CN108961797A - A kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information - Google Patents

A kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information Download PDF

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Publication number
CN108961797A
CN108961797A CN201710394771.7A CN201710394771A CN108961797A CN 108961797 A CN108961797 A CN 108961797A CN 201710394771 A CN201710394771 A CN 201710394771A CN 108961797 A CN108961797 A CN 108961797A
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Prior art keywords
vehicle
information
crossing
aware communications
traffic
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CN201710394771.7A
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Chinese (zh)
Inventor
綦科
黄斌
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Guangzhou United Olympic Mdt Infotech Ltd
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Guangzhou United Olympic Mdt Infotech Ltd
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Priority to CN201710394771.7A priority Critical patent/CN108961797A/en
Publication of CN108961797A publication Critical patent/CN108961797A/en
Pending legal-status Critical Current

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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
    • G08G1/09623Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60Traffic rules, e.g. speed limits or right of way
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention provides the vehicle DAS (Driver Assistant System) and device of a kind of view-based access control model traffic lights information, belong to intellectual traffic control field, multiple aware communications nodes of visual traffic lamp device, road sensing region including crossing and the DAS (Driver Assistant System) for being installed on vehicle.Visual traffic lamp device acquires crossing state, including traffic lights time state and wagon flow length information by camera, sends to the first aware communications node;First aware communications node receives the vehicle position information in crossing status information and sensing range, forwards to descendant node, and the vehicle into communication range is sent;Vehicle DAS (Driver Assistant System) receives crossing state and vehicle position information, calculates the target vehicle speed under current vehicle speed with crossing traffic lamp or nearest vehicle, it is predicted that traffic light status when reaching crossing automatically controls vehicle acceleration and deceleration.By introducing crossing state and road vehicle information, the automatic deceleration control without human intervention is realized, can be used for assisting driving and unmanned control.

Description

A kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information
Technical field
The present invention relates to a kind of vehicle of intellectual traffic control field more particularly to view-based access control model traffic lights information auxiliary to drive Sail system and device.
Background technique
Traffic lights are used to control the traffic order and flow at crossing, but under conventional truck driving mode, only hand over After logical lamp enters driver's seat, driver can just take corresponding measure.If driver can obtain crossing traffic lamp in advance Information and front vehicles information, so that it may the time by traffic intersection is calculated, so that acceleration or deceleration in advance, smoothly passes friendship Access mouth not only slows down traffic congestion, but also the problems such as avoid the high oil consumption of frequent acceleration or deceleration bring, low comfort.
Existing auxiliary drive or unmanned scene in, most of solutions are emphasized: vehicle as independent individual, Driving and control are to perceive ambient enviroment by vehicle self-sensor equipment (such as vision, radar), simultaneously with traffic infrastructure Without information exchange, junction ahead traffic lights information and front vehicles information can not be obtained, it may be assumed that the driving and control of vehicle will not Junction ahead traffic lights information and front vehicles information are used as referring to being comprehensively considered, so that vehicle is in approaching traffic intersection When, it often will appear and give it the gun-decelerate to crossing or wagon flow end-waiting red light or trail the passage shape gone slowly of wagon flow Condition, due to that cannot notify the quick approaching of subsequent vehicle in time, causes crossing to be arranged especially when congestion wagon flow occurs in crossing Team's vehicle is increasingly longer, and congestion phenomenon is increasingly severe;Even if vehicle can pass through friendship in the intellectual traffic control scheme of part Logical infrastructure comprehensive traffic lamp information and front vehicles information, but be only limitted to mention by prompting (such as voice, display) mode Wake up driver, and vehicle itself, which has no, actively takes control measure.Theory show vehicle in operating condition downward driving relatively at the uniform velocity, no Only comfort improves, and can also reduce oil consumption, improves vehicle service life, therefore, crossing traffic congestion caused by above situation, Frequently the problems such as the high oil consumption of acceleration or deceleration bring, low comfort, need comprehensive by introducing crossing state and road vehicle Information, and by vehicle DAS (Driver Assistant System) without human intervention automatically speed up and control of slowing down, effectively changed It is kind.
Summary of the invention
In view of the above-mentioned deficiency of the prior art, the present invention provides a kind of vehicle assistant drive of view-based access control model traffic lights information System and device.After applying the present invention, the frequent acceleration and deceleration number of vehicle can be reduced in vehicle in approaching traffic intersection, it is excellent Change vehicle control, reduce oil consumption, improves comfort, while slowing down the traffic congestion of traffic intersection, vehicle is made to smoothly pass traffic Crossing.
The invention is realized by the following technical scheme.
On the one hand, a kind of vehicle assistant drive device of view-based access control model traffic lights information is provided, described device includes: to lay In the visual traffic lamp device at crossing, multiple aware communications nodes of road sensing region and the auxiliary driving system for being installed on vehicle System.
The visual traffic lamp device for being laid in crossing is used to acquire crossing status information, including traffic by camera Lamp time state and wagon flow length information are sent to the first aware communications node.
Multiple aware communications nodes of the road sensing region include the first aware communications node, the second aware communications section Point etc., the vehicle position information in crossing status information and sensing range for receiving the transmission of visual traffic lamp device, backward It is forwarded after aware communications node, and the vehicle into communication range is sent.
The DAS (Driver Assistant System) for being installed on vehicle for receiving crossing status information and vehicle position information, work as by calculating Under preceding speed with the target vehicle speed of nearest vehicle, it is predicted that reach crossing when traffic light status, automatically control vehicle execute accelerate or Deceleration-operation.
Further, the visual traffic lamp device includes camera module, traffic lamp module and control module.
The camera module calculates crossing wagon flow length for acquiring the image of crossing.
The traffic lamp module is for acquiring traffic lights time state information.
The control module is used for comprehensive traffic lamp time state and crossing wagon flow length information, to the first aware communications section Point is sent.
Further, the vehicle DAS (Driver Assistant System) includes auxiliary Driving control module, accelerates control module, control of slowing down Molding block, display alarm module.
The auxiliary Driving control module receives sense for obtaining itself speed, accelerating control or control information of slowing down Know communication node send crossing status information and vehicle position information, calculate current vehicle speed under with crossing traffic lamp or nearest vehicle Target vehicle speed, it is predicted that traffic light status when reaching crossing, and accelerating to accelerating control module or deceleration control module to issue Control signal or deceleration control signal.
It is described that control module is accelerated to be used to receive the acceleration control signal that auxiliary Driving control module issues, and execute corresponding Vehicle accelerate operation.
The deceleration control module is used to receive the deceleration control signal that auxiliary Driving control module issues, and executes corresponding Vehicle deceleration operation.
The display alarm module is used to control acceleration or deceleration information by reminding (such as voice, display) mode to mention Wake up driver.
On the other hand, a kind of vehicle DAS (Driver Assistant System) of view-based access control model traffic lights information is provided, the system run to Include the following steps less.
Step 1: visual traffic lamp device is used to acquire crossing status information, including traffic lights time shape by camera State and wagon flow length information are sent to the first aware communications node.
Step 2: the first aware communications node of road sensing region receives the crossing shape that visual traffic lamp device is sent Vehicle position information in state information and sensing range generates the first comprehensive road information { traffic lights time state, crossing wagon flow Length information, the first sensing range vehicle position information }, it is forwarded to the second subsequent aware communications node, and comprehensive by first Vehicle of the road information into the first aware communications is sent.
Step 3: the vehicle within the scope of the first aware communications obtains itself speed, accelerates control or control information of slowing down.
Step 4: vehicle within the scope of the first aware communications according to traffic lights time state and crossing wagon flow length information, The distance between current vehicle position and crossing wagon flow terminal position are calculated, and is combined according to itself current speed and works as preacceleration Or control information of slowing down reaches the time of crossing wagon flow end, and if: when (1) reaching crossing traffic lamp, traffic lights is green light, then protects Hold current vehicle speed traveling;(2) reach crossing traffic lamp when, traffic lights be red light or amber light, then according to reach wagon flow end when Between and red light remaining time so that vehicle reach crossing traffic lamp when traffic lights switch to green light be target, calculate target vehicle speed.
Step 5: the vehicle within the scope of the first aware communications automatically controls vehicle execution and adds according to the target vehicle speed of calculating Speed or deceleration-operation, and remind driver.
Step 6: the second aware communications node receives the first comprehensive road information of the first aware communications node, and sense Know the vehicle position information in range, generate the second comprehensive road information traffic lights time state, crossing wagon flow length information, Second sensing range vehicle position information }, forwarded to subsequent third aware communications node, and by the second comprehensive road information to Vehicle within the scope of second aware communications is sent.
Step 7: subsequent n-th aware communications node receives (n-1) comprehensive road letter of (n-1) aware communications node Vehicle position information in breath and sensing range generates (n-1) comprehensive road information { traffic lights time state, crossing vehicle Flow length information, (n-1) sensing range vehicle position information }, it is forwarded to subsequent (n+1) aware communications node, and will Vehicle of (n-1) the comprehensive road information into (n-1) aware communications is sent.
Step 8: the vehicle in the second and n-th aware communications range of nodes obtain respectively itself speed, accelerate control or Slow down and controls information.
Step 9: the vehicle in the second and n-th aware communications range of nodes based on the received believe by sensing range vehicle location Breath calculates the distance between current vehicle position and nearest vehicle, and combines when preacceleration or subtract according to itself current speed Fast information reaches the time of nearest vehicle.
Step 10: the vehicle in the second and n-th aware communications range of nodes is automatically controlled according to the target vehicle speed of calculating Vehicle executes acceleration or deceleration operation, and reminds driver.
Further, the method that the vehicle within the scope of the first aware communications calculates target vehicle speed are as follows: set and clapped according to camera Taking the photograph the wagon flow length that image calculates is length of the crossing L(to wagon flow end), wagon flow average speed is V1, vehicle distances vehicle The distance for flowing end is S, and vehicle itself speed is V2, then vehicle reaches the time of crossing traffic lamp as (L/V1+S/V2).
According to Current traffic lamp status information, by (L/V1+S/V2) after the time, if traffic lights is green, vehicle Keep current vehicle speed V2 traveling;If traffic lights is red or yellow, and distance is changed into green light also having time T, calculates mesh Mark speed are as follows:
V=(L+S)/(L/V1+S/V2+T).
Further, the method that the vehicle within the scope of the second to the n-th aware communications calculates target vehicle speed are as follows: it is current to set vehicle The distance between position and nearest front truck are S, and preceding vehicle speed is V1, and vehicle itself speed is V2, then work as S/(V1-V2)=Thres When, keep current vehicle speed;As S/(V1-V2) < Thres when, vehicle deceleration to V2;As S/(V1-V2) > Thres when, vehicle accelerate To V1.
Further, system instructs the acceleration or deceleration that calculated target vehicle speed, vehicle DAS (Driver Assistant System) issue Driver is reminded in such a way that sound plays or instrument is shown.
Compared with prior art, the device have the advantages that are as follows: a kind of view-based access control model traffic lights proposed by the present invention The vehicle DAS (Driver Assistant System) of information makes vehicle in approaching traffic road by introducing crossing state and road vehicle integrated information When mouth, the frequent acceleration and deceleration number of vehicle is reduced, optimization vehicle automatically controls, and reduces oil consumption, raising comfort, while slowing down traffic The traffic congestion at crossing, makes vehicle smoothly pass traffic intersection.
Detailed description of the invention
Fig. 1 is a kind of vehicle DAS (Driver Assistant System) of view-based access control model traffic lights information proposed by the present invention and the module of device Structure chart.
Fig. 2 is a kind of work of the vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information proposed by the present invention Flow chart.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing, but the embodiment should not be construed as to this The limitation of invention.
Basic implementation deployment way of the invention is as shown in Fig. 1, comprising: be laid in crossing visual traffic lamp device 1, Multiple aware communications nodes 2 of road sensing region and the DAS (Driver Assistant System) 3 for being installed on vehicle.
Wherein, visual traffic lamp device 1 includes camera module 1.1, traffic lamp module 1.2 and control module 1.3;Perception Communication node 2 include the first aware communications node 2.1, the second aware communications node 2.2 ..., until the n-th aware communications node 2.3;DAS (Driver Assistant System) 3 includes auxiliary Driving control module 3.1, deceleration control module 3.2, display alarm module 3.3 and adds Fast control module 3.4.
Wherein, the camera module 1.1 calculates crossing wagon flow length for acquiring the image of crossing;The traffic lights mould Block 1.2 is for acquiring traffic lights time state information;The control module 1.3 is used for comprehensive traffic lamp time state and crossing vehicle Length information is flowed, is sent to the first aware communications node.
Wherein, the first aware communications node 2.1 is used to receive the crossing status information of visual traffic lamp device transmission With the vehicle position information in sensing range, the first comprehensive road information { traffic lights time state, crossing wagon flow length letter is generated Breath, the first sensing range vehicle position information }, it is forwarded to the second subsequent aware communications node, and the first comprehensive road is believed The vehicle ceased into the first aware communications is sent;Second aware communications node 2.2 is for receiving the first aware communications node The first comprehensive road information and sensing range in vehicle position information, generate the second comprehensive road information { when traffic lights Between state, crossing wagon flow length information, the second sensing range vehicle position information, to subsequent third aware communications node turn Hair, and vehicle of the second comprehensive road information into the second aware communications is sent;N-th aware communications node 2.3 receives Vehicle position information in (n-1) of (n-1) aware communications node comprehensive road information and sensing range generates the (n-1) comprehensive road information { traffic lights time state, crossing wagon flow length information, (n-1) sensing range vehicle location letter Breath }, it is forwarded to subsequent (n+1) aware communications node, and (n-1) is integrated into road information to (n-1) aware communications Vehicle in range is sent.
Wherein, the auxiliary Driving control module 3.1 is for obtaining itself speed, accelerating control or the control letter that slows down Breath, receive aware communications node send crossing status information and vehicle position information, calculate current vehicle speed under with crossing traffic The target vehicle speed of lamp or nearest vehicle, it is predicted that traffic light status when reaching crossing, and mould is controlled to acceleration control module or deceleration Block issues acceleration control signal or deceleration control signal;The deceleration control module 3.2 is for receiving auxiliary Driving control module The deceleration control signal of sending, and execute corresponding vehicle deceleration operation;The acceleration control module 3.3 is driven for receiving auxiliary The acceleration control signal of control module sending is sailed, and executes corresponding vehicle and accelerates operation;The display alarm module 3.4 is used for Acceleration or deceleration is controlled into information by reminding (such as voice, display) mode to remind driver.
As shown in Fig. 2, the vehicle DAS (Driver Assistant System) and device of a kind of view-based access control model traffic lights information provided by the invention Workflow are as follows:.
(S1) visual traffic lamp device be used for by camera acquire crossing status information, including traffic lights time state with Wagon flow length information is sent to the first aware communications node.
(S2) the first aware communications node of road sensing region receives the crossing state letter that visual traffic lamp device is sent Vehicle position information in breath and sensing range generates the first comprehensive road information { traffic lights time state, crossing wagon flow length Information, the first sensing range vehicle position information }, it is forwarded to the second subsequent aware communications node, and integrate road for first Vehicle of the information into the first aware communications is sent.
(S3) vehicle within the scope of the first aware communications obtains itself speed, accelerates control or control information of slowing down.
(S4) vehicle within the scope of the first aware communications is calculated according to traffic lights time state and crossing wagon flow length information The distance between current vehicle position and crossing wagon flow terminal position, and combine when preacceleration or subtract according to itself current speed Speed control information reaches the time of crossing wagon flow end, if: when (1) reaching crossing traffic lamp, traffic lights is green light, then keeps working as Preceding speed traveling;(2) reach crossing traffic lamp when, traffic lights be red light or amber light, then according to reach wagon flow end time and Red light remaining time calculates target vehicle speed so that it is target that traffic lights, which switchs to green light, when vehicle reaches crossing traffic lamp.
(S5) vehicle within the scope of the first aware communications automatically controls vehicle and executes acceleration according to the target vehicle speed of calculating Or deceleration-operation, and remind driver.
(S6) the second aware communications node receives the first comprehensive road information of the first aware communications node, and perception Vehicle position information in range generates the second comprehensive road information { traffic lights time state, crossing wagon flow length information, the Two sensing range vehicle position informations }, it is forwarded to subsequent third aware communications node, and by the second comprehensive road information to the Vehicle within the scope of two aware communications is sent.
(S7) subsequent n-th aware communications node receives (n-1) comprehensive road information of (n-1) aware communications node, And the vehicle position information in sensing range, generate (n-1) comprehensive road information { traffic lights time state, crossing wagon flow Length information, (n-1) sensing range vehicle position information }, it is forwarded to subsequent (n+1) aware communications node, and by the (n-1) vehicle of the comprehensive road information into (n-1) aware communications is sent.
(S8) vehicle in the second and n-th aware communications range of nodes obtains itself speed respectively, accelerates control or subtract Speed control information.
(S9) the sensing range vehicle position information based on the received of the vehicle in the second and n-th aware communications range of nodes, The distance between current vehicle position and nearest vehicle are calculated, and is believed according to itself current speed in conjunction with current acceleration or deceleration Breath reaches the time of nearest vehicle.
(S10) vehicle in the second and n-th aware communications range of nodes automatically controls vehicle according to the target vehicle speed of calculating Acceleration or deceleration operation is executed, and reminds driver.
Wherein, the method that the vehicle within the scope of the first aware communications calculates target vehicle speed, can be, but not limited to following method: Shooting the wagon flow length that image calculates according to camera is length of the crossing L(to wagon flow end), wagon flow average speed is V1, the distance of vehicle distances wagon flow end are S, and vehicle itself speed is V2, then vehicle reaches the time of crossing traffic lamp as (L/ V1+S/V2).
According to Current traffic lamp status information, by (L/V1+S/V2) after the time, if traffic lights is green, vehicle Keep current vehicle speed V2 traveling;If traffic lights is red or yellow, and distance is changed into green light also having time T, calculates mesh Mark speed are as follows:
V=(L+S)/(L/V1+S/V2+T).
Wherein, the method that the vehicle within the scope of the second to the n-th aware communications calculates target vehicle speed, can be, but not limited to as follows Method: setting the distance between current vehicle position and nearest front truck as S, and preceding vehicle speed is V1, and vehicle itself speed is V2, then when S/(V1-V2)=Thres when, keep current vehicle speed;As S/(V1-V2) < Thres when, vehicle deceleration to V2;Work as S/(V1-V2) > When Thres, vehicle accelerates to V1.
Wherein, system passes through the acceleration or deceleration instruction that calculated target vehicle speed, vehicle DAS (Driver Assistant System) issue The mode that sound plays or instrument is shown reminds driver.
It should be noted that above-described embodiment is only the example of the division of the above functional modules, practical application In, it can according to need and complete above-mentioned function distribution by different modules, i.e., internal structure is divided into different function moulds Block, to complete above-mentioned all or part of function.
The above embodiments are merely a preferred embodiment of the present invention, and cannot limit interest field of the invention with this, because This is still within the scope of the present invention according to equivalent variations made by scope of the present invention patent.

Claims (7)

1. a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, it is characterised in that: including being laid in road The visual traffic lamp device of mouth, multiple aware communications nodes of road sensing region and the DAS (Driver Assistant System) for being installed on vehicle;
The visual traffic lamp device for being laid in crossing is used to acquire crossing status information by camera, including when traffic lights Between state and wagon flow length information, to the first aware communications node send;
Multiple aware communications nodes of the road sensing region include the first aware communications node, the second aware communications node Deng the vehicle position information in crossing status information and sensing range for receiving the transmission of visual traffic lamp device, to subsequent The forwarding of aware communications node, and the vehicle into communication range is sent;
The DAS (Driver Assistant System) for being installed on vehicle works as front truck for receiving crossing status information and vehicle position information, calculating The lower target vehicle speed with crossing traffic lamp or nearest vehicle of speed, it is predicted that traffic light status when reaching crossing automatically controls vehicle and holds Row acceleration or deceleration operation.
2. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist In: the visual traffic lamp device includes camera module, traffic lamp module and control module;
The camera module calculates crossing wagon flow length for acquiring the image of crossing;
The traffic lamp module is for acquiring traffic lights time state information;
The control module is used for comprehensive traffic lamp time state and crossing wagon flow length information, sends out to the first aware communications node It send.
3. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist In: the vehicle DAS (Driver Assistant System) includes auxiliary Driving control module, control module, deceleration control module, display is accelerated to mention Awake module;
It is logical to receive perception for obtaining itself speed, accelerating control or control information of slowing down for the auxiliary Driving control module Believe the crossing status information and vehicle position information that node is sent, calculate under current vehicle speed with crossing traffic lamp or nearest vehicle Target vehicle speed, it is predicted that traffic light status when reaching crossing, and accelerate control to accelerating control module or deceleration control module to issue Signal or deceleration control signal;
It is described that control module is accelerated to be used to receive the acceleration control signal that auxiliary Driving control module issues, and execute corresponding vehicle Accelerate operation;
The deceleration control module is used to receive the deceleration control signal that auxiliary Driving control module issues, and executes corresponding vehicle Deceleration-operation;
The display alarm module is used to control acceleration or deceleration information by reminding (such as voice, display) mode to remind and drive The person of sailing.
4. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist In: specifically comprise the following steps:
Visual traffic lamp device is used to acquire crossing status information, including traffic lights time state and wagon flow length by camera Information is sent to the first aware communications node;
First aware communications node of road sensing region receives the crossing status information and perception that visual traffic lamp device is sent Vehicle position information in range generates the first comprehensive road information { traffic lights time state, crossing wagon flow length information, the One sensing range vehicle position information }, it is forwarded to subsequent the second aware communications node, and by the first comprehensive road information to the Vehicle within the scope of one aware communications is sent;
Vehicle within the scope of first aware communications obtains itself speed, accelerates control or control information of slowing down;
It is current to calculate vehicle according to traffic lights time state and crossing wagon flow length information for vehicle within the scope of first aware communications The distance between position and crossing wagon flow terminal position, and current acceleration or deceleration control letter is combined according to itself current speed Breath reaches the time of crossing wagon flow end, if: when (1) reaching crossing traffic lamp, traffic lights is green light, then keeps current vehicle speed row It sails;(2) when reaching crossing traffic lamp, traffic lights is red light or amber light, then according to the time for reaching wagon flow end and red light residue Time calculates target vehicle speed so that it is target that traffic lights, which switchs to green light, when vehicle reaches crossing traffic lamp;
Vehicle within the scope of first aware communications automatically controls vehicle and executes acceleration or deceleration behaviour according to the target vehicle speed of calculating Make, and reminds driver;
Second aware communications node receives the vehicle in the first comprehensive road information and sensing range of the first aware communications node Location information generates the second comprehensive road information { traffic lights time state, crossing wagon flow length information, the second sensing range Vehicle position information }, it is forwarded to subsequent third aware communications node, and integrate road information to the second aware communications for second Vehicle in range is sent;
Subsequent n-th aware communications node receives (n-1) comprehensive road information of (n-1) aware communications node, and perception Vehicle position information in range, generate (n-1) comprehensive road information traffic lights time state, crossing wagon flow length information, (n-1) sensing range vehicle position information }, it is forwarded to subsequent (n+1) aware communications node, and (n-1) is comprehensive Vehicle of the road information into (n-1) aware communications is sent;
Vehicle in second and n-th aware communications range of nodes obtains itself speed respectively, accelerates control or the control letter that slows down Breath;
Vehicle in second and n-th aware communications range of nodes sensing range vehicle position information based on the received, calculates vehicle The distance between current location and nearest vehicle, and combine current acceleration or deceleration information to reach most according to itself current speed The time of nearly vehicle;
Vehicle in second and n-th aware communications range of nodes automatically controls vehicle and executes acceleration according to the target vehicle speed of calculating Or deceleration-operation, and remind driver.
5. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist In: the method that the vehicle within the scope of the first aware communications calculates target vehicle speed are as follows:
If shooting the wagon flow length that image calculates according to camera is length of the crossing L(to wagon flow end), wagon flow is average Speed is V1, and the distance of vehicle distances wagon flow end is S, and vehicle itself speed is V2, then vehicle reach crossing traffic lamp when Between be (L/V1+S/V2);
According to Current traffic lamp status information, by (L/V1+S/V2) after the time, if traffic lights is green, vehicle is kept Current vehicle speed V2 traveling;If traffic lights is red or yellow, and distance is changed into green light also having time T, calculates target carriage Speed are as follows:
V=(L+S)/(L/V1+S/V2+T).
6. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist In: the method that the vehicle within the scope of the second to the n-th aware communications calculates target vehicle speed are as follows:
If the distance between current vehicle position and nearest front truck be S, preceding vehicle speed be V1, vehicle itself speed be V2, then when S/(V1-V2)=Thres when, keep current vehicle speed;As S/(V1-V2) < Thres when, vehicle deceleration to V2;Work as S/(V1-V2) > When Thres, vehicle accelerates to V1.
7. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist In: the acceleration or deceleration instruction that calculated target vehicle speed, vehicle DAS (Driver Assistant System) are issued passes through sound broadcasting or instrument The mode of display reminds driver.
CN201710394771.7A 2017-05-29 2017-05-29 A kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information Pending CN108961797A (en)

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Cited By (6)

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CN111862635A (en) * 2020-02-28 2020-10-30 重庆长安汽车股份有限公司 Traffic signal lamp-based vehicle speed control method and device and automobile
CN112092822A (en) * 2020-09-07 2020-12-18 中国第一汽车股份有限公司 Prompting method, device, equipment and storage medium
CN113129625A (en) * 2021-04-16 2021-07-16 阿波罗智联(北京)科技有限公司 Vehicle control method and device, electronic equipment and vehicle
CN113140106A (en) * 2020-01-19 2021-07-20 上海海拉电子有限公司 Traffic information feedback method and system
CN113966292A (en) * 2019-06-03 2022-01-21 戴姆勒股份公司 Method for determining a set speed of an assistance system for adjusting a longitudinal movement of a vehicle
CN115497286A (en) * 2022-09-02 2022-12-20 东风悦享科技有限公司 Front intersection real-time traffic state display system and method based on V2X

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113966292A (en) * 2019-06-03 2022-01-21 戴姆勒股份公司 Method for determining a set speed of an assistance system for adjusting a longitudinal movement of a vehicle
CN113140106A (en) * 2020-01-19 2021-07-20 上海海拉电子有限公司 Traffic information feedback method and system
CN111862635A (en) * 2020-02-28 2020-10-30 重庆长安汽车股份有限公司 Traffic signal lamp-based vehicle speed control method and device and automobile
CN112092822A (en) * 2020-09-07 2020-12-18 中国第一汽车股份有限公司 Prompting method, device, equipment and storage medium
CN112092822B (en) * 2020-09-07 2021-11-12 中国第一汽车股份有限公司 Prompting method, device, equipment and storage medium
CN113129625A (en) * 2021-04-16 2021-07-16 阿波罗智联(北京)科技有限公司 Vehicle control method and device, electronic equipment and vehicle
CN113129625B (en) * 2021-04-16 2023-01-24 阿波罗智联(北京)科技有限公司 Vehicle control method and device, electronic equipment and vehicle
CN115497286A (en) * 2022-09-02 2022-12-20 东风悦享科技有限公司 Front intersection real-time traffic state display system and method based on V2X

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