CN110588649B - Vehicle speed control method, device and equipment based on traffic system and storage medium - Google Patents

Vehicle speed control method, device and equipment based on traffic system and storage medium Download PDF

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CN110588649B
CN110588649B CN201910927791.5A CN201910927791A CN110588649B CN 110588649 B CN110588649 B CN 110588649B CN 201910927791 A CN201910927791 A CN 201910927791A CN 110588649 B CN110588649 B CN 110588649B
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current vehicle
speed
information
determining
current
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CN110588649A (en
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温向明
李聪
路兆铭
王鲁晗
傅彬
王刚
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration

Abstract

The embodiment of the disclosure discloses a vehicle speed control method, a vehicle speed control device, vehicle speed control equipment and a storage medium based on a traffic system. The speed control method based on the traffic system comprises the steps of obtaining current vehicle information, road condition information and traffic light information around a current vehicle, determining a first speed range of the current vehicle according to the road condition information, and determining a speed adjusting scheme of the current vehicle according to the first speed range, the current vehicle information and the traffic light information. According to the technical scheme, the speed adjusting scheme of the current vehicle can be determined according to the current vehicle information, the road condition information and the traffic light information around the current vehicle, and the traffic efficiency and the safety can be improved.

Description

Vehicle speed control method, device and equipment based on traffic system and storage medium
Technical Field
The disclosure relates to the technical field of internet automatic driving, in particular to a vehicle speed control method, device, equipment and storage medium based on a traffic system.
Background
With the continuous development of intelligent vehicles, the requirements of people on the efficiency and the comfort level of the vehicles are continuously improved, and the experience of the automatic driving vehicles is directly influenced by the control and decision of the automatic driving vehicles.
In the process of providing the disclosure, the inventor finds that the traffic jam phenomenon of a city is more serious due to the rapid increase of vehicles, and the traffic efficiency at a traffic intersection is lower. The vehicle usually has difficulty to know the traffic light condition of the front intersection in advance, and the vehicle speed can be adjusted only when the vehicle is close to the front traffic light, so that the response time is short. In addition, if the vehicle does not respond to the traffic light in time (for example, the vehicle is not started in time after the red light turns green), the time for the vehicle to pass through the intersection is prolonged, so that the traffic efficiency is reduced, traffic jam is caused, and the energy consumption is increased due to the re-acceleration after the vehicle is braked.
Disclosure of Invention
In order to solve the problems in the related art, embodiments of the present disclosure provide a vehicle speed control method, device, apparatus and storage medium based on a traffic system.
In a first aspect, the disclosed embodiments provide a vehicle speed control method based on a traffic system.
Specifically, the vehicle speed control method based on the traffic system comprises the following steps:
acquiring current vehicle information, road condition information around the current vehicle and traffic light information;
determining a first speed range of the current vehicle according to the road condition information;
and determining a speed adjusting scheme of the current vehicle according to the first speed range, the current vehicle information and the traffic light information.
Optionally, the obtaining the road condition information around the current vehicle includes:
acquiring speed limit information of a road where a current vehicle is located; and/or
When a first vehicle exists in a preset range around the current vehicle, acquiring a first vehicle speed of the first vehicle.
Optionally, the determining a vehicle speed adjustment scheme of the current vehicle according to the first speed range, the current vehicle information and the traffic light information includes:
determining a possible passing time period of the current vehicle according to the traffic light information and the current vehicle information;
determining the passing time period of the current vehicle according to the first speed range, the possible passing time period and the current vehicle information;
and determining a speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information.
Optionally, the current vehicle information includes at least one of the following information of the current vehicle: the current vehicle speed v, the current time t, the distance d from a front traffic light, the acceleration a1 and the deceleration a 2;
the traffic light information includes at least one of the following information of a traffic light ahead: current display color, period duration T, green light duration T1 in each period, and start time T of last green lightgsWherein the current display color is green or non-green;
wherein the determining the possible passing time period of the current vehicle according to the traffic light information and the current vehicle information comprises:
when the current display color is green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[nT,t1-(t-tgs)+nT]Wherein n is an integer of 0 or more;
when the current display color is not green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]。
Optionally, the determining the passing time period of the current vehicle according to the first speed range, the possible passing time period and the current vehicle information includes:
determining the intermediate time length t according to the distance d from the traffic light in front and the current speed vm＝d/v；
Based on said intermediate duration tmThe possible passage time period [ T ] determined by the value of n1,T2]Determining the possible acceleration a of the current vehicle by,
Figure BDA0002219383840000031
a time period of possible passage according to the first speed range[T1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a'.
Optionally, said time period of possible passage [ T ] according to said first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a' comprising:
according to the possible passing time period [ T when n takes 01,T2]Determining a predicted driving distance d' of the current vehicle according to the current vehicle speed v and the possible acceleration a;
when the predicted driving distance d 'is larger than or equal to the distance d between the vehicle and the front traffic light, acquiring the predicted speed v' of the current vehicle;
determining a transit time period [ T ' for the current vehicle when the predicted speed v ' is within the first range of speeds '1,T′2]For the time period of possible passage T1,T2]Determining the adjusted acceleration a' of the current vehicle as a possible acceleration a;
determining a second predicted distance d "to be traveled by the current vehicle when the predicted speed v' is not within the first speed range;
gradually increasing the value of n to update the possible passage time period when the predicted travel distance d 'and/or the second predicted travel distance d' is less than the distance d to the front traffic light, recalculating the predicted speed and the possible acceleration of the current vehicle based on the updated possible passage time until the recalculated predicted speed is within the first speed range, and determining the passage time period [ T 'of the current vehicle'1,T′2]Determining the adjusted acceleration a' of the current vehicle as the recalculated possible acceleration for the updated possible transit time period.
Optionally, the vehicle speed adjustment scheme of the current vehicle comprises the current vehicleSpeed change period t of vehicleaAnd a uniform time duration tbDetermining a vehicle speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information, wherein the determining the vehicle speed adjusting scheme comprises the following steps:
according to the passage time period [ T'1,T′2]Possible acceleration a, distance d to the traffic light in front and current speed v, the shift duration t being determined byaAnd a uniform time duration tb：
Figure BDA0002219383840000041
According to the speed change time length taAnd a uniform time duration tbAnd determining the vehicle speed adjustment scheme of the current vehicle.
In a second aspect, embodiments of the present disclosure provide a vehicle speed control device based on a traffic system.
Specifically, the vehicle speed control device based on the traffic system comprises:
the system comprises an acquisition module, a traffic light information acquisition module and a traffic light information acquisition module, wherein the acquisition module is configured to acquire current vehicle information, road condition information around a current vehicle and traffic light information;
a first determining module configured to determine a first speed range of the current vehicle according to the road condition information;
a second determination module configured to determine a vehicle speed adjustment scheme for the current vehicle based on the first speed range, current vehicle information, and traffic light information.
In a third aspect, the disclosed embodiments provide an electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to any one of the first aspect.
In a fourth aspect, the disclosed embodiments provide a readable storage medium having stored thereon computer instructions, wherein the memory is configured to store one or more computer instructions, wherein the computer instructions, when executed by the processor, implement the method according to any one of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the technical scheme provided by the embodiment of the disclosure, the first speed range of the current vehicle can be determined according to the road condition information around the current vehicle, and a safe and reliable vehicle speed adjusting scheme is provided for the current vehicle by combining the current vehicle information and the traffic light information around the current vehicle, so that the improvement of traffic efficiency and safety is facilitated.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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Other labels, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:
FIG. 1 schematically illustrates an application scenario of a traffic system based vehicle speed control method, apparatus, device and storage medium according to an embodiment of the disclosure;
FIG. 2 illustrates a flow chart of a method for vehicle speed control based on a traffic system according to an embodiment of the present disclosure;
FIG. 3 illustrates a flow chart for determining a vehicle speed adjustment for a current vehicle in accordance with an embodiment of the present disclosure;
FIG. 4 illustrates a flow chart for determining a likely transit time period for a current vehicle in accordance with an embodiment of the present disclosure;
FIG. 5 shows a flow chart for determining a transit time period for a current vehicle in accordance with an embodiment of the present disclosure;
FIG. 6 illustrates a flow chart for determining a transit time period for a current vehicle and adjusting acceleration in accordance with an embodiment of the present disclosure;
FIG. 7 illustrates a flow chart for determining a vehicle speed adjustment for a current vehicle from a shift time period and a uniform speed time period in accordance with an embodiment of the present disclosure;
FIG. 8 is a block diagram showing a structure of a vehicle speed control apparatus based on a traffic system according to an embodiment of the present disclosure;
FIG. 9 shows a block diagram of an electronic device according to an embodiment of the present disclosure;
FIG. 10 illustrates a schematic block diagram of a computer system suitable for use in implementing a traffic system based vehicle speed control method according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.
In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, behaviors, components, parts, or combinations thereof, and are not intended to preclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or combinations thereof may be present or added.
It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As mentioned above, the rapid increase of vehicles makes the traffic jam in cities more serious, mainly manifested by low vehicle passing efficiency at traffic intersections. The vehicle usually has difficulty to know the traffic light condition of the front intersection in advance, and the vehicle speed can be adjusted only when the vehicle is close to the front traffic light, so that the response time is short. In addition, if the vehicle does not respond to the traffic light in time (for example, the vehicle is not started in time after the red light turns green), the time for the vehicle to pass through the intersection is prolonged, so that the traffic efficiency is reduced, traffic jam is caused, and the energy consumption is increased due to the re-acceleration after the vehicle is braked.
In view of the foregoing drawbacks, an embodiment of the present disclosure provides a method for controlling a vehicle speed based on a traffic system, where the method includes acquiring current vehicle information, current vehicle surrounding road condition information, and traffic light information, determining a first speed range of a current vehicle according to the road condition information, and determining a vehicle speed adjustment scheme of the current vehicle according to the first speed range, the current vehicle information, and the traffic light information. According to the technical scheme, the first speed range of the current vehicle can be determined according to the road condition information around the current vehicle, and a safe and reliable vehicle speed adjusting scheme is provided for the current vehicle by combining the current vehicle information and the traffic light information around the current vehicle, so that the traffic efficiency and the safety are improved.
Fig. 1 schematically shows an application scenario of a vehicle speed control method, device, equipment and storage medium based on a traffic system according to an embodiment of the disclosure.
As shown in fig. 1, a traffic system 100 according to an embodiment of the present disclosure may include vehicles 101 and 102, a road 103, a traffic light 104, and a local establishment 105.
The road 103 is used for vehicle travel, and a traffic light 104 may be provided at the intersection.
The traffic light 104 is a signal light for directing traffic, and generally comprises a red light, a green light and a yellow light, wherein the red light indicates no traffic, the green light indicates permission, and the yellow light indicates warning.
The vehicles 101, 102 are able to travel on the road 103 and interact with the local authority 105 via the network, as well as directly with other vehicles via a one-hop network to receive or send messages.
The local authority 105 may be a server that may store vehicle information (e.g., speed, location, etc. of the vehicles 101, 102), road information (e.g., road speed limits, accident information, etc.), traffic light information (e.g., display color, cycle length, etc.), and other information within the transportation system 100. The local entity 105 can analyze and perform other processes on the received information of the vehicles 101 and 102, and feed back the processing results to the corresponding vehicles.
It should be noted that the vehicle speed control method based on the traffic system provided by the embodiment of the present disclosure may be executed by any one of the vehicles 101 and 102. Accordingly, the electronic device for the vehicle speed control method based on the traffic system provided by the embodiment of the present disclosure may be generally provided in any one of the vehicles 101 and 102.
It should be understood that the number of vehicles, roads, traffic lights and local agencies in fig. 1 is merely illustrative. There may be any number of vehicles, roads, traffic lights, and local agencies, as desired for an implementation.
FIG. 2 shows a flow chart of a method for vehicle speed control based on a traffic system according to an embodiment of the present disclosure.
As shown in FIG. 2, the vehicle speed control method based on the traffic system includes the following steps S101-S103.
In step S101, current vehicle information, road condition information around the current vehicle, and traffic light information are acquired.
In step S102, a first speed range of the current vehicle is determined according to the road condition information.
In step S103, a vehicle speed adjustment scheme of the current vehicle is determined according to the first speed range, the current vehicle information and the traffic light information.
According to an embodiment of the present disclosure, the current vehicle information may include at least one of the following information of the current vehicle: the current vehicle speed v, the current time t, the distance d from the front traffic light, the acceleration a1, and the deceleration a 2.
According to an embodiment of the present disclosure, the front traffic light refers to the first traffic light through which the current vehicle continues to travel along the current road. The distance d from the traffic light in front may be the distance the current vehicle needs to travel from the current location to the next intersection where the traffic light is located. At an intersection where a traffic light is provided, a stop line (see the stop line 106 in fig. 1) is usually provided as a solid white line, and when a vehicle passes through the intersection, the vehicle can continue to move forward only when the stop line is passed during an effective green light time. Therefore, in calculating the distance d from the traffic light in front, the stop line may be taken as the end point of the calculation (the other end point being the current position of the current vehicle).
According to the embodiment of the present disclosure, the acceleration a1 refers to the average acceleration of the current vehicle when accelerating, and the deceleration acceleration a2 refers to the average acceleration of the current vehicle when decelerating. The acceleration a1 and the deceleration a2 are generally fixed values for the same vehicle.
According to an embodiment of the present disclosure, the traffic light information includes at least one of the following information of a front traffic light: current display color, period duration T, green light duration T1 in each period, and start time T of last green lightgsWherein the current display color is green or non-green.
According to embodiments of the present disclosure, a traffic light is a signal light that directs traffic operations generally in a display color, where the display color can be generally distinguished as green and non-green (e.g., red, yellow). The cycle duration refers to a time interval required from a start time of one green light (inclusive) to a start time of the next green light (exclusive) of the traffic light in front, for example, the traffic light displays a green light of 60s, a yellow light of 5s, and a red light of 30 s in each cycle, and the cycle duration of the traffic light is 95 s. The green light duration in each period is an effective green light duration, and is generally equal to the sum of the green display time and the yellow display time, and the current vehicle starting lost time is subtracted.
According to the embodiment of the disclosure, the traffic information includes speed limit information, and the acquiring of the traffic information around the current vehicle includes acquiring the speed limit information of a road where the current vehicle is located.
According to the embodiment of the disclosure, the speed limit information means that a traffic department or a community unit makes safe and reasonable speed requirements according to various actual conditions such as the number of lanes of a road, the type of vehicles, the grade of a road surface, the traffic flow, the radius of a curve, the distance between intersections, the slope, the width of a road shoulder, a central guardrail, road facilities, the length of a road section, the natural environment, relevant regulations and the like.
According to the embodiment of the disclosure, the traffic information may further include a first vehicle speed, and the acquiring of the traffic information around the current vehicle may further include acquiring the first vehicle speed of the first vehicle when the first vehicle exists in a preset range around the current vehicle.
According to the embodiment of the disclosure, if a first vehicle exists around the current vehicle, the current vehicle may need to adjust its speed according to a first vehicle speed of the first vehicle to ensure driving safety. For example, when there is a first vehicle directly in front of the current vehicle, the vehicle speed of the current vehicle cannot be generally greater than the first vehicle speed of the first vehicle.
According to the embodiment of the disclosure, the current vehicle may determine whether the first vehicle exists within a preset range around the current vehicle by means of a laser radar or the like, and may also determine whether the first vehicle exists by obtaining a position relationship between the current vehicle and other vehicles through interaction with a local mechanism. The vehicle outside the preset distance usually does not have obvious influence on the running of the current vehicle, and the preset range can be calculated according to information such as the speed of the current vehicle.
According to the embodiment of the disclosure, the first speed range of the current vehicle is determined according to the road condition information, and the first speed range of the current vehicle is determined according to the speed limit information and/or the first speed. For example, if a first vehicle does not exist in a preset range around a current vehicle, or the first speed of the first vehicle exceeds a speed limit range (for example, the first vehicle has an overspeed phenomenon), determining the first speed range of the current vehicle according to speed limit information of a road where the current vehicle is located; if there is a first vehicle in front of the current vehicle and the first speed of the first vehicle is less than the speed limit of the current road, the first speed may be set to the upper limit of the first speed range (i.e., the fastest speed). Therefore, the first speed range not only considers the running condition of surrounding vehicles, but also considers the speed limit condition of the road, avoids safety accidents such as overspeed, rear-end collision and the like of the current vehicle, and effectively improves the driving safety.
According to the embodiment of the disclosure, the current vehicle determines the first speed range of the current vehicle by acquiring the road condition information, and then determines the speed adjustment scheme of the current vehicle by combining the current vehicle information and the traffic light information around the current vehicle in the first speed range, which is beneficial to improving the traffic efficiency and the driving safety.
According to the embodiment of the disclosure, the current vehicle information, the road condition information around the current vehicle, and the traffic light information may be acquired from a local mechanism of the traffic system, or may be acquired by the current vehicle through interaction with other vehicles, traffic lights, and other devices, or may be acquired by a laser radar, a sensor, and other devices disposed on the current vehicle, which is not specifically limited in this application.
It will be understood by those skilled in the art that the current vehicle information, the current traffic information around the vehicle, and the traffic light information may also include other information that may affect the vehicle speed, such as accident information, according to different needs, and the disclosure is not limited thereto.
FIG. 3 shows a flow chart for determining a vehicle speed adjustment for a current vehicle according to an embodiment of the present disclosure.
As shown in fig. 3, the determining the vehicle speed adjustment scheme of the current vehicle according to the first speed range, the current vehicle information and the traffic light information in step S103 may include the following steps S201 to S203.
In step S201, a time period of possible passage of the current vehicle is determined according to the traffic light information and the current vehicle information.
In step S202, a passage time period of the current vehicle is determined according to the first speed range, a possible passage time period, and current vehicle information.
In step S203, a vehicle speed adjustment scheme of the current vehicle is determined according to the passage time period and the current vehicle information.
According to the embodiment of the disclosure, when the vehicle speed adjustment scheme of the current vehicle is determined, firstly, the possible passing time period of the current vehicle passing through the intersection where the front traffic light is located is determined according to the traffic light information and the current vehicle information, for example, if the current display color of the front traffic light is green, the possible passing time period may be within the green light time of the period, may also be within the green light time of the next period, or within the green light time after a plurality of periods.
After the possible passing time period is determined, the first speed range and the current vehicle information are combined to determine the passing time period of the current vehicle, so that the condition that the unreasonable speed adjustment causes violation of the anti-intersection rule and even causes safety accidents is avoided. For example, assuming that the currently displayed color of the traffic light ahead is green, according to the current vehicle information and the information of the traffic light ahead, if the current vehicle passes through the intersection where the traffic light ahead is located within the green light duration of the present cycle, the speed adopted may not be within the first speed range, and if the current vehicle passes through the intersection within the green light duration of the next cycle, the speed adopted is within the first speed range, the passing time period of the current vehicle may be determined as the green light duration of the next cycle.
After the passing time period of the current vehicle is determined, the vehicle speed adjusting scheme of the current vehicle can be determined by combining the current vehicle information, so that a reliable vehicle speed adjusting scheme is provided for the current vehicle under the condition of ensuring the speed safety, and the traffic efficiency and the driving safety are improved.
FIG. 4 shows a flow chart for determining a likely transit time period for a current vehicle in accordance with an embodiment of the disclosure.
As shown in fig. 4, in step S201, determining the possible passage time period of the current vehicle according to the traffic light information and the current vehicle information includes the following steps S301 to S302.
In step S301, when the current display color is green, the current time T, the period duration T, the green light duration T1 in each period, and the starting time T of the last green light are determined according to the current time T, the period duration T, the green light duration T1 in each periodgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[nT,t1-(t-tgs)+nT]Wherein n is an integer of 0 or more.
According to an embodiment of the present disclosure, when the current display color is green, the current vehicle's possible passage time period is [0, t1- (t-t)gs)]Indicating the duration of the green light of the period; the possible passage time period may also be [ T, T1- (T-T)gs)+T]Indicating the green light duration of the next period; according to the actual situation, n can be any other positive integer and represents the green light time after n periodsLong.
In step S302, when the current display color is non-green, the current time T, the period duration T, the green duration T1 in each period, and the starting time T of the last green light are determined according to the current time T, the period duration T, the green duration T1 in each periodgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]。
According to an embodiment of the present disclosure, when the current display color is non-green (e.g., red), then the current vehicle's time period of likely passage may be [ T- (T-T)gs),t1+T-(t-tgs)]The value of [ T- (T-T) may be within the green duration of the next cyclegs)+T,t1+T-(t-tgs)+T]Indicating that the duration of the green light of the next period is within; according to practical conditions, n can also be any other positive integer, and represents the green light time of the (n + 1) th cycle later.
Fig. 5 shows a flow chart for determining a transit time period for a current vehicle according to an embodiment of the disclosure.
As shown in fig. 5, in step S202, the determining the passage time period of the current vehicle according to the first speed range, the possible passage time period and the current vehicle information includes the following steps S401 to S403.
In step S401, an intermediate time length t is determined according to the distance d from the front traffic light and the current vehicle speed vm＝d/v。
According to an embodiment of the present disclosure, the intermediate duration tmThe time is the time required for the current vehicle to pass through the intersection where the front traffic light is located from the current position to the constant speed under the condition that the current speed is not changed.
In step S402, based on the intermediate time length tmThe possible passage time period [ T ] determined by the value of n1,T2]Determining the possible acceleration a of the current vehicle by,
Figure BDA0002219383840000111
according to an embodiment of the present disclosure, the intermediate duration tmIn the possible passage time period T1,T2]And when the current vehicle passes through the intersection where the front traffic light is located at the constant speed, the display color of the front traffic light is green, so that the current vehicle can smoothly pass through the intersection. The intermediate duration tmNot in the possible passage time period T1,T2]And when the current vehicle passes through the intersection where the front traffic light is located at the constant speed, the display color of the front traffic light is non-green, so that the current vehicle needs to stop to wait for the display color to be converted into green. Wherein when the intermediate time period tm>T2When the vehicle passes through the intersection, the green light duration of the corresponding period is finished, but the vehicle can pass through the intersection within the green light duration of the corresponding period under the condition of no stopping by acceleration; when the intermediate time length tm<T1When the vehicle passes through the intersection at the constant speed, the green light duration of the corresponding period is not started, but the vehicle can pass through the intersection within the green light duration of the corresponding period without stopping through deceleration.
In step S403, a possible passage time period [ T ] according to the first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a'.
According to an embodiment of the present disclosure, when the possible acceleration a is 0, i.e., the intermediate time period tmIn the possible passage time period T1,T2]When the current vehicle can smoothly pass through the intersection under the condition that the speed is not changed, the passing time period [ T 'can be directly determined'1,T′2]For the time period of possible passage T1,T2]And determining the adjusted acceleration a' to be 0.
According to the embodiment of the present disclosure, when the possible acceleration is not 0, although the current vehicle may be able to pass through the intersection where the traffic light is located without stopping by accelerating or decelerating, the speed of the current vehicle after accelerating or decelerating may exceed the first speed range, which may easily cause a safety accident, and the possible passing time period (for example, the green light time period of the next cycle) after the current vehicle is accelerated or decelerated may be determined as the passing time period.
According to an embodiment of the disclosure, determining a passage time period [ T 'of the current vehicle'1,T′2]Comprising determining the possible passage time period T1,T2]＝[nT,t1-(t-tgs)+nT](or [ T)1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]) The value of the middle parameter n.
FIG. 6 illustrates a flow chart for determining a transit time period for a current vehicle and adjusting acceleration in accordance with an embodiment of the disclosure.
As shown in fig. 6, in step S403, the possible passage time period T according to the first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a' includes the following steps S501 to S505.
In step S501, the time period [ T ] of possible passage when n takes 01,T2]A current vehicle speed v and a possible acceleration a, determining a projected distance d' to be traveled by said current vehicle.
According to the embodiment of the disclosure, the expected driving distance d' of the current vehicle represents the possible passing time period [ T ] determined by the value of n when the current vehicle moves at the variable speed with the possible acceleration a1,T2](e.g., when n is 0, the possible passage time period is [0, t1- (t-t)gs)]Or [ T1,T2]＝[T-(t-tgs),t1+T-(t-tgs)]) The predicted travel distance d' of the current vehicle may be determined by the following formula:
Figure BDA0002219383840000121
in step S502, when the predicted travel distance d 'is equal to or greater than the distance d to the traffic light ahead, the predicted speed v' of the current vehicle is acquired.
According to the embodiment of the present disclosure, when the predicted travel distance d' is greater than or equal to the distance d from the traffic light in front, indicating that the current vehicle makes a uniform speed change motion at the possible acceleration a, the current vehicle may pass through the corresponding intersection in the corresponding possible passage time period.
According to an embodiment of the present disclosure, the predicted speed v' of the current vehicle may be obtained by the following formula:
v′＝v+a·T2。
in step S503, when the predicted speed v ' is within the first speed range, determining a passage time period [ T ' of the current vehicle '1,T′2]For the time period of possible passage T1,T2]And determining the adjusted acceleration a' of the current vehicle as a possible acceleration a.
According to the embodiment of the disclosure, when the predicted speed v 'is in the first speed range, which indicates that the current vehicle moves at a variable speed with a possible acceleration a, the current vehicle can pass through the corresponding intersection in the corresponding possible passing time period without exceeding the first speed range, and the passing time period [ T'1,T′2]For the time period of possible passage T1,T2]And determining the adjusted acceleration a' of the current vehicle as a possible acceleration a.
In step S504, when the predicted speed v' is not within the first speed range, a second predicted travel distance d ″ of the current vehicle is determined.
According to the embodiment of the disclosure, when the predicted speed v' is not in the first speed range, it indicates that the current vehicle is moving at a variable speed with a possible acceleration a, the current vehicle can pass through the corresponding intersection in the corresponding possible passing time period, but at least a part of the time of the speed exceeds the first speed range, so that problems such as illegal countercrossing rules and even safety accidents are easily caused due to unreasonable speed adjustment.
According to an embodiment of the present disclosure, the second expected driving distance d "represents the current vehicle in the corresponding possible passage time period [ T1,T2]And (c) changing the current speed v to a boundary value (maximum speed or minimum speed) of the first speed range, and then performing uniform motion for a running distance.
According to the embodiment of the disclosure, when the second predicted driving distance d ″ is greater than or equal to the distance d from the front traffic light, which indicates that the current vehicle can make uniform speed movement at the possible acceleration a first and then make uniform speed movement at the boundary value (the maximum speed or the minimum speed) of the first speed range, the current vehicle can pass through the corresponding intersection within the corresponding possible passing time period, and the passing time period [ T 'of the current vehicle can be determined'1,T′2]For the time period of possible passage T1,T2]And determining the adjusted acceleration a' of the current vehicle as a possible acceleration a.
In step S505, when the predicted travel distance d ' and/or the second predicted travel distance d ″ is less than the distance d to the traffic lights ahead, gradually increasing the value of n to update the possible passage time period, recalculating the predicted speed and the possible acceleration of the current vehicle based on the updated possible passage time until the recalculated predicted speed is within the first speed range, and determining the passage time period [ T ' of the current vehicle '1,T′2]Determining the adjusted acceleration a' of the current vehicle as the recalculated possible acceleration for the updated possible transit time period.
According to the embodiment of the present disclosure, when the second predicted travel distance d "is less than the distance d from the traffic light ahead, it indicates that the current vehicle may make a uniform movement at the possible acceleration a first and then make a uniform movement at a boundary value (maximum speed or minimum speed) of the first speed range, and may pass through the corresponding intersection in the corresponding possible passage time period.
When the predicted travel distance d' of the current vehicle is less than the distance d from the traffic light in front, it indicates that the current vehicle cannot pass through the corresponding intersection in the corresponding possible passage time period even if the current vehicle does uniform acceleration motion.
Therefore, when the predicted travel distance d ' and/or the second predicted travel distance d ″ is less than the distance d from the front traffic light, it is necessary to re-determine the transit time period [ T ' of the current vehicle '1,T′2]Possible passing time period T not corresponding to current n value1,T2]Determining the transit time period [ T 'of the current vehicle by incrementally increasing the value of n (e.g., by 1 each time) to update the likely transit time period and recalculating the predicted speed and likely acceleration of the current vehicle based on the updated likely transit time until the recalculated predicted speed is within the first speed range'1,T′2]Determining the adjusted acceleration a' of the current vehicle as the recalculated possible acceleration for the updated possible transit time period.
According to an embodiment of the present disclosure, the vehicle speed adjustment scheme of the current vehicle includes a shift duration t of the current vehicleaAnd a uniform time duration tb. FIG. 7 shows a flowchart for determining a current vehicle speed adjustment by a shift time period and a uniform speed time period according to an embodiment of the present disclosure.
As shown in fig. 7, in step S203, the determining the vehicle speed adjustment scheme of the current vehicle according to the passage time period and the current vehicle information includes the following steps S601-S602.
In step S601, according to the passage time period [ T'1,T′2]Possible acceleration a, distance d to the traffic light in front and current speed v, the shift duration t being determined byaAnd a uniform time duration tb：
Figure BDA0002219383840000141
In step S602, the shift duration t is determined according to the shift durationaAnd a uniform time duration tbEnsure thatAnd determining a vehicle speed adjusting scheme of the current vehicle.
According to an embodiment of the present disclosure, the current vehicle speed adjustment scheme may include one or more stages, each of which performs any one of acceleration, uniform speed, and deceleration. According to the embodiment of the disclosure, because the oil consumption of the vehicle in the speed changing process is usually greater than that in the constant speed process, the speed adjusting scheme of the current vehicle can be determined according to the passing time period and the current vehicle information on the principle that the speed changing time is as short as possible, so that a safe and reliable speed adjusting scheme can be provided for the current vehicle, and the oil consumption of the current vehicle can be reduced.
Fig. 8 shows a block diagram of a vehicle speed control device 800 based on a traffic system according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both.
As shown in fig. 8, the traffic system-based vehicle speed control apparatus 800 includes an acquisition module 801, a first determination module 802, and a second determination module 803.
The obtaining module 801 is configured to obtain current vehicle information, road condition information around the current vehicle, and traffic light information;
the first determining module 802 is configured to determine a first speed range of the current vehicle according to the road condition information;
the second determination module 803 is configured to determine a vehicle speed adjustment scheme for the current vehicle based on the first speed range, current vehicle information, and traffic light information.
According to the embodiment of the present disclosure, the acquiring of the road condition information around the current vehicle includes:
acquiring speed limit information of a road where a current vehicle is located; and/or
When a first vehicle exists in a preset range around the current vehicle, acquiring a first vehicle speed of the first vehicle.
According to an embodiment of the present disclosure, the determining a vehicle speed adjustment scheme of the current vehicle according to the first speed range, the current vehicle information, and the traffic light information includes:
determining a possible passing time period of the current vehicle according to the traffic light information and the current vehicle information;
determining the passing time period of the current vehicle according to the first speed range, the possible passing time period and the current vehicle information;
and determining a speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information.
According to an embodiment of the present disclosure, the current vehicle information includes at least one of the following information of the current vehicle: the current vehicle speed v, the current time t, the distance d from a front traffic light, the acceleration a1 and the deceleration a 2;
the traffic light information includes at least one of the following information of a traffic light ahead: current display color, period duration T, green light duration T1 in each period, and start time T of last green lightgsWherein the current display color is green or non-green;
wherein the determining the possible passing time period of the current vehicle according to the traffic light information and the current vehicle information comprises:
when the current display color is green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[nT,t1-(t-tgs)+nT]Wherein n is an integer of 0 or more;
when the current display color is not green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]。
According to an embodiment of the present disclosure, the determining the passage time period of the current vehicle according to the first speed range, the possible passage time period, and the current vehicle information includes:
determining the intermediate time length t according to the distance d from the traffic light in front and the current speed vm＝d/v；
Based on said intermediate duration tmThe possible passage time period [ T ] determined by the value of n1,T2]Determining the possible acceleration a of the current vehicle by,
Figure BDA0002219383840000161
a possible passage time period [ T ] according to the first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a'.
According to an embodiment of the present disclosure, the first speed range according to the transit time period [ T ]1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a' comprising:
according to the possible passing time period [ T when n takes 01,T2]Determining a predicted driving distance d' of the current vehicle according to the current vehicle speed v and the possible acceleration a;
when the predicted driving distance d 'is larger than or equal to the distance d between the vehicle and the front traffic light, acquiring the predicted speed v' of the current vehicle;
determining a transit time period [ T ' for the current vehicle when the predicted speed v ' is within the first range of speeds '1,T′2]For the time period of possible passage T1,T2]Determining the adjusted acceleration a' of the current vehicle as a possible acceleration a;
determining a second predicted distance d "to be traveled by the current vehicle when the predicted speed v' is not within the first speed range;
when it is at homeGradually increasing the value of n when the predicted travel distance d 'and/or the second predicted travel distance d' is smaller than the distance d from the front traffic light to update the possible passage time period, recalculating the predicted speed and the possible acceleration of the current vehicle based on the updated possible passage time until the recalculated predicted speed is within the first speed range, and determining the passage time period [ T 'of the current vehicle'1,T′2]Determining the adjusted acceleration a' of the current vehicle as the recalculated possible acceleration for the updated possible transit time period.
According to an embodiment of the present disclosure, the vehicle speed adjustment scheme of the current vehicle includes a shift duration t of the current vehicleaAnd a uniform time duration tbDetermining a vehicle speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information, wherein the determining the vehicle speed adjusting scheme comprises the following steps:
according to the passage time period [ T'1,T′2]Possible acceleration a, distance d to the traffic light in front and current speed v, the shift duration t being determined byaAnd a uniform time duration tb：
Figure BDA0002219383840000171
According to the speed change time length taAnd a uniform time duration tbAnd determining the vehicle speed adjustment scheme of the current vehicle.
The present disclosure also discloses an electronic device, and fig. 9 shows a block diagram of a structure of an electronic device 900 according to an embodiment of the present disclosure.
As shown in fig. 9, the electronic device 900 includes a memory 901 and a processor 902. The memory 901 is used for storing one or more computer instructions, wherein the one or more computer instructions are executed by the processor 902 for implementing the following method steps:
acquiring current vehicle information, road condition information around the current vehicle and traffic light information;
determining a first speed range of the current vehicle according to the road condition information;
and determining a speed adjusting scheme of the current vehicle according to the first speed range, the current vehicle information and the traffic light information.
According to the embodiment of the present disclosure, the acquiring of the road condition information around the current vehicle includes:
acquiring speed limit information of a road where a current vehicle is located; and/or
When a first vehicle exists in a preset range around the current vehicle, acquiring a first vehicle speed of the first vehicle.
According to an embodiment of the present disclosure, the determining a vehicle speed adjustment scheme of the current vehicle according to the first speed range, the current vehicle information, and the traffic light information includes:
determining a possible passing time period of the current vehicle according to the traffic light information and the current vehicle information;
determining the passing time period of the current vehicle according to the first speed range, the possible passing time period and the current vehicle information;
and determining a speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information.
According to an embodiment of the present disclosure, the current vehicle information includes at least one of the following information of the current vehicle: the current vehicle speed v, the current time t, the distance d from a front traffic light, the acceleration a1 and the deceleration a 2;
the traffic light information includes at least one of the following information of a traffic light ahead: current display color, period duration T, green light duration T1 in each period, and start time T of last green lightgsWherein the current display color is green or non-green;
wherein the determining the possible passing time period of the current vehicle according to the traffic light information and the current vehicle information comprises:
when the current display color is green, according to the current time T, the period duration T and the green light in each periodDuration t1 and the starting time t of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[nT,t1-(t-tgs)+nT]Wherein n is an integer of 0 or more;
when the current display color is not green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]。
According to an embodiment of the present disclosure, the determining the passage time period of the current vehicle according to the first speed range, the possible passage time period, and the current vehicle information includes:
determining the intermediate time length t according to the distance d from the traffic light in front and the current speed vm＝d/v；
Based on said intermediate duration tmThe possible passage time period [ T ] determined by the value of n1,T2]Determining the possible acceleration a of the current vehicle by,
Figure BDA0002219383840000191
a possible passage time period [ T ] according to the first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a'.
According to an embodiment of the present disclosure, the first speed range according to the transit time period [ T ]1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a' comprising:
according to the possible passing time period [ T when n takes 01,T2]Current vehicle speed v and possibleAcceleration a, determining the predicted driving distance d' of the current vehicle;
when the predicted driving distance d 'is larger than or equal to the distance d between the vehicle and the front traffic light, acquiring the predicted speed v' of the current vehicle;
determining a transit time period [ T ' for the current vehicle when the predicted speed v ' is within the first range of speeds '1,T′2]For the time period of possible passage T1,T2]Determining the adjusted acceleration a' of the current vehicle as a possible acceleration a;
determining a second predicted distance d "to be traveled by the current vehicle when the predicted speed v' is not within the first speed range;
gradually increasing the value of n to update the possible passage time period when the predicted travel distance d 'and/or the second predicted travel distance d' is less than the distance d to the front traffic light, recalculating the predicted speed and the possible acceleration of the current vehicle based on the updated possible passage time until the recalculated predicted speed is within the first speed range, and determining the passage time period [ T 'of the current vehicle'1,T′2]Determining the adjusted acceleration a' of the current vehicle as the recalculated possible acceleration for the updated possible transit time period.
According to an embodiment of the present disclosure, the vehicle speed adjustment scheme of the current vehicle includes a shift duration t of the current vehicleaAnd a uniform time duration tbDetermining a vehicle speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information, wherein the determining the vehicle speed adjusting scheme comprises the following steps:
according to the passage time period [ T'1,T′2]Possible acceleration a, distance d to the traffic light in front and current speed v, the shift duration t being determined byaAnd a uniform time duration tb：
Figure BDA0002219383840000201
According to the speed change time length taAnd a uniform time duration tbAnd determining the vehicle speed adjustment scheme of the current vehicle.
FIG. 10 illustrates a schematic block diagram of a computer system suitable for use in implementing a traffic system based vehicle speed control method according to an embodiment of the present disclosure.
As shown in fig. 1000, the computer system 1000 includes a Central Processing Unit (CPU)1001 that can execute various processes in the above-described embodiments in accordance with a program stored in a Read Only Memory (ROM)1002 or a program loaded from a storage section 1009 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the system 1000 are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.
The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The driver 1010 is also connected to the I/O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1010 as necessary, so that a computer program read out therefrom is mounted into the storage section 1008 as necessary.
In particular, the above described methods may be implemented as computer software programs according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the above-described object class determination method. In such an embodiment, the computer program may be downloaded and installed from a network through the communication part 1009 and/or installed from the removable medium 1011.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present disclosure may be implemented by software or by programmable hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.
As another aspect, the present disclosure also provides a readable storage medium, which may be a readable storage medium contained in the electronic device or the computer system in the above embodiments; or may be a separately present, non-built-in, readable storage medium. The readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present disclosure is not limited to the specific combination of the above-mentioned features, but also covers other embodiments formed by any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims (8)

1. A vehicle speed control method based on a traffic system is characterized by comprising the following steps:
acquiring current vehicle information, road condition information around the current vehicle and traffic light information;
determining a first speed range of the current vehicle according to the road condition information;
determining a speed adjustment scheme of the current vehicle according to the first speed range, the current vehicle information and the traffic light information, wherein the speed adjustment scheme comprises the following steps: determining a possible passing time period of the current vehicle according to the traffic light information and the current vehicle information; determining the passing time period of the current vehicle according to the first speed range, the possible passing time period and the current vehicle information; determining a speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information,
wherein:
the current vehicle information includes at least one of the following information of the current vehicle: the current vehicle speed v, the current time t, the distance d from a front traffic light, the acceleration a1 and the deceleration a 2;
the traffic light information includes at least one of the following information of a traffic light ahead: current display color, period duration T, green light duration T1 in each period, and start time T of last green lightgsWherein the current display color is green or non-green;
the determining the possible passing time period of the current vehicle according to the traffic light information and the current vehicle information comprises the following steps:
when the current display color is green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[nT,t1-(t-tgs)+nT]Wherein n is an integer of 0 or more;
when the current display color is not green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]。
2. The method as claimed in claim 1, wherein the traffic information includes speed limit information and/or a first vehicle speed, and wherein the obtaining the traffic information around the current vehicle includes:
acquiring speed limit information of a road where a current vehicle is located; and/or
When a first vehicle exists in a preset range around the current vehicle, acquiring a first vehicle speed of the first vehicle.
3. The method of claim 1, wherein determining the transit time period for the current vehicle based on the first speed range, a likely transit time period, and current vehicle information comprises:
determining the intermediate time length t according to the distance d from the traffic light in front and the current speed vm＝d/v；
Based on said intermediate duration tmThe possible passage time period [ T ] determined by the value of n1,T2]Determining the possible acceleration a of the current vehicle by,
Figure FDA0002753233650000021
a possible passage time period [ T ] according to the first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a'.
4. Method according to claim 3, characterized in that said possible passage time period [ T ] according to said first speed range1,T2]Distance d from a front traffic light, current vehicle speed v and possible acceleration a, and determining a passing time period [ T ] of the current vehicle'1,T′2]And adjusting the acceleration a' comprising:
according to the possible passing time period [ T when n takes 01,T2]Determining a predicted driving distance d' of the current vehicle according to the current vehicle speed v and the possible acceleration a;
when the predicted driving distance d 'is larger than or equal to the distance d between the vehicle and the front traffic light, acquiring the predicted speed v' of the current vehicle;
determining a transit time period [ T ' for the current vehicle when the predicted speed v ' is within the first range of speeds '1,T′2]For the time period of possible passage T1,T2]Determining the adjusted acceleration a' of the current vehicle as a possible acceleration a;
determining a second predicted distance d "to be traveled by the current vehicle when the predicted speed v' is not within the first speed range;
gradually increasing the value of n to update the possible passage time period when the predicted travel distance d 'and/or the second predicted travel distance d' is less than the distance d to the front traffic light, recalculating the predicted speed and the possible acceleration of the current vehicle based on the updated possible passage time until the recalculated predicted speed is within the first speed range, and determining the passage time period [ T 'of the current vehicle'1,T′2]Determining the adjusted acceleration a' of the current vehicle as the recalculated possible acceleration for the updated possible transit time period.
5. The method of claim 4, wherein the current vehicle speed adjustment comprises a shift duration t of the current vehicleaAnd a uniform time duration tbDetermining a vehicle speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information, wherein the determining the vehicle speed adjusting scheme comprises the following steps:
according to the passage time period [ T'1,T′2]Possible acceleration a, distance d to the traffic light in front and current speed v, the shift duration t being determined byaAnd a uniform time duration tb：
Figure FDA0002753233650000031
According to the speed change time length taAnd a uniform time duration tbAnd determining the vehicle speed adjustment scheme of the current vehicle.
6. A vehicle speed control device based on a traffic system, characterized by comprising:
the system comprises an acquisition module, a traffic light information acquisition module and a traffic light information acquisition module, wherein the acquisition module is configured to acquire current vehicle information, road condition information around a current vehicle and traffic light information;
a first determining module configured to determine a first speed range of the current vehicle according to the road condition information;
a second determination module configured to determine a vehicle speed adjustment scheme for the current vehicle based on the first speed range, current vehicle information, and traffic light information, comprising: determining a possible passing time period of the current vehicle according to the traffic light information and the current vehicle information; determining the passing time period of the current vehicle according to the first speed range, the possible passing time period and the current vehicle information; determining a speed adjusting scheme of the current vehicle according to the passing time period and the current vehicle information,
wherein:
the current vehicle information includes at least one of the following information of the current vehicle: the current vehicle speed v, the current time t, the distance d from a front traffic light, the acceleration a1 and the deceleration a 2;
the traffic light information includes frontAt least one of the following information of the square traffic light: current display color, period duration T, green light duration T1 in each period, and start time T of last green lightgsWherein the current display color is green or non-green;
the determining the possible passing time period of the current vehicle according to the traffic light information and the current vehicle information comprises the following steps:
when the current display color is green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[nT,t1-(t-tgs)+nT]Wherein n is an integer of 0 or more;
when the current display color is not green, according to the current time T, the period time length T, the green light time length T1 in each period and the starting time T of the last green lightgsDetermining a possible passage time period of the current vehicle as [ T1,T2]＝[T-(t-tgs)+nT,t1+T-(t-tgs)+nT]。
7. An electronic device comprising a memory and a processor; wherein the memory is to store one or more computer instructions, wherein the one or more computer instructions are to be executed by the processor to implement the method steps of any of claims 1-5.
8. A readable storage medium having stored thereon computer instructions, characterized in that the computer instructions, when executed by a processor, carry out the method steps of any of claims 1-5.
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