CN109147348A - Control method for vehicle and device - Google Patents
Control method for vehicle and device Download PDFInfo
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- CN109147348A CN109147348A CN201811080364.XA CN201811080364A CN109147348A CN 109147348 A CN109147348 A CN 109147348A CN 201811080364 A CN201811080364 A CN 201811080364A CN 109147348 A CN109147348 A CN 109147348A
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- traffic lights
- acceleration
- intersection
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000001133 acceleration Effects 0.000 claims abstract description 97
- 230000008569 process Effects 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
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- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
-
- 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
- G08G1/096725—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 generates an automatic action on the vehicle control
Abstract
The present invention relates to a kind of control method for vehicle and devices, belong to field of intelligent transportation technology, the control method for vehicle includes: when the current distance of vehicle and traffic lights reaches pre-determined distance, obtain the status information of traffic lights, the intersection of road where vehicle is arranged in traffic lights, the status information of traffic lights include the bright light color of traffic lights and the countdown length of traffic lights；Obtain the vehicle speed information of vehicle；Determine that the target travel mode of vehicle, target travel mode are at the uniform velocity to pass through the either mode in mode and ramp to stop standby mode by mode, acceleration by mode, deceleration according to the vehicle speed information of status information, current distance and vehicle；It controls vehicle to travel according to target travel mode, solves when vehicle in the related technology passes through intersection that safety is lower, and the problem that traffic traffic efficiency is lower, improve safety and the traffic traffic efficiency of vehicle driving.
Description
Technical field
The present invention relates to field of intelligent transportation technology, in particular to a kind of control method for vehicle and device.
Background technique
With the rapid development of the automotive industry and continuous improvement of people's living standards, automobile have rapidly entered common family
Front yard.The vehicle travelled on road is more to be easy to happen traffic accident and causes traffic congestion, especially in intersection.Crossroad
The vehicle that mouth summarizes all directions easily causes entire crossroad if not carrying out coordination control to the vehicle of intersection
The traffic paralysis of mouth.
Coordination control is mainly carried out by vehicle of the traffic lights to intersection in the related technology, is often driven
Member controls vehicle driving according to the bright light color and countdown length of traffic lights.This mode needs driver to participate in, behaviour
It is more complex to make process, driver is easily in fatigue driving state, causes the safety of vehicle driving lower, and traffic traffic efficiency
It is lower.
Summary of the invention
The embodiment of the invention provides a kind of control method for vehicle and device, it can solve vehicle in the related technology and pass through friendship
The safety of vehicle driving is lower when cross road mouth, and the problem that traffic traffic efficiency is lower.The technical solution is as follows:
According to a first aspect of the embodiments of the present invention, a kind of control method for vehicle is provided, which comprises
When the current distance of vehicle and traffic lights reaches pre-determined distance, the state letter of the traffic lights is obtained
Breath, the intersection of road where the vehicle is arranged in the traffic lights, the status information packet of the traffic lights
Include the bright light color of the traffic lights and the countdown length of the traffic lights；
Obtain the vehicle speed information of the vehicle；
According to the state information, the current distance and the vehicle speed information of the vehicle determine the target line of the vehicle
Mode is sailed, the target travel mode is at the uniform velocity to wait by mode, acceleration by mode and ramp to stop by mode, deceleration
Either mode in mode；
The vehicle is controlled to travel according to the target travel mode.
Optionally, it is described according to the state information, described in the vehicle speed information of the current distance and the vehicle determines
The target travel mode of vehicle, comprising:
The ratio of speed indicated by the current distance and the vehicle speed information of the vehicle is reached as the vehicle
Expection duration at the traffic lights；
It is closed according to the size of the bright light color of the traffic lights and the countdown length and the expected duration
System, determines the target travel mode of the vehicle.
Optionally, described slow down through mode includes that even slow down passes through mode, and the ramp to stop standby mode includes even
Ramp to stop standby mode,
It is described according to the big of the bright light color of the traffic lights and the countdown length and the expected duration
Small relationship determines the target travel mode of the vehicle, comprising:
When the bright light color of the traffic lights is red, the first operation is executed；
Executing the process that described first operates includes:
When the countdown length is not more than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity
It is described the vehicle is at the uniform velocity used to indicate by mode at the uniform velocity to pass through according to speed indicated by the vehicle speed information by mode
The intersection；
When the countdown length is greater than the expected duration, judge whether the first driving parameters of the vehicle meet
Even deceleration passes through condition；
When the first driving parameters of the vehicle, which meet the even deceleration, passes through condition, the target line of the vehicle is determined
Sail mode be it is even slow down through mode, it is even according to the first predetermined acceleration that the even deceleration by mode is used to indicate the vehicle
Slow down and passes through the intersection；
When the first driving parameters of the vehicle, which are unsatisfactory for the even deceleration, passes through condition, the target of the vehicle is determined
Driving mode is even ramp to stop standby mode, and the even ramp to stop standby mode is used to indicate the vehicle according to described the
The even Reduced Speed Now of one predetermined acceleration is to the intersection；
Wherein, the first driving parameters of the vehicle include the vehicle according to the first predetermined acceleration a1Even deceleration
It travels to first time t used in the intersection1, speed v and described first indicated by the vehicle speed information of the vehicle
Predetermined acceleration a1,
The even deceleration passes through condition are as follows:
The tTLFor the countdown length, the d is the current distance.
It is optionally, described to accelerate to include that even acceleration passes through mode by mode,
It is described according to the big of the bright light color of the traffic lights and the countdown length and the expected duration
Small relationship determines the target travel mode of the vehicle, comprising:
When the bright light color of the traffic lights is green, the second operation is executed；
Executing the process that described second operates includes:
When the countdown length is greater than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity logical
Cross mode；
When the countdown length is not more than the expected duration, judge whether the second driving parameters of the vehicle are full
The even acceleration of foot first passes through condition；
When the second driving parameters of the vehicle, which meet the described first even acceleration, passes through condition, the mesh of the vehicle is determined
It marks driving mode to accelerate to be even through mode, the even acceleration is used to indicate the vehicle according to the second default acceleration by mode
Spend even accelerate through the intersection；
When the second driving parameters of the vehicle, which are unsatisfactory for the described first even acceleration, passes through condition, the vehicle is determined
Target travel mode be ramp to stop standby mode, the ramp to stop standby mode be used to indicate the vehicle deceleration travel to
The intersection；
Wherein, the second driving parameters of the vehicle include the vehicle according to the second predetermined acceleration a2Even acceleration
It travels to the second time t used in the intersection2, speed v and described second indicated by the vehicle speed information of the vehicle
Predetermined acceleration a2,
The first even acceleration passes through condition are as follows:t2
<tTL, the d is the current distance, the vlimFor the maximum travelling speed that road where the vehicle allows, the tTLFor
The countdown length.
According to a second aspect of the embodiments of the present invention, a kind of controller of vehicle is provided, described device includes:
First obtains module, for when the current distance of vehicle and traffic lights reaches pre-determined distance, described in acquisition
The status information of traffic lights, the intersection of road where the vehicle is arranged in the traffic lights, the traffic
The status information of signal lamp includes the bright light color of the traffic lights and the countdown length of the traffic lights；
Second obtains module, for obtaining the vehicle speed information of the vehicle；
Determining module, for according to the state information, the vehicle speed information of the current distance and the vehicle determine institute
The target travel mode of vehicle is stated, the target travel mode is at the uniform velocity to pass through mode by mode, acceleration by mode, deceleration
With the either mode in ramp to stop standby mode；
Control module is travelled for controlling the vehicle according to the target travel mode.
Optionally, the determining module, is used for:
The ratio of speed indicated by the current distance and the vehicle speed information of the vehicle is reached as the vehicle
Expection duration at the traffic lights；
It is closed according to the size of the bright light color of the traffic lights and the countdown length and the expected duration
System, determines the target travel mode of the vehicle.
Optionally, described slow down through mode includes that even slow down passes through mode, and the ramp to stop standby mode includes even
Ramp to stop standby mode,
The determining module, is used for:
When the bright light color of the traffic lights is red, the first operation is executed；
Executing the process that described first operates includes:
When the countdown length is not more than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity
It is described the vehicle is at the uniform velocity used to indicate by mode at the uniform velocity to pass through according to speed indicated by the vehicle speed information by mode
The intersection；
When the countdown length is greater than the expected duration, judge whether the first driving parameters of the vehicle meet
Even deceleration passes through condition；
When the first driving parameters of the vehicle, which meet the even deceleration, passes through condition, the target line of the vehicle is determined
Sail mode be it is even slow down through mode, it is even according to the first predetermined acceleration that the even deceleration by mode is used to indicate the vehicle
Slow down and passes through the intersection；
When the first driving parameters of the vehicle, which are unsatisfactory for the even deceleration, passes through condition, the target of the vehicle is determined
Driving mode is even ramp to stop standby mode, and the even ramp to stop standby mode is used to indicate the vehicle according to described the
The even Reduced Speed Now of one predetermined acceleration is to the intersection；
Wherein, the first driving parameters of the vehicle include the vehicle according to the first predetermined acceleration a1Even deceleration
It travels to first time t used in the intersection1, speed v and described first indicated by the vehicle speed information of the vehicle
Predetermined acceleration a1,
The even deceleration passes through condition are as follows:
The tTLFor the countdown length, the d is the current distance.
It is optionally, described to accelerate to include that even acceleration passes through mode by mode,
The determining module, is used for:
When the bright light color of the traffic lights is green, the second operation is executed；
Executing the process that described second operates includes:
When the countdown length is greater than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity logical
Cross mode；
When the countdown length is not more than the expected duration, judge whether the second driving parameters of the vehicle are full
The even acceleration of foot first passes through condition；
When the second driving parameters of the vehicle, which meet the described first even acceleration, passes through condition, the mesh of the vehicle is determined
It marks driving mode to accelerate to be even through mode, the even acceleration is used to indicate the vehicle according to the second default acceleration by mode
Spend even accelerate through the intersection；
When the second driving parameters of the vehicle, which are unsatisfactory for the described first even acceleration, passes through condition, the vehicle is determined
Target travel mode be ramp to stop standby mode, the ramp to stop standby mode be used to indicate the vehicle deceleration travel to
The intersection；
Wherein, the second driving parameters of the vehicle include the vehicle according to the second predetermined acceleration a2Even acceleration
It travels to the second time t used in the intersection2, speed v and described second indicated by the vehicle speed information of the vehicle
Predetermined acceleration a2,
The first even acceleration passes through condition are as follows:t2
<tTL, the d is the current distance, the vlimFor the maximum travelling speed that road where the vehicle allows, the tTLFor
The countdown length.
According to a third aspect of the embodiments of the present invention, a kind of controller of vehicle is provided, comprising: memory, processor and
It is stored in the computer program that can be run on the memory and on the processor, the processor executes the computer
Control method for vehicle described in first aspect is realized when program.
According to a fourth aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, in the storage medium
It is stored with computer program, control method for vehicle described in first aspect is realized when the computer program is executed by processor.
According to a fifth aspect of the embodiments of the present invention, a kind of computer program product comprising instruction is provided, when the meter
When calculation machine program product is run on computers, so that computer executes control method for vehicle described in first aspect.
Technical solution provided in an embodiment of the present invention is include at least the following beneficial effects:
When the current distance of vehicle and traffic lights reaches pre-determined distance, the state letter of traffic lights can be obtained
Breath, and the vehicle speed information of vehicle is obtained, then according to the vehicle speed information of the status information of traffic lights, current distance and vehicle
It determines the target travel mode of vehicle, controls vehicle later and travelled according to target travel mode, target travel mode is at the uniform velocity logical
Mode is crossed, slows down through mode, accelerate through the either mode in mode and ramp to stop standby mode.Whole process is without driving
The person of sailing participates in, and vehicle can carry out automatically controlling speed, simplify control operating process, improve the safety of vehicle driving
With traffic traffic efficiency.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is implementation environment schematic diagram involved in the embodiment of the present invention；
Fig. 2 is a kind of flow chart of control method for vehicle provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another control method for vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of flow chart for executing the first operation provided in an embodiment of the present invention；
Fig. 5 is a kind of flow chart for executing the second operation provided in an embodiment of the present invention；
Fig. 6 is a kind of flow chart travelled according to target travel mode provided in an embodiment of the present invention；
Fig. 7 is the connection schematic diagram of ECU and BCM provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of controller of vehicle provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of another controller of vehicle provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 shows implementation environment schematic diagram involved in the embodiment of the present invention, which may include vehicle 01,
Vehicle 01 travels on road, and the intersection 02 of 01 place road of vehicle is provided with traffic lights 03, and traffic lights are used
Vehicle in instruction intersection is advanced or is stopped, and traffic lights can also show that signal is surplus while showing signal kinds
Remaining duration.Wherein, the bright light color of traffic lights is for indicating signal kinds.For example, working as the bright light color of traffic lights
When for red, the signal that indicates that no through traffic；When the bright light color of traffic lights is green, indicate to permit right of way signal；When
When the bright light color of traffic lights is yellow, alarm signal is indicated.The countdown length of traffic lights is for indicating signal
Residual time length.
In the related technology, driver needs to control vehicle according to the bright light color and countdown length of traffic lights and pass through
Intersection, operating process is more complex, and driver is easily in fatigue driving state, causes the safety of vehicle driving lower, and
Traffic traffic efficiency is lower.
And in embodiments of the present invention, vehicle can be according to the status information of traffic lights, vehicle and traffic lights
Current distance and the vehicle speed information of vehicle determine the target travel mode of vehicle, and travelled according to the target travel mode,
Speed under different driving modes is different, it is possible to carry out automatically controlling to speed, whole process is participated in without driver, can
It is lower with the safety for solving vehicle driving, and the problem that traffic traffic efficiency is lower.
Fig. 2 is a kind of flow chart of control method for vehicle provided in an embodiment of the present invention.The control method for vehicle includes:
Step 201, when the current distance of vehicle and traffic lights reaches pre-determined distance, obtain the shape of traffic lights
State information, the intersection of road where vehicle is arranged in traffic lights, the status information of traffic lights include traffic letter
The bright light color of signal lamp and the countdown length of traffic lights.
Exemplary, pre-determined distance can be 200 meters.
Step 202, the vehicle speed information for obtaining vehicle.
Optionally, the vehicle speed information of vehicle, vehicle indicated by the vehicle speed information of vehicle can be acquired by vehicle speed sensor
Speed is the current vehicle speed of vehicle.
Step 203, the target travel mode that vehicle is determined according to the vehicle speed information of status information, current distance and vehicle,
The target travel mode is at the uniform velocity to be passed through in mode and ramp to stop standby mode by mode, deceleration by mode, acceleration
Either mode.
Wherein, vehicle is at the uniform velocity used to indicate according to current vehicle speed (i.e. speed indicated by vehicle speed information) at the uniform velocity by mode
Pass through intersection；Deceleration is used to indicate vehicle reduction current vehicle speed deceleration by mode and passes through intersection；Acceleration passes through mould
Formula is used to indicate vehicle increase current vehicle speed acceleration and passes through intersection；Ramp to stop standby mode is used to indicate vehicle reduction and works as
Preceding speed Reduced Speed Now is to intersection and waits for parking.
For example, the bright light color of traffic lights is green, countdown length is smaller, and vehicle current vehicle speed is larger, is
Reduction transit time can determine the target travel mode of vehicle to accelerate through mode, and vehicle increases current vehicle speed and accelerates
Pass through intersection.For another example, the bright light color of traffic lights is red, and countdown length is larger, and vehicle current vehicle speed
It is smaller, in order to reduce the waiting time, the target travel mode of vehicle can be determined to slow down through mode, front truck is worked as in vehicle reduction
Speed slows down and passes through intersection.
Step 204, control vehicle are travelled according to target travel mode.
For example, vehicle then at the uniform velocity passes through according to current vehicle speed when determining target travel mode is at the uniform velocity to pass through mode
Intersection；When determining target travel mode is to slow down to pass through mode, vehicle then reduces current vehicle speed deceleration and passes through intersection
Crossing；When determining target travel mode is to accelerate to pass through mode, vehicle then increases current vehicle speed acceleration and passes through intersection；
When determining target travel mode is ramp to stop standby mode, vehicle then reduces current vehicle speed Reduced Speed Now to intersection
And it waits for parking.
It, can be in the current of vehicle and traffic lights in conclusion control method for vehicle provided in an embodiment of the present invention
When distance reaches pre-determined distance, the status information of traffic lights is obtained, and obtains the vehicle speed information of vehicle, then according to traffic
The vehicle speed information of the status information of signal lamp, current distance and vehicle determines the target travel mode of vehicle, controls vehicle later
It is travelled according to target travel mode, target travel mode is at the uniform velocity to pass through mode by mode, deceleration, accelerate through mode and subtract
Either mode in fast parking waiting mode.Whole process is participated in without driver, and vehicle can carry out automatically controlling speed,
Control operating process is simplified, safety and the traffic traffic efficiency of vehicle driving are improved.
Fig. 3 is the flow chart of another control method for vehicle provided in an embodiment of the present invention.The control method for vehicle can be with
For the electronic control unit (Electronic Control Unit, ECU) of vehicle, using this method, ECU can be according to friendship
The status information of ventilating signal lamp is according at the uniform velocity passing through mode, even slow down through mode, even accelerate through mode and ramp to stop etc.
To the either mode traveling in mode.As shown in figure 3, this method may include:
Step 301, when the current distance of vehicle and traffic lights reaches pre-determined distance, obtain the shape of traffic lights
State information.
Wherein, the intersection of road where vehicle is arranged in traffic lights.The status information of traffic lights includes
The bright light color of traffic lights and the countdown length of traffic lights.It is exemplary, bright light color can for red, green or
Yellow.Countdown length can be 30 seconds or 90 seconds.
Optionally, the traffic lights in the embodiment of the present invention can be circular light emitting diode (Light-Emitting
Diode, LED) lamp or arrow-shaped LED light.
It is exemplary, when the current distance of vehicle and traffic lights reaches 200 meters, the available traffic lights of ECU
Status information.It is exemplary, it can also be by camera detection vehicle at a distance from traffic lights.
Optionally, it includes handing over that the status information that traffic lights are obtained in step 301, which may include: by camera acquisition,
The image of ventilating signal lamp；Parsing is carried out to the image and determines the status information of traffic lights according to parsing result.For reality
When collect including the higher image of traffic lights clarity, camera can be monocular cam high-definition or double
Eye stereo camera shooting head, and camera can be set on the front windshield of vehicle.
Step 302, the vehicle speed information for obtaining vehicle.
Optionally, the vehicle speed information of vehicle can be acquired by vehicle speed sensor.
Step 303, using the ratio of speed indicated by current distance and the vehicle speed information of vehicle as vehicle exterior traffic
Expection duration at signal lamp.
ECU determines the expection duration at vehicle exterior traffic signal lamp, then by the expection duration and traffic lights
Countdown length is compared, and the bright light color of combination traffic lights determines the target travel mode of vehicle.
Step 304, according to the size relation of the bright light color and countdown length of traffic lights and expected duration,
Determine the target travel mode of vehicle.
When the current distance of vehicle and traffic lights reaches pre-determined distance, the bright light color of traffic lights can be
Red or green, and the countdown length of traffic lights can be a larger value, be also possible to a smaller value.In step
In 304, ECU can be determined according to the bright light color and countdown length of traffic lights and the size relation of expected duration
Target travel mode improves traffic traffic efficiency to realize the automatic control to speed.The target travel mode is at the uniform velocity to pass through
Mode slows down through mode, accelerates through the either mode in mode and ramp to stop standby mode.At the uniform velocity it is used for by mode
Indicate that vehicle at the uniform velocity passes through intersection according to speed indicated by vehicle speed information；Slow down and vehicle deceleration is used to indicate by mode
Pass through intersection；Acceleration is used to indicate vehicle acceleration by mode and passes through intersection；Ramp to stop standby mode is for referring to
Show that vehicle deceleration is travelled to intersection and waited for parking.
Optionally, slowing down through mode includes that even slow down passes through mode, and ramp to stop standby mode includes even ramp to stop
Standby mode, step 304 may include: to execute the first operation when the bright light color of traffic lights is red.
As shown in figure 4, the process for executing the first operation includes:
Step 3041, when countdown length is not more than expected duration, determine that the target travel mode of vehicle is at the uniform velocity logical
Cross mode.
When the countdown length of traffic lights is not more than expected duration, if vehicle is according to indicated by vehicle speed information
Speed traveling, when vehicle reaches intersection not yet, the bright light color of traffic lights has become green, vehicle from red
Can by reach intersection.So in such a case, it is possible to determining that the target travel mode of vehicle is at the uniform velocity to pass through mould
Formula.
Step 3042, when countdown length is greater than expected duration, it is even to judge whether the first driving parameters of vehicle meet
Deceleration passes through condition.
When countdown length is greater than expected duration, if vehicle is travelled according to speed indicated by vehicle speed information, in vehicle
When reaching intersection, the bright light color of traffic lights remains as red, and vehicle can not need to stop by reaching intersection
Vehicle waits.So in this case, in order to reduce the waiting time, it can be determined that whether vehicle, which even can slow down, passes through crossroad
Mouthful.If the even Reduced Speed Now of vehicle, when vehicle reaches intersection, the bright light color of traffic lights has become green from red
Color, vehicle can directly pass through intersection without parking waiting at this time.In step 3042, in order to judge that vehicle whether may be used
Pass through intersection with even deceleration, it can be determined that whether the first driving parameters of vehicle, which meet even deceleration, passes through condition.
Wherein, the first driving parameters of vehicle include vehicle according to the first predetermined acceleration a1Even Reduced Speed Now is to crossroad
First time t used in mouthful1, speed v and the first predetermined acceleration a indicated by the vehicle speed information of vehicle1。
Even deceleration passes through condition are as follows:
tTLFor traffic lights
Countdown length, d are the current distance of vehicle and traffic lights.
Step 3043, when the first driving parameters of vehicle meet it is even deceleration pass through condition when, determine the target travel of vehicle
Mode is that even deceleration passes through mode.
The even deceleration is used to indicate vehicle by mode and passes through intersection according to the even deceleration of the first predetermined acceleration.
When the first driving parameters of vehicle, which meet even deceleration, passes through condition, vehicle even can slow down and pass through intersection.
When vehicle reaches intersection, the bright light color of traffic lights has become green from red, and vehicle is without parking etc. at this time
To can directly pass through intersection, reduce the waiting time.
Step 3044, when the first driving parameters of vehicle be unsatisfactory for it is even deceleration pass through condition when, determine the target line of vehicle
Sailing mode is even ramp to stop standby mode,
The even ramp to stop standby mode is used to indicate vehicle according to the even Reduced Speed Now of the first predetermined acceleration to crossroad
Mouthful.
Optionally, accelerate through mode to include even acceleration through mode, step 304 may include: when traffic lights
When bright light color is green, the second operation is executed.
As shown in figure 5, the process for executing the second operation may include:
Step 3045, when countdown length is greater than expected duration, determine that the target travel mode of vehicle is at the uniform velocity to pass through
Mode.
When the countdown length of traffic lights is greater than expected duration, if vehicle is according to vehicle indicated by vehicle speed information
Speed traveling, when vehicle reaches intersection, the bright light color of traffic lights remains as green, and vehicle can directly pass through friendship
Cross road mouth, so in such a case, it is possible to determining that the target travel mode of vehicle is at the uniform velocity to pass through mode.
Step 3046, when countdown length is not more than expected duration, judge whether the second driving parameters of vehicle meet
First even acceleration passes through condition.
When countdown length is not more than expected duration, if vehicle is travelled according to speed indicated by vehicle speed information,
When vehicle reaches intersection not yet, the bright light color of traffic lights has become red from green, in this case,
In order to reduce transit time, it can be determined that whether vehicle even can accelerate to pass through intersection.It gives it the gun if vehicle is even,
When vehicle reaches intersection, the bright light color of traffic lights remains as green, and vehicle can directly pass through intersection.?
In step 3046, in order to judge whether vehicle even can accelerate to pass through intersection, it can be determined that the second driving parameters of vehicle
Whether meet the first even acceleration and passes through condition.
Wherein, the second driving parameters of vehicle include vehicle according to the second predetermined acceleration a2It is even to give it the gun to crossroad
The second time t used in mouthful2, speed v and the second predetermined acceleration a indicated by the vehicle speed information of vehicle2。
First even acceleration passes through condition are as follows:
D is vehicle and traffic signals
The current distance of lamp, vlimThe maximum travelling speed that the road where vehicle allows, tTLFor the countdown length of traffic lights.
Step 3047, when vehicle the second driving parameters meet first it is even acceleration pass through condition when, determine the target of vehicle
Driving mode is that even acceleration passes through mode.
The even acceleration is used to indicate vehicle by mode and passes through intersection according to the even acceleration of the second predetermined acceleration.
When the second driving parameters of vehicle, which meet the first even acceleration, passes through condition, determine that vehicle can be default according to second
The even acceleration of acceleration passes through intersection.When vehicle reaches intersection, the bright light color of traffic lights remains as green,
Vehicle can directly pass through intersection, reduce transit time.
Step 3048, when the second driving parameters of vehicle be unsatisfactory for first it is even acceleration pass through condition when, determine the mesh of vehicle
Mark driving mode is ramp to stop standby mode.
Optionally, when the bright light color of traffic lights be yellow when, such as traffic lights bright light color by green
Become being first to become yellow from green, then become red from yellow when red, in this case, vehicle can be arrived according to vehicle
Bright light duration (such as 3 seconds) up to expection duration and amber light at traffic lights judges whether vehicle even can accelerate to lead to
Cross intersection.Deterministic process can be with reference to step 3046 to step 3048.
Step 305, control vehicle are travelled according to target travel mode.
Optionally, as shown in fig. 6, step 305 may include:
Step 3051 inquires the corresponding target control instruction of target travel mode from preset corresponding relationship.
Preset corresponding relationship is used to record the corresponding relationship of driving mode and control instruction.
Target control instruction is sent to corresponding controller by step 3052, so that controller is instructed based on target control
Executing agency's work is controlled, realizes the automatic control to speed.
It is exemplary, as shown in fig. 7, ECU receives the image data for the traffic lights that camera is sent, determine traffic signals
The status information of lamp, while the vehicle speed information of vehicle speed sensor transmission is received, then determine the target travel mode of vehicle, then look into
The corresponding target control instruction of target travel mode is ask, later, passes through controller local area network (Controller Area
Network, CAN) by target control instruction be sent to car body control module (Body Control Module, BCM), BCM is based on
Based on target control instruct control brake system, electronic stabilizing control system (Electronic Stability Control,
ESC) and the work such as electric stabilizing system (Electronic Stability Program, ESP), make vehicle according to target travel
Mode traveling.
Using control method for vehicle provided in an embodiment of the present invention, vehicle can be carried out speed when passing through intersection
It automatically controls, vehicle can save transit time, alleviate traffic and gather around with a kind of more efficient way by intersection
It is stifled, traffic traffic efficiency is improved, energy consumption is saved, reduces environmental pollution.Whole process is participated in without driver, can be to avoid driving
Member accidentally rushes traffic lights, improves the safety of vehicle driving.
It, can be in the current of vehicle and traffic lights in conclusion control method for vehicle provided in an embodiment of the present invention
When distance reaches pre-determined distance, the status information of traffic lights is obtained, and obtains the vehicle speed information of vehicle, then according to traffic
The vehicle speed information of the status information of signal lamp, current distance and vehicle determines the target travel mode of vehicle, controls vehicle later
It is travelled according to target travel mode, target travel mode is at the uniform velocity to pass through mode by mode, deceleration, accelerate through mode and subtract
Either mode in fast parking waiting mode.Whole process is participated in without driver, and vehicle can carry out automatically controlling speed,
Control operating process is simplified, safety and the traffic traffic efficiency of vehicle driving are improved.
It should be noted that the sequencing of the step of control method for vehicle provided in an embodiment of the present invention can be fitted
Work as adjustment, control method for vehicle step according to circumstances can also accordingly be increased and decreased.Any technology people for being familiar with the art
Member in the technical scope disclosed by the present invention, the method that variation can be readily occurred in, should all cover protection scope of the present invention it
It is interior, therefore repeat no more.
Fig. 8 shows a kind of structural schematic diagram of controller of vehicle 700 provided in an embodiment of the present invention.The vehicle control
Device 700 includes:
First obtains module 710, for obtaining and handing over when the current distance of vehicle and traffic lights reaches pre-determined distance
The status information of ventilating signal lamp.The intersection of road where vehicle is arranged in traffic lights.The state of traffic lights is believed
Breath includes the bright light color of traffic lights and the countdown length of traffic lights.
Second obtains module 720, for obtaining the vehicle speed information of vehicle.
Determining module 730, for determining the target line of vehicle according to the vehicle speed information of status information, current distance and vehicle
Sail mode.Target travel mode is at the uniform velocity to pass through mode and ramp to stop standby mode by mode, acceleration by mode, deceleration
In either mode.
Control module 740 is travelled for controlling vehicle according to target travel mode.
In conclusion controller of vehicle provided in an embodiment of the present invention, first obtains module in vehicle and traffic signals
When the current distance of lamp reaches pre-determined distance, the status information of traffic lights is obtained, second obtains the vehicle that module obtains vehicle
Fast information, then determining module determines vehicle according to the vehicle speed information of the status information of traffic lights, current distance and vehicle
Target travel mode, later control module control vehicle according to target travel mode travel, whole process without driver ginseng
With vehicle can carry out automatically controlling speed, simplify control operating process, improve the safety and traffic of vehicle driving
Traffic efficiency.
Optionally, determining module 730 can be used for:
Using the ratio of speed indicated by current distance and the vehicle speed information of vehicle as vehicle exterior traffic signal lamp at
Expection duration；
According to the size relation of the bright light color of traffic lights and countdown length and expected duration, vehicle is determined
Target travel mode.
Optionally, slowing down through mode includes that even slow down passes through mode, and ramp to stop standby mode includes even ramp to stop
Standby mode, determining module 730 can be used for:
When the bright light color of traffic lights is red, the first operation is executed；
Executing the process that first operates includes:
When countdown length is not more than expected duration, determine that the target travel mode of vehicle is at the uniform velocity to pass through mode, it is even
Speed is used to indicate vehicle by mode and at the uniform velocity passes through intersection according to speed indicated by vehicle speed information；
When countdown length is greater than expected duration, judge whether the first driving parameters of vehicle meet even deceleration and pass through item
Part；
When the first driving parameters of vehicle, which meet even deceleration, passes through condition, determine that the target travel mode of vehicle is even subtracts
By mode, even deceleration is used to indicate vehicle by mode and passes through intersection according to the even deceleration of the first predetermined acceleration speed；
When the first driving parameters of vehicle, which are unsatisfactory for even deceleration, passes through condition, determine that the target travel mode of vehicle is even
Ramp to stop standby mode, even ramp to stop standby mode are used to indicate vehicle according to the even Reduced Speed Now of the first predetermined acceleration extremely
Intersection.
Wherein, the first driving parameters of vehicle include vehicle according to the first predetermined acceleration a1Even Reduced Speed Now is to crossroad
First time t used in mouthful1, speed v and the first predetermined acceleration a indicated by the vehicle speed information of vehicle1。
Even deceleration passes through condition are as follows:
tTLFor the countdown length of traffic lights, d is the current distance of vehicle and traffic lights.
Optionally, accelerate through mode to include even acceleration through mode, determining module 730 can be used for:
When the bright light color of traffic lights is green, the second operation is executed；
Executing the process that second operates includes:
When countdown length is greater than expected duration, determine that the target travel mode of vehicle is at the uniform velocity to pass through mode；
When countdown length is not more than expected duration, judge whether the second driving parameters of vehicle meet the first even acceleration
Pass through condition；
When the second driving parameters of vehicle, which meet the first even acceleration, passes through condition, determine that the target travel mode of vehicle is
Even to accelerate through mode, even acceleration is used to indicate vehicle by mode and passes through crossroad according to the even acceleration of the second predetermined acceleration
Mouthful；
When the second driving parameters of vehicle, which are unsatisfactory for the first even acceleration, passes through condition, the target travel mode of vehicle is determined
For ramp to stop standby mode, ramp to stop standby mode is used to indicate vehicle deceleration and travels to intersection；
Wherein, the second driving parameters of vehicle include vehicle according to the second predetermined acceleration a2It is even to give it the gun to crossroad
The second time t used in mouthful2, speed v and the second predetermined acceleration a indicated by the vehicle speed information of vehicle2。
First even acceleration passes through condition are as follows:
D is the current distance of vehicle and traffic lights, vlimThe maximum travelling speed that the road where vehicle allows, tTLFor traffic letter
The countdown length of signal lamp.
In conclusion controller of vehicle provided in an embodiment of the present invention, first obtains module in vehicle and traffic signals
When the current distance of lamp reaches pre-determined distance, the status information of traffic lights is obtained, second obtains the vehicle that module obtains vehicle
Fast information, then determining module determines vehicle according to the vehicle speed information of the status information of traffic lights, current distance and vehicle
Target travel mode, later control module control vehicle according to target travel mode travel, whole process without driver ginseng
With vehicle can carry out automatically controlling speed, simplify control operating process, improve the safety and traffic of vehicle driving
Traffic efficiency.
Fig. 9 is the structural schematic diagram of another controller of vehicle 800 provided in an embodiment of the present invention, vehicle control dress
Setting 800 includes: memory 810, processor 820 and is stored in the computer that can be run on memory 810 and on processor 820
Program 811.Processor 820 realizes control method for vehicle provided by the above embodiment when executing computer program 811, the vehicle control
Method processed can be as shown in Figure 2 or Figure 3.
The embodiment of the present invention also provides a kind of computer readable storage medium, which is non-volatile readable storage
Medium is stored with computer program in the storage medium, which realizes that above-described embodiment mentions when being executed by processor
The control method for vehicle of confession.
The embodiment of the present invention also provides a kind of computer program product comprising instruction, when the computer program product is being counted
When being run on calculation machine, so that computer executes control method for vehicle provided by the above embodiment.
The embodiment of the present invention also provides a kind of chip, which includes programmable logic circuit and/or program instruction, works as core
For executing control method for vehicle provided by the above embodiment when piece is run.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
It, can be no longer superfluous herein with reference to the specific work process with reference to each step in embodiment of the method with the specific work process of module
It states.
Those skilled in the art will readily occur to of the invention its after considering specification and the invention invented here of practice
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that the described method includes:
When the current distance of vehicle and traffic lights reaches pre-determined distance, the status information of the traffic lights is obtained,
The intersection of road where the vehicle is arranged in the traffic lights, the status information of the traffic lights include institute
State the bright light color of traffic lights and the countdown length of the traffic lights；
Obtain the vehicle speed information of the vehicle；
According to the state information, the current distance and the vehicle speed information of the vehicle determine the target travel mould of the vehicle
Formula, the target travel mode are at the uniform velocity to pass through mode and ramp to stop standby mode by mode, acceleration by mode, deceleration
In either mode；
The vehicle is controlled to travel according to the target travel mode.
2. the method according to claim 1, wherein it is described according to the state information, the current distance and
The vehicle speed information of the vehicle determines the target travel mode of the vehicle, comprising:
Using the ratio of speed indicated by the current distance and the vehicle speed information of the vehicle as described in vehicle arrival
Expection duration at traffic lights；
According to the bright light color of the traffic lights and the size relation of the countdown length and the expected duration,
Determine the target travel mode of the vehicle.
3. according to the method described in claim 2, it is characterized in that, it is described slow down by mode include it is even slow down pass through mode,
The ramp to stop standby mode includes even ramp to stop standby mode,
It is described to be closed according to the size of the bright light color of the traffic lights and the countdown length and the expected duration
System, determines the target travel mode of the vehicle, comprising:
When the bright light color of the traffic lights is red, the first operation is executed；
Executing the process that described first operates includes:
When the countdown length is not more than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity to pass through
Mode, it is described at the uniform velocity by mode be used to indicate the vehicle at the uniform velocity pass through according to speed indicated by the vehicle speed information it is described
Intersection；
When the countdown length is greater than the expected duration, judge whether the first driving parameters of the vehicle meet even subtract
Speed passes through condition；
When the first driving parameters of the vehicle, which meet the even deceleration, passes through condition, the target travel mould of the vehicle is determined
Formula is that even slow down passes through mode, and the even deceleration is used to indicate the vehicle according to the even deceleration of the first predetermined acceleration by mode
Pass through the intersection；
When the first driving parameters of the vehicle, which are unsatisfactory for the even deceleration, passes through condition, the target travel of the vehicle is determined
Mode is even ramp to stop standby mode, and it is pre- according to described first that the even ramp to stop standby mode is used to indicate the vehicle
If the even Reduced Speed Now of acceleration is to the intersection；
Wherein, the first driving parameters of the vehicle include the vehicle according to the first predetermined acceleration a1Even Reduced Speed Now
To first time t used in the intersection1, speed v indicated by the vehicle speed information of the vehicle and described first default
Acceleration a1,
The even deceleration passes through condition are as follows: t1>tTL, v+a1×t1> 0,-2<a1< 0, the tTLFor
The countdown length, the d are the current distance.
4. according to the method described in claim 2, it is characterized in that, it is described accelerate by mode include it is even accelerate pass through mode,
It is described to be closed according to the size of the bright light color of the traffic lights and the countdown length and the expected duration
System, determines the target travel mode of the vehicle, comprising:
When the bright light color of the traffic lights is green, the second operation is executed；
Executing the process that described second operates includes:
When the countdown length is greater than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity to pass through mould
Formula；
When the countdown length is not more than the expected duration, judge whether the second driving parameters of the vehicle meet the
One even acceleration passes through condition；
When the second driving parameters of the vehicle, which meet the described first even acceleration, passes through condition, the target line of the vehicle is determined
Sail mode be it is even accelerate through mode, it is even according to the second predetermined acceleration that the even acceleration by mode is used to indicate the vehicle
Accelerate to pass through the intersection；
When the second driving parameters of the vehicle, which are unsatisfactory for the described first even acceleration, passes through condition, the target of the vehicle is determined
Driving mode is ramp to stop standby mode, and the ramp to stop standby mode is used to indicate the vehicle deceleration and travels to described
Intersection；
Wherein, the second driving parameters of the vehicle include the vehicle according to the second predetermined acceleration a2It is even to give it the gun
To the second time t used in the intersection2, speed v indicated by the vehicle speed information of the vehicle and described second default
Acceleration a2,
The first even acceleration passes through condition are as follows: a2< 2,v+a2×t2<vlim, t2<tTL, the d
For the current distance, the vlimFor the maximum travelling speed that road where the vehicle allows, the tTLFor the countdown
Length.
5. a kind of controller of vehicle, which is characterized in that described device includes:
First obtains module, for obtaining the traffic when the current distance of vehicle and traffic lights reaches pre-determined distance
The status information of signal lamp, the intersection of road where the vehicle is arranged in the traffic lights, the traffic signals
The status information of lamp includes the bright light color of the traffic lights and the countdown length of the traffic lights；
Second obtains module, for obtaining the vehicle speed information of the vehicle；
Determining module, for according to the state information, the vehicle speed information of the current distance and the vehicle determine the vehicle
Target travel mode, the target travel mode be at the uniform velocity by mode, slow down through mode, accelerate by mode and subtracting
Either mode in fast parking waiting mode；
Control module is travelled for controlling the vehicle according to the target travel mode.
6. device according to claim 5, which is characterized in that the determining module is used for:
Using the ratio of speed indicated by the current distance and the vehicle speed information of the vehicle as described in vehicle arrival
Expection duration at traffic lights；
According to the bright light color of the traffic lights and the size relation of the countdown length and the expected duration,
Determine the target travel mode of the vehicle.
7. device according to claim 6, which is characterized in that described slow down through mode includes that even slow down passes through mode,
The ramp to stop standby mode includes even ramp to stop standby mode,
The determining module, is used for:
When the bright light color of the traffic lights is red, the first operation is executed；
Executing the process that described first operates includes:
When the countdown length is not more than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity to pass through
Mode, it is described at the uniform velocity by mode be used to indicate the vehicle at the uniform velocity pass through according to speed indicated by the vehicle speed information it is described
Intersection；
When the countdown length is greater than the expected duration, judge whether the first driving parameters of the vehicle meet even subtract
Speed passes through condition；
When the first driving parameters of the vehicle, which meet the even deceleration, passes through condition, the target travel mould of the vehicle is determined
Formula is that even slow down passes through mode, and the even deceleration is used to indicate the vehicle according to the even deceleration of the first predetermined acceleration by mode
Pass through the intersection；
When the first driving parameters of the vehicle, which are unsatisfactory for the even deceleration, passes through condition, the target travel of the vehicle is determined
Mode is even ramp to stop standby mode, and it is pre- according to described first that the even ramp to stop standby mode is used to indicate the vehicle
If the even Reduced Speed Now of acceleration is to the intersection；
Wherein, the first driving parameters of the vehicle include the vehicle according to the first predetermined acceleration a1Even Reduced Speed Now
To first time t used in the intersection1, speed v indicated by the vehicle speed information of the vehicle and described first default
Acceleration a1,
The even deceleration passes through condition are as follows: t1>tTL, v+a1×t1> 0,-2<a1< 0, the tTLFor
The countdown length, the d are the current distance.
8. device according to claim 6, which is characterized in that it is described to accelerate to include that even acceleration passes through mode by mode,
The determining module, is used for:
When the bright light color of the traffic lights is green, the second operation is executed；
Executing the process that described second operates includes:
When the countdown length is greater than the expected duration, determine that the target travel mode of the vehicle is at the uniform velocity to pass through mould
Formula；
When the countdown length is not more than the expected duration, judge whether the second driving parameters of the vehicle meet the
One even acceleration passes through condition；
When the second driving parameters of the vehicle, which meet the described first even acceleration, passes through condition, the target line of the vehicle is determined
Sail mode be it is even accelerate through mode, it is even according to the second predetermined acceleration that the even acceleration by mode is used to indicate the vehicle
Accelerate to pass through the intersection；
When the second driving parameters of the vehicle, which are unsatisfactory for the described first even acceleration, passes through condition, the target of the vehicle is determined
Driving mode is ramp to stop standby mode, and the ramp to stop standby mode is used to indicate the vehicle deceleration and travels to described
Intersection；
Wherein, the second driving parameters of the vehicle include the vehicle according to the second predetermined acceleration a2It is even to give it the gun
To the second time t used in the intersection2, speed v indicated by the vehicle speed information of the vehicle and described second default
Acceleration a2,
The first even acceleration passes through condition are as follows: a2< 2,v+a2×t2<vlim, t2<tTL, the d
For the current distance, the vlimFor the maximum travelling speed that road where the vehicle allows, the tTLFor the countdown
Length.
9. a kind of controller of vehicle characterized by comprising memory and is stored on the memory and can processor
The computer program run on the processor, the processor realize Claims 1-4 when executing the computer program
Any control method for vehicle.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Claims 1-4 any control method for vehicle is realized when computer program is executed by processor.
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|---|---|---|---|
| CN201811080364.XA CN109147348A (en) | 2018-09-17 | 2018-09-17 | Control method for vehicle and device |
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|---|---|---|---|
| CN201811080364.XA CN109147348A (en) | 2018-09-17 | 2018-09-17 | Control method for vehicle and device |
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| CN115534980A (en) * | 2022-12-01 | 2022-12-30 | 腾讯科技（深圳）有限公司 | Traffic information indicating method, device, computer equipment and storage medium |
| CN115534980B (en) * | 2022-12-01 | 2023-03-14 | 腾讯科技（深圳）有限公司 | Traffic information indicating method, device, computer equipment and storage medium |
| CN116110229A (en) * | 2023-04-10 | 2023-05-12 | 深圳市城市交通规划设计研究中心股份有限公司 | Single intersection network connection signal timing method, electronic equipment and storage medium |
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Application publication date: 20190104 |