle is travelled by original speed earlier than TiMoment passes through intersection parking line, i.e.,
If so, it collides with front truck in order to prevent, deceleration guidance need to be carried out, it is ensured that it is in [Ti, Ti-ts] period passes through
Intersection parking line guides speed are as follows:
In formula, V0jFor the speed for driving into intersection jth vehicle, a is the acceleration for driving into intersection jth vehicle, tiFor jth vehicle
Pass through the time of intersection parking line, and t according to the distribution occlusion periodi=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, acceleration guidance need to be carried out, it is ensured that it is in TiMoment by intersection parking line, draws
Lead speed are as follows:
Step 7: judging to suggest whether speed is lower than road Maximum speed limit V obtained by speed pilot modelmax:
If so, driving into intersection jth vehicle according to suggestion speed VjTraveling can be in distribution off-period section [Ti, Ti-ts] pass through
Intersection parking line, and the suggestion speed is supplied to driver by display module；
Otherwise, the next off-period section [T of jth vehicle is distributed toi-ts, Ti-2ts] by intersection parking line, return to the 5th
Step, continues to judge.
2. speed according to claim 1 guides system, which is characterized in that the Intersections timing information is green
Lamp phase residue duration Tg。
3. speed according to claim 1 guides system, which is characterized in that the trackside information communication module and vehicle-mounted letter
Ceasing communication module is the wireless communication module to match each other, and the wireless communication module includes but is not limited to use WiFi or LiFi
Wireless communication module.
4. speed according to claim 1 guides system, which is characterized in that the roadside unit is mounted on trackside intersection
On signal lamp transverse arm or column.
5. speed according to claim 1 guides system, which is characterized in that the data processing module is single-chip microcontroller system
System.
6. speed according to claim 1 guides system, which is characterized in that the information display module is Vehicular instrument panel
Display device.
7. speed according to claim 1 guides system, which is characterized in that the information display module is to be external to vehicle
Display device on instrument board.
8. speed according to claim 1 guides system, which is characterized in that the information display module is to be external to vehicle
The display device being shown on instrument board and by display information with virtual form in front windshield of vehicle.
9. a kind of time occlusion intersection speed using according to claim 1 described in any one of -8 based on bus or train route collaboration guides
The method of system progress speed guidance, which is characterized in that this method includes following constraint condition:
(1), during final distribution is in green light phase by the moment；
(2), finally guidance speed must not be higher than road speed limit；
This method specifically comprises the following steps:
S1: the current green light phase residue duration T in intersection where trackside information acquisition module acquires the roadside unitg；
S2: trackside locating module acquires Intersections GPS position information where the roadside unit, obtains signal lamp GPS
Position coordinates are (xL, yL), xLFor its abscissa, yLFor its ordinate, and using the location information as the intersection parking line
Location information；
S3: trackside information communication module is by the traffic signal timing information green light phase residue duration TgWith the signal lamp
GPS location coordinate (xL, yL) it is transferred to the on board unit；
S4: on-vehicle information acquisition module acquires the speed V for driving into intersection jth vehicle0jWith acceleration a；
S5: intersection jth vehicle GPS position information is driven into the acquisition of vehicle positioning module, and intersection jth vehicle GPS is driven into acquisition
Position coordinates (xV, yV), xVFor its abscissa, yVFor its ordinate；
S6: data processing module will be at the data information in the on-vehicle information acquisition module and on-vehicle information communication module
Reason obtains suggestion speed based on time occlusion constrained procedure；
S7: the suggestion speed handled by the data processing module is exported and is shown by information display module；
Wherein the time occlusion constrained procedure that is based on further comprises following steps:
S601: the distance L of jth spacing ion-exchange prong stop line is calculatedj
S602: from current green light phase time T0Rise, with when safe bus head away from tsTo be spaced current green light Phase Duration Tg
It is divided, forms n off-period section, each off-period section is there are 1 vehicle or vehicle is not present, and i-th of period terminates
Moment TiAre as follows:
Ti=T0-i*ts
Off-period section [the T of formation0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] as vehicle by intersection
The alternative period, wherein i, j, n are natural number, 0≤i≤n, 0≤Ti≤T0；
S603: judge moment T0Whether 1st vehicle nearest apart from intersection is in dead ship condition:
If so, T0=Tg-ts-tq, tqTime, otherwise, T are lost for the starting of stopped vehicle0=Tg-ts；
S604: for the 1st vehicle, off-period section [T0,T1] it is it by the alternative period of intersection, judge that this is alternative
Can vehicle to be no more than speed limit V in periodmaxSpeed by intersection, meet condition then with suggest speed by intersection,
Otherwise parking is selected or using next off-period section as the new alternative period；For subsequent jth vehicle, off-period section is selected
[Ti, Ti-ts] as the alternative period for passing through intersection, guidance vehicle passes through intersection, wherein TiPass through friendship for -1 vehicle of jth
Prong occupied occlusion finish time period；
S605: judge TiWhether the moment is still green light phase, if so, carrying out next step judgement；Otherwise, it is rushed in order to prevent
Red light is caused danger, it is guided to stop before stop line；
S606: judge that whether jth vehicle is travelled by original speed earlier than TiMoment passes through intersection parking line, i.e.,
If so, it collides with front truck in order to prevent, deceleration guidance need to be carried out, it is ensured that it is in [Ti, Ti-ts] period passes through
Intersection parking line guides speed are as follows:
In formula, V0jFor the speed for driving into intersection jth vehicle, a is the acceleration for driving into intersection jth vehicle, tiFor jth vehicle
Pass through the time of intersection parking line, and t according to the distribution occlusion periodi=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, acceleration guidance need to be carried out, it is ensured that it is in TiMoment by intersection parking line, draws
Lead speed are as follows:
S607: judge to suggest whether speed is lower than road Maximum speed limit V obtained by speed pilot modelmax:
If so, driving into intersection jth vehicle according to suggestion speed VjTraveling can be in distribution off-period section [Ti, Ti-ts] pass through
Intersection parking line, and the suggestion speed is supplied to driver by display module；
Otherwise, the next off-period section [T of jth vehicle is distributed toi-ts, Ti-2ts] by intersection parking line, return to S605
Step, continues to judge.
Priority Applications (1)
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| CN106157644B (en) * | 2016-07-06 | 2019-04-02 | 江苏大学 | A kind of speed guidance system and its implementation reducing intersection parking number |
| CN105976632B (en) * | 2016-07-06 | 2018-04-17 | 江苏大学 | A kind of speed bootstrap technique for reducing intersection parking number |
| CN106023627A (en) * | 2016-07-14 | 2016-10-12 | 清华大学苏州汽车研究院（吴江） | Active safety early warning device and method based on cooperative vehicle infrastructure and 4G network |
| CN106205162B (en) * | 2016-07-18 | 2019-06-04 | 北京京东尚科信息技术有限公司 | Promote the method and device that vehicle prejudges accuracy by traffic intersection |
| CN106205169B (en) * | 2016-07-20 | 2019-04-19 | 天津职业技术师范大学 | Major trunk roads crossing inlet road method for controlling driving speed based on bus or train route collaboration |
| CN105976621B (en) * | 2016-07-22 | 2018-06-01 | 江苏大学 | It is a kind of to guide the not parking device and method by intersection of vehicle based on car speed induction strategies |
| CN106128125B (en) * | 2016-08-01 | 2018-06-26 | 江苏大学 | A kind of speed bootstrap technique that control intersection is preferentially sensed for main road |
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| CN107331182A (en) * | 2017-07-13 | 2017-11-07 | 北京航空航天大学 | Automatic Pilot method for controlling driving speed under a kind of net connection environment towards continuous signal intersection |
| CN107730931B (en) * | 2017-09-20 | 2020-07-17 | 北方工业大学 | Vehicle formation control and signal optimization method under vehicle-road cooperative environment |
| CN111819608A (en) * | 2018-03-07 | 2020-10-23 | 谷歌有限责任公司 | Driver feedback for efficient intersection crossing |
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| CN108765982A (en) * | 2018-05-04 | 2018-11-06 | 东南大学 | Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings |
| CN108510769B (en) * | 2018-05-28 | 2020-12-22 | 北京交通大学 | Mobile block intersection vehicle speed guiding system and method based on vehicle-road cooperation |
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| CN111243307B (en) * | 2018-11-28 | 2021-12-14 | 驭势科技（北京）有限公司 | System and method for dispatching vehicle with automatic driving function at intersection |
| CN109598953B (en) * | 2018-12-21 | 2022-04-12 | 深圳市元征科技股份有限公司 | Vehicle guiding method and device |
| CN111047865B (en) * | 2019-12-18 | 2020-11-24 | 南京林业大学 | Method for controlling one-way traffic road intersection traffic under automatic driving environment |
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| CN102737519B (en) * | 2012-05-08 | 2014-10-22 | 北京交通大学 | Vehicle-road synergic early warning system with fast passage prompt function and early warning method thereof |
| CN103514748B (en) * | 2012-06-21 | 2016-08-31 | 株式会社万都 | The device instructing safe driving in crossing and the method using this device to instruct safe driving |
| CN103065488A (en) * | 2012-12-19 | 2013-04-24 | 北京交通大学 | Vehicular access cooperative system with early warning prompting function for red light running and method |
| CN103253247B (en) * | 2012-12-28 | 2015-11-04 | 湖南吉利汽车部件有限公司 | A kind of anti-make a dash across the red light automobile autocontrol method and system |
| CN103909928A (en) * | 2013-01-02 | 2014-07-09 | 成都海存艾匹科技有限公司 | Red light avoidance system |
| CN105206081B (en) * | 2014-06-26 | 2017-12-12 | 比亚迪股份有限公司 | Vehicle passes through reminding method, system and the server during crossing |
| CN104123851B (en) * | 2014-08-06 | 2017-04-19 | 清华大学 | Fast passing assisting method and device for vehicles at intersection based on vehicle-road communication |
| CN104183149B (en) * | 2014-08-29 | 2017-12-15 | 浙江吉利汽车研究院有限公司 | A kind of automobile-used traffic precognition suggestion device and method |
| CN105160921A (en) * | 2015-10-10 | 2015-12-16 | 武汉科技大学 | Traffic light forecast system based on DSRC and GPS |
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