CN108257402A - A kind of method for control speed, device and computer storage media - Google Patents

A kind of method for control speed, device and computer storage media Download PDF

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Publication number
CN108257402A
CN108257402A CN201611247428.1A CN201611247428A CN108257402A CN 108257402 A CN108257402 A CN 108257402A CN 201611247428 A CN201611247428 A CN 201611247428A CN 108257402 A CN108257402 A CN 108257402A
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CN
China
Prior art keywords
speed
vehicle
duration
acceleration
parameter
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CN201611247428.1A
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Chinese (zh)
Inventor
赵婷婷
张喆
李凤
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中国移动通信有限公司研究院
中国移动通信集团公司
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Application filed by 中国移动通信有限公司研究院, 中国移动通信集团公司 filed Critical 中国移动通信有限公司研究院
Priority to CN201611247428.1A priority Critical patent/CN108257402A/en
Publication of CN108257402A publication Critical patent/CN108257402A/en

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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
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits

Abstract

The invention discloses a kind of method for control speed, including:After determining that vehicle enters the predeterminable area of intersection, according to First Speed, second speed and the first distance of vehicle, the first duration is determined;The First Speed travel speed current for vehicle;Second speed is the maximum speed of section limitation;First distance is the distance between current vehicle position and stop line;First duration characterizes duration of the vehicle needed for second speed arrival stop line;Using the first duration and the second duration, determined for the first moment;The cycle duration of a length of signal lamp when second;At the time of first moment characterized the first duration in signal lamp current period;According to the first moment and first time period, the first parameter is determined;First time period is green time section;The relevant parameter that first parameter characterization guides car speed;The first parameter is sent to vehicle.The present invention also discloses a kind of speed control unit and computer storage medias.

Description

A kind of method for control speed, device and computer storage media

Technical field

The present invention relates to a kind of communication technology more particularly to method for control speed, device and computer storage medias.

Background technology

As vehicle is on the increase on road, carrying out traffic control to the vehicle of intersection is particularly important.Have The traffic accident that data are shown in the generation of the intersections such as three-way intersection, four cross road mouths in the ratio of all traffic accidents is very Big.

It on the other hand, cannot foundation since driver cannot know the timing information of front cross belisha beacon Timing information adjusts speed in due course, more efficiently to pass through the intersection.

To solve the above-mentioned problems, it is proposed that a kind of solution of controlling system of traffic light.In this scenario, how to control The speed of vehicle processed is current urgent problem to be solved by intersection to make vehicles more as possible not parking.

Invention content

To solve existing technical problem, the embodiment of the present invention provides a kind of method for control speed, device and calculating Machine storage medium.

What the technical solution of the embodiment of the present invention was realized in:

An embodiment of the present invention provides a kind of method for control speed, including:

After determining that vehicle enters the predeterminable area of intersection, according to the First Speed of the vehicle, second speed and First distance determines the first duration;The First Speed travel speed current for the vehicle;The second speed is section The maximum speed of limitation;First distance is the distance between the current vehicle position and stop line;First duration Characterize duration of the vehicle needed for second speed arrival stop line;

Using first duration and the second duration, determined for the first moment;The period of a length of signal lamp when described second Duration;At the time of first moment characterizes the first duration in signal lamp current period;

According to first moment and first time period, the first parameter is determined;The first time period is green time section; The relevant parameter that first parameter characterization guides the car speed;

First parameter is sent to the vehicle.

It is described according to first moment and first time period in said program, determine the first parameter, including:

When being located in the first time period at first moment, the guiding speed for determining the vehicle is described second Speed, and acceleration is predetermined acceleration, the maximum value of the predetermined acceleration by the vehicle be capable of providing most greatly Speed.

It is described according to first moment and first time period in said program, determine the first parameter, including:

When being not belonging to the first time period at first moment, using first duration, the second duration, is determined Three durations;The vehicle reaches stop line institute with the second speed during third duration characterization signal lamp next period green light The duration needed;

Using the described first distance and third duration, third speed is determined;The third speed characterizes the vehicle guiding Average speed;

According to the third speed and the relationship of the First Speed, first parameter is determined.

In said program, the relationship according to the third speed and the First Speed determines first parameter, Including:

When the third speed is less than the First Speed, determine that the vehicle is slowed down with predetermined acceleration, it is described pre- If the maximum value of acceleration is the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The four-speed Degree characterizes the guiding speed of the vehicle;The fourth speed is used to indicate the vehicle and is decelerated to institute with the predetermined acceleration It is at the uniform velocity travelled after stating fourth speed.

In said program, the relationship according to the third speed and the First Speed determines first parameter, Including:

When the third speed is more than or equal to the First Speed, determine that the vehicle is accelerated with predetermined acceleration, institute The maximum value for stating predetermined acceleration accelerates for the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The four-speed Degree characterizes the guiding speed of the vehicle;The fourth speed is used to indicate the vehicle and accelerates to institute with the predetermined acceleration It is at the uniform velocity travelled after stating fourth speed.

In said program, when at least two vehicles enter the predeterminable area of the intersection, for each vehicle, According to using first duration, the second duration and the 4th duration, first moment is determined;When the described 4th a length of vehicle it Between corresponding duration when being in safe distance.

The embodiment of the present invention additionally provides a kind of method for control speed, including:

Receive the first parameter sent;The relevant parameter that first parameter characterization guides car speed;

According to first parameter, generation shows content;

The display content is shown on the vehicle, to control the road speed of the vehicle.

In said program, first parameter includes second speed and acceleration;The second speed characterizes the vehicle Guiding speed, for section limitation maximum speed;The acceleration be predetermined acceleration, the maximum value of the predetermined acceleration The peak acceleration being capable of providing by the vehicle.

In said program, first parameter includes fourth speed and acceleration value;The fourth speed characterizes the vehicle Guiding speed;The acceleration value characterizes the vehicle with predetermined acceleration acceleration or deceleration, the predetermined acceleration Maximum value is the maximum acceleration value that the vehicle can be provided;

The fourth speed is used to indicate the vehicle with the predetermined acceleration acceleration or deceleration to the fourth speed It at the uniform velocity travels afterwards.

The embodiment of the present invention provides a kind of speed control unit again, including:

First determination unit, after determining that vehicle enters the predeterminable area of intersection, first according to the vehicle Speed, second speed and the first distance, determine the first duration;The First Speed travel speed current for the vehicle; The second speed is the maximum speed of section limitation;First distance is between the current vehicle position and stop line Distance;First duration characterizes duration of the vehicle needed for second speed arrival stop line;

Second determination unit for utilizing first duration and the second duration, determined for the first moment;When described second The cycle duration of a length of signal lamp;At the time of first moment characterizes the first duration in signal lamp current period;

Third determination unit, for according to first moment and first time period, determining the first parameter;When described first Between section be green time section;The relevant parameter that first parameter characterization guides the car speed;

Transmitting element, for sending first parameter to the vehicle.

In said program, the third determination unit is specifically used for:

When being located in the first time period at first moment, the guiding speed for determining the vehicle is described second Speed, and acceleration is predetermined acceleration, the maximum value of the predetermined acceleration by the vehicle be capable of providing most greatly Speed.

In said program, the third determination unit is specifically used for:

When being not belonging to the first time period at first moment, using first duration, the second duration, is determined Three durations;The vehicle reaches stop line institute with the second speed during third duration characterization signal lamp next period green light The duration needed;

Using the described first distance and third duration, third speed is determined;The third speed characterizes the vehicle guiding Average speed;

According to the third speed and the relationship of the First Speed, first parameter is determined.

In said program, second determination unit is used for:When at least two vehicles enter the pre- of the intersection If during region, for each vehicle, according to the First Speed, second speed, the first distance and the 4th duration, determine described the One duration;Duration corresponding during safe distance is in when the described 4th between a length of vehicle.

The embodiment of the present invention additionally provides a kind of speed control unit, including:

Receiving unit, for receiving the first parameter;The relevant parameter that first parameter characterization guides car speed;

Display unit, for according to first parameter, generation to show content;And it is shown on the vehicle described aobvious Show content, to control the road speed of the vehicle.

In said program, first parameter includes second speed and acceleration;The second speed characterizes the vehicle Guiding speed, for section limitation maximum speed;The acceleration characterizes predetermined acceleration, the maximum of the predetermined acceleration It is worth the peak acceleration being capable of providing by the vehicle;

Alternatively,

First parameter includes fourth speed and acceleration value;The fourth speed characterizes the guiding speed of the vehicle Degree;The acceleration value characterizes the vehicle with predetermined acceleration acceleration or deceleration, and the maximum value of the predetermined acceleration is institute State the maximum acceleration value that vehicle can be provided;The fourth speed is used to indicate the vehicle and is accelerated with the predetermined acceleration Or it is at the uniform velocity travelled after being decelerated to the fourth speed.

The embodiment of the present invention provides a kind of computer storage media again, and the computer storage media refers to including one group It enables, when executed, at least one processor is caused to perform above-mentioned method for control speed.

Method for control speed provided in an embodiment of the present invention, device and computer storage media, network side equipment determine vehicle After entering the predeterminable area of intersection, according to the First Speed of the vehicle, second speed and the first distance, the is determined One duration;The First Speed travel speed current for the vehicle;The second speed is the maximum speed of section limitation; First distance is the distance between the current vehicle position and stop line;First duration characterizes the vehicle with institute State the duration needed for second speed arrival stop line;Using first duration and the second duration, determined for the first moment;It is described The cycle duration of a length of signal lamp when second;At the time of first moment characterizes the first duration in signal lamp current period; According to first moment and first time period, the first parameter is determined;The first time period is green time section;Described first The relevant parameter that parameter characterization guides the car speed;First parameter is sent to the vehicle;And the vehicle connects Receive the first parameter that network side equipment is sent;The relevant parameter that first parameter characterization guides the car speed;According to First parameter, generation show content;The display content is shown on the vehicle, to control the driving of the vehicle fast Degree by the guiding to car speed, can be used up with parking waiting time of the vehicle in reduction intersection in this way, can reach The more not parking purpose by intersection of vehicle of amount so as to reduce vehicle in the intersection delay time at stop, reduces each vehicle Fuel consumption.

Description of the drawings

In attached drawing (it is not necessarily drawn to scale), similar reference numeral phase described in different views As component.Similar reference numerals with different letter suffix can represent the different examples of similar component.Attached drawing with example and Unrestricted mode generally shows each embodiment discussed herein.

Fig. 1 is the method for control speed flow diagram of one network side equipment of the embodiment of the present invention;

Fig. 2 divides schematic diagram for green time of the embodiment of the present invention;

Fig. 3 A-C are that the vehicle that speed of the embodiment of the present invention is guided and do not guided is illustrated by the running orbit of intersection Figure;

Fig. 4 A-B are that more vehicles that speed of the embodiment of the present invention is guided and do not guided are shown by the running orbit of intersection It is intended to;

Fig. 5 is the method for control speed flow diagram of one end side of the embodiment of the present invention;

Fig. 6 is two network side equipment structure diagram of the embodiment of the present invention;

Fig. 7 is two terminal structure schematic diagram of the embodiment of the present invention.

Specific embodiment

The present invention is described in further detail again with reference to the accompanying drawings and embodiments.

In various embodiments of the present invention:After network side equipment determines that vehicle enters the predeterminable area of intersection, according to According to the First Speed of the vehicle, second speed and the first distance, the first duration is determined;The First Speed is the vehicle Current travel speed;The second speed is the maximum speed of section limitation;First distance is the vehicle present bit Put the distance between stop line;First duration characterize the vehicle with the second speed reach needed for stop line when It is long;Using first duration and the second duration, determined for the first moment;The cycle duration of a length of signal lamp when described second; At the time of first moment characterizes the first duration in signal lamp current period;According to first moment and first time Section, determines the first parameter;The first time period is green time section;First parameter characterization guides the car speed Relevant parameter;First parameter is sent to the vehicle;And the vehicle receives the first parameter that network side equipment is sent; The relevant parameter that first parameter characterization guides the car speed;According to first parameter, generation shows content; The display content is shown on the vehicle, to control the road speed of the vehicle.

Using the scheme of the embodiment of the present invention, efficiency of the vehicle by intersection can be improved.

It should be noted that:Intersection in the embodiment of the present invention can be four cross road mouths or trident Crossing.Assuming that the intersection in the embodiment of the present invention is four cross road mouths of four corners of the world four direction composition, vehicle can From the four corners of the world, four direction drives towards the intersection, then can set a direction in the embodiment of the present invention to be sailed from east Then be the direction moved towards the intersection from west in the opposite direction with the party to the direction at poor crossing, other directions include from The direction that south moves towards the intersection and the direction moved towards the intersection from north.Assuming that the crossroad in the embodiment of the present invention The junction of three roads of the mouth for the three directions compositions in thing south, vehicle can drive towards the intersection from southern three directions of thing, then may be used In the embodiment of the present invention direction is set as from the direction that moves towards the intersection of east, then with the party in the opposite direction For the direction moved towards the intersection from west, other directions include the direction moved towards the intersection from south.

Meanwhile obtain the traffic of each travel direction using the driving usage data of all vehicles on each section in intersection Control signal, i.e. signal lamp cycle and traffic lights duration.The embodiment of the present invention carries out one in signal lamp on this basis In period, the guiding of the interior car speed of corresponding current direction (such as east-west direction) to green light.

Embodiment one

The embodiment of the present invention provides a kind of method for control speed.Fig. 1 is a kind of method of speed control of the embodiment of the present invention Flow diagram.As shown in Figure 1, this method includes the following steps:

Step 101:After determining that vehicle enters the predeterminable area of intersection, First Speed according to the vehicle, second Speed and the first distance, determine the first duration;

Here, the First Speed travel speed current for the vehicle;The second speed limits most for section At high speed;First distance is the distance between the current vehicle position and stop line;Described in the first duration characterization Vehicle reaches the duration needed for stop line with the second speed.

Here, during practical application, vehicle needs first to accelerate to the second speed with predetermined acceleration, then again with second Speed at the uniform velocity travels, and then reaches stop line, so first duration is actually contained vehicle and first added with predetermined acceleration Then speed at the uniform velocity travels the duration reached needed for stop line the two processes to second speed with second speed again.

Wherein, during practical application, the driving usage data of all vehicles on each section in intersection can be obtained, including:Position Confidence breath, velocity information, transmits information, vehicle motor performance etc..Therefore, according to the transmits information of vehicle Know whether vehicle moves towards the intersection.It would know that whether vehicle enters according to the location information of vehicle and velocity information to intersect The predeterminable area at crossing.

During practical application, a control line can be set, control line is set to the region between the stop line of intersection For predeterminable area.The control line can be arranged as required to, such as:Can be a preset distance s;It is alternatively, real Border is in application, the distance in view of in bootup process it is possible that vehicle distances intersection stop line is less than pre-determined distance s Situation, in such a case, it is possible to the driving usage data using vehicle obtain each travel direction traffic control letter During number, according to the driving usage data and road network information of all vehicles, after the arrival duration for obtaining vehicle, foundation arrives After vehicle is divided into first time region vehicle and the second time zone vehicle up to duration, when first time region it is corresponding away from When the distance of the farthest vehicle distances stop line of ion-exchange prong stop line is less than preset distance s, control line is taken as first The location of corresponding vehicle farthest apart from intersection stop line of time zone, so as to carry out speed to these vehicles Guiding.Wherein, the distance of first time region vehicle distances intersection stop line is intersected less than the second time zone vehicle distances The distance of mouth stop line.

According to the relationship between displacement, speed and acceleration three, this step is expressed using formula, then for:

Wherein, vmaxRepresent second speed, v0Represent First Speed, L0Represent the first citing, a represents that vehicle institute is attainable Maximum acceleration value,Represent the curtailment of vehicle distances stop line so that vehicle accelerates to max. speed The situation of (i.e. the max. speed of section limitation).

Step 102:Using first duration and the second duration, determined for the first moment;

Here, described second when a length of signal lamp cycle duration;First moment characterizes the first duration in signal lamp At the time of in current period.

Here, this step using formula express, then for:

Wherein, mod represents complementation;T represents the first duration;t0It represents to be in one at the time of vehicle enters the predeterminable area At the time of a signal lamp cycle, C represents the second duration.Wherein,

Vehicle reaches the number of cycles of signal lamp being had already passed through during intersection:

Wherein, int represents downward rounding.

During practical application, when at least two vehicles enter the predeterminable area of the intersection, for each vehicle, According to using first duration, the second duration and the 4th duration, first moment is determined;When the described 4th a length of vehicle it Between corresponding duration when being in safe distance.

During practical application, to be kept in order to ensure safety, between vehicle and vehicle one it is safe when away from (the 4th duration) ts。 Therefore green time can be divided into some time piece (as shown in Figure 2), distributes to each vehicle, the length of each timeslice For ts.Assuming that there is N vehicle in predeterminable area, i-th vehicle corresponding first moment is Ti0, then have:

Wherein, then Ti0,CFormula (5) be can refer to calculate.

Wherein, ti' represent that i-th vehicle reaches the duration needed for intersection, it can be calculated with equation below (6), (7), ti0At the time of representing to be in a signal lamp cycle at the time of i-th vehicle enters the predeterminable area.

Here, according to fig. 2, then have:The arrival moment T that the timeslice of 1st vehicle is calculated for the 1, the 2nd vehicle20,C> T10+ ts, so T20=T20C, the arrival moment T that the 3rd vehicle calculates30,C≤T20+ts, so T30=T20+ts, the situation of the 4th vehicle It is identical with the 3rd vehicle, so T40=T30+ts, and so on.

Step 103:According to first moment and first time period, the first parameter is determined;

Here, the first time period is green time section;What first parameter characterization guided the car speed Relevant parameter.

During practical application, the specific implementation of this step includes:

When being located in the first time period at first moment, the guiding speed for determining the vehicle is described second Speed, and acceleration is predetermined acceleration, the maximum value of the predetermined acceleration by the vehicle be capable of providing most greatly Speed;

Alternatively,

When being not belonging to the first time period at first moment, using first duration, the second duration, is determined Three durations;The vehicle reaches stop line institute with the second speed during third duration characterization signal lamp next period green light The duration needed;

Using the described first distance and third duration, third speed is determined;The third speed characterizes the vehicle guiding Average speed;

According to the third speed and the relationship of the First Speed, first parameter is determined.

Here, during practical application, the predetermined acceleration can be determined according to the driving comfort of driver.

Wherein, it is described according to the third speed and the relationship of the First Speed, determine first parameter, specific packet It includes:

When the third speed is less than the First Speed, determine that the vehicle is slowed down with predetermined acceleration, it is described pre- If the maximum value of acceleration is slowed down for the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined.

Here, the fourth speed characterizes the guiding speed of the vehicle;The fourth speed is used to indicate the vehicle It is at the uniform velocity travelled after being decelerated to the fourth speed with the predetermined acceleration.

When the third speed is more than or equal to the First Speed, determine that the vehicle is accelerated with predetermined acceleration, institute The maximum value for stating predetermined acceleration accelerates for the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The four-speed Degree, which is used to indicate after the vehicle accelerates to the fourth speed with the predetermined acceleration, at the uniform velocity to travel.

Here, during practical application, the predetermined acceleration can be determined according to the driving comfort of driver.

Wherein, when being located in the first time period at first moment, i.e. 0≤t1During≤g, if vehicle is with second Speed reaches intersection, and by being green light during intersection, as shown in Figure 3A, vehicle should pass through crossroad with the second speed Mouthful.Wherein, in figure 3 a, solid line represents the running orbit of vehicle raw velocity (initial speed), and dotted line represents vehicle most The running orbit of big speed (max speed) and the running orbit of guiding speed (guided speed).

Therefore, in this case, speed guiding should be:

Vehicle is first accelerated with peak acceleration a (can also be a preset other acceleration), if reaching highest vehicle It when not reaching crossing after fast (the second vehicle number), is then travelled with max. speed, the time t' that vehicle reaches needed for crossing is:

T'=t (6)

When being not belonging to the first time period at first moment, i.e. g≤t1During≤C, illustrate that vehicle can not be with second Speed is needed by intersection in t1Next green light initial time vehicle later is arrived by intersection, at this time vehicle It is up to the time t' needed for crossing:

Here, when N vehicle of predeterminable area, i-th vehicle can be obtained using formula (6), (7) and reach intersection Needed for stop line when it is a length of:

After obtaining the time that vehicle is reached needed for crossing, the target average speed of vehicle is:

Then, according to the relationship between target vehicle speed and vehicle present speed (First Speed), to determine how guide car Speed, have following two situations:

The first situation, vaver< v0, vehicle should slow down at this time, and can pass through at the time of green light is switched to red light Intersection.At this point, as shown in Figure 3B, vehicle should be with peak acceleration a (can also be a preset other acceleration) Slow down, at the uniform velocity travelled after speed reduces to fourth speed, at this point, the correlation formula according to acceleration, can obtain fourth speed For:

Here, for i-th vehicle in N vehicle, when calculating fourth speed using formula (10), then using formula (8) institute Obtained duration t " substitutes t'.

The second situation, vaver≥v0, vehicle should accelerate at this time, and can pass through at the time of green light is switched to red light Intersection.At this point, as shown in Figure 3 C, vehicle can also should be a preset other acceleration with peak acceleration a) plus Speed at the uniform velocity travels after speed reduces to fourth speed, at this point, the correlation formula according to acceleration, can obtain fourth speed is:

Here, for i-th vehicle in N vehicle, when calculating fourth speed using formula (11), then using formula (8) institute Obtained duration t " substitutes t'.

In conclusion as shown in figure 4, when needing to carry out speed guiding there are N vehicle, the scheme of the embodiment of the present invention can With by will the original estimated vehicle acceleration or deceleration that crossing is reached in red light cycle, in upper green light period or next green The lamp period reaches crossing, passes through crossing so as to fulfill not parking.Wherein, the movement locus for the vehicle that Fig. 4 A are guided for no speed, Fig. 4 B are the vehicle movement track after speed guiding.

Step 104:First parameter is sent to the vehicle.

The embodiment of the present invention additionally provides a kind of speed method for control speed, and Fig. 5 is another kind speed of the embodiment of the present invention The method flow schematic diagram of control.As shown in figure 5, this method includes the following steps:

Step 501:Receive the first parameter that network side equipment is sent;

Here, the relevant parameter that first parameter characterization guides the car speed;

Step 502:According to first parameter, generation shows content;

Here, according to the difference of Vehicle Speed, first parameter is respectively by following three kinds of situations:

The first situation, first parameter include second speed and acceleration;The second speed characterizes the vehicle Guiding speed, for section limitation maximum speed;The acceleration characterizes predetermined acceleration, the maximum of the predetermined acceleration It is worth the peak acceleration being capable of providing by the vehicle.

The second situation, first parameter include fourth speed and acceleration value;The fourth speed characterizes the vehicle Guiding speed;The acceleration value is characterized the vehicle and is accelerated with predetermined acceleration, the maximum value of the predetermined acceleration The maximum acceleration value that can be provided for the vehicle;The fourth speed is used to indicate the vehicle with the predetermined acceleration It is at the uniform velocity travelled after accelerating to the fourth speed.

The third situation, first parameter include fourth speed and acceleration value;The fourth speed characterizes the vehicle Guiding speed;The acceleration value is characterized the vehicle and is slowed down with predetermined acceleration, the maximum value of the predetermined acceleration The maximum acceleration value that can be provided for the vehicle;The fourth speed is used to indicate the vehicle with the predetermined acceleration It is at the uniform velocity travelled after being decelerated to the fourth speed.

Step 503:The display content is shown on the vehicle, to control the road speed of the vehicle.

In other words, the content of display is specially the first parameter, for driver to be guided to control the travel speed of vehicle, is made Vehicle passes through intersection in the case where intersection is not parking.

During practical application, using the scheme of the embodiment of the present invention, guided by the speed to vehicle, vehicle can be made to pass through friendship The improved efficiency of cross road mouth.When controlling speed, before green light signals duration that original calculation obtains terminates, current green light is corresponding Vehicle in current direction (such as east-west direction) i.e. may be all by intersection, and network side equipment can shift to an earlier date at this time Terminate the green light phase in the current direction.When last group current direction (such as North and South direction) green light phase also after, Entire controlling cycle is completed, hence into next iterative process, i.e. speed bootup process.

It should be noted that:During practical application, method shown in FIG. 1 can be applied to network side equipment, such as server Deng;Correspondingly, method shown in fig. 5 can be applied to terminal, and the terminal is arranged on vehicle.Certainly, method shown in FIG. 1 It can also be performed with method shown in fig. 5 by terminal.At this point, network side equipment needs to inform terminal in rate control process In required relevant parameter.In other words, the executive agent of method is not limited in the embodiment of the present invention.

During practical application, the scheme of the embodiment of the present invention is applicable not only to the crossroad with traffic light system entity device The car speed guiding of mouth can be applicable to the car speed guiding of the intersection of virtual traffic light system.

In addition, during practical application, the scheme of the embodiment of the present invention is applicable not only to the traveling of driver-operated vehicle Speed guiding (auxiliary guiding), is also applied for the travel speed guiding of pilotless vehicle.

Method for control speed provided in an embodiment of the present invention, after determining that vehicle enters the predeterminable area of intersection, foundation First Speed, second speed and the first distance of the vehicle, determine the first duration;The First Speed is worked as the vehicle Preceding travel speed;The second speed is the maximum speed of section limitation;First distance is the current vehicle position The distance between stop line;First duration characterize the vehicle with the second speed reach needed for stop line when It is long;Using first duration and the second duration, determined for the first moment;The cycle duration of a length of signal lamp when described second; At the time of first moment characterizes the first duration in signal lamp current period;According to first moment and first time Section, determines the first parameter;The first time period is green time section;First parameter characterization guides the car speed Relevant parameter;First parameter is sent to the vehicle;And the vehicle receives the first parameter;According to the described first ginseng Number, generation show content;The display content is shown on the vehicle, to control the road speed of the vehicle, by right The guiding of car speed, can be with parking waiting time of the vehicle in reduction intersection, in this way, can reach makes vehicles more as possible The not parking purpose by intersection so as to reduce vehicle in the intersection delay time at stop, reduces each Fuel consumption.

Embodiment two

A kind of method of embodiment to realize the present invention, the present embodiment provides speed control unit, as shown in fig. 6, the dress Put including:

First determination unit 61, after determining that vehicle enters the predeterminable area of intersection, according to the vehicle One speed, second speed and the first distance, determine the first duration;The First Speed traveling speed current for the vehicle Degree;The second speed is the maximum speed of section limitation;First distance for the current vehicle position and stop line it Between distance;First duration characterizes duration of the vehicle needed for second speed arrival stop line;

Second determination unit 62 for utilizing first duration and the second duration, determined for the first moment;Described second The cycle duration of Shi Changwei signal lamps;At the time of first moment characterizes the first duration in signal lamp current period;

Third determination unit 63, for according to first moment and first time period, determining the first parameter;Described first Period is green time section;The relevant parameter that first parameter characterization guides the car speed;

Transmitting element 64, for sending first parameter to the vehicle.

Here, during practical application, vehicle needs first to accelerate to the second speed with predetermined acceleration, then again with second Speed at the uniform velocity travels, and then reaches stop line, so first duration is actually contained vehicle and first added with predetermined acceleration Then speed at the uniform velocity travels the duration reached needed for stop line the two processes to second speed with second speed again.

Wherein, during practical application, the driving usage data of all vehicles on each section in intersection can be obtained, including:Position Confidence breath, velocity information, transmits information, vehicle motor performance etc..Therefore, first determination unit 61 is according to vehicle Transmits information i.e. would know that whether vehicle moves towards the intersection.First determination unit 61 is believed according to the position of vehicle Breath and velocity information are that would know that whether vehicle enters the predeterminable area of intersection.

During practical application, a control line can be set, control line is set to the region between the stop line of intersection For predeterminable area.The control line can be arranged as required to, such as:Can be a preset distance s;It is alternatively, real Border is in application, the distance in view of in bootup process it is possible that vehicle distances intersection stop line is less than pre-determined distance s Situation, in such a case, it is possible to the driving usage data using vehicle obtain each travel direction traffic control letter During number, according to the driving usage data and road network information of all vehicles, after the arrival duration for obtaining vehicle, foundation arrives After vehicle is divided into first time region vehicle and the second time zone vehicle up to duration, when first time region it is corresponding away from When the distance of the farthest vehicle distances stop line of ion-exchange prong stop line is less than preset distance s, control line is taken as first The location of corresponding vehicle farthest apart from intersection stop line of time zone, so as to carry out speed to these vehicles Guiding.Wherein, the distance of first time region vehicle distances intersection stop line is intersected less than the second time zone vehicle distances The distance of mouth stop line.

According to the relationship between displacement, speed and acceleration three, the function of first determination unit 61 is using public Formula is expressed,

It is then:

Wherein, vmaxRepresent second speed, v0Represent First Speed, L0Represent the first citing, a represents that vehicle institute is attainable Maximum acceleration value,Represent the curtailment of vehicle distances stop line so that vehicle accelerates to max. speed The situation of (i.e. the max. speed of section limitation).

The function of second determination unit 62 is expressed using formula, then is had:

Wherein, mod represents complementation;T represents the first duration;t0It represents to be in one at the time of vehicle enters the predeterminable area At the time of a signal lamp cycle, C represents the second duration.Wherein,

Vehicle reaches the number of cycles of signal lamp being had already passed through during intersection:

Wherein, int represents downward rounding.

During practical application, when at least two vehicles enter the predeterminable area of the intersection, for each vehicle, Second determination unit 62 determines first moment according to using first duration, the second duration and the 4th duration;Institute State duration corresponding when being in safe distance when the 4th between a length of vehicle.

During practical application, to be kept in order to ensure safety, between vehicle and vehicle one it is safe when away from (the 4th duration) ts。 Therefore green time can be divided into some time piece (as shown in Figure 2), distributes to each vehicle, the length of each timeslice For ts.Assuming that there is N vehicle in predeterminable area, i-th vehicle corresponding first moment is Ti0, then have:

Wherein, then Ti0,CFormula (5) be can refer to calculate.

Wherein, ti' represent that i-th vehicle reaches the duration needed for intersection, it can be calculated with equation below (6), (7), ti0At the time of representing to be in a signal lamp cycle at the time of i-th vehicle enters the predeterminable area.

Here, according to fig. 2, then have:The arrival moment T that the timeslice of 1st vehicle is calculated for the 1, the 2nd vehicle20,C> T10+ ts, so T20=T20C, the arrival moment T that the 3rd vehicle calculates30,C≤T20+ts, so T30=T20+ts, the situation of the 4th vehicle It is identical with the 3rd vehicle, so T40=T30+ts, and so on.

In one embodiment, the third determination unit 63, is specifically used for:

When being located in the first time period at first moment, the guiding speed for determining the vehicle is described second Speed, and acceleration is predetermined acceleration, the maximum value of the predetermined acceleration by the vehicle be capable of providing most greatly Speed.

Here, during practical application, the predetermined acceleration can be determined according to the driving comfort of driver.

Wherein, when being not belonging to the first time period at first moment, described in the utilization of third determination unit 63 First duration, the second duration, determine third duration;During third duration characterization signal lamp next period green light the vehicle with The second speed reaches the duration needed for stop line;

Using the described first distance and third duration, third speed is determined;The third speed characterizes the vehicle guiding Average speed;

According to the third speed and the relationship of the First Speed, first parameter is determined.

Here, it is described according to the third speed and the relationship of the First Speed, determine first parameter, specific packet It includes:

When the third speed is less than the First Speed, the third determination unit 63 determines the vehicle with default Acceleration slows down, and the maximum value of the predetermined acceleration is slowed down for the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined.

Here, the fourth speed characterizes the guiding speed of the vehicle;The fourth speed is used to indicate the vehicle It is at the uniform velocity travelled after being decelerated to the fourth speed with the predetermined acceleration.

When the third speed be more than or equal to the First Speed when, the third determination unit 63 determine the vehicle with Predetermined acceleration accelerates, and the maximum value of the predetermined acceleration accelerates for the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The four-speed Degree, which is used to indicate after the vehicle accelerates to the fourth speed with the predetermined acceleration, at the uniform velocity to travel.

When the third speed is more than or equal to the First Speed, determine that the vehicle is accelerated with predetermined acceleration, institute The maximum value for stating predetermined acceleration accelerates for the maximum acceleration value that the vehicle can be provided;

Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The four-speed Degree, which is used to indicate after the vehicle accelerates to the fourth speed with the predetermined acceleration, at the uniform velocity to travel.

Here, during practical application, the predetermined acceleration can be determined according to the driving comfort of driver.

Wherein, when being located in the first time period at first moment, i.e. 0≤t1During≤g, if vehicle is with second Speed reaches intersection, and by being green light during intersection, as shown in Figure 3A, vehicle should pass through crossroad with the second speed Mouthful.Wherein, in figure 3 a, solid line represents the running orbit of vehicle raw velocity (initial speed), and dotted line represents vehicle most The running orbit of big speed (max speed) and the running orbit of guiding speed (guided speed).

Therefore, in this case, speed guiding should be:

Vehicle can also be first a preset other acceleration with peak acceleration a) accelerate, if reaching max. speed It when not reaching crossing after (the second vehicle number), is then travelled with max. speed, the time t' that vehicle reaches needed for crossing is:

T'=t (6)

When being not belonging to the first time period at first moment, i.e. g≤t1During≤C, illustrate that vehicle can not be with second Speed is needed by intersection in t1Next green light initial time vehicle later is arrived by intersection, at this time vehicle It is up to the time t' needed for crossing:

Here, when N vehicle of predeterminable area, i-th vehicle can be obtained using formula (6), (7) and reach intersection Needed for stop line when it is a length of:

After obtaining the time that vehicle is reached needed for crossing, the target average speed of vehicle is:

Then, according to the relationship between target vehicle speed and vehicle present speed (First Speed), to determine how guide car Speed, have following two situations:

The first situation, vaver< v0, vehicle should slow down at this time, and can pass through at the time of green light is switched to red light Intersection.At this point, as shown in Figure 3B, vehicle should be with peak acceleration a (can also be a preset other acceleration) Slow down, at the uniform velocity travelled after speed reduces to fourth speed, at this point, the correlation formula according to acceleration, can obtain fourth speed For:

Here, for i-th vehicle in N vehicle, when calculating fourth speed using formula (10), then using formula (8) institute Obtained duration t " substitutes t'.

The second situation, vaver≥v0, vehicle should accelerate at this time, and can pass through at the time of green light is switched to red light Intersection.At this point, as shown in Figure 3 C, vehicle can also should be a preset other acceleration with peak acceleration a) plus Speed at the uniform velocity travels after speed reduces to fourth speed, at this point, the correlation formula according to acceleration, can obtain fourth speed is:

Here, for i-th vehicle in N vehicle, when calculating fourth speed using formula (11), then using formula (8) institute Obtained duration t " substitutes t'.

In conclusion as shown in figure 4, when needing to carry out speed guiding there are N vehicle, the scheme of the embodiment of the present invention can With by will the original estimated vehicle acceleration or deceleration that crossing is reached in red light cycle, in upper green light period or next green The lamp period reaches crossing, passes through crossing so as to fulfill not parking.Wherein, the movement locus for the vehicle that Fig. 4 A are guided for no speed, Fig. 4 B are the vehicle movement track after speed guiding.

During practical application, first determination unit 61, the second determination unit, third determination unit 63 can be by speed controls Central processing unit (CPU, Central Processing Unit), microprocessor (MCU, Micro Control in device Unit), digital signal processor (DSP, Digital Signal Processor) or programmable logic array (FPGA, Field-Programmable Gate Array) it realizes;The transmitting element 64 can be by the communication core in speed control unit Piece is realized.

The method of embodiment to realize the present invention, the present embodiment also provide a kind of speed control unit.It as shown in fig. 7, should Device includes:

Receiving unit 71, for receiving the first parameter;The correlation that first parameter characterization guides the car speed Parameter;

Display unit 72, for according to first parameter, generation to show content;And on the vehicle described in display Content is shown, to control the road speed of the vehicle.

Here, according to the difference of Vehicle Speed, first parameter is respectively by following three kinds of situations:

The first situation, first parameter include second speed and acceleration;The second speed characterizes the vehicle Guiding speed, for section limitation maximum speed;The acceleration characterizes predetermined acceleration, the maximum of the predetermined acceleration It is worth the peak acceleration being capable of providing by the vehicle.

The second situation, first parameter include fourth speed and acceleration value;The fourth speed characterizes the vehicle Guiding speed;The acceleration value is characterized the vehicle and is accelerated with predetermined acceleration, the maximum value of the predetermined acceleration The maximum acceleration value that can be provided for the vehicle;The fourth speed is used to indicate the vehicle with the predetermined acceleration It is at the uniform velocity travelled after accelerating to the fourth speed.

The third situation, first parameter include fourth speed and acceleration value;The fourth speed characterizes the vehicle Guiding speed;The acceleration value is characterized the vehicle and is slowed down with predetermined acceleration, the maximum value of the predetermined acceleration The maximum acceleration value that can be provided for the vehicle;The fourth speed is used to indicate the vehicle with the predetermined acceleration It is at the uniform velocity travelled after being decelerated to the fourth speed.

In other words, the content of display is specially the first parameter, for driver to be guided to control the travel speed of vehicle, is made Vehicle passes through intersection in the case where intersection is not parking.

During practical application, the receiving unit 71 can be realized by the communication chip in speed control unit;The display is single Member can be realized by CPU, MCU, DSP or FPGA combination display screen in speed control unit.

During practical application, using the scheme of the embodiment of the present invention, guided by the speed to vehicle, vehicle can be made to pass through friendship The improved efficiency of cross road mouth.When controlling speed, before green light signals duration that original calculation obtains terminates, current green light is corresponding Vehicle in current direction (such as east-west direction) i.e. may be all by intersection, the network side equipment at this time Terminate in advance the green light phase in the current direction.When the green light phase of last group current direction (such as North and South direction) also terminates Afterwards, entire controlling cycle is completed, hence into next iterative process, i.e. speed bootup process.

It should be noted that:During practical application, device shown in fig. 6 can be arranged on network side equipment, such as server Deng;Correspondingly, device shown in Fig. 7 can be arranged on terminal, and the terminal is arranged on vehicle.Certainly, shown in Fig. 6 and Fig. 7 Device can also be arranged in terminal.At this point, network side equipment needs inform the required phase in rate control process Related parameter.In other words, the entity device where speed control unit is not limited in the embodiment of the present invention.

During practical application, the scheme of the embodiment of the present invention is applicable not only to the crossroad with traffic light system entity device The car speed guiding of mouth can be applicable to the car speed guiding of the intersection of virtual traffic light system.

In addition, during practical application, the scheme of the embodiment of the present invention is applicable not only to the traveling of driver-operated vehicle Speed guiding (auxiliary guiding), is also applied for the travel speed guiding of pilotless vehicle.

Scheme provided in an embodiment of the present invention, after determining that vehicle enters the predeterminable area of intersection, according to the vehicle First Speed, second speed and the first distance, determine the first duration;The First Speed traveling current for the vehicle Speed;The second speed is the maximum speed of section limitation;First distance is the current vehicle position and stop line The distance between;First duration characterizes duration of the vehicle needed for second speed arrival stop line;Using institute The first duration and the second duration are stated, determined for the first moment;The cycle duration of a length of signal lamp when described second;When described first At the time of the first duration of characterization is carved in signal lamp current period;According to first moment and first time period, first is determined Parameter;The first time period is green time section;The relevant parameter that first parameter characterization guides the car speed; First parameter is sent to the vehicle;And the vehicle receives the first parameter;According to first parameter, generate in display Hold;The display content is shown on the vehicle, to control the road speed of the vehicle, by drawing to car speed It leads, it can be with parking waiting time of the vehicle in reduction intersection, in this way, can reach makes vehicles more as possible is not parking to pass through friendship The purpose of cross road mouth so as to reduce vehicle in the intersection delay time at stop, reduces each Fuel consumption.

It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program Product.Therefore, the shape of the embodiment in terms of hardware embodiment, software implementation or combination software and hardware can be used in the present invention Formula.Moreover, the present invention can be used can use storage in one or more computers for wherein including computer usable program code The form of computer program product that medium is implemented on (including but not limited to magnetic disk storage and optical memory etc.).

The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or The function of being specified in multiple boxes.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.

Based on this, the embodiment of the present invention additionally provides a kind of computer storage media, and the computer storage media includes One group of instruction, when executed, cause at least one processor perform above-mentioned method for control speed shown in FIG. 1 or Person performs method for control speed as shown in Figure 5.

The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.

Claims (16)

1. a kind of method for control speed, which is characterized in that the method includes:
After determining that vehicle enters the predeterminable area of intersection, according to the First Speed of the vehicle, second speed and first Distance determines the first duration;The First Speed travel speed current for the vehicle;The second speed is limited for section Maximum speed;First distance is the distance between the current vehicle position and stop line;The first duration characterization The vehicle reaches the duration needed for stop line with the second speed;
Using first duration and the second duration, determined for the first moment;The cycle duration of a length of signal lamp when described second; At the time of first moment characterizes the first duration in signal lamp current period;
According to first moment and first time period, the first parameter is determined;The first time period is green time section;It is described The relevant parameter that first parameter characterization guides the car speed;
First parameter is sent to the vehicle.
2. according to the method described in claim 1, it is characterized in that, described according to first moment and first time period, really Fixed first parameter, including:
When being located in the first time period at first moment, the guiding speed for determining the vehicle is the described second speed Degree, and acceleration is predetermined acceleration, the maximum value of the predetermined acceleration is accelerated by the maximum that the vehicle is capable of providing Degree.
3. according to the method described in claim 1, it is characterized in that, described according to first moment and first time period, really Fixed first parameter, including:
When being not belonging to the first time period at first moment, using first duration, the second duration, when determining third It is long;The vehicle is reached with the second speed needed for stop line during third duration characterization signal lamp next period green light Duration;
Using the described first distance and third duration, third speed is determined;The third speed characterizes the flat of the vehicle guiding Equal speed;
According to the third speed and the relationship of the First Speed, first parameter is determined.
It is 4. according to the method described in claim 3, it is characterized in that, described according to the third speed and the First Speed Relationship determines first parameter, including:
When the third speed is less than the First Speed, determine that the vehicle is slowed down with predetermined acceleration, described preset adds The maximum value of speed is the maximum acceleration value that the vehicle can be provided;
Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The fourth speed table Levy the guiding speed of the vehicle;The fourth speed is used to indicate the vehicle and is decelerated to described with the predetermined acceleration It is at the uniform velocity travelled after four speed.
It is 5. according to the method described in claim 3, it is characterized in that, described according to the third speed and the First Speed Relationship determines first parameter, including:
When the third speed is more than or equal to the First Speed, determine that the vehicle is accelerated with predetermined acceleration, it is described pre- If the maximum value of acceleration accelerates for the maximum acceleration value that the vehicle can be provided;
Using third duration, the first acceleration value, First Speed and the first distance, fourth speed is determined;The fourth speed table Levy the guiding speed of the vehicle;The fourth speed is used to indicate the vehicle and accelerates to described with the predetermined acceleration It is at the uniform velocity travelled after four speed.
6. method according to any one of claims 1 to 5, which is characterized in that when at least two vehicles enter the friendship During the predeterminable area of cross road mouth, for each vehicle, according to using first duration, the second duration and the 4th duration, determine First moment;Duration corresponding during safe distance is in when the described 4th between a length of vehicle.
7. a kind of method for control speed, which is characterized in that the method includes:
Receive the first parameter sent;The relevant parameter that first parameter characterization guides car speed;
According to first parameter, generation shows content;
The display content is shown on the vehicle, to control the road speed of the vehicle.
8. the method according to the description of claim 7 is characterized in that first parameter includes second speed and acceleration;Institute State the guiding speed that second speed characterizes the vehicle, the maximum speed for section limitation;The acceleration is predetermined acceleration, The peak acceleration that the maximum value of the predetermined acceleration is capable of providing by the vehicle.
9. the method according to the description of claim 7 is characterized in that first parameter includes fourth speed and acceleration value; The fourth speed characterizes the guiding speed of the vehicle;The acceleration value characterize the vehicle accelerated with predetermined acceleration or Slow down, the maximum value of the predetermined acceleration is the maximum acceleration value that the vehicle can be provided;
The fourth speed is used to indicate the vehicle with even after the predetermined acceleration acceleration or deceleration to the fourth speed Speed traveling.
10. a kind of speed control unit, which is characterized in that described device includes:
First determination unit, after determining that vehicle enters the predeterminable area of intersection, First Speed according to the vehicle, Second speed and the first distance, determine the first duration;The First Speed travel speed current for the vehicle;Described Two speed are the maximum speed of section limitation;First distance is the distance between the current vehicle position and stop line; First duration characterizes duration of the vehicle needed for second speed arrival stop line;
Second determination unit for utilizing first duration and the second duration, determined for the first moment;It is a length of when described second The cycle duration of signal lamp;At the time of first moment characterizes the first duration in signal lamp current period;
Third determination unit, for according to first moment and first time period, determining the first parameter;The first time period For green time section;The relevant parameter that first parameter characterization guides the car speed;
Transmitting element, for sending first parameter to the vehicle.
11. device according to claim 10, which is characterized in that the third determination unit is specifically used for:
When being located in the first time period at first moment, the guiding speed for determining the vehicle is the described second speed Degree, and acceleration is predetermined acceleration, the maximum value of the predetermined acceleration is accelerated by the maximum that the vehicle is capable of providing Degree.
12. device according to claim 10, which is characterized in that the third determination unit is specifically used for:
When being not belonging to the first time period at first moment, using first duration, the second duration, when determining third It is long;The vehicle is reached with the second speed needed for stop line during third duration characterization signal lamp next period green light Duration;
Using the described first distance and third duration, third speed is determined;The third speed characterizes the flat of the vehicle guiding Equal speed;
According to the third speed and the relationship of the First Speed, first parameter is determined.
13. according to claim 10 to 12 any one of them device, which is characterized in that second determination unit is used for:When When at least two vehicles enter the predeterminable area of the intersection, for each vehicle, according to the First Speed, second Speed, the first distance and the 4th duration, determine first duration;When safe distance is in when the described 4th between a length of vehicle Corresponding duration.
14. a kind of speed control unit, which is characterized in that described device includes:
Receiving unit, for receiving the first parameter;The relevant parameter that first parameter characterization guides car speed;
Display unit, for according to first parameter, generation to show content;And it is shown on the vehicle in the display Hold, to control the road speed of the vehicle.
15. device according to claim 14, which is characterized in that first parameter includes second speed and acceleration; The second speed characterizes the guiding speed of the vehicle, the maximum speed for section limitation;The acceleration characterization is default to be added Speed, the peak acceleration that the maximum value of the predetermined acceleration is capable of providing by the vehicle;
Alternatively,
First parameter includes fourth speed and acceleration value;The fourth speed characterizes the guiding speed of the vehicle;Institute It states acceleration value and characterizes the vehicle with predetermined acceleration acceleration or deceleration, the maximum value of the predetermined acceleration is the vehicle The maximum acceleration value that can be provided;The fourth speed is used to indicate the vehicle with the predetermined acceleration acceleration or deceleration It is at the uniform velocity travelled after to the fourth speed.
16. a kind of computer storage media, the computer storage media includes one group of instruction, when executed, draws At least one processor is played to perform such as claim 1 to 6 any one of them method for control speed or perform such as claim 7 to 9 any one of them method for control speed.
CN201611247428.1A 2016-12-29 2016-12-29 A kind of method for control speed, device and computer storage media CN108257402A (en)

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CN105118320A (en) * 2015-09-29 2015-12-02 北方工业大学 Urban road section traffic guidance method and apparatus based on vehicle-road collaboration
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120161982A1 (en) * 2010-12-27 2012-06-28 Musachio Nicholas R Variable Speed Traffic Control System
WO2013003096A1 (en) * 2011-06-28 2013-01-03 Daniel Kunau Double advance notice traffic light with signs
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