CN111127954A - Safe passing method for vehicles at signal lamp-free intersection - Google Patents
Safe passing method for vehicles at signal lamp-free intersection Download PDFInfo
- Publication number
- CN111127954A CN111127954A CN202010197776.2A CN202010197776A CN111127954A CN 111127954 A CN111127954 A CN 111127954A CN 202010197776 A CN202010197776 A CN 202010197776A CN 111127954 A CN111127954 A CN 111127954A
- Authority
- CN
- China
- Prior art keywords
- passing
- vehicle
- intersection
- vehicles
- strategy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a safe passing method of vehicles at a signal lamp-free intersection, which comprises the following steps: when a target vehicle reaches a preset electronic area of a preset signal-lamp-free intersection, when no other vehicle exists in the range of the target area or the collision danger between the other vehicle and the target vehicle does not occur, the target vehicle is prompted to normally pass, when the collision danger exists, a passing strategy is respectively formulated according to the condition that the vehicle enters the intersection, and the passing information prompt is executed, so that the target vehicle is ensured to safely and smoothly pass through the signal-lamp-free intersection, and meanwhile, the safety guarantee is provided for the other vehicles passing through the intersection. The method for safely passing the vehicles at the signal lamp-free intersection ensures the running safety of the target vehicle and other vehicles and greatly improves the passing efficiency of the signal lamp-free intersection.
Description
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a safe passing method of vehicles at a signal lamp-free intersection.
Background
The vehicles run according to the traffic light information when passing through the intersections according to the traffic light rules, but some intersections without traffic lights usually exist in some rural, urban and suburban roads, and the intersections without traffic lights are usually road sections with traffic jam or even accident occurrence, so that the safe traveling of the vehicles is greatly influenced.
When an existing vehicle passes through an intersection without traffic lights, the existing vehicle often passes through the intersection without the traffic lights by depending on the driving safety consciousness of a driver, such as slow speed reduction, parking observation and other driving behaviors to guarantee driving safety, but the existing vehicle also has the safety problems that the vehicle is jammed, traffic accidents and the like due to the fact that some drivers have poor safety consciousness or observe behaviors such as carelessness and the like, so that the existing vehicle cannot pass through the intersection safely and smoothly, and therefore the safety problem of the intersection without the traffic lights is very important to solve.
Disclosure of Invention
The invention provides a safe passing method of vehicles at a signal lamp-free intersection, which comprises the following steps:
s1: when the target vehicle reaches a preset electronic area of a preset no-signal lamp intersection, searching whether other vehicles exist in the range of the target area, if not, prompting the target vehicle to normally pass, and if so, entering step S2;
s2: judging whether collision danger exists according to the running information of other vehicles and the running information of the target vehicle, if not, prompting the target vehicle to normally pass, and if so, entering step S3; wherein the driving information comprises vehicle navigation information;
s3: judging whether other vehicles drive into the intersection or not, if not, entering step S4; if so, judging whether collision danger exists between the driven vehicles according to the navigation information, and if not, making a passing strategy according to the main driving direction of the driven vehicles; if the vehicle does not enter the intersection, sending parking waiting information to the vehicle which does not enter the intersection, and making a passing strategy of the vehicle which does not enter the intersection when the vehicle which enters the intersection completely exits the intersection; wherein the primary direction of travel does not include a right turn;
s4: making a traffic strategy according to waiting time, navigation information and driving information of the target vehicle and other vehicles;
s5: and the target vehicle executes the traffic strategy and sends the traffic strategy to the vehicle-mounted terminals of other vehicles for information prompt according to the traffic strategy.
Further, step S1 is preceded by: and the vehicle-mounted terminal of the target vehicle runs according to the electronic navigation map, and a preset electronic area is arranged in the electronic navigation map.
Further, the target area range comprises intersection areas and areas in a second distance in front of each intersection direction; the method for determining the second distance comprises the following steps: predicting a first time T1 required by the target vehicle to reach the stop line according to the speed of the target vehicle; the product of the first time T1 and the road segment speed limit is recorded as the second distance.
Further, the step S3 of making a traffic policy according to the main driving direction of the driven vehicle specifically includes:
determining a main driving direction of the vehicle according to the navigation information of the driven vehicle;
when the main driving direction is any one combined direction of bidirectional relative straight driving, bidirectional relative left turning or unidirectional straight left turning, determining that two driving directions in the main driving direction of the driven vehicle are respectively a first passing direction and a second passing direction of a passing strategy;
when the main driving direction only comprises one-way straight driving, taking the one-way straight driving as a first driving direction of the communication strategy, acquiring the waiting time of the vehicles in opposite straight driving and same-direction left-turning directions without intersection, and taking the driving direction corresponding to the vehicle with the longest waiting time as a second driving direction of the communication strategy;
when the main driving direction only comprises one-way left turning, the one-way left turning is used as a first passing direction of the communication strategy, the waiting time of the vehicles in the same-direction straight direction and the opposite left turning direction without intersection is obtained, and the driving direction corresponding to the vehicle with the longest waiting time is used as a second passing direction of the communication strategy.
Further, the step of formulating the traffic policy according to the waiting time, the navigation information and the driving information of the target vehicle and other vehicles specifically comprises the following steps:
recording the waiting time of the target vehicle and other vehicles entering a preset waiting area in each intersection direction, and determining the driving direction of the vehicle with the longest waiting time as a first passing direction of a passing strategy according to the navigation information;
determining candidate traffic directions without running intersection according to the first traffic direction, comparing the longest waiting time of the vehicles in the candidate traffic directions, and selecting the second traffic direction with the longest waiting time in the candidate traffic directions as a traffic strategy; the candidate passing directions comprise a second passing direction and a third passing direction;
when the vehicles pass through the intersection according to the passing strategy, if the vehicles in the first passing direction do not pass through the intersection and the vehicles in the second passing direction pass through the intersection within the preset passing time, calculating whether waiting vehicles in the third passing direction can pass through the intersection completely within the residual passing time, and if so, increasing the third passing direction as the passing direction allowed by the passing strategy;
and when the vehicles in the first passing direction and the second passing direction completely pass through the intersection before the preset passing time length is finished and no vehicle capable of completely passing through the intersection in the residual passing time exists, immediately finishing the currently executed passing strategy and re-determining the passing strategy in the next direction according to the waiting time and the navigation information.
Furthermore, the vehicle-mounted terminal prompts and/or displays a traffic strategy of the corresponding vehicle by voice, wherein the traffic strategy comprises an allowed traffic direction and driving prompt information.
Further, the vehicle-mounted terminal also displays the position information of the vehicles entering the intersection and the planning route information of the vehicles.
Further, the preset waiting area is determined according to the speed limit value of the road section of the intersection without the signal lamp, specifically, the minimum braking distance K of the vehicle is calculated by taking the speed limit value of the road section as the running speed of the vehicle, the waiting distance is obtained by multiplying the minimum braking distance K by the multiple n, and the road area between the waiting distance and the stop line is the preset waiting area.
Further, still include: and monitoring whether all vehicles are executed according to the corresponding traffic strategies, if not, sending the illegal vehicle information to vehicle-mounted terminals of other vehicles for marking display, and simultaneously recording the illegal driving information of the vehicles for storage.
The invention has the following beneficial effects: when the target vehicle runs to the intersection without the traffic signal lamp in the front, the passing strategy or the prompt information of the target vehicle is formulated according to the vehicle condition and the running information in the target area range, so that the risk of collision between the target vehicle and the current intersection without the traffic signal lamp is effectively avoided, and the target vehicle can reasonably, orderly, safely and efficiently pass through the intersection without the traffic signal lamp.
Drawings
Fig. 1 is a flowchart of a method for safely passing vehicles at a non-signal lamp intersection according to an embodiment of the invention.
Detailed Description
In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.
The embodiment of the invention provides a method for safely passing vehicles at a signal lamp-free intersection, which comprises the following steps of:
s1: when the target vehicle reaches a preset electronic area of a preset no-signal lamp intersection, searching whether other vehicles exist in the range of the target area, if not, prompting the target vehicle to normally pass, and if so, entering step S2;
in the embodiment of the invention, all vehicles are provided with vehicle-mounted terminals with electronic navigation maps, the vehicle-mounted terminals automatically start the electronic navigation map function before the target vehicle runs, the vehicle-mounted terminals of the target vehicle run according to the electronic navigation map, a preset electronic area is arranged in the electronic navigation map, when the target vehicle runs according to the electronic navigation map, the position information of the target vehicle is obtained in real time, and when the target vehicle reaches the preset electronic area, an instruction for sending the running information of the target vehicle is generated and executed.
In the embodiment of the invention, the target area range comprises an intersection area and an area in a second distance in front of each intersection direction; the method for determining the second distance comprises the following steps: predicting a first time T1 required by the target vehicle to reach the stop line according to the speed of the target vehicle; the product of the first time T1 and the road speed limit value is recorded as a second distance, and due to different driving speeds of different vehicles, vehicles at different distances from the intersection without the signal lamp can pass through the stop line to drive into the intersection at the same time or with smaller time difference, for example, when the target vehicle drives at 40Km/h and a vehicle far away from the intersection drives to the intersection at the speed of 60Km, the target vehicle and the vehicle can simultaneously drive in the intersection to cause collision danger, so that the second distance of the determined target area range is calculated according to the current road speed limit value and the time (namely the time for reaching the stop line) required by the target vehicle to drive into the intersection, and the vehicle with the collision risk can be more reasonably and accurately predicted.
S2: judging whether collision danger exists according to the running information of other vehicles and the running information of the target vehicle, if not, prompting the target vehicle to normally pass, and if so, entering step S3; wherein the driving information comprises vehicle navigation information;
in the embodiment of the invention, the collision danger is judged mainly according to the navigation information in the running information of the target vehicle and the navigation information in the running information of other vehicles, if the direction of the target vehicle passing through an intersection is determined to be straight, and the vehicle navigation information in the opposite direction in other vehicles turns left, the collision danger is judged to exist; because the running speeds of all vehicles are different and have speed changes, the error of judging the collision danger through the speed is larger, the method is not adopted, and the collision danger is preliminarily judged only through navigation information, so that the possibility of collision is reduced. In the embodiment of the invention, the driving information further comprises position information and speed information.
S3: judging whether other vehicles drive into the intersection or not, if not, entering step S4; if so, judging whether collision danger exists between the driven vehicles according to the navigation information, and if not, making a passing strategy according to the main driving direction of the driven vehicles; if the vehicle does not enter the intersection, sending parking waiting information to the vehicle which does not enter the intersection, and making a passing strategy of the vehicle which does not enter the intersection when the vehicle which enters the intersection completely exits the intersection; wherein the primary direction of travel does not include a right turn;
in the embodiment of the invention, whether collision danger exists between vehicles which drive into an intersection is judged, and when the collision danger does not exist, a traffic strategy is formulated according to the main driving direction of the driven vehicles, which specifically comprises the following steps: determining a main driving direction of the vehicle according to the navigation information of the driven vehicle; when the main driving direction is any one combined direction of bidirectional relative straight driving, bidirectional relative left turning or unidirectional straight left turning, determining that two driving directions in the main driving direction of the driven vehicle are respectively a first passing direction and a second passing direction of a passing strategy; when the main driving direction only comprises one-way straight driving, taking the one-way straight driving as a first driving direction of the communication strategy, acquiring the waiting time of the vehicles in opposite straight driving and same-direction left-turning directions without intersection, and taking the driving direction corresponding to the vehicle with the longest waiting time as a second driving direction of the communication strategy; when the main driving direction only comprises one-way left turning, the one-way left turning is used as a first passing direction of the communication strategy, the waiting time of the vehicles in the same-direction straight direction and the opposite left turning direction without intersection is obtained, and the driving direction corresponding to the vehicle with the longest waiting time is used as a second passing direction of the communication strategy. According to the embodiment of the invention, the main driving direction of the driven vehicle without collision danger is used as the optimal passing direction established by the communication strategy, and when the driven vehicle passes through the intersection, other vehicles can be allowed to drive into the intersection, so that the passing safety is ensured, meanwhile, the waiting time of the vehicle is reduced, and the passing efficiency is improved.
When the driven vehicle has collision danger, sending parking waiting information to the vehicle which does not drive into the intersection, and making a passing strategy of the vehicle which does not drive into the intersection when the driven vehicle completely drives out of the intersection; the vehicles which drive into the intersection are allowed to pass through preferentially, so that the greater congestion and collision danger caused when the vehicles which do not drive into the intersection continue to drive into the intersection can be effectively avoided; it should be noted that, in the embodiment of the present invention, the main driving direction does not include a right turn.
S4: making a traffic strategy according to waiting time, navigation information and driving information of the target vehicle and other vehicles;
the traffic strategy is formulated according to the waiting time, the navigation information and the driving information of the target vehicle and other vehicles, and specifically comprises the following steps: determining candidate traffic directions without traffic intersection according to the first traffic direction, comparing the longest traffic waiting time of the vehicles in the candidate traffic directions, and selecting the traffic direction with the longest traffic waiting time in the candidate traffic directions as a second traffic direction of the traffic strategy; the candidate passing directions comprise a second passing direction and a third passing direction; when the vehicles pass through the intersection according to the passing strategy, if the vehicles in the first passing direction do not pass through the intersection and the vehicles in the second passing direction pass through the intersection within the preset passing time, calculating whether waiting vehicles in the third passing direction can pass through the intersection completely within the residual passing time, and if so, increasing the third passing direction as the passing direction allowed by the passing strategy; and when the vehicles in the first passing direction and the second passing direction completely pass through the intersection before the preset passing time length is finished and no vehicle capable of completely passing through the intersection in the residual passing time exists, immediately finishing the currently executed passing strategy and re-determining the passing strategy in the next direction according to the waiting time and the navigation information. It should be noted that, when no vehicle enters the intersection in other vehicles, the passing policy of the embodiment of the present invention is an adaptive policy, and first a first passing direction and a second passing direction are determined according to the waiting time, and when the vehicle in the second passing direction passes, the vehicle in the third passing direction is determined by the computing to allow the vehicle in the third passing direction to pass for policy adaptive adjustment, so that the passing time resource is effectively utilized, and the passing efficiency is improved. For example, the passing policy is that the first passing direction is straight going from south to north, the second passing direction is straight going from north to south, and the preset passing time length is 30 s; when the remaining passing time of the preset passing time length is 15s, vehicles going straight from south to north still have vehicles passing through, but vehicles going from north to south have completed passing through, whether vehicles turning left from south to west in the third passing direction can complete crossing passing within 15s is calculated, and if yes, vehicles turning left from south to west are allowed to pass through. If the remaining passing time is 15s, the vehicles in the directions of straight-going from south to north and straight-going from north to south pass through the intersection, and no vehicle capable of passing through the intersection completely in the remaining passing time exists, the current passing strategy is ended, the passing strategy in the next direction is determined again, and the passing strategies are formulated in sequence and circularly until the target vehicle finishes passing through the intersection.
In the embodiment of the invention, the waiting time of the target vehicle and other vehicles is calculated according to the time of the vehicles entering the preset waiting area, the preset waiting area is preferably determined according to the speed limit value of the road section of the intersection without signal lamps, specifically, the minimum braking distance K of the vehicles is calculated by taking the speed limit value of the road section as the running speed of the vehicles, the waiting distance is obtained by multiplying the minimum braking distance K by a multiple n, and the road area between the waiting distance and the stop line is the preset waiting area.
S5: and the target vehicle executes the traffic strategy and sends the traffic strategy to the vehicle-mounted terminals of other vehicles for information prompt according to the traffic strategy.
In the embodiment of the invention, the vehicle-mounted terminal prompts and/or displays the traffic strategy of the corresponding vehicle by voice, wherein the traffic strategy comprises the allowed traffic direction and the driving prompt information. If the allowed passing direction can be displayed on the vehicle-mounted terminal in a mode of a traffic signal lamp, or can be displayed in a mode of simulating gesture command of a traffic police, or can be displayed in a text mode; the voice prompt may include: please wait for parking, please turn left, etc. Preferably, the vehicle-mounted terminal further displays position information of vehicles entering the intersection and planning route information thereof, and the planning route information is generated according to navigation information of corresponding vehicles and is used for prompting an upcoming route of the vehicles driving at the intersection of other vehicles.
In order to further improve the current traffic safety of the intersection, before the target vehicle does not complete the crossing, the method further comprises the following steps: and monitoring whether all vehicles are executed according to the corresponding traffic strategies, if not, sending the illegal vehicle information to vehicle-mounted terminals of other vehicles for marking display, and simultaneously recording the illegal driving information of the vehicles for storage.
When the target vehicle runs to the intersection without the traffic signal lamp in the front, the passing strategy or the prompt information of the target vehicle is formulated according to the vehicle condition and the running information in the target area range, so that the risk of collision between the target vehicle and the current intersection without the traffic signal lamp is effectively avoided, and the target vehicle can reasonably, orderly, safely and efficiently pass through the intersection without the traffic signal lamp.
Technical solution of the invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other occasions without modification.
Claims (9)
1. A method for safely passing vehicles at a signal-lamp-free intersection is characterized by comprising the following steps:
s1: when the target vehicle reaches a preset electronic area of a preset no-signal lamp intersection, searching whether other vehicles exist in the range of the target area, if not, prompting the target vehicle to normally pass, and if so, entering step S2;
s2: judging whether collision danger exists according to the running information of other vehicles and the running information of the target vehicle, if not, prompting the target vehicle to normally pass, and if so, entering step S3; wherein the driving information comprises vehicle navigation information;
s3: judging whether other vehicles drive into the intersection or not, if not, entering step S4; if so, judging whether collision danger exists between the driven vehicles according to the navigation information, and if not, making a passing strategy according to the main driving direction of the driven vehicles; if the vehicle does not enter the intersection, sending parking waiting information to the vehicle which does not enter the intersection, and making a passing strategy of the vehicle which does not enter the intersection when the vehicle which enters the intersection completely exits the intersection; wherein the primary direction of travel does not include a right turn;
s4: making a traffic strategy according to waiting time, navigation information and driving information of the target vehicle and other vehicles;
s5: and the target vehicle executes the traffic strategy and sends the traffic strategy to the vehicle-mounted terminals of other vehicles for information prompt according to the traffic strategy.
2. The signal-free intersection vehicle safe passage method according to claim 1, wherein the step S1 is preceded by: and the vehicle-mounted terminal of the target vehicle runs according to the electronic navigation map, and a preset electronic area is arranged in the electronic navigation map.
3. The signal-free intersection vehicle safe passage method according to claim 1, wherein the target area range includes an intersection area and an area within a second distance in each intersection direction; the method for determining the second distance comprises the following steps: predicting a first time T1 required by the target vehicle to reach the stop line according to the speed of the target vehicle; the product of the first time T1 and the road segment speed limit is recorded as the second distance.
4. The signal-free intersection vehicle safe passing method according to claim 1, wherein the step S3 of making a passing strategy according to the main traveling direction of the entering vehicle is specifically:
determining a main driving direction of the vehicle according to the navigation information of the driven vehicle;
when the main driving direction is any one combined direction of bidirectional relative straight driving, bidirectional relative left turning or unidirectional straight left turning, determining that two driving directions in the main driving direction of the driven vehicle are respectively a first passing direction and a second passing direction of a passing strategy;
when the main driving direction only comprises one-way straight driving, taking the one-way straight driving as a first driving direction of the communication strategy, acquiring the waiting time of the vehicles in opposite straight driving and same-direction left-turning directions without intersection, and taking the driving direction corresponding to the vehicle with the longest waiting time as a second driving direction of the communication strategy;
when the main driving direction only comprises one-way left turning, the one-way left turning is used as a first passing direction of the communication strategy, the waiting time of the vehicles in the same-direction straight direction and the opposite left turning direction without intersection is obtained, and the driving direction corresponding to the vehicle with the longest waiting time is used as a second passing direction of the communication strategy.
5. The signal-lamp-free intersection vehicle safe passing method according to claim 1, wherein the step of formulating the passing strategy according to the waiting time, the navigation information and the driving information of the target vehicle and other vehicles comprises the following steps:
recording the waiting time of the target vehicle and other vehicles entering a preset waiting area in each intersection direction, and determining the driving direction of the vehicle with the longest waiting time as a first passing direction of a passing strategy according to the navigation information;
determining candidate traffic directions without running intersection according to the first traffic direction, comparing the longest waiting time of the vehicles in the candidate traffic directions, and selecting the second traffic direction with the longest waiting time in the candidate traffic directions as a traffic strategy; the candidate passing directions comprise a second passing direction and a third passing direction;
when the vehicles pass through the intersection according to the passing strategy, if the vehicles in the first passing direction do not pass through the intersection and the vehicles in the second passing direction pass through the intersection within the preset passing time, calculating whether waiting vehicles in the third passing direction can pass through the intersection completely within the residual passing time, and if so, increasing the third passing direction as the passing direction allowed by the passing strategy;
and when the vehicles in the first passing direction and the second passing direction completely pass through the intersection before the preset passing time length is finished and no vehicle capable of completely passing through the intersection in the residual passing time exists, immediately finishing the currently executed passing strategy and re-determining the passing strategy in the next direction according to the waiting time and the navigation information.
6. The signal-lamp-free intersection vehicle safe passing method according to claim 1, wherein the vehicle-mounted terminal prompts and/or displays a passing strategy of a corresponding vehicle by voice, and the passing strategy comprises an allowed passing direction and driving prompt information.
7. The signal-free intersection vehicle safe passing method according to claim 6, wherein the vehicle-mounted terminal further displays position information of vehicles entering the intersection and planning route information thereof.
8. The method for safely passing vehicles at the signal-lamp-free intersection according to claim 5, wherein the preset waiting area is determined according to a speed limit value of a road section of the signal-lamp-free intersection, specifically, the minimum braking distance K of the vehicle is calculated by taking the speed limit value of the road section as the running speed of the vehicle, the waiting distance is obtained by multiplying the minimum braking distance K by a multiple n, and a road area between the waiting distance and a stop line is the preset waiting area.
9. The signal-free intersection vehicle safe passage method according to claim 1, further comprising: and monitoring whether all vehicles are executed according to the corresponding traffic strategies, if not, sending the illegal vehicle information to vehicle-mounted terminals of other vehicles for marking display, and simultaneously recording the illegal driving information of the vehicles for storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010197776.2A CN111127954B (en) | 2020-03-19 | 2020-03-19 | Safe passing method for vehicles at signal lamp-free intersection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010197776.2A CN111127954B (en) | 2020-03-19 | 2020-03-19 | Safe passing method for vehicles at signal lamp-free intersection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111127954A true CN111127954A (en) | 2020-05-08 |
| CN111127954B CN111127954B (en) | 2021-10-22 |
Family
ID=70493802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010197776.2A Active CN111127954B (en) | 2020-03-19 | 2020-03-19 | Safe passing method for vehicles at signal lamp-free intersection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111127954B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111899538A (en) * | 2020-07-30 | 2020-11-06 | 国汽(北京)智能网联汽车研究院有限公司 | Intelligent marking system for non-signal control intersection and operation method thereof |
| CN112349094A (en) * | 2020-09-27 | 2021-02-09 | 北京博研智通科技有限公司 | Method and system for evaluating motor vehicle passing efficiency of signal lamp-free control intersection |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130018572A1 (en) * | 2011-07-11 | 2013-01-17 | Electronics And Telecommunications Research Institute | Apparatus and method for controlling vehicle at autonomous intersection |
| CN205910865U (en) * | 2016-06-08 | 2017-01-25 | 吉林大学 | Urgent collision avoidance system of no signal lamp intersection car |
| CN106781699A (en) * | 2017-03-20 | 2017-05-31 | 中南大学 | Vehicle safety travel accessory system and its data processing method |
| US20170193384A1 (en) * | 2016-01-06 | 2017-07-06 | GM Global Technology Operations LLC | Determining driver intention at traffic intersections for automotive crash avoidance |
| CN107731009A (en) * | 2017-11-28 | 2018-02-23 | 吉林大学 | One kind keeps away people, anti-collision system and method suitable for no signal lamp intersection vehicle |
| CN107813871A (en) * | 2016-09-13 | 2018-03-20 | 德尔福技术有限公司 | Automated vehicle rear-wheel steering system |
| CN109003467A (en) * | 2017-06-07 | 2018-12-14 | 华为技术有限公司 | A kind of method, apparatus and system preventing vehicle collision |
| CN109584571A (en) * | 2019-01-16 | 2019-04-05 | 苏州齐思智行汽车系统有限公司 | Intersection pre-warning and control method and system and sensing device used |
| CN109859513A (en) * | 2019-03-07 | 2019-06-07 | 宝能汽车有限公司 | Road junction roadway air navigation aid and device |
| CN110473419A (en) * | 2019-09-09 | 2019-11-19 | 重庆长安汽车股份有限公司 | A kind of passing method of automatic driving vehicle in no signal lamp intersection |
| CN110533913A (en) * | 2019-09-17 | 2019-12-03 | 辰芯科技有限公司 | Method for early warning, device, vehicle and the storage medium of vehicle collision |
-
2020
- 2020-03-19 CN CN202010197776.2A patent/CN111127954B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130018572A1 (en) * | 2011-07-11 | 2013-01-17 | Electronics And Telecommunications Research Institute | Apparatus and method for controlling vehicle at autonomous intersection |
| US20170193384A1 (en) * | 2016-01-06 | 2017-07-06 | GM Global Technology Operations LLC | Determining driver intention at traffic intersections for automotive crash avoidance |
| CN205910865U (en) * | 2016-06-08 | 2017-01-25 | 吉林大学 | Urgent collision avoidance system of no signal lamp intersection car |
| CN107813871A (en) * | 2016-09-13 | 2018-03-20 | 德尔福技术有限公司 | Automated vehicle rear-wheel steering system |
| CN106781699A (en) * | 2017-03-20 | 2017-05-31 | 中南大学 | Vehicle safety travel accessory system and its data processing method |
| CN109003467A (en) * | 2017-06-07 | 2018-12-14 | 华为技术有限公司 | A kind of method, apparatus and system preventing vehicle collision |
| CN107731009A (en) * | 2017-11-28 | 2018-02-23 | 吉林大学 | One kind keeps away people, anti-collision system and method suitable for no signal lamp intersection vehicle |
| CN109584571A (en) * | 2019-01-16 | 2019-04-05 | 苏州齐思智行汽车系统有限公司 | Intersection pre-warning and control method and system and sensing device used |
| CN109859513A (en) * | 2019-03-07 | 2019-06-07 | 宝能汽车有限公司 | Road junction roadway air navigation aid and device |
| CN110473419A (en) * | 2019-09-09 | 2019-11-19 | 重庆长安汽车股份有限公司 | A kind of passing method of automatic driving vehicle in no signal lamp intersection |
| CN110533913A (en) * | 2019-09-17 | 2019-12-03 | 辰芯科技有限公司 | Method for early warning, device, vehicle and the storage medium of vehicle collision |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111899538A (en) * | 2020-07-30 | 2020-11-06 | 国汽(北京)智能网联汽车研究院有限公司 | Intelligent marking system for non-signal control intersection and operation method thereof |
| CN112349094A (en) * | 2020-09-27 | 2021-02-09 | 北京博研智通科技有限公司 | Method and system for evaluating motor vehicle passing efficiency of signal lamp-free control intersection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111127954B (en) | 2021-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10126751B2 (en) | Lane change support device | |
| EP3509050B1 (en) | Traffic light-based vehicle speed inducing method and system, and vehicle | |
| EP1862989B1 (en) | Image forming system | |
| US8027762B2 (en) | Driving assist apparatus | |
| US20100250045A1 (en) | Vehicle operation diagnosis device, vehicle operation diagnosis method, and computer program | |
| CN110667578A (en) | Lateral decision making system and lateral decision making determination method for automatic driving vehicle | |
| CN106428007A (en) | Autonomous driving control apparatus and method for vehicle | |
| CN109624961B (en) | Vehicle driving method and system | |
| CN109849924B (en) | Curve speed early warning method, system and computer readable storage medium | |
| JP4432794B2 (en) | Stop control device | |
| CN111127954B (en) | Safe passing method for vehicles at signal lamp-free intersection | |
| US20190286125A1 (en) | Transportation equipment and traveling control method therefor | |
| US11322023B2 (en) | Driving support apparatus | |
| CN110371021B (en) | Projection method and system of pedestrian indicating line and vehicle | |
| CN112017438B (en) | Driving decision generation method and system | |
| CN105809095A (en) | Method for determining traffic crossing traffic state | |
| CN115083190A (en) | Automatic driving system and method for multi-lane traffic intersection | |
| CN109987100B (en) | Driving support device and driving support method | |
| JP2004171153A (en) | Vehicular information providing device | |
| CN116039674A (en) | Automatic driving control method and device, vehicle and storage medium | |
| JP2017124806A (en) | Energy saving deceleration travel control method | |
| CN114120639B (en) | Vehicle traffic control method, device and storage medium | |
| CN105711568B (en) | Control method for vehicle and device | |
| AU2019348096B2 (en) | Control method and system for vehicles and vehicle | |
| CN113447036A (en) | Information processing device, information processing system, information processing method, and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 10th floor, R & D building, Hefei Institute of technology innovation, Chinese Academy of Sciences, 2666 Xiyou Road, Hefei hi tech Zone, Anhui Province, 230000 Patentee after: Zhongke Meiluo Technology Co., Ltd. Address before: 10th floor, R & D building, Hefei Institute of technology innovation, Chinese Academy of Sciences, 2666 Xiyou Road, Hefei hi tech Zone, Anhui Province, 230000 Patentee before: ANHUI ZHONGKE MEILUO INFORMATION TECHNOLOGY CO.,LTD. |
|
| CP01 | Change in the name or title of a patent holder |