CN106846871B - Method, device and system for planning vehicle speed according to navigation path - Google Patents

Method, device and system for planning vehicle speed according to navigation path Download PDF

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Publication number
CN106846871B
CN106846871B CN201710170289.5A CN201710170289A CN106846871B CN 106846871 B CN106846871 B CN 106846871B CN 201710170289 A CN201710170289 A CN 201710170289A CN 106846871 B CN106846871 B CN 106846871B
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vehicle speed
vehicle
navigation
speed
road
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CN201710170289.5A
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Chinese (zh)
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CN106846871A (en
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邓立邦
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广东数相智能科技有限公司
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968Systems involving transmission of navigation instructions to the vehicle
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3453Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical

Abstract

The invention discloses a method, a device and a system for planning vehicle speed according to a navigation path, wherein the method comprises the following steps: s1: acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information; s2: acquiring the current running state of the vehicle, wherein the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle; s3: obtaining a floating speed group according to the current running state of the vehicle and the navigation road information; s4: obtaining the time required by the complete travel according to each vehicle speed in the floating vehicle speed group, and taking the vehicle speed corresponding to the shortest travel time as the tuning vehicle speed; s5: and judging whether the running speed of the vehicle is adaptive to the optimized vehicle speed, and if not, reminding a vehicle owner to adjust the vehicle speed. The method can help the vehicle owner to finely adjust the vehicle speed when driving, so that the waiting time of the traffic light is prevented from being too long, and the purposes of optimizing the driving experience and green low-carbon traveling are achieved.

Description

Method, device and system for planning vehicle speed according to navigation path

Technical Field

The invention belongs to the technical field of intelligent navigation, and particularly relates to a method, a device and a system for planning a vehicle speed according to a navigation path.

Background

Along with the enlargement of urban scale, the rapid development of road traffic and the popularization of automobiles in China, the traffic road conditions for people to drive and go are more and more complex, and the comprehensive requirement for improving the vehicle-using travel experience by using a navigation planning route is more and more common; in the driving and traveling process, a vehicle owner inevitably encounters an intersection with a signal lamp, and the waiting time for signal lamp conversion is greatly different when the vehicle owner turns left, turns right and travels straight at the intersection. In the actual driving process, a vehicle owner often encounters the condition that a front red light has to be decelerated and braked just after refueling and accelerating, and often tries to avoid encountering a red light or reduce braking to reduce oil consumption in driving, reduce oil consumption of frequent braking and starting and accelerating, avoid stopping for a long time to reduce carbon emission, reduce energy consumption and achieve the purposes of energy conservation and emission reduction. In the prior art, when the length of a road section where the current position of a driver is located is calculated, only how many traffic lights are marked, the influence of the waiting time of the traffic light conversion at an intersection on path planning is not considered, and a navigation mode which prompts the speed control of the vehicle speed and can effectively reduce or avoid the waiting time of the traffic lights is absent.

The existing navigation mode plans a navigation route according to a positioning position and a destination position, only provides a user with a selectable route, and simultaneously assists to display some traffic condition elements passing through roads: road congestion conditions (colors are marked on the route according to congestion levels), traffic light quantity and charging conditions.

Meanwhile, the traffic light signal conversion period provides specific data query when the traffic control department has a public schedule; with the continuous development of the car networking technology, the method is more and more applied to the acquisition of traffic light signal change data, and a reliable data basis is provided for optimizing a travel scheme by introducing real-time traffic light conversion time in navigation.

Disclosure of Invention

In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a method for planning a vehicle speed according to a navigation path, which achieves accurate estimation of a driving time and optimizes a driving experience.

The invention also aims to provide a device for planning the vehicle speed according to the navigation path, which can accurately estimate the running time and optimize the driving experience.

The invention also aims to provide a system for planning the vehicle speed according to the navigation path, which can accurately estimate the running time and optimize the driving experience.

One of the purposes of the invention is realized by adopting the following technical scheme:

a method for planning vehicle speed according to a navigation path comprises the following steps:

s1: acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information;

s2: acquiring the current running state of the vehicle, wherein the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle;

s3: obtaining a floating speed group according to the current running state of the vehicle and the navigation road information;

s4: obtaining the time required by the complete travel according to each vehicle speed in the floating vehicle speed group, and taking the vehicle speed corresponding to the shortest travel time as the tuning vehicle speed;

s5: and judging whether the running speed of the vehicle is adaptive to the optimized vehicle speed, and if not, reminding a vehicle owner to adjust the vehicle speed.

Preferably, the step S1 specifically includes the following sub-steps:

s11: acquiring a navigation path between a starting point and a destination;

s12: identifying all traffic light signals on a navigation path, wherein the traffic light signals comprise traffic light positions, traffic light states and traffic light conversion rules;

s13: dividing the navigation path into a plurality of road sections according to the positions of the traffic lights to obtain navigation road sections;

s14: and acquiring the road condition information of each navigation road section, wherein the road condition information comprises average vehicle speed and speed limit information.

Preferably, the step S4 specifically includes the following sub-steps:

s41: calculating the time required by each vehicle speed in the floating vehicle speed group to pass through each navigation road section according to the floating vehicle speed group, the current position of the vehicle and the road condition information;

s42: calculating the sum of waiting time of passing through each navigation road section, traffic lights and traffic lights according to each vehicle speed in the floating vehicle speed group;

s43: and calculating to obtain the corresponding vehicle speed with the shortest total time to the destination in the floating vehicle speed group through an optimization calculation formula, namely the adjusted vehicle speed.

Preferably, the tuning vehicle speed calculation formula adopted in step S45 is:

wherein, tviRepresenting the time, t, required to reach the ith traffic light, proceeding at a speed vwiIndicating the waiting time, t, required at the ith traffic lightciRepresenting the time required to cross the ith traffic light intersection; (v) represents a function for obtaining a velocity v that minimizes the total accumulated time.

The second purpose of the invention is realized by adopting the following technical scheme:

an apparatus for planning vehicle speed according to a navigation path, comprising the following modules:

the navigation information acquisition module: the navigation system is used for acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information;

a vehicle state acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for acquiring the current running state of a vehicle, and the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle;

the floating vehicle speed calculation module: the system comprises a floating vehicle speed group, a navigation road group and a vehicle speed group, wherein the floating vehicle speed group is used for obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;

the vehicle speed adjusting and optimizing module: the system comprises a floating vehicle speed group, a navigation road group and a vehicle speed group, wherein the floating vehicle speed group is used for obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;

a reminding module: and the vehicle speed adjusting device is used for judging whether the running speed of the vehicle is adaptive to the optimal vehicle speed or not, and if not, reminding a vehicle owner to adjust the vehicle speed.

Preferably, the navigation information obtaining module specifically includes the following sub-modules:

the navigation path acquisition module: the navigation method comprises the steps of obtaining a navigation path between a starting point and a destination;

traffic light identification module: the navigation system is used for identifying all traffic light signals on a navigation path, wherein the traffic light signals comprise traffic light positions, traffic light states and traffic light conversion rules;

navigation road section segmentation module: the navigation path is divided into a plurality of road sections according to the traffic light position to obtain navigation road sections;

the road information acquisition module: the method is used for acquiring the road condition information of each navigation road section, and the road condition information comprises average vehicle speed and speed limit information.

Preferably, the vehicle speed tuning module specifically comprises the following sub-modules:

a navigation section time module: the system comprises a floating vehicle speed group, a vehicle speed acquisition unit, a navigation road section acquisition unit and a navigation road section acquisition unit, wherein the floating vehicle speed group is used for acquiring the current position of the vehicle and road condition information of the vehicle;

a time calculation module: the system is used for calculating the sum of waiting time of passing through each navigation road section, traffic lights and traffic lights according to each vehicle speed in the floating vehicle speed group;

the adjusting vehicle speed calculating module: and calculating to obtain the corresponding vehicle speed with the shortest total time to the destination in the floating vehicle speed group through an optimization calculation formula, namely the adjusted vehicle speed.

Preferably, the tuning vehicle speed calculation formula adopted in the tuning vehicle speed calculation module is as follows:

wherein, tviRepresenting the time, t, required to reach the ith traffic light, proceeding at a speed vwiIndicating the waiting time, t, required at the ith traffic lightciRepresenting the time required to cross the ith traffic light intersection; (v) represents a function for obtaining a velocity v that minimizes the total accumulated time.

The third purpose of the invention is realized by adopting the following technical scheme:

a system for planning vehicle speed according to a navigation path comprises an actuator, wherein the actuator is used for executing the method for planning vehicle speed according to the navigation path in any scheme.

Compared with the prior art, the invention has the beneficial effects that:

the method for planning the vehicle speed according to the navigation path can help a vehicle owner to finely adjust the vehicle speed when driving, avoids overlong waiting time of a traffic light, and achieves the purposes of optimizing driving experience and green low-carbon traveling.

Drawings

FIG. 1 is a flow chart of a method of planning vehicle speed based on a navigation path according to the present invention;

fig. 2 is a structural diagram of an apparatus for planning a vehicle speed according to a navigation path according to the present invention.

Detailed Description

The invention will be further described with reference to the accompanying drawings and the detailed description below:

the prior art path planning algorithm does not consider the processing of intersections, does not combine the traffic signal lamp conversion period of each intersection, the waiting time for passing through the intersection, the driving speed of an automobile owner and the traffic flow condition, comprehensively calculates the planned path and the time for reaching a destination, and simultaneously does not have a navigation mode of prompting the automobile owner to run at the optimal speed to avoid waiting or reduce the waiting time to pass through the intersection with the signal lamp in real time.

As shown in fig. 1, the present invention provides a method for planning a vehicle speed according to a navigation path, comprising the following steps:

s1: acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information; the step S1 specifically includes the following sub-steps:

s11: acquiring a navigation path between a starting point and a destination;

s12: identifying all traffic light signals on a navigation path, wherein the traffic light signals comprise traffic light positions, traffic light states and traffic light conversion rules; the traffic light signal conversion period has a public timetable at the traffic control department to provide specific data query, and related data are stored in a data server to support the data;

s13: dividing the navigation path into a plurality of road sections according to the positions of the traffic lights to obtain navigation road sections, and storing information of starting and ending positions of each road section;

s14: acquiring road condition information of each navigation road section, wherein the road condition information comprises average vehicle speed and speed limit information; the average vehicle speed and the speed limit information are used as reference calculation information of the adjusted vehicle speed, for example, the range of the adjusted vehicle speed cannot be higher than the road speed limit of the corresponding road section.

S2: acquiring the current running state of the vehicle, wherein the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle; the current position of the vehicle is located through GPS positioning and other auxiliary positioning functions, and the current running speed of the vehicle is measured by detecting the running distance of the vehicle in unit time.

S3: obtaining a floating speed group according to the current running state of the vehicle and the navigation road information; the floating vehicle speed group floats up and down in a range on the basis of the current vehicle speed to obtain a group of floating vehicle speeds; the floating vehicle speed group can be a continuous threshold range, or all speed values form an arithmetic progression and then form the floating vehicle speed group. The floating vehicle speed group adopted in the method is set based on the actual vehicle speed of the user, and the decision of the user is not assisted by a system, so that the method is more humanized, more convenient and easier to popularize;

s4: obtaining the time required by the complete travel according to each vehicle speed in the floating vehicle speed group, and taking the vehicle speed corresponding to the shortest travel time as the tuning vehicle speed; respectively calculating the total time of arriving at a destination by using the floating vehicle speed groups, obtaining the shortest total arrival time through a comparison result, and obtaining the driving vehicle speed corresponding to the shortest total arrival time as the result data of the optimized vehicle speed; the total arrival time is the sum of the driving time of each navigation road section between the traffic lights and the red and green light switching waiting time of each road; the step S4 specifically includes the following sub-steps:

s41: calculating the time required by each vehicle speed in the floating vehicle speed group to pass through each navigation road section according to the floating vehicle speed group, the current position of the vehicle and the road condition information; and respectively calculating the time required by each vehicle speed in the floating vehicle speed group to pass through each navigation subsection path. When the time is calculated, the influence of the conditions of the stopping, starting and accelerating at each intersection, such as the time required by different vehicle speeds, the average vehicle speed of the road vehicle, the road speed limit data and the like on the overall passing time is considered;

s42: calculating the sum of waiting time of passing through each navigation road section, traffic lights and traffic lights according to each vehicle speed in the floating vehicle speed group;

s43: calculating to obtain a corresponding vehicle speed with the shortest total time to the destination in the floating vehicle speed group through an optimization calculation formula, namely obtaining an optimized vehicle speed; the tuning vehicle speed calculation formula employed in step S45 is:

wherein, tviRepresenting the time required to travel at speed v to reach the ith traffic light, calculated by dividing the distance by the speed twiThe waiting time required by the ith traffic light is represented, and the waiting time required is determined by calculating the corresponding traffic light state when the traffic light arrives; t is tciRepresenting the time required to cross the ith traffic light intersection; (v) represents a function for obtaining a velocity v that minimizes the total accumulated time.

S5: judging whether the running speed of the vehicle is adaptive to the optimized vehicle speed, if not, reminding a vehicle owner to adjust the vehicle speed, wherein the adaptive running speed and the optimized vehicle speed means that the vehicle owner cannot remind when the difference value of the running speed and the optimized vehicle speed is within a set range, if the difference value is 1km/h, the vehicle owner does not remind, if the difference value exceeds 1km/h, corresponding reminding is carried out, and corresponding setting is carried out according to the actual situation; the reminding can be adjusted in different modes such as voice reminding or vehicle-mounted screen display. The method comprises the steps of setting a reminding rule, and setting a set of pre-established rules for judging whether a driver module is reminded of starting, wherein the rule sets conditions for reminding starting, such as conditions of stopping when a vehicle arrives at different intersections, waiting for waiting, when the vehicle speed is greatly changed, when the vehicle runs into different navigation paths, limiting the speed of a road and the like, the steps are the processes of optimizing vehicle speed, calculating and reminding, wherein the calculating and monitoring process is the process of acquiring the position of the vehicle in real time, calculating the optimized vehicle speed, and meanwhile, reminding judgment is made by comparing the reminding conditions. Or the user can select the navigation path according to the actual situation, and when the navigation path has a congestion situation or some roads are more convenient and cannot be displayed through the map, the user can autonomously select the corresponding path to drive and replan the navigation path.

The method for planning the speed of the navigation path can also be suitable for the situation of the traffic light when the vehicle reaches the next intersection, and the distance from the current vehicle speed to the next intersection is calculated, and the speed is adjusted and optimized according to the state of the traffic light signal, so that the traffic light is in a green light state when the vehicle reaches the next intersection, the vehicle can smoothly pass through the intersection, and the driving path can also be navigated to any position in front of the traffic light intersection. When more vehicles adopt the system based on the method for planning the vehicle speed according to the navigation path, the passing time of each road section can be estimated more preferably by acquiring the information of other vehicles, such as the running speed of the vehicle on each navigation road section as the reference information of the planned vehicle speed of the method.

The method for planning the vehicle speed according to the navigation path is based on the road map, GPS positioning and other auxiliary positioning functions of the existing navigation system, calculates the time for waiting for a signal lamp when passing through each intersection according to the conversion period data of the traffic light signals and by combining the current driving speed, calculates the driving time by integrating the traffic flow conditions of each road section and other factors, plans the route navigation and prompts the optimal vehicle speed, and helps a vehicle owner to more accurately estimate the driving time and select the navigation route when going out. And the waiting time of the traffic lights is prevented from being too long by finely adjusting the speed of the vehicle during driving, so that the purposes of optimizing the driving experience and green and low-carbon traveling are achieved, and even the state of passing through the green lights of all the intersections from the starting point to the end point can be achieved.

As shown in FIG. 2, the invention provides a device for planning vehicle speed according to a navigation path, which comprises the following modules:

the navigation information acquisition module: the navigation system is used for acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information; the navigation information acquisition module specifically comprises the following sub-modules:

the navigation path acquisition module: the navigation method comprises the steps of obtaining a navigation path between a starting point and a destination;

traffic light identification module: the navigation system is used for identifying all traffic light signals on a navigation path, wherein the traffic light signals comprise traffic light positions, traffic light states and traffic light conversion rules;

navigation road section segmentation module: the navigation path is divided into a plurality of road sections according to the traffic light position to obtain navigation road sections;

the road information acquisition module: the system comprises a road condition information acquisition module, a speed limit information acquisition module and a speed limit information acquisition module, wherein the road condition information acquisition module is used for acquiring road condition information of each navigation road section, and the road condition information comprises average vehicle speed and speed limit information;

a vehicle state acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for acquiring the current running state of a vehicle, and the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle;

the floating vehicle speed calculation module: the system comprises a floating vehicle speed group, a navigation road group and a vehicle speed group, wherein the floating vehicle speed group is used for obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;

the vehicle speed adjusting and optimizing module: the system comprises a floating vehicle speed group, a navigation road group and a vehicle speed group, wherein the floating vehicle speed group is used for obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information; the vehicle speed adjusting and optimizing module specifically comprises the following submodules:

a navigation section time module: the system comprises a floating vehicle speed group, a vehicle speed acquisition unit, a navigation road section acquisition unit and a navigation road section acquisition unit, wherein the floating vehicle speed group is used for acquiring the current position of the vehicle and road condition information of the vehicle;

a time calculation module: the system is used for calculating the sum of waiting time of passing through each navigation road section, traffic lights and traffic lights according to each vehicle speed in the floating vehicle speed group;

the adjusting vehicle speed calculating module: the corresponding vehicle speed with the shortest total time to the destination in the floating vehicle speed group is calculated through an optimization calculation formula, and the corresponding vehicle speed is the adjusted vehicle speed; the optimal vehicle speed calculation formula adopted in the optimal vehicle speed calculation module is as follows:

wherein, tviRepresenting the time, t, required to reach the ith traffic light, proceeding at a speed vwiIndicating the waiting time, t, required at the ith traffic lightciRepresenting the time required to cross the ith traffic light intersection; (v) a function for obtaining a velocity v that minimizes the total accumulated time;

a reminding module: and the vehicle speed adjusting device is used for judging whether the running speed of the vehicle is consistent with the adjusted optimal vehicle speed or not, and if not, reminding a vehicle owner to adjust the vehicle speed.

Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.

Claims (7)

1. A method for planning vehicle speed according to a navigation path is characterized by comprising the following steps:
s1: acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information;
s2: acquiring the current running state of the vehicle, wherein the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle;
s3: obtaining a floating speed group according to the current running state of the vehicle and the navigation road information; the floating vehicle speed group floats up and down in a range on the basis of the current vehicle speed to obtain a group of floating vehicle speeds; the floating vehicle speed group can be a continuous threshold range, and can also be formed by forming an arithmetic progression of all speed values and then forming a floating vehicle speed group;
s4: obtaining the time required by the complete travel according to each vehicle speed in the floating vehicle speed group, and taking the vehicle speed corresponding to the shortest travel time as the tuning vehicle speed; the step S4 specifically includes the following sub-steps:
s41: calculating the time required by each vehicle speed in the floating vehicle speed group to pass through each navigation road section according to the floating vehicle speed group, the current position of the vehicle and the road condition information;
s42: calculating the sum of waiting time of passing through each navigation road section, traffic lights and traffic lights according to each vehicle speed in the floating vehicle speed group;
s43: calculating to obtain a corresponding vehicle speed with the shortest total time to the destination in the floating vehicle speed group through an optimization calculation formula, namely obtaining an optimized vehicle speed;
s5: and judging whether the running speed of the vehicle is adaptive to the optimized vehicle speed, and if not, reminding a vehicle owner to adjust the vehicle speed.
2. The method for planning the vehicle speed according to the navigation path as claimed in claim 1, wherein the step S1 specifically comprises the following sub-steps:
s11: acquiring a navigation path between a starting point and a destination;
s12: identifying all traffic light signals on a navigation path, wherein the traffic light signals comprise traffic light positions, traffic light states and traffic light conversion rules;
s13: dividing the navigation path into a plurality of road sections according to the positions of the traffic lights to obtain navigation road sections;
s14: and acquiring the road condition information of each navigation road section, wherein the road condition information comprises average vehicle speed and speed limit information.
3. The method for planning vehicle speed according to navigation route of claim 1, wherein the tuning vehicle speed calculation formula adopted in step S43 is:
wherein, tviRepresenting the time, t, required to reach the ith traffic light, proceeding at a speed vwiIndicating the waiting time, t, required at the ith traffic lightciRepresenting the time required to cross the ith traffic light intersection; (v) represents a function for obtaining a velocity v that minimizes the total accumulated time.
4. An apparatus for planning vehicle speed according to a navigation path, comprising:
the navigation information acquisition module: the navigation system is used for acquiring navigation road information between a starting point and a destination, wherein the navigation road information comprises a navigation path, traffic light signals and road condition information;
a vehicle state acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for acquiring the current running state of a vehicle, and the current running state of the vehicle comprises the current position information of the vehicle and the running speed of the vehicle;
the floating vehicle speed calculation module: the system comprises a floating vehicle speed group, a navigation road group and a vehicle speed group, wherein the floating vehicle speed group is used for obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information; the floating vehicle speed group floats up and down in a range on the basis of the current vehicle speed to obtain a group of floating vehicle speeds; the floating vehicle speed group can be a continuous threshold range, and can also be formed by forming an arithmetic progression of all speed values and then forming a floating vehicle speed group;
the vehicle speed adjusting and optimizing module: the system comprises a floating vehicle speed group, a navigation road group and a vehicle speed group, wherein the floating vehicle speed group is used for obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
a reminding module: the vehicle speed adjusting device is used for judging whether the running speed of the vehicle is adaptive to the optimal vehicle speed or not, and if not, reminding a vehicle owner to adjust the vehicle speed;
the vehicle speed adjusting and optimizing module specifically comprises the following submodules:
a navigation section time module: the system comprises a floating vehicle speed group, a vehicle speed acquisition unit, a navigation road section acquisition unit and a navigation road section acquisition unit, wherein the floating vehicle speed group is used for acquiring the current position of the vehicle and road condition information of the vehicle;
a time calculation module: the system is used for calculating the sum of waiting time of passing through each navigation road section, traffic lights and traffic lights according to each vehicle speed in the floating vehicle speed group;
the adjusting vehicle speed calculating module: and calculating to obtain the corresponding vehicle speed with the shortest total time to the destination in the floating vehicle speed group through an optimization calculation formula, namely the adjusted vehicle speed.
5. The device for planning vehicle speed according to navigation path of claim 4, wherein the navigation information obtaining module specifically comprises the following sub-modules:
the navigation path acquisition module: the navigation method comprises the steps of obtaining a navigation path between a starting point and a destination;
traffic light identification module: the navigation system is used for identifying all traffic light signals on a navigation path, wherein the traffic light signals comprise traffic light positions, traffic light states and traffic light conversion rules;
navigation road section segmentation module: the navigation path is divided into a plurality of road sections according to the traffic light position to obtain navigation road sections;
the road information acquisition module: the method is used for acquiring the road condition information of each navigation road section, and the road condition information comprises average vehicle speed and speed limit information.
6. The apparatus for planning vehicle speed according to navigation path of claim 4, wherein the tuning vehicle speed calculation formula adopted in the tuning vehicle speed calculation module is:
wherein, tviRepresenting the time, t, required to reach the ith traffic light, proceeding at a speed vwiIndicating the waiting time, t, required at the ith traffic lightciRepresenting the time required to cross the ith traffic light intersection; (v) represents a function for obtaining a velocity v that minimizes the total accumulated time.
7. A system for planning a vehicle speed according to a navigation path, comprising an actuator for performing the method for planning a vehicle speed according to a navigation path according to any one of claims 1 to 3.
CN201710170289.5A 2017-03-21 2017-03-21 Method, device and system for planning vehicle speed according to navigation path CN106846871B (en)

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