CN108122423A - A kind of method for guiding vehicles, apparatus and system - Google Patents
A kind of method for guiding vehicles, apparatus and system Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a kind of method for guiding vehicles, apparatus and system, method includes：Obtain the signal lamp indication information of road and the highway traffic data and road vehicle running condition information of roadside device transmission；Traffic event information on corresponding road is determined according to the highway traffic data；Vehicle running state information, traffic event information and signal lamp indication information are analyzed, obtain the vehicle boot policy for vehicle；Vehicle boot policy is issued to roadside device.Method for guiding vehicles comprehensive vehicle running condition information, traffic event information and a variety of factors for influencing vehicle driving safety of signal lamp indication information of the present invention, vehicle can be guided in the time earlier, it allows the vehicle to take measures on customs clearance as early as possible, reducing signal lamp intersection stand-by period and number, while improving traffic efficiency, moreover it is possible to ensure the security of vehicle traveling.
Description
Technical Field
The invention relates to the technical field of vehicle guidance, in particular to a vehicle guidance method, device and system.
Background
The vehicle speed guidance means that when a vehicle is about to enter a signal lamp intersection, vehicle speed change limitation, driving safety limitation and the like are taken as constraint conditions, and according to the real-time state of a signal lamp of the intersection, a suggested driving speed is provided for the vehicle, so that the vehicle parking times and waiting time are reduced. The vehicle speed guidance is shown in figure 1, if the vehicle speed guidance is not available, the vehicle runs at the speed of the vehicle, and the vehicle just stays at the red light waiting time when arriving at the intersection; if the vehicle speed is guided, the vehicle is provided with the suggested speed when entering a certain range, after the vehicle is accelerated or decelerated, the traffic light can be ensured to be in the green light passing time when the vehicle reaches the intersection, and the vehicle does not need to stop for waiting, so that the time for the vehicle to stop for waiting and the waiting times can be reduced to a certain extent through the vehicle speed guide, and the road passing condition is optimized.
The traffic incident refers to a vehicle traffic accident, a breakdown parking, a control, etc. occurring on a road. Traffic incidents have a serious impact on road traffic. The speed guiding method in the prior art mainly calculates the guiding speed for the vehicle according to the current speed of the vehicle and the phase of the signal lamp, so that the vehicle can pass through the intersection without stopping, and mainly considers that when the vehicle is about to reach the intersection, the guiding speed is calculated for the vehicle based on the current state of the vehicle and the phase of the signal lamp, and the influence of the road traffic environment is not considered; meanwhile, if there is a large difference between the current speed of the vehicle and the guiding speed, the vehicle needs to take a sudden acceleration or deceleration operation to meet the requirement of the guiding speed, which is easy to cause traffic accidents.
Disclosure of Invention
The invention provides a vehicle guiding method, a device and a system, which solve the problem of safety accidents caused by the fact that traffic incident information on an actual road is not considered in the vehicle guiding method in the prior art.
According to an aspect of the present invention, there is provided a vehicle guidance method including:
acquiring signal lamp indicating information of a road, road traffic data sent by road side equipment and vehicle running state information on the road;
determining traffic event information on a corresponding road according to the road traffic data;
analyzing the vehicle running state information, the traffic event information and the signal lamp indicating information to obtain a vehicle guiding strategy for the vehicle;
and issuing the vehicle guiding strategy to the road side equipment.
According to still another aspect of the present invention, there is also provided a vehicle guidance device including:
the acquisition module is used for acquiring signal lamp indication information of a road, road traffic data sent by road side equipment and vehicle running state information on the road;
the determining module is used for determining the traffic event information on the corresponding road according to the road traffic data;
the processing module is used for analyzing the vehicle running state information, the traffic event information and the signal lamp indicating information to obtain a vehicle guiding strategy for the vehicle;
and the sending module is used for issuing the vehicle guide strategy to the road side equipment.
According to still another aspect of the present invention, there is also provided a vehicle guiding system including the vehicle guiding apparatus as described above.
The embodiment of the invention has the beneficial effects that: by comprehensively considering various factors influencing the vehicle driving safety, such as vehicle driving state information, traffic incident information, signal lamp indication information and the like, the vehicle can be guided at an earlier time, so that the vehicle can take related measures as soon as possible, the waiting time and times of signal lamp intersections are reduced, the passing efficiency is improved, and the vehicle driving safety can be ensured.
Drawings
FIG. 1 is a schematic representation of a prior art vehicle speed guidance;
fig. 2 is a schematic flow chart of a vehicle guidance method according to a first embodiment of the invention;
fig. 3 is a flowchart illustrating a vehicle guidance method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a road traffic event at step 303 according to a second embodiment of the present invention;
fig. 5 is a block diagram schematically showing a vehicle guiding apparatus according to a third embodiment of the present invention;
fig. 6 shows a system architecture diagram of the vehicle guidance system of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example one
As shown in fig. 2, an embodiment of the present invention provides a vehicle guidance method, which specifically includes the following steps:
step 201: and acquiring signal lamp indication information of the road, road traffic data sent by the road side equipment and vehicle running state information on the road.
The vehicle guiding method is applied to a cloud platform side of a vehicle guiding system, and can also be called a cloud server side. The signal lamp indicating information is sent to the cloud server by the signal lamp communication equipment and is used for indicating the phase change of the signal lamp. The road traffic data refers to traffic state information such as vehicle flow and occupied road of an actual road, and is as follows: the sensing coils laid in the road transmit the acquired data to the road side equipment, and the road side equipment processes the received data and forwards the data to the cloud server. The vehicle running state information is: the vehicle running on the road sends the running speed, acceleration and other state information of the vehicle to the road side equipment, and the road side equipment forwards the state information to the cloud server. The signal lamp indicating information is sent based on the existing signal lamp communication equipment, the road traffic data is collected based on the existing sensing coil in the road, and the vehicle running state information is collected based on the existing vehicle communication equipment, so that the vehicle guiding method does not need to add new hardware equipment, and the system construction cost is saved.
Step 202: and determining the traffic event information on the corresponding road according to the road traffic data.
After receiving the road traffic data sent by the road side equipment, the cloud server can analyze the road traffic data and determine the traffic event information of the corresponding road. The corresponding traffic event information can be learned or trained according to parameter information such as the number of vehicles in the road, the occupied time and the like, and specifically, the traffic event information is used for indicating actual road condition information such as vehicle accidents, road faults, road congestion and the like in the road.
Step 203: and analyzing the vehicle running state information, the traffic event information and the signal lamp indication information to obtain a vehicle guide strategy for the vehicle.
The vehicle guiding strategy which is more accurate and has a high safety factor can be obtained by comprehensively considering the vehicle driving state information, the traffic event information and the signal lamp indicating information, wherein any one of the three parameters can influence the guiding strategy of the vehicle, namely, any one of the vehicle driving state information, the traffic event information and the signal lamp indicating information is different, and the corresponding vehicle guiding strategies are possibly different.
Step 204: and issuing the vehicle guiding strategy to the road side equipment.
The cloud server issues the vehicle guiding strategy obtained through analysis to the road side equipment so that the road side equipment indicates the vehicle to perform corresponding driving state change, wherein the road side equipment can inform the vehicle of the vehicle guiding strategy in a broadcasting or special signaling mode, and the specific informing mode is not specifically limited.
Therefore, the vehicle guiding method integrates various factors influencing the vehicle driving safety, such as vehicle driving state information, traffic event information and signal lamp indicating information, and can guide the vehicle at an earlier time, so that the vehicle can take related measures as soon as possible, waiting time and times of signal lamp intersections are reduced, the traffic efficiency is improved, and the vehicle driving safety can be ensured.
Example two
The vehicle guiding method according to the embodiment of the invention is briefly described in the above embodiment, and the embodiment will be further described in detail with reference to the drawings and specific application scenarios.
As shown in fig. 3, the vehicle guidance method of the embodiment of the present invention includes the steps of:
step 301: and acquiring signal lamp indication information of the road, road traffic data sent by the road side equipment and vehicle running state information on the road.
The signal lamp indicating information is used for indicating phase change of the signal lamp, the road traffic data refers to traffic state information such as vehicle flow, occupied road and the like of an actual road, and the signal lamp indicating information is sent based on the existing signal lamp communication equipment, the road traffic data is collected based on the existing sensing coil in the road, and the vehicle running state information is collected based on the existing vehicle communication equipment, so that new hardware equipment does not need to be additionally arranged in the vehicle guiding method, and system construction cost is saved. Further, the road traffic data specifically includes: traffic volume, occupied time occupancy, and average speed of passing vehicles.
Specifically, an existing sensing coil is generally laid on a road, when a vehicle passes through the sensing coil, a signal of the sensing coil is triggered, information that the vehicle passes through is recorded, and the time taken for the vehicle to pass through the sensing coil is recorded, so that the running speed of the vehicle and the time occupancy of the road are calculated. The sensing coils are each equipped with a communication device that can transmit the recorded information to a roadside device. The roadside device calculates the vehicle flow, occupied time occupancy and average speed of passing vehicles of the corresponding road section based on the received sensing coil data, and sends corresponding information to the cloud server.
Further, the vehicle collects the driving state of the vehicle in real time in the driving process, generates corresponding vehicle driving state information, packs the vehicle driving state information by the vehicle-mounted terminal, and uploads the vehicle driving state information to the road side equipment periodically (at regular intervals), wherein the vehicle driving state information comprises: vehicle travel speed, acceleration, position information, etc. The road side equipment collects the vehicle running state information of all vehicles in the coverage area of the road side equipment, arranges the vehicle running state information in sequence based on the identity information (or the ID information of the vehicle-mounted equipment) of the vehicles and time, and sends the arranged data to the cloud server.
In addition, communication equipment is also installed at the signal lamp, and signal lamp indicating information can be sent to the cloud server. Wherein, signal lamp indicating information includes: the current phase of the signal light (which light is on), the time required for the signal light to reach the next phase, etc. Further, the communication equipment at the signal lamp sends the fixed phase of the signal lamp to the cloud server initially, and sends the phase information after change to the cloud server in time when the phase of the signal lamp changes.
Step 302: and determining the traffic event information corresponding to the road according to the traffic flow on the road, the occupied time occupancy and the average speed of the passing vehicles.
The cloud server analyzes the traffic events of the roads in the corresponding range according to the vehicle flow on the roads uploaded by the road side equipment, the occupied time occupancy and the average speed of the vehicles, and obtains corresponding traffic event information. The cloud server trains an abnormal traffic event model by using methods such as BP neural network and naive Bayes, identifies traffic events (such as traffic jam and traffic accident) based on the acquired road traffic data, and determines the traffic event information of the current road.
Further, in order to secure the response distance of vehicle guidance, short-range communication (DSRC), which is common in vehicle speed guidance systems, may be replaced with V2X communication means to increase the speed guidance response distance from 100 meters to 1000 meters or more. In addition, because the traffic incident information can be obtained and the response distance of vehicle speed guidance can be increased, the guidance speed can be calculated for the vehicle in advance, so that the vehicle has sufficient time to change the speed, the behavior of rapid acceleration or rapid deceleration is prevented, and the vehicle can be guided to run to other roads in time when the traffic incident in front is serious and cannot pass.
Step 303: when the traffic event information indicates a road fault, a first vehicle guidance strategy for the vehicle is determined according to the vehicle driving state information and the signal lamp indication information.
The road fault refers to a scene in which a single lane cannot be used due to a traffic accident occurring on one lane of a multi-lane road or road construction, and when an event such as a traffic accident or construction occurs on a road, as shown in fig. 4, the event is characterized in that a part of the road is occupied, so that other vehicles on the road must bypass. In this case, it is necessary to guide the vehicle in advance to make a lane change before passing through the traffic event occurrence point, and to guide part of the vehicle back to the occupied lane after passing through the traffic event occurrence point. Therefore, during the guidance of the vehicle speed, the links in the guidance range may be divided into 3 parts, which are the upstream area of the faulty road, the adjacent lanes in the range around the faulty road, and the downstream area of the faulty road, respectively, and the step 303 will be described in detail with reference to these three location scenarios.
Specifically, when the traffic event information indicates a road fault, a positional relationship between the first vehicle and the faulty road is detected based on the vehicle travel state information.
When a first vehicle is located in an upstream area of a fault road, detecting whether a second vehicle exists in a lane adjacent to the fault road within a first preset range; if so, determining to guide the first vehicle to change lane to an adjacent lane when detecting that a first separation distance between the second vehicle and the front/rear vehicle exceeds a first distance threshold and a first speed difference between the first vehicle and the second vehicle is lower than a first threshold. Utensil for cleaning buttockThe body means that in an upstream area of the fault road, namely, the running of the vehicle is not influenced by the fault road, the vehicle which is about to pass through the fault road (an occupied lane or a construction lane) needs to be guided to sequentially change to other lanes, so that the vehicle can be changed to the adjacent lane to run before entering the influence range of the fault road. Suppose there is a vehicle A whose current speed is VAWhen the vehicle enters a speed guide range (such as within 1000 meters from a fault road), whether the vehicle A needs to change the lane is judged according to the traffic event information identification result, and if the vehicle A needs to change the lane, lane change guide is carried out on the vehicle A. The specific guiding mode is as follows: the method comprises the steps of firstly detecting vehicles in a first preset range (such as a range of 30 meters before and after) between the adjacent lane of the lane where the vehicle A is located and the vehicle A, mainly detecting whether a second vehicle exists on the adjacent lane (wherein any other vehicle detected on the adjacent lane can be regarded as the second vehicle), and detecting the distance between the second vehicle and a front vehicle or a rear vehicle. Assume that the vehicle length of the vehicle A is LADetecting to obtain that second vehicles B and C exist in the range of 30 meters in the adjacent lane of the lane where the vehicle A is located, then detecting the spacing distance between the vehicles B and C and the speed difference value between the two vehicles and the vehicle A, and if the distance between the vehicles B and C is detected to be larger than or equal to a first distance threshold (such as 2L)A) It indicates that vehicle a may switch lanes between vehicles B and C. Comparing the speeds of the three vehicles A, B, C, generally speaking, the speeds of the front and rear vehicles on the same lane are substantially the same, but the speeds on different lanes may have a large difference, i.e., the speed difference between the vehicles B and C is small and can be considered substantially the same, the speed difference between the vehicle a and the vehicle B, C may be large, comparing the speed difference between the vehicle a and the vehicle B, C, and if the speed difference does not exceed a first threshold (e.g., 30%), determining that the vehicle a can change the lane to the lane between the vehicles B and C on the adjacent lane by acceleration or deceleration. It should be noted that, when the vehicle a is guided to accelerate, the safe distance between the vehicle a and the front vehicle of the vehicle a and the highest speed limit of the road need to be considered; when the guiding vehicle A decelerates, the safe distance between the guiding vehicle A and the vehicle behind the guiding vehicle A needs to be considered, and when all lane changing conditions are met, the guiding vehicle A can be guided to change lanes.Further, the above lane change guidance judgment is performed in real time for all vehicles located in the upstream area of the faulty road, and if it is calculated that the vehicle can perform lane change when the vehicle is running to a certain place, the vehicle is guided to change the lane and the lane change judgment for the vehicle is stopped. If no proper lane change time exists when some vehicles are about to run to an impassable road section (such as the distance from a fault road is less than 300 meters), the vehicles are reminded to slow down, meanwhile, the detection range of lanes around the vehicles is expanded from 30 meters to 50 meters, the vehicles are reminded in time when a proper lane change chance is detected, the vehicles are guaranteed to change lanes in time when lane change is possible, and the waiting time is prolonged when the vehicles enter the fault road.
When the first vehicle is located in a lane adjacent to the faulty road, a first guidance speed of the first vehicle is determined according to the traveling speeds of the front/rear vehicles. Specifically, when the first vehicle is located in a lane adjacent to the faulty road and in a peripheral range of the faulty road (e.g., parallel to the faulty road), since the vehicles on the faulty road all change to the current lane (the lane adjacent to the faulty road), so that the vehicle flow on the lane increases, the driving speed is slow, and the vehicle speed does not change greatly (the vehicle speed of the front vehicle or the rear vehicle of the first vehicle is substantially the same as the average speed of all vehicles in the peripheral range), the speed of the front vehicle or the rear vehicle of the first vehicle can be used as the guiding speed of the first vehicle on the road segment, and the first vehicle broadcasts to the vehicles in the range about to progress, so as to remind the vehicles to take appropriate measures to decelerate to the guiding speed, thereby avoiding the behavior of rapid deceleration and the problem of collision with the front and rear vehicles. Further, it is assumed that the traveling speed of the front vehicle or the rear vehicle of the first vehicle is V1The running speed of the first vehicle is V2If the deceleration of the first vehicle is a, the system needs to be advanced at least by t (V)1-V2) And sending a guide notice to the first vehicle within the time a, and informing the first vehicle of starting to decelerate at the deceleration of a so as to ensure smooth passing through the fault road section.
When the first vehicle is located in a downstream area of the faulty road, it is detected that the second preset range in front of the faulty road isAnd if the third vehicle does not exist, determining to guide the first vehicle to change the lane to the lane where the fault road is located, and determining a second guide speed of the first vehicle according to the signal lamp indication information. Specifically, in the downstream area of the faulty road, the vehicles in the adjacent lanes need to be gradually changed back to the lane where the faulty road is located, and the system needs to guide the lane changing behavior of the vehicles and calculate the guiding speed through the signal lamp intersection for the vehicles at the same time. Suppose the blocked lane is X0The lanes on both sides are respectively X1And X2。X0The front vehicles of the impassable road section on the lane are very sparse, lane X1And X2After the vehicle passes through the section of the impassable road, the vehicle can move to X0And changing lanes. Order lane X1And X2First vehicle direction X passing through the impassable road section0Lane changing, the order of lane changing is determined by the position of the head vehicle on the two lanes, the vehicle at the position closer to the downstream changes the lane to X0. When lane X1、X2All head cars on the car change lane to X0Detecting X in real time0By detecting the distance of a space in front of a zone of impassability on a lane, i.e. X0Presence or absence of a third vehicle (wherein, is located at X) within a second preset range on the lane from the front of the faulty road0Any vehicle in the lane and in the downstream area of the fault road can be regarded as a third vehicle), when the third vehicle does not exist, namely the distance of the gap in front of the impassable area is greater than a second preset range (such as 2 times the length of the vehicle), the first vehicle can be allowed to change the lane to X0I.e. detecting lane X1And X2The position of the vehicle which is about to drive out of the impassable area is informed that the vehicle which drives out of the impassable area firstly at the moment changes the lane to X0A lane. The real-time detection and lane changing process is repeated all the time, so that vehicles can safely change lanes, and the passing efficiency is improved. Further, for non-lane X0And in order to ensure the real-time performance of system detection and reduce unnecessary operation, vehicles on the adjacent other lanes can change lanes according to requirements, and the system does not provide a lane changing scheme for the vehicles.
When the vehicle passes through the fault road and passes through a series of road changing processes, the vehicle is about to enter the signal lamp intersection, the passing guiding speed of the intersection is provided for the first vehicle at the moment, the running speed of the vehicle is changed to the optimized vehicle speed, and then the vehicle runs at the optimized vehicle speed and passes through the intersection. Specifically, determining the second guidance speed of the first vehicle from the signal light indication information is obtained with particular reference to the following formula:
or,
wherein v isiIndicating a second guiding speed, v, of the first vehicle0Representing the current speed of the first vehicle, a representing the acceleration of the first vehicle, ti1Time interval from the next green light, t, indicative of the indication of the signal light indicationi2Indicating the time interval, L, from the next red light indicated by the signal light indicationiIndicating the distance of the first vehicle from the stop line at the signal intersection.
Specifically, assume that the current time is T0The moment when the first vehicle passes through the stop line of the signal lamp intersection is TiA second guiding speed v of the first vehicleiInitial velocity v0The distance between the first vehicle and the stop line at the intersection of the signal lamp is LiThe acceleration of the first vehicle is a, then,
suppose that the time interval from the next green light indicated by the signal light indication information is ti1Then t isi1＝Ti-T0Then, the second guiding speed for obtaining the deceleration or uniform speed running of the first vehicle is:
suppose that the time interval from the next red light indicated by the signal light indication information is ti2Then t isi2＝Ti-T0Then, the second guidance speed at which the first vehicle is accelerated is obtained as:
in order to further ensure that the first vehicle changes to the second guiding speed as soon as possible after lane changing, the second guiding speed of the vehicle is calculated and informed to the vehicle when the guiding vehicle changes lanes, so that the vehicle can optimize the running speed as soon as possible by taking the guiding speed as a target when changing lanes, thereby avoiding rapid acceleration or rapid deceleration and ensuring the traffic safety of the vehicle.
Step 304: when the traffic event information indicates that the road is congested, a second vehicle guidance strategy for the vehicle is determined according to the vehicle driving state information and the signal light indication information.
The road congestion refers to a scene in which a certain lane is congested and travels slowly, or in which all lanes are congested and travel slowly, for example, a scene of a rush hour, a holiday trip, a return trip, or the like. This type of time is characterized by an increase in the traffic flow of the entire road and a slowing of the driving speed. Further, if the vehicle speed guidance is started within a range of 100 meters before the vehicle passes through the intersection, the vehicle is already running slowly, the running speed cannot be changed greatly, and the vehicle still needs to wait for a long time at the intersection, so that the vehicle speed guidance is disabled. Therefore, in order to ensure the response distance of vehicle guidance, the short-range communication (DSRC) commonly used in the vehicle speed guidance system can be replaced by a V2X communication mode to increase the speed guidance response distance from 100 meters to 1000 meters or more, and the vehicle can be guided to an earlier vehicle speed according to the detected road congestion result, so as to guide the vehicle to change the speed in advance, or when the traffic congestion is serious, the vehicle can be guided to travel to other road sections in time, so as to achieve the shunting effect.
When the road congestion is detected, the average running speed of the vehicle on the congested road section and the position of the congested road section can be obtained, so that the distance between the vehicle and the congested road section and the difference value between the current speed of the vehicle and the average speed of the congested road section can be calculated, and the vehicle is guided correspondingly according to the two difference values. Specifically, when the traffic event information indicates that the road is congested, detecting a second speed difference value between a current speed of the first vehicle and an average speed of a fourth vehicle in the congested road and a second separation distance between the first vehicle and the congested road according to the vehicle driving state information; when the second speed difference value is higher than a second threshold value and the second distance is lower than a second distance threshold value, directly detecting whether a lane change condition is met in a lane adjacent to the congested road or not, and determining to guide the first vehicle to change the lane to the adjacent lane when the lane change condition is met; otherwise, the guiding deceleration of the first vehicle is determined according to the vehicle running state information and the signal lamp indication information. Wherein the second threshold is typically not higher than 50%, indicating that the vehicle can complete the speed change in a short time by normal acceleration or deceleration. The second distance threshold is a distance required for the vehicle to change the running speed by normal acceleration or deceleration, and is generally not less than 400 m, and it is noted that specific values of the second threshold and the second distance threshold may be set by empirical values.
Further, the determination of the guiding deceleration of the first vehicle based on the vehicle running state information and the signal light indication information is obtained with specific reference to the following equation:
areducing＝(v′-v)*v′/(vt″+L)
Wherein, aReducingIndicating a guided deceleration of the first vehicle, v indicating a current speed of the first vehicle, v' indicating an average speed of a fourth vehicle on the congested road, t "indicating a red light duration indicated in the blinker indication information,l represents a second separation distance between the first vehicle and the congested road. Due to the calculated aReducingThe maximum deceleration of the vehicle may be exceeded, so after this guiding deceleration the following steps are carried out: detecting whether a guiding deceleration of the first vehicle is lower than a maximum deceleration of the first vehicle; if yes, whether a lane change condition is met in a lane adjacent to the congested road is detected, and when the lane change condition is met, the first vehicle is guided to change the lane to the adjacent lane.
Specifically, assume that the guiding deceleration of the first vehicle is aReducingThe current speed of the first vehicle is v, the average speed of the vehicles on the congested road is v ', the duration time of the red light indicated in the signal light indication information is t ″, the second distance between the first vehicle and the congested road is L, and the distance between the congested road and the stop line at the signal light intersection is L'. Then it is determined that,
when v/v' <1.5 and L >300, a second speed difference value, which indicates that the current speed of the first vehicle and the average speed of the vehicles on the congested road are lower than a second threshold value, and a second separation distance between the first vehicle and the congested road is higher than a second distance threshold value, that is, the difference value between the traveling speed of the first vehicle and the average speed of the vehicles on the congested road is small and the distance between the traveling speed of the first vehicle and the average speed of the vehicles on the congested road is long, the first vehicle can decelerate through a gentle deceleration. The time required for a vehicle ahead of the first vehicle to pass through the intersection is t '═ L'/v ', and assuming that the red light time period that is experienced when all of the vehicles on the congested road pass through the intersection is t ", then the shortest time for the first vehicle to pass through the intersection is t' + t", then the deceleration required for the first vehicle is:
areducing＝(v′-v)/t′+t″＝(v′-v)*v′/(vt″+L)。
When v/v' is not less than 1.5 and L>At 300, it is illustrated that although the second separation distance between the first vehicle and the congested road is higher than the second distance threshold, the second speed difference between the current speed of the first vehicle and the average speed of the vehicles in the congested road is not lower than the second threshold, when the first vehicle is traveling at a speed equal to the congestionThe difference between the average speeds of the vehicles on the blocked road is large, but the distance between the two is long. At this time, the first vehicle has the possibility of passing through the congested road through the gentle deceleration, but has the probability of not passing through the congested road. At this time, the deceleration of the first vehicle is calculated as aReducingAfter (v '-v)/t' + t ″ (v '-v) × v'/(vt ″ + L), it is also necessary to compare it with the maximum achievable deceleration of the first vehicle if a is presentReducingAbove the maximum deceleration of the vehicle, the first vehicle may be guided to decelerate at that deceleration, if aReducingIf the speed is lower than the maximum deceleration of the vehicle, the vehicle cannot reach the average speed v' at a specific time and distance, and there is a risk of collision with the vehicle ahead, and at this time, the vehicle needs to be guided to other non-congested road sections in time to avoid collision with the vehicle on the congested road sections, wherein the way of detecting whether the adjacent lane has the lane change condition may refer to the way of guiding the vehicle to change the lane to the adjacent lane in step 303, and therefore, the description thereof is omitted.
When v/v'<1.5 and L is less than or equal to 300, it is described that although the second speed difference between the current speed of the first vehicle and the average speed of the vehicles on the congested road is lower than the second threshold, the second distance between the first vehicle and the congested road is lower than the second distance threshold, and at this time, although the difference between the running speed of the first vehicle and the average speed of the vehicles on the congested road is smaller, the distance between the first vehicle and the congested road is closer. At this time, the first vehicle has the possibility of passing through the congested road through the gentle deceleration, but has the probability of not passing through the congested road. At the calculated deceleration a of the first vehicleReducingIt is then necessary to compare it with the maximum achievable deceleration of the first vehicle, and the specific comparison and processing results are similar to those described above and therefore will not be described in detail here.
When v/v' is more than or equal to 1.5 and L is less than or equal to 300, the difference value between the current speed of the first vehicle and the average speed of the vehicles on the congested road is not lower than a second threshold value, and the second spacing distance between the first vehicle and the congested road is lower than a second distance threshold value, so that the difference value between the running speed of the first vehicle and the average speed of the vehicles on the congested road is larger, and the distance between the first vehicle and the congested road is shorter. At the moment, the first vehicle hardly has the possibility of passing through the congested road through slow deceleration, so that whether the adjacent lane has the possibility of being passable or not needs to be detected urgently to avoid collision between the first vehicle and other vehicles on the congested road, and the first vehicle is guided to change the lane to the adjacent lane; if the lane change to other lanes cannot be performed, the lane change to the adjacent lane needs to be performed by reminding other vehicles in front of the lane where the first vehicle is located, and meanwhile, the first vehicle is reminded of performing emergency deceleration and not performing lane change, so that the collision is avoided.
Step 305: and issuing the vehicle guiding strategy to the road side equipment.
The cloud server issues the vehicle guidance strategy (the first guidance strategy or the second guidance strategy) obtained through analysis to the road side equipment so that the road side equipment indicates the vehicle to perform corresponding driving state change, wherein the road side equipment can inform the vehicle of the vehicle guidance strategy in a broadcasting or special signaling mode, and the specific informing mode is not specifically limited.
In conclusion, by integrating various factors influencing the vehicle driving safety, such as the vehicle driving state information, the traffic event information and the signal lamp indication information, the vehicle can be guided at an earlier time, so that the vehicle can take related measures as soon as possible, the waiting time and times of the signal lamp intersection are reduced, the traffic efficiency is improved, and the vehicle driving safety can be ensured.
EXAMPLE III
The above first embodiment and the second embodiment describe the vehicle guiding method of the present invention from different scenes, and the following embodiment will further describe their corresponding devices with reference to the accompanying drawings.
As shown in fig. 5, the vehicle guiding apparatus in the embodiment of the present invention specifically includes the following functional modules:
the acquisition module 51 is configured to acquire signal lamp indication information of a road, road traffic data sent by a roadside device, and vehicle driving state information on the road;
a determining module 52, configured to determine traffic event information on a corresponding road according to the road traffic data;
the processing module 53 is configured to analyze the vehicle driving state information, the traffic event information, and the signal light indication information to obtain a vehicle guidance strategy for the vehicle;
and the sending module 54 is used for sending the vehicle guiding strategy to the road side equipment.
Wherein the determining module 52 comprises:
and the determining unit is used for determining the traffic event information corresponding to the road according to the vehicle flow on the road, the occupied time occupancy and the average speed of the passing vehicles.
Wherein, the processing module 53 includes:
a first processing unit for determining a first vehicle guidance strategy for the vehicle according to the vehicle driving state information and the signal light indication information when the traffic event information indicates a road fault;
and the second processing unit is used for determining a second vehicle guiding strategy aiming at the vehicle according to the vehicle running state information and the signal lamp indication information when the traffic event information indicates that the road is congested.
Wherein the first processing unit comprises:
a first detecting subunit, configured to detect, when the traffic event information indicates a road fault, a positional relationship between the first vehicle and the faulty road according to the vehicle travel state information;
the first processing subunit is used for detecting whether a second vehicle exists in a lane adjacent to the fault road within a first preset range when the first vehicle is located in an upstream area of the fault road; if yes, determining to guide the first vehicle to change the lane to an adjacent lane when detecting that a first separation distance between the second vehicle and the front/rear vehicle exceeds a first distance threshold value and a first speed difference value between the first vehicle and the second vehicle is lower than a first threshold value;
a second processing subunit, configured to determine a first guiding speed of the first vehicle according to the traveling speed of the front/rear vehicle when the first vehicle is located in a lane adjacent to the faulty road;
and the third processing subunit is used for detecting whether a third vehicle exists in a second preset range in front of the fault road or not when the first vehicle is located in the downstream area of the fault road, if not, determining to guide the first vehicle to change the lane to the lane where the fault road is located, and determining a second guide speed of the first vehicle according to the signal lamp indication information.
Wherein, the second guiding speed of the first vehicle is determined according to the signal lamp indication information, and is obtained by specifically referring to the following formula:
or,
wherein v isiIndicating a second guiding speed, v, of the first vehicle0Representing the current speed of the first vehicle, a representing the acceleration of the first vehicle, ti1Time interval from the next green light, t, indicative of the indication of the signal light indicationi2Indicating the time interval, L, from the next red light indicated by the signal light indicationiIndicating the distance of the first vehicle from the stop line at the signal intersection.
Wherein the second processing unit comprises:
a second detecting subunit, configured to detect, when the traffic event information indicates that the road is congested, a second speed difference between a current speed of the first vehicle and an average speed of a fourth vehicle in the congested road and a second separation distance between the first vehicle and the congested road according to the vehicle driving state information;
the fourth processing subunit is used for directly detecting whether a lane adjacent to the congested road has a lane changing condition or not when the second speed difference value is higher than the second threshold value and the second distance is lower than the second distance threshold value, and determining to guide the first vehicle to change the lane to the adjacent lane when the lane changing condition is met; otherwise, the guiding deceleration of the first vehicle is determined according to the vehicle running state information and the signal lamp indication information.
Wherein the determination of the guiding deceleration of the first vehicle based on the vehicle running state information and the signal light indication information is obtained with specific reference to the following formula:
areducing＝(v′-v)*v′/(vt″+L)
Wherein, aReducingIndicating a guided deceleration of the first vehicle, v indicating a current speed of the first vehicle, v' indicating an average speed of a fourth vehicle on the congested road, t "indicating a duration of a red light indicated in the blinker indication information, and L indicating a second separation distance between the first vehicle and the congested road.
Wherein the second processing unit further comprises:
a third detection subunit operable to detect whether or not the guiding deceleration of the first vehicle is lower than the maximum deceleration of the first vehicle;
and a fifth processing subunit, configured to detect whether a lane change condition is provided for a lane adjacent to the congested road when the guiding deceleration is lower than the maximum deceleration of the first vehicle, and determine to guide the first vehicle to change lane to the adjacent lane when the lane change condition is provided.
The device is a device corresponding to the vehicle guiding method, and all the implementation manners in the method embodiment are applicable to the embodiment of the device, so that the same technical effects can be achieved.
Further, an embodiment of the present invention further provides a vehicle guidance system, including the vehicle guidance device as described above, specifically, the vehicle guidance device may be a cloud server, as shown in fig. 6, and the vehicle guidance system further includes, in addition to the cloud server: the sensor comprises sensing coils arranged on different roads, signal lamp communication equipment and road side equipment. The road side equipment is used for processing the received road traffic initial data reported by the sensing coil and forwarding the processed road traffic data to the cloud server, and the road side equipment can also be used for receiving and forwarding the own vehicle running state information reported by different vehicles. The cloud server is used for acquiring signal lamp indication information of a road, road traffic data sent by road side equipment and vehicle running state information on the road; determining traffic event information on a corresponding road according to the road traffic data; analyzing the vehicle running state information, the traffic event information and the signal lamp indicating information to obtain a vehicle guiding strategy for the vehicle; and then, the vehicle guiding strategy is issued to the road side equipment, so that the road side equipment sends the vehicle guiding strategy to each vehicle, and the vehicle guiding is realized.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (17)
1. A vehicle guidance method characterized by comprising:
acquiring signal lamp indicating information of a road, road traffic data sent by road side equipment and vehicle running state information on the road;
determining traffic event information on a corresponding road according to the road traffic data;
analyzing the vehicle running state information, the traffic event information and the signal lamp indicating information to obtain a vehicle guiding strategy for the vehicle;
and issuing the vehicle guiding strategy to the road side equipment.
2. The vehicle guidance method according to claim 1, wherein the step of determining traffic event information on a corresponding road from the road traffic data includes:
and determining the traffic event information corresponding to the road according to the traffic flow on the road, the occupied time occupancy and the average speed of the passing vehicles.
3. The vehicle guidance method according to claim 1, wherein the step of analyzing the vehicle driving state information, the traffic event information, and the signal light indication information to obtain the vehicle guidance strategy for the vehicle includes:
when the traffic event information indicates a road fault, determining a first vehicle guidance strategy for a vehicle according to the vehicle driving state information and signal lamp indication information;
and when the traffic event information indicates that the road is congested, determining a second vehicle guiding strategy for the vehicle according to the vehicle running state information and the signal lamp indication information.
4. The vehicle guidance method according to claim 3, wherein the step of determining the first vehicle guidance strategy for the vehicle from the vehicle driving state information and the signal light indication information when the traffic event information indicates a road fault includes:
when the traffic event information indicates a road fault, detecting a position relationship between a first vehicle and a fault road according to the vehicle running state information;
when the first vehicle is located in an upstream area of the fault road, detecting whether a second vehicle exists in a lane adjacent to the fault road within a first preset range; if so, determining to guide the first vehicle to change lane to an adjacent lane when detecting that a first separation distance between a second vehicle and a front/rear vehicle exceeds a first distance threshold and a first speed difference value between the first vehicle and the second vehicle is lower than a first threshold;
determining a first guidance speed of the first vehicle according to a traveling speed of a front/rear vehicle when the first vehicle is located in a lane adjacent to the faulty road;
when the first vehicle is located in the downstream area of the fault road, whether a third vehicle exists in a second preset range in front of the fault road or not is detected, if not, the first vehicle is guided to change the lane to the lane where the fault road is located, and a second guiding speed of the first vehicle is determined according to signal lamp indication information.
5. The vehicle guidance method according to claim 4, wherein determining the second guidance speed of the first vehicle from the signal light indication information is obtained with particular reference to the following equation:
or,
<mrow> <msub> <mi>v</mi> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>at</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>+</mo> <msqrt> <mrow> <msup> <mi>a</mi> <mn>2</mn> </msup> <msubsup> <mi>t</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> <mn>2</mn> </msubsup> <mo>+</mo> <mn>2</mn> <msub> <mi>at</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>-</mo> <mn>2</mn> <msub> <mi>aL</mi> <mi>i</mi> </msub> </mrow> </msqrt> </mrow>
wherein v isiRepresenting a second guiding speed, v, of said first vehicle0Representing the current speed of the first vehicle, a representing the acceleration of the first vehicle, ti1Representing the time interval, t, from the next green light indicated by said signal light indication informationi2Indicating the time interval, L, from the next red light indicated by said signal light indication informationiAnd the distance between the first vehicle and a stop line at the signal lamp intersection is represented.
6. The vehicle guidance method according to claim 3, wherein the step of determining a second vehicle guidance strategy for the vehicle based on the vehicle travel state information and signal light indication information when the traffic event information indicates road congestion includes:
when the traffic event information indicates that the road is congested, detecting a second speed difference value between the current speed of a first vehicle and the average speed of a fourth vehicle in the congested road and a second separation distance between the first vehicle and the congested road according to the vehicle running state information;
when the second speed difference value is higher than a second threshold value and the second distance is lower than a second distance threshold value, directly detecting whether a lane change condition is met in a lane adjacent to the congested road or not, and determining to guide the first vehicle to change the lane to the adjacent lane when the lane change condition is met;
otherwise, determining the guiding deceleration of the first vehicle according to the vehicle running state information and the signal lamp indication information.
7. The vehicle guidance method according to claim 6, characterized in that the determination of the guidance deceleration of the first vehicle from the vehicle running state information and the signal light indication information is found with specific reference to the following formula:
areducing＝(v′-v)*v′/(vt″+L)
Wherein, aReducingIndicating a guided deceleration of the first vehicle, v indicating a current speed of the first vehicle, v' indicating an average speed of a fourth vehicle on the congested road, t "indicating a red light duration indicated in the blinker indication information, and L indicating a second separation distance between the first vehicle and the congested road.
8. The vehicle guidance method according to claim 6, further comprising, after the step of determining the guidance deceleration of the first vehicle based on the vehicle running state information and signal light indication information:
detecting whether a guiding deceleration of the first vehicle is lower than a maximum deceleration of the first vehicle;
if yes, detecting whether a lane change condition is met in a lane adjacent to the congested road, and determining to guide the first vehicle to change the lane to the adjacent lane when the lane change condition is met.
9. A vehicle guidance apparatus, characterized by comprising:
the acquisition module is used for acquiring signal lamp indication information of a road, road traffic data sent by road side equipment and vehicle running state information on the road;
the determining module is used for determining the traffic event information on the corresponding road according to the road traffic data;
the processing module is used for analyzing the vehicle running state information, the traffic event information and the signal lamp indicating information to obtain a vehicle guiding strategy for the vehicle;
and the sending module is used for issuing the vehicle guiding strategy to the road side equipment.
10. The vehicle guidance device of claim 9, wherein the determination module comprises:
and the determining unit is used for determining the traffic event information corresponding to the road according to the vehicle flow on the road, the occupied time occupancy and the average speed of the passing vehicles.
11. The vehicle guidance device of claim 9, wherein the processing module comprises:
a first processing unit for determining a first vehicle guidance strategy for a vehicle according to the vehicle driving state information and signal light indication information when the traffic event information indicates a road fault;
and the second processing unit is used for determining a second vehicle guiding strategy aiming at the vehicle according to the vehicle running state information and the signal lamp indication information when the traffic event information indicates that the road is congested.
12. The vehicle guidance device according to claim 11, wherein the first processing unit includes:
the first detection subunit is used for detecting the position relationship between a first vehicle and a fault road according to the vehicle running state information when the traffic event information indicates a road fault;
a first processing subunit, configured to detect whether a second vehicle is present in a lane adjacent to the faulty road within a first preset range when the first vehicle is located in an upstream area of the faulty road; if so, determining to guide the first vehicle to change lane to an adjacent lane when detecting that a first separation distance between a second vehicle and a front/rear vehicle exceeds a first distance threshold and a first speed difference value between the first vehicle and the second vehicle is lower than a first threshold;
a second processing subunit for determining a first guidance speed of the first vehicle according to a traveling speed of a front/rear vehicle when the first vehicle is located in a lane adjacent to the faulty road;
and the third processing subunit is used for detecting whether a third vehicle exists in a second preset range in front of the fault road when the first vehicle is located in the downstream area of the fault road, if not, determining to guide the first vehicle to change the lane to the lane where the fault road is located, and determining a second guide speed of the first vehicle according to signal lamp indication information.
13. The vehicle guidance device according to claim 12, wherein the determination of the second guidance speed of the first vehicle from the signal light indication information is obtained with particular reference to the following equation:
or,
<mrow> <msub> <mi>v</mi> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>at</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <mo>+</mo> <msqrt> <mrow> <msup> <mi>a</mi> <mn>2</mn> </msup> <msubsup> <mi>t</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> <mn>2</mn> </msubsup> <mo>+</mo> <mn>2</mn> <msub> <mi>at</mi> <mrow> <mi>i</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>-</mo> <mn>2</mn> <msub> <mi>aL</mi> <mi>i</mi> </msub> </mrow> </msqrt> </mrow>
wherein v isiRepresenting a second guiding speed, v, of said first vehicle0Representing the current speed of the first vehicle, a representing the acceleration of the first vehicle, ti1Representing the time interval, t, from the next green light indicated by said signal light indication informationi2Indicating the time interval, L, from the next red light indicated by said signal light indication informationiRepresents the firstThe distance between the vehicle and the stop line at the intersection of the signal lamp.
14. The vehicle guidance device according to claim 11, wherein the second processing unit includes:
a second detecting subunit, configured to detect, according to the vehicle driving state information, a second speed difference value between a current speed of a first vehicle and an average speed of a fourth vehicle on a congested road and a second separation distance between the first vehicle and the congested road when the traffic event information indicates that the road is congested;
the fourth processing subunit is used for directly detecting whether a lane change condition is met in a lane adjacent to the congested road or not when the second speed difference value is higher than a second threshold value and the second distance is lower than a second distance threshold value, and determining to guide the first vehicle to change the lane to the adjacent lane when the lane change condition is met; otherwise, determining the guiding deceleration of the first vehicle according to the vehicle running state information and the signal lamp indication information.
15. The vehicle guidance device according to claim 14, wherein the determination of the guidance deceleration of the first vehicle based on the vehicle running state information and the signal light indication information is obtained with specific reference to the following equation:
areducing＝(v′-v)*v′/(vt″+L)
Wherein, aReducingIndicating a guided deceleration of the first vehicle, v indicating a current speed of the first vehicle, v' indicating an average speed of a fourth vehicle on the congested road, t "indicating a red light duration indicated in the blinker indication information, and L indicating a second separation distance between the first vehicle and the congested road.
16. The vehicle guidance device according to claim 14, wherein the second processing unit further includes:
a third detection subunit operable to detect whether or not the guiding deceleration of the first vehicle is lower than the maximum deceleration of the first vehicle;
and a fifth processing subunit, configured to detect whether a lane change condition is met for a lane adjacent to the congested road when the guiding deceleration is lower than a maximum deceleration of the first vehicle, and determine to guide the first vehicle to change lane to the adjacent lane when the lane change condition is met.
17. A vehicle guidance system characterized by comprising the vehicle guidance device according to any one of claims 9 to 16.
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