CN108335508A - A kind of green wave speed abductive approach of traffic lights based on V2I and system - Google Patents
A kind of green wave speed abductive approach of traffic lights based on V2I and system Download PDFInfo
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- CN108335508A CN108335508A CN201810138601.7A CN201810138601A CN108335508A CN 108335508 A CN108335508 A CN 108335508A CN 201810138601 A CN201810138601 A CN 201810138601A CN 108335508 A CN108335508 A CN 108335508A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of green wave speed inducible system and method based on V2I, the red street lamp that data processing unit acquires collecting unit and the real-time range L of vehicle, corresponding vehicle velocity V, downstream intersection traffic light dispaly state and its countdown, speed suggestion value or section are obtained, i.e., green wave speed；Display unit shows the speed suggestion value or section that the dispaly state of the traffic light of downstream intersection is obtained with its countdown state and display data processing unit；Using bus or train route cooperative surroundings get off all the way real time bidirectional communication the characteristics of, downstream road junction lights state is travelled using vehicle and its, calculate the rational passage rate of vehicle, effectively reduce average travel time, mean delay time and the average stop frequency of vehicle, it allows the vehicle to that in the range of green wave speed the traffic capacity can be improved, while reducing and waiting for the time of red light, present system simple in structure in intersection, it is easy to control, substantially increase the traffic capacity of road vehicle.
Description
Technical field
The present invention relates to car networking fields, and in particular to a kind of green wave speed abductive approach of traffic lights based on V2I and is
System.
Background technology
In city road network, main line cooperative control method is often taken to improve arterial road traffic circulation efficiency.The prior art
By trackside fix induced screen or other display devices to vehicle operator issue the green display situation of brief intersection lipstick or
Speed induction is carried out with fixed green wave velocity.However, being influenced by a variety of uncertain factors, vehicle is difficult to remain at
In green wave band, to cause green wave application effect bad, there are certain defects for this type of information publication or speed induction means.
The current fixed display inducing device of the overwhelming majority only issues consistent signal advance notice and speed to vehicle operator
Induction information is spent, flexibility is lacked.
Invention content
The purpose of the present invention is to provide a kind of green wave speed abductive approach of traffic lights based on V2I and systems, to overcome
The deficiencies in the prior art.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of green wave speed inducible system of traffic lights based on V2I, including vehicle-mounted data acquisition unit, data processing list
Member and display unit；
Data acquisition unit movement state information, drive test unit current state and the vehicle current for collection vehicle are extremely
The distance L of downstream intersection traffic lights, and the information of acquisition is sent to data processing unit；
The information that data processing unit is acquired according to data acquisition unit provides vehicle and travels to the traveling speed at next crossing
Spend recommended value.
Further, data acquisition unit communicates real time bidirectional communication with drive test unit by V2I.
Further, data processing unit includes comparing unit and amending unit；
Data acquisition unit acquires information and handles the information acquired in real time by data processing unit in real time, obtains in real time
Speed suggestion value or section；Original speed recommended value or the speed suggestion in section and real-time change are compared by comparing unit
If value or section are modified speed suggestion value or section by amending unit not in initial values.
Further, display unit is used for the information of display data collecting unit and data processing unit, including hands in real time
Prong signal light color and countdown, the real-time range of traffic lights and vehicle, real time running speed v and suggestion speed.
A kind of speed abductive approach of the green wave speed inducible system of traffic lights based on V2I, includes the following steps：
Step 1) obtains current vehicle travel speed V and to downstream traffic lights distance L；
Step 2) is communicated by V2I and obtains vehicle downstream road junction lights state, extremely according to lights state and vehicle
Downstream traffic lights distance L provides vehicle and suggests travel speed.
Further, specifically, in step 2), according to current vehicle travel speed V and to downstream traffic lights distance L,
The current speed per hour of vehicle is obtained to downstream traffic light intersection time t=L/v；
The vehicle downstream road junction traffic lights countdown of data acquisition unit acquisition is tb2；
Time of origin is t to green lightb1, countdown tb2, which is tb, i.e. tb=tb1+tb2；
If t≤tb2, then prompt vehicle by the uniform velocity reaching downstream traffic light intersection in the green time in this period；Conversely,
Then according to current vehicle to downstream traffic lights distance L and green light tb2, provide vehicle and suggest travel speed Vj,Vj≥L/tb2；
If the vehicle downstream road junction traffic lights of data acquisition unit acquisition are shown as red light and countdown is tr2；Red light has been sent out
The raw time is tr1, countdown tr2, which is tr, i.e. tr=tr1+tr2；
If tr2≤t≤tr2+tb, then prompt vehicle that vehicle is kept currently at the uniform velocity to travel, reached in the green time in this period
Downstream intersection；
If t<tr2, then vehicle maximum travelling speed V is providedl, Vl=L/tr2, then vehicle is green in the next period by slowing down
The lamp time reaches downstream intersection and enters green wave band.
Further, red light total time is trIf va=L/tb2≥vmaxAnd vb=L/ (tb2+tr)≤vmin, then vehicle acceleration
Or slow down cannot prompt normal vehicle operation to enter Accreditation Waiting Area into green wave band；If va=L/tb2≤vmax, then vehicle is with area
Between [va,vmax] in speed traveling can enter green wave band；If vb=L/ (tb2+tr)≥vmin, then vehicle is with [vmin,vb] section
Speed traveling can enter green wave band, VmaxSpeed per hour, V are travelled for road maximumminFor congestion minimum travel speed；
If vb=L/tr2≤vmin, then vehicle deceleration cannot be into green wave band, and prompt normal vehicle operation enters waiting
Area；If vb=L/tr2≥vmin, then vehicle is with section [vmin,vb] in speed traveling can enter green wave band.
Compared with prior art, the present invention has technique effect beneficial below：
A kind of green wave speed inducible system based on V2I of the present invention utilizes data acquisition unit and data processing unit, number
The real-time range L and state of red streetlight unit and vehicle are acquired by V2I communication modes according to collecting unit；Data processing unit pair
Red street lamp and the real-time range L of vehicle of collecting unit acquisition, corresponding vehicle velocity V, downstream intersection traffic light display
Between state and its countdown, speed suggestion value or section are obtained, i.e., green wave speed；Display unit shows the red green of downstream intersection
The speed suggestion value or section that the dispaly state of signal lamp is obtained with its countdown state and display data processing unit；This
It is that can coordinate traffic light signal in certain range that invention, which helps driver, so that vehicle can be carried in the range of green wave speed
High traffic ability, while reducing and waiting for the time of red light in intersection, present system is simple in structure, easy to control, significantly
Improve the traffic capacity of road vehicle.
A kind of green wave speed abductive approach based on V2I of the present invention is got off real time bidirectional all the way using bus or train route cooperative surroundings
The characteristics of communication, travels downstream road junction lights state using vehicle and its, calculates the rational passage rate of vehicle, effectively reduces
Average travel time, mean delay time and the average stop frequency of vehicle.
Description of the drawings
Fig. 1 is present system attachment structure schematic diagram.
Fig. 2 is processing flow schematic diagram of the present invention.
Specific implementation mode
The present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1, a kind of green wave speed inducible system of traffic lights based on V2I, including at data acquisition unit, data
Manage unit and display unit；
Data acquisition unit use bus or train route cooperative surroundings under between vehicle and drive test unit (traffic lights) can real time bidirectional lead to
The characteristics of letter, the current movement state information of collection vehicle, drive test unit (traffic lights) current state and vehicle to downstream are handed over
The distance L of prong traffic lights, the current movement state information of vehicle include vehicle location and Vehicle Speed；Drive test unit
Current state includes lights state and duration；And the information of acquisition is sent to data processing unit；
The information that data processing unit is acquired according to data acquisition unit provides vehicle most preferably traveling to the row at next crossing
Sail speed suggestion value or section；Specifically, being driven to by the distance L of vehicle to downstream intersection stop line and with present speed
Up to the time t=L/v of downstream intersection；And according to downstream intersection (traffic lights) current state and remaining time, provide speed
Recommended value；
Data processing unit includes comparing unit and amending unit；
Data acquisition unit acquires information and handles the information acquired in real time by data processing unit in real time, obtains in real time
Speed suggestion value or section；Original speed recommended value or the speed suggestion in section and real-time change are compared by comparing unit
If value or section are modified speed suggestion value or section by amending unit, obtain not in initial values
Go out optimal speed suggestion value or section；
Display unit is used for the information of display data collecting unit and data processing unit, including real-time Intersections
Color and countdown, the real-time range of traffic lights and vehicle, real time running speed v and suggestion vehicle speed intervals；
A kind of green wave speed abductive approach of traffic lights based on V2I, specifically includes following steps：
Step 1) obtains current vehicle travel speed V and to downstream traffic lights distance L；
Step 2) is communicated by V2I and obtains vehicle downstream road junction lights state, extremely according to lights state and vehicle
Downstream traffic lights distance L provides vehicle and suggests travel speed.
Specifically, in step 2), according to current vehicle travel speed V and to downstream traffic lights distance L, obtains vehicle and work as
Preceding speed per hour is to downstream traffic light intersection time t=L/v；
The vehicle downstream road junction traffic lights countdown of data acquisition unit acquisition is tb2；
Time of origin is t to green lightb1, countdown tb2, which is tb, i.e. tb=tb1+tb2；
If t≤tb2, then prompt vehicle by the uniform velocity reaching downstream traffic light intersection in the green time in this period；Conversely,
Then according to current vehicle to downstream traffic lights distance L and green light tb2, provide vehicle and suggest travel speed Vj,Vj≥L/tb2；
Red light total time is trIf va=L/tb2≥vmaxAnd vb=L/ (tb2+tr)≤vmin, then vehicle acceleration or deceleration is equal
Green wave band cannot be entered, normal vehicle operation is prompted to enter Accreditation Waiting Area；If va=L/tb2≤vmax, then vehicle is with section [va,
vmax] in speed traveling can enter green wave band；If vb=L/ (tb2+tr)≥vmin, then vehicle is with [vmin,vb] overall travel speed row
Green wave band, V can be entered by sailingmaxSpeed per hour, V are travelled for road maximumminFor congestion minimum travel speed；
If the vehicle downstream road junction traffic lights of data acquisition unit acquisition are shown as red light and countdown is tr2；Red light has been sent out
The raw time is tr1, countdown tr2, which is tr, i.e. tr=tr1+tr2；
If tr2≤t≤tr2+tb, then prompt vehicle that vehicle is kept currently at the uniform velocity to travel, reached in the green time in this period
Downstream intersection；
If t<tr2, then vehicle maximum travelling speed V is providedl, Vl=L/tr2, then vehicle is green in the next period by slowing down
The lamp time reaches downstream intersection and enters green wave band；
If vb=L/tr2≤vmin, then vehicle deceleration cannot be into green wave band, and prompt normal vehicle operation enters waiting
Area；If vb=L/tr2≥vmin, then vehicle is with section [vmin,vb] in speed traveling can enter green wave band.
Claims (7)
1. a kind of green wave speed inducible system of traffic lights based on V2I, which is characterized in that including vehicle-mounted data acquisition unit,
Data processing unit and display unit；
Data acquisition unit is used for collection vehicle current movement state information, drive test unit current state and vehicle to downstream
The distance L of intersection traffic lights, and the information of acquisition is sent to data processing unit；
The information that data processing unit is acquired according to data acquisition unit provides the travel speed that vehicle is travelled to next crossing and builds
View value.
2. the green wave speed inducible system of a kind of traffic lights based on V2I according to claim 1, which is characterized in that data
Collecting unit communicates real time bidirectional communication with drive test unit by V2I.
3. the green wave speed inducible system of a kind of traffic lights based on V2I according to claim 1, which is characterized in that data
Processing unit includes comparing unit and amending unit；
Data acquisition unit acquires information and handles the information acquired in real time by data processing unit in real time, obtains real-time speed
Spend recommended value or section；By comparing unit compare original speed recommended value or section and real-time change speed suggestion value or
If section is modified speed suggestion value or section by amending unit not in initial values.
4. the green wave speed inducible system of a kind of traffic lights based on V2I according to claim 3, which is characterized in that display
Unit is used for the information of display data collecting unit and data processing unit, including real-time intersection signal light color and countdown,
The real-time range of traffic lights and vehicle, real time running speed v and suggestion speed.
5. a kind of speed induction side based on a kind of green wave speed inducible system of traffic lights based on V2I described in claim 1
Method, which is characterized in that include the following steps：
Step 1) obtains current vehicle travel speed V and to downstream traffic lights distance L；
Step 2) is communicated by V2I and obtains vehicle downstream road junction lights state, according to lights state and vehicle to downstream
Traffic lights distance L provides vehicle and suggests travel speed.
6. a kind of speed abductive approach of the green wave speed inducible system of traffic lights based on V2I according to claim 5,
It is characterized in that, specifically, in step 2), according to current vehicle travel speed V and to downstream traffic lights distance L, obtains vehicle
Current speed per hour is to downstream traffic light intersection time t=L/v；
The vehicle downstream road junction traffic lights countdown of data acquisition unit acquisition is tb2；
Time of origin is t to green lightb1, countdown tb2, which is tb, i.e. tb=tb1+tb2；
If t≤tb2, then prompt vehicle by the uniform velocity reaching downstream traffic light intersection in the green time in this period；Conversely, then root
According to current vehicle to downstream traffic lights distance L and green light tb2, provide vehicle and suggest travel speed Vj,Vj≥L/tb2；
If the vehicle downstream road junction traffic lights of data acquisition unit acquisition are shown as red light and countdown is tr2；When red light has occurred
Between be tr1, countdown tr2, which is tr, i.e. tr=tr1+tr2；
If tr2≤t≤tr2+tb, then prompt vehicle that vehicle is kept currently at the uniform velocity to travel, downstream reached in the green time in this period
Intersection；
If t<tr2, then vehicle maximum travelling speed V is providedl, Vl=L/tr2, then vehicle is by slowing down in the green light in next period
Between reach downstream intersection enter green wave band.
7. a kind of speed abductive approach of the green wave speed inducible system of traffic lights based on V2I according to claim 6,
It is characterized in that, red light total time is trIf va=L/tb2≥vmaxAnd vb=L/ (tb2+tr)≤vmin, then vehicle acceleration or deceleration is equal
Green wave band cannot be entered, normal vehicle operation is prompted to enter Accreditation Waiting Area；If va=L/tb2≤vmax, then vehicle is with section [va,
vmax] in speed traveling can enter green wave band；If vb=L/ (tb2+tr)≥vmin, then vehicle is with [vmin,vb] overall travel speed row
Green wave band, V can be entered by sailingmaxSpeed per hour, V are travelled for road maximumminFor congestion minimum travel speed；
If vb=L/tr2≤vmin, then vehicle deceleration cannot be into green wave band, and prompt normal vehicle operation enters Accreditation Waiting Area；If vb
=L/tr2≥vmin, then vehicle is with section [vmin,vb] in speed traveling can enter green wave band.
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Cited By (18)
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|---|---|---|---|---|
| CN108520633A (en) * | 2018-03-02 | 2018-09-11 | 江苏大学 | A kind of speed bootstrap technique for alleviating traffic congestion |
| CN109448413A (en) * | 2018-11-27 | 2019-03-08 | 爱易成技术(天津)有限公司 | Speed induces display device, speed inducing device and computer-readable medium |
| CN109448408A (en) * | 2018-11-14 | 2019-03-08 | 江苏大学 | A kind of traffic light vehicle running state optimization method |
| CN110807940A (en) * | 2019-10-30 | 2020-02-18 | 广东以诺通讯有限公司 | Traffic light real-time reminding method and system |
| CN110874940A (en) * | 2018-08-30 | 2020-03-10 | 广州汽车集团股份有限公司 | Green wave vehicle speed guiding method and system |
| CN111060120A (en) * | 2018-10-17 | 2020-04-24 | 上海博泰悦臻网络技术服务有限公司 | Navigation method, navigation device and vehicle |
| CN111159625A (en) * | 2019-12-20 | 2020-05-15 | 青岛海信网络科技股份有限公司 | Urban green wave coordination effect evaluation system |
| CN111445713A (en) * | 2020-03-05 | 2020-07-24 | 苏州工业园区测绘地理信息有限公司 | Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation |
| CN111599193A (en) * | 2020-06-05 | 2020-08-28 | 江苏广宇科技产业发展有限公司 | Dynamic self-adaptive green wave method based on vehicle-road cooperation |
| CN111627203A (en) * | 2019-02-27 | 2020-09-04 | 雄鹏资产管理(上海)有限公司 | System management method for avoiding congestion of traffic trunk |
| CN111721317A (en) * | 2020-06-30 | 2020-09-29 | 北京百度网讯科技有限公司 | Method and device for generating navigation information |
| CN112820123A (en) * | 2020-08-27 | 2021-05-18 | 台州市远行客网络技术有限公司 | Intelligent green wave adjusting method and intelligent green wave adjusting system for traffic signal lamp |
| CN113781808A (en) * | 2021-08-30 | 2021-12-10 | 东风汽车集团股份有限公司 | Method and system for passing internet-connected automatic driving vehicle at traffic light intersection |
| CN114005281A (en) * | 2021-11-25 | 2022-02-01 | 深圳市凯立德科技股份有限公司 | Intersection green wave guiding method, vehicle-mounted unit and computer readable storage medium |
| CN114202939A (en) * | 2021-11-30 | 2022-03-18 | 浙江亚太机电股份有限公司 | Vehicle traffic speed control system simulating green wave band |
| CN114648878A (en) * | 2022-05-18 | 2022-06-21 | 华砺智行(武汉)科技有限公司 | Continuous intersection speed induction method in intelligent networking environment |
| CN115631637A (en) * | 2022-10-26 | 2023-01-20 | 东风汽车集团股份有限公司 | Intelligent green wave speed determination method and system |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108520633A (en) * | 2018-03-02 | 2018-09-11 | 江苏大学 | A kind of speed bootstrap technique for alleviating traffic congestion |
| CN110874940A (en) * | 2018-08-30 | 2020-03-10 | 广州汽车集团股份有限公司 | Green wave vehicle speed guiding method and system |
| CN110874940B (en) * | 2018-08-30 | 2021-09-24 | 广州汽车集团股份有限公司 | Green wave vehicle speed guiding method and system |
| CN111060120A (en) * | 2018-10-17 | 2020-04-24 | 上海博泰悦臻网络技术服务有限公司 | Navigation method, navigation device and vehicle |
| CN109448408B (en) * | 2018-11-14 | 2021-08-03 | 江苏大学 | Method for optimizing vehicle running state at traffic light |
| CN109448408A (en) * | 2018-11-14 | 2019-03-08 | 江苏大学 | A kind of traffic light vehicle running state optimization method |
| CN109448413A (en) * | 2018-11-27 | 2019-03-08 | 爱易成技术(天津)有限公司 | Speed induces display device, speed inducing device and computer-readable medium |
| CN111627203B (en) * | 2019-02-27 | 2023-10-31 | 雄鹏资产管理(上海)有限公司 | System management method for traffic trunk road congestion avoidance |
| CN111627203A (en) * | 2019-02-27 | 2020-09-04 | 雄鹏资产管理(上海)有限公司 | System management method for avoiding congestion of traffic trunk |
| CN110807940A (en) * | 2019-10-30 | 2020-02-18 | 广东以诺通讯有限公司 | Traffic light real-time reminding method and system |
| CN111159625A (en) * | 2019-12-20 | 2020-05-15 | 青岛海信网络科技股份有限公司 | Urban green wave coordination effect evaluation system |
| CN111445713A (en) * | 2020-03-05 | 2020-07-24 | 苏州工业园区测绘地理信息有限公司 | Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation |
| CN111445713B (en) * | 2020-03-05 | 2022-03-08 | 苏州工业园区测绘地理信息有限公司 | Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation |
| CN111599193A (en) * | 2020-06-05 | 2020-08-28 | 江苏广宇科技产业发展有限公司 | Dynamic self-adaptive green wave method based on vehicle-road cooperation |
| CN111721317A (en) * | 2020-06-30 | 2020-09-29 | 北京百度网讯科技有限公司 | Method and device for generating navigation information |
| CN111721317B (en) * | 2020-06-30 | 2022-05-13 | 阿波罗智联(北京)科技有限公司 | Method and device for generating navigation information |
| CN112820123A (en) * | 2020-08-27 | 2021-05-18 | 台州市远行客网络技术有限公司 | Intelligent green wave adjusting method and intelligent green wave adjusting system for traffic signal lamp |
| CN113781808A (en) * | 2021-08-30 | 2021-12-10 | 东风汽车集团股份有限公司 | Method and system for passing internet-connected automatic driving vehicle at traffic light intersection |
| CN114005281A (en) * | 2021-11-25 | 2022-02-01 | 深圳市凯立德科技股份有限公司 | Intersection green wave guiding method, vehicle-mounted unit and computer readable storage medium |
| CN114202939A (en) * | 2021-11-30 | 2022-03-18 | 浙江亚太机电股份有限公司 | Vehicle traffic speed control system simulating green wave band |
| CN114202939B (en) * | 2021-11-30 | 2023-03-07 | 浙江亚太机电股份有限公司 | Vehicle traffic speed control system simulating green wave band |
| CN114648878A (en) * | 2022-05-18 | 2022-06-21 | 华砺智行(武汉)科技有限公司 | Continuous intersection speed induction method in intelligent networking environment |
| CN115631637A (en) * | 2022-10-26 | 2023-01-20 | 东风汽车集团股份有限公司 | Intelligent green wave speed determination method and system |
| CN116767308A (en) * | 2023-05-19 | 2023-09-19 | 北京城建智控科技股份有限公司 | Tramcar speed induction method under semi-independent road right and mixed road right |
| CN116767308B (en) * | 2023-05-19 | 2024-03-26 | 北京城建智控科技股份有限公司 | Tramcar speed induction method under semi-independent road right and mixed road right |
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Application publication date: 20180727 |