CN111179613A - Traffic signal lamp-based driving method for vehicle - Google Patents
Traffic signal lamp-based driving method for vehicle Download PDFInfo
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- CN111179613A CN111179613A CN202010103683.9A CN202010103683A CN111179613A CN 111179613 A CN111179613 A CN 111179613A CN 202010103683 A CN202010103683 A CN 202010103683A CN 111179613 A CN111179613 A CN 111179613A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses a method for driving a vehicle based on a traffic signal lamp, which relates to the field of vehicle driving control, wherein the method for driving the vehicle based on the traffic signal lamp comprises the following steps: the method comprises the steps that a terminal navigation system or a vehicle electronic control system ECU obtains a destination address through man-machine interaction, a driving path of a vehicle is selected according to positioning information of the vehicle, data contained in the driving path are selected to determine the phase of signal lamp operation in the driving direction of an intersection, the time sequence of the phase operation and the current time are synchronously operated, the vehicle generates estimated driving time and estimated driving speed according to road condition calculation, and a user or the vehicle electronic control system ECU refers to the estimated driving speed for driving. The invention can adjust the speed of the vehicle to pass through the intersection within the time of signal lamp passing, effectively improves the passing rate of the vehicle and reduces the time of parking and waiting.
Description
Technical Field
The invention relates to the field of vehicle running control, in particular to a method for running a vehicle based on a traffic signal lamp.
Background
With the scientific development of industrial automation, the manufacturing cost of automobiles is reduced, more and more residents have automobiles, but more and more automobiles are provided, in the management of the operation of the existing traffic signal lamp, the passing time of the traffic light at the next intersection to be reached cannot be known, the automobiles can only run blindly at the current speed, the automobiles often meet red light, the parking waiting time is generated, and then when the green light passes, the automobiles can have starting time, so that the automobiles cannot pass quickly, and the traffic jam phenomenon is generated.
In recent years, automatic unmanned intelligent automobiles are more silently approaching, how to perform information-based construction of intelligent traffic and adjust the scheme of signal control management of intersections, so that vehicles can quickly pass through the intersections, and the technical problem that traffic jam is urgently needed to be solved is effectively solved.
Disclosure of Invention
Based on the method, the invention provides a method for the vehicle to run based on the traffic light, which comprises the steps of optimizing the timing of the traffic light at the intersection, managing the running speed of the vehicle according to the position of the vehicle and the distance from the vehicle to the intersection, and leading the vehicle to run at the intersection,
the optimal passing time of the signal lamp is realized, the passing efficiency of the vehicle is improved, and the energy consumption caused by parking waiting and starting is reduced.
The specific technical scheme is as follows, according to a first aspect of the invention, a method for driving a vehicle based on a traffic signal lamp is characterized in that:
step 101: a terminal navigation system or a vehicle electronic control system ECU acquires a destination address through man-machine interaction, and selects a running path of a vehicle according to positioning information of the vehicle;
step 102: selecting data at least comprising one of the following data in the driving path: the number of the signal lamp signal periodic timing scheme, the direction of the road and the direction of the road intersection;
step 103: determining the running phase of a signal lamp in the direction of the road intersection according to data contained in the driving path;
step 104: selecting a signal period or a phase period of a relevant signal lamp prestored in a memory or in a cloud server to synchronously operate with the current time, and obtaining a phase state of the vehicle in the driving direction of the road junction;
step 105: the vehicle calculates and generates the estimated running time and the estimated running speed according to the distance to the intersection, the current vehicle speed, the current time and the phase state of the signal lamp phase period in the direction of the road intersection, and displays or prompts the estimated running time and the estimated running speed to a user;
step 106: the user or the vehicle electronic control system ECU performs traveling with reference to the estimated traveling speed.
102, the direction of the road comprises the direction of the road, the name of the road or the number of the road, and the direction of the road comprises the east-west direction or the direction close to the east-west direction and the south-north direction or the direction close to the south-north direction; the direction of the road intersection comprises the directions of straight running, right turning, left turning, turning around and the like of the vehicle at the intersection; the number of the signal period timing scheme adopts a timing method of a traffic signal lamp with the patent number of 202010017141. X.
The signal period or the phase period in step 104 includes the running sequence of the phase passing state, the stopping state and the warning state and the duration of the phase passing, stopping and warning; the phase state comprises a state of judging whether the operation of the phase is a passing state or a stopping state or a warning state at the current time, and also comprises the time length of the phase cycle, the residual time length and the like; the method for synchronously operating the signal period time sequence or the phase period time sequence and the current time adopts a time distribution method of a traffic signal lamp with the patent number of 202010017141. X.
Step 105, calculating and generating an estimated travel time and an estimated travel speed includes: the method comprises the steps of obtaining the running time of a vehicle by comparing the distance from the vehicle to an intersection with the current vehicle speed, determining the estimated time for the vehicle to reach the intersection according to the accumulation of the running time of the vehicle and the current time, synchronizing the estimated time for reaching the intersection with the time sequence of phase cycle running, selecting a proper vehicle speed to pass through the intersection by comparing the distance from the vehicle to the intersection with the current phase cycle on the estimated time for reaching the intersection and the passing time of the phase cycles before and after, and selecting and recommending to slow down to the intersection for parking and waiting if the passing time is too short to adjust the vehicle speed to pass through the intersection.
Step 105, calculating and generating an estimated driving time and an estimated driving speed, including: in the crossing signal lamp of the approach, the distance from the vehicle to the crossing is sequentially compared with the current passing time of one phase period and the following phase periods, a proper running speed is selected to pass through the crossing, and if the passing time is too short, the speed cannot be adjusted to pass through the crossing, the speed is selected and recommended to be reduced to the crossing for stopping and waiting.
And 105, calculating to generate an estimated running time and an estimated running speed, and determining and suggesting acceleration and deceleration, constant speed or deceleration to a stop waiting condition in the determined speed range according to the road information of the vehicle and the parameter information of the vehicle. The road information of the vehicle includes at least one of: the speed of the road, the road grade, the road width, the number of vehicles running on the road and the pedestrian crossing line of the intersection; the parameters of the vehicle comprise at least one of the following: size, load, maximum speed, type of vehicle.
In step 105, the displaying or prompting to the user includes displaying the current speed of the vehicle, the phase state of the running of the intersection signal lamp on the running path, the estimated time and speed of arriving at the intersection, and broadcasting the current speed of the vehicle, the estimated time and speed of arriving at the intersection and the warning information through a display screen or projection display.
A control device adopted by a vehicle running method based on a traffic signal lamp is characterized by comprising an acquisition module, a signal period module, a time module, a synchronization module, a calculation module, an output module and a control module;
the obtaining module is used for planning and obtaining data on a vehicle running path according to the destination address, and comprises: the number of the signal lamp signal periodic timing scheme, the direction of the road and the direction of the road intersection;
the signal period module is used for operating a signal period according to the phase operation state and the phase duration;
the time module is used for timing the operation of the signal period by using the standard time or the duration of the standard time;
the synchronous timing module is used for synchronously operating the phase period of signal lamp operation in the crossing driving direction and the current standard time to obtain the phase state of the vehicle in the crossing driving direction;
the calculation module calculates and generates the estimated running time and the estimated running speed according to the distance from the vehicle to the intersection, the current vehicle speed, the current time and the phase state of the signal lamp phase period in the direction of the intersection;
the output module generates estimated running time and estimated running speed according to calculation, and displays or prompts the estimated running time and the estimated running speed to a user;
the control module generates an estimated running time and/or an estimated running speed according to calculation, and a user or an electronic control system (ECU) of the vehicle controls acceleration and deceleration, uniform running or deceleration of the vehicle to stop for waiting. .
The device includes: a computer device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor.
Which when executed performs the steps of the method of any one of claims 1 to 7.
The method and the device for driving the vehicle based on the traffic signal lamp have the following advantages that:
the control of the intersection traffic signals is managed by adopting the time of a local unified time zone, the automobile can arrive at the intersection at a proper running speed according to the passing time of the intersection signal lamps and the distance from the automobile to the intersection, and the automobile does not stop passing the intersection within effective passing time, so that the passing efficiency is improved, and the traffic jam caused by unreasonable traditional signal lamp limitation is avoided; the energy loss generated when the automobile is stopped and waits for release and the energy loss generated when the automobile starts are reduced.
The invention has important function for information construction of intelligent traffic, and the unmanned automatic driving vehicle can control the running speed of the vehicle according to the timing of the crossing signal in the future, so that the vehicle can pass through the crossing without stopping in the optimal passing time, and the identification of the traffic signal of the crossing by the unmanned automatic driving vehicle is reduced.
Drawings
FIG. 1 is a schematic flow chart of a traffic signal lamp-based driving method for a vehicle according to the present invention
FIG. 2 is a schematic diagram of a vehicle running based on traffic lights according to the present invention
FIG. 3 is a schematic diagram of signal period timing of a traffic signal lamp according to the present invention
FIG. 4 is a schematic diagram of a traffic signal lamp-based driving method for a vehicle according to the present invention
FIG. 5 is a schematic diagram of a computer device according to the present invention
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
In one embodiment, the invention relates to a method for driving a vehicle based on a traffic light.
In the embodiment shown in fig. 1, a method for driving a vehicle based on a traffic signal is provided, which comprises the following steps:
step 101: and the terminal navigation system or the vehicle electronic control system ECU acquires the destination address through man-machine interaction, and selects the running path of the vehicle according to the positioning information of the vehicle.
Step 102: selecting data at least comprising one of the following data in the driving path: the number of the signal lamp signal periodic timing scheme, the direction of the road and the direction of the road intersection.
The numbering of the signal period timing scheme in this embodiment is a timing method of a traffic signal lamp with a patent number of 202010017141. X.
The signal lamp timing scheme is set according to the form of a road and the condition of traffic flow, a corresponding timing rule is set in the signal lamp timing scheme, designated standard time is selected as a starting point and an end point of signal period timing, meanwhile, the duration of a signal period is distributed according to the designated rule, phase operation in the signal period is distributed according to the direction of the road, the operation of the signal period is synchronously set by the operation of the standard time and the operation duration of the standard time, and the current operation state in the signal period can be calculated according to the current time.
The direction of the road comprises the direction of the road, the name of the road or the serial number of the road, and the direction of the road comprises the east-west direction or the direction close to the east-west direction and the south-north direction or the direction close to the south-north direction; the direction of the road intersection comprises the directions of straight running, right turning, left turning, turning around and the like of the vehicle at the intersection.
Step 103: and determining the running phase of the signal lamp in the direction of the road junction according to the data contained in the driving path.
Step 104: and selecting a signal period or a phase period of a related signal lamp prestored in a memory or in the cloud server to synchronously operate with the current time, and obtaining the phase state of the vehicle in the driving direction of the road junction.
In this embodiment, the signal period or the phase period includes a running sequence of the phase, a running state, a stopping state, and a warning state, and a duration of the phase, running, stopping, and warning. The phase state comprises a pass state, a stop state or a warning state of the operation of the phase at the current time, and also comprises the time length of the phase cycle, the remaining time length and the like.
The method for synchronously operating the signal period time sequence or the phase period time sequence and the current time adopts a time distribution method of a traffic signal lamp with the patent number of 202010017141. X.
Step 105: the vehicle calculates and generates the estimated running time and the estimated running speed according to the distance to the intersection, the current vehicle speed, the current time and the phase state of the signal lamp phase period in the direction of the road intersection, and displays or prompts the estimated running time and the estimated running speed for a user.
In this embodiment, the calculating and generating the estimated driving time and the estimated driving speed includes: the method comprises the steps of obtaining the running time of a vehicle by comparing the distance from the vehicle to an intersection with the current vehicle speed, determining the estimated time for the vehicle to reach the intersection according to the accumulation of the running time of the vehicle and the current time, synchronizing the estimated time for reaching the intersection with the time sequence of phase cycle running, selecting a proper vehicle speed to pass through the intersection by comparing the distance from the vehicle to the intersection with the current phase cycle on the estimated time for reaching the intersection and the passing time of the phase cycles before and after, and selecting and recommending to slow down to the intersection for parking and waiting if the passing time is too short to adjust the vehicle speed to pass through the intersection.
In this embodiment, the calculating and generating the estimated driving time and the estimated driving speed includes: in the crossing signal lamp of the approach, the distance from the vehicle to the crossing is sequentially compared with the current passing time of one phase period and the following phase periods, a proper running speed is selected to pass through the crossing, and if the passing time is too short, the speed cannot be adjusted to pass through the crossing, the speed is selected and recommended to be reduced to the crossing for stopping and waiting.
In this embodiment, the calculation generates the estimated running time and the estimated running speed, and further determines and suggests acceleration and deceleration, constant speed or deceleration to stop and wait included in the determined speed range according to the road information of the vehicle and the parameter information of the vehicle. The road information of the vehicle includes at least one of: the speed of the road, the road grade, the road width, the number of vehicles running on the road and the pedestrian crossing line of the intersection; the parameters of the vehicle comprise at least one of the following: size, load, maximum speed, and type of vehicle.
In this embodiment, the displaying or prompting to the user includes displaying the current speed of the vehicle, the phase state of the running direction of the intersection signal lamp on the running path, the estimated time and speed of reaching the intersection, and broadcasting the current speed of the vehicle, the estimated time and speed of reaching the intersection, and the warning information through a display screen or projection display.
Step 106: the user or the vehicle control system performs travel with reference to the estimated travel speed.
Example 1 as shown in fig. 2, a destination address M is obtained through human-computer interaction, a travel path of a relevant vehicle is planned according to positioning information of the vehicle, and data included in the travel path is selected:
1. the method comprises the steps of numbering a signal period of a signal lamp of an intersection A, a signal period of a signal lamp of an intersection B, a non-entity signal lamp of a road surface identifier at the intersection C, a signal period and running time sequences of the signal period and the signal period are shown as a first signal and a second signal in figure 3;
2. direction of the road: the directions of the No. 1 and No. 3 roads are north and south directions; the direction of road No. 2 is the east-west direction;
3. direction of approach crossing: the direction of the path of the A road port is left turning; the direction of the way of the intersection B is right turning; the direction of the way of the intersection C is straight.
When the road junction A is determined, the left turn in the north-south direction of the road is driven to be the fourth phase; when the vehicle approaches the intersection B, the road turns to the right in the east-west direction without corresponding phases; when the vehicle approaches the intersection C, the straight line of the road in the north-south direction is the third phase.
The cycle of the phase period starts from 0 hour 0 minute 0 second of the start point, and is 34108 seconds until the current 9 hours, 28 minutes, and 28 seconds.
the time length ② of the signal period ② of the signal lights ② of the A road junction is 100s, the number ② of the signal periods ② of the signal lights runs to 34108 s/100 s =341.08 periods, the corresponding state ② of the left-turning fourth phase operation is that the red light runs for 0.08 times 100s =8s,0.08 time is the remainder ② of the signal period in the number 341.08, the passing time ② of the phase period is 29 minutes and 30 seconds after 72 seconds, and the passing time is 17 seconds.
the time length of a signal period ① of a signal lamp of the intersection B is 60S, the signal lamp runs 28 seconds after 568 periods, the yellow warning lamp is in a yellow warning lamp state in the first phase of the east-west road, and the right-turn direction passing time is not influenced.
the time length of the signal period II of the signal lamp of the intersection C is 100S, the signal lamp starts from 0 to the time of 8 seconds after 341 periods, the corresponding straight-going third phase operation state is that the red lamp operates for 8 seconds, the passing time is 29 minutes and 10 seconds after 42 seconds, and the passing time is 27 seconds.
The distances from the vehicle to the crossing ABC are 1km, 4km and 6km respectively, the road speed is limited by 60km, the current vehicle speed is 40km/h per hour, and the time required for the vehicle to reach the crossing is 1 km/40 km/h x 3600s =90s, 4 km/40 km/h x 3600s =360s, and 6 km/40 km/h x 3600s =540s respectively.
The A road gate passes through the A road gate within 72-89 seconds after zero 8 seconds at the current time 341 week, the vehicle speed needs to be increased to 40.5km/h to 50km/h to pass through the A road gate, the right turn of the B road gate is not influenced, the time from the speed of 50km/h to the C road gate by the A road gate is 360s, the time from the vehicle to the C road gate arriving at the A road gate is expected to be 72s + 360s =432s, namely the number of the cycles to the C road gate is 345.4 cycles, 0.4 red lights with the length of 100s =40s are operated at the current phase, the passing time starts after 10s, the passing time to the C road gate is 442-469 seconds after the current time, and the vehicle speed is expected to pass through the C road gate within 45.3km/h-48.6 km/h.
And displaying the estimated time and the estimated running speed through a vehicle-mounted display screen or terminal equipment of the vehicle or informing a user through a voice prompt method, wherein the user or an ECU (electronic control unit) of the vehicle runs according to the reference running speed.
If the crossing in the vehicle driving direction is the time that the red light forbids passing, the vehicle can voice prompt warning information when the vehicle drives through the forbidden line, and the traffic department can know whether the vehicle has the red light running through the running track and direction of the vehicle and the time of passing through the crossing by the code tracking of the GPS, so as to remind the user of paying attention to the danger, and the traffic police networking system can carry out punishment according to the illegal condition.
In one embodiment, as shown in fig. 4, there is provided a vehicle control apparatus including: the device comprises an acquisition module, a signal period module, a time module, a synchronization module, a calculation module, an output module and a control module.
The obtaining module is used for planning and obtaining data on a vehicle running path according to the destination address, and comprises: the number of the signal lamp signal periodic timing scheme, the direction of the road and the direction of the road intersection;
the signal period module is used for operating a signal period according to the phase operation state and the phase duration;
the time module is used for timing the operation of the signal period by using the standard time or the duration of the standard time;
the synchronous timing module is used for synchronously operating the phase period of signal lamp operation in the crossing driving direction and the current standard time to obtain the phase state of the vehicle in the crossing driving direction;
the calculation module calculates and generates estimated running time and estimated running speed according to the distance from the vehicle to the intersection, the current vehicle speed, the current time and the phase state of the signal lamp phase period in the direction of the intersection;
the output module displays or prompts the estimated running time and the estimated running speed generated by calculation to a user;
the control module generates an estimated running time and/or an estimated running speed according to calculation, and a user or an electronic control system (ECU) of the vehicle controls acceleration and deceleration, uniform running or deceleration of the vehicle to stop for waiting.
In the embodiment, as shown in fig. 5, an apparatus for driving a vehicle based on a traffic signal comprises a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the method when executing the program.
In an embodiment, a computer-readable storage medium, on which a computer program is stored, is characterized in that the computer program realizes the steps of the above method when being executed by a processor.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for driving a vehicle based on a traffic signal lamp is characterized in that,
step 101: a terminal navigation system or a vehicle electronic control system ECU acquires a destination address through man-machine interaction, and selects a running path of a vehicle according to positioning information of the vehicle;
step 102: selecting data at least comprising one of the following data in the driving path: the number of the signal lamp signal periodic timing scheme, the direction of the road and the direction of the road intersection;
step 103: determining the running phase of a signal lamp in the direction of the road intersection according to data contained in the driving path;
step 104: selecting a signal period or a phase period of a relevant signal lamp prestored in a memory or in a cloud server to synchronously operate with the current time, and obtaining a phase state of the vehicle in the driving direction of the road junction;
step 105: calculating and generating estimated running time and estimated running speed according to the distance from the vehicle to the intersection, the current vehicle speed, the current time and the phase state of the signal lamp phase period in the direction of the intersection, and displaying or prompting the estimated running time and the estimated running speed to a user;
step 106: the user or the vehicle electronic control system ECU performs traveling with reference to the estimated traveling speed.
2. The method for driving a vehicle based on a traffic signal lamp according to claim 1, characterized in that: 102, the direction of the road comprises the direction of the road, the name of the road or the number of the road, and the direction of the road comprises the east-west direction or the direction close to the east-west direction and the south-north direction or the direction close to the south-north direction; the direction of the road intersection comprises the directions of straight running, right turning, left turning, turning around and the like of the vehicle at the intersection; the signal period timing scheme adopts a timing method of a traffic signal with the patent number of 202010017141. X.
3. The method for driving a vehicle based on a traffic signal lamp according to claim 1, characterized in that: the signal period or the phase period in step 104 includes the running sequence of the phase passing state, the stopping state and the warning state and the duration of the phase passing, stopping and warning; the phase state comprises a state of judging whether the operation of the phase is a passing state or a stopping state or a warning state at the current time, and also comprises the time length of the phase cycle, the residual time length and the like; the method for synchronously operating the signal period time sequence or the phase period time sequence and the current time adopts a time-sharing method of a traffic signal with the patent number of 202010017141. X.
4. The method of claim 1, wherein the step 105 of calculating and generating an estimated driving time and an estimated driving speed comprises: the method comprises the steps of obtaining the running time of a vehicle by comparing the distance from the vehicle to an intersection with the current vehicle speed, determining the estimated time for the vehicle to reach the intersection according to the accumulation of the running time of the vehicle and the current time, synchronizing the estimated time for reaching the intersection with the time sequence of phase cycle running, selecting a proper vehicle speed to pass through the intersection by comparing the distance from the vehicle to the intersection with the current phase cycle on the estimated time for reaching the intersection and the passing time of the phase cycles before and after, and selecting and recommending to slow down to the intersection for parking and waiting if the passing time is too short to adjust the vehicle speed to pass through the intersection.
5. The method of claim 1, wherein the step 105 of calculating and generating an estimated driving time and an estimated driving speed comprises: in the crossing signal lamp of the approach, the distance from the vehicle to the crossing is sequentially compared with the current passing time of one phase period and the following phase periods, a proper running speed is selected to pass through the crossing, and if the passing time is too short, the speed cannot be adjusted to pass through the crossing, the speed is selected and recommended to be reduced to the crossing for stopping and waiting.
6. The method for vehicle driving based on traffic signal light according to claim 1, 4 and 5, wherein the step 105 of calculating generates an estimated driving time and an estimated driving speed, and further determines and suggests acceleration, deceleration or deceleration to parking waiting included in the determined speed range according to the road information of the vehicle and the parameter information of the vehicle; the road information of the vehicle includes at least one of: the speed of the road, the road grade, the road width, the number of vehicles running on the road and the pedestrian crossing line of the intersection; the parameters of the vehicle comprise at least one of the following: size, load, maximum speed, type of vehicle.
7. The method for driving a vehicle based on a traffic signal lamp according to claim 1, characterized in that: in step 105, the displaying or prompting to the user includes displaying the current speed of the vehicle, the phase state of the running of the intersection signal lamp on the running path, the estimated time and speed of arriving at the intersection, and broadcasting the current speed of the vehicle, the estimated time and speed of arriving at the intersection and the warning information through a display screen or projection display.
8. The control device for the traffic signal lamp-based driving method of the vehicle according to claim 1, characterized by comprising: the device comprises an acquisition module, a signal period module, a time module, a synchronization module, a calculation module, an output module and a control module;
the acquisition module is used for planning and acquiring data on a vehicle running path according to the destination address, wherein the data comprises the serial number of a traffic signal lamp signal periodic timing scheme, the road direction and the direction of a route intersection;
the signal period module is used for operating a signal period according to the phase operation state and the phase duration;
the time module is used for timing the operation of the signal period by using the standard time or the duration of the standard time;
the synchronous timing module is used for synchronously operating the phase period of signal lamp operation in the crossing driving direction and the current standard time to obtain the phase state of the vehicle in the crossing driving direction;
the calculation module calculates and generates estimated running time and estimated running speed according to the distance from the vehicle to the intersection, the current vehicle speed, the current time and the phase state of the signal lamp phase period in the direction of the intersection;
the output module displays or prompts the estimated running time and the estimated running speed generated by calculation to a user;
the control module generates an estimated running time and/or an estimated running speed according to calculation, and a user or an electronic control system (ECU) of the vehicle controls acceleration and deceleration, uniform running or deceleration of the vehicle to stop for waiting.
9. The control device for a traffic signal-based method of driving a vehicle according to claim 8, wherein the control device comprises a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor.
10. Control device for a method for traffic signal light based driving of a vehicle according to claim 9, characterized in that the computer program realizes the steps of the method according to any of claims 1-7 when being executed by a processor.
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| CN112489460A (en) * | 2020-12-03 | 2021-03-12 | 百度国际科技（深圳）有限公司 | Signal lamp information output method and device |
| CN112750322A (en) * | 2021-01-03 | 2021-05-04 | 何世鸿 | Method for setting state time of traffic signal lamp |
| CN113870566A (en) * | 2021-11-10 | 2021-12-31 | 通号万全信号设备有限公司 | Method and device for passing through intersection without stopping train |
| CN114120668A (en) * | 2021-11-22 | 2022-03-01 | 中国建设银行股份有限公司 | Method for enabling vehicle to quickly pass through intersection, vehicle running system and electronic equipment |
| CN114170816A (en) * | 2021-12-10 | 2022-03-11 | 上海万位科技有限公司 | Vehicle driving prompting method and device |
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| CN112750322A (en) * | 2021-01-03 | 2021-05-04 | 何世鸿 | Method for setting state time of traffic signal lamp |
| CN113870566A (en) * | 2021-11-10 | 2021-12-31 | 通号万全信号设备有限公司 | Method and device for passing through intersection without stopping train |
| CN114120668A (en) * | 2021-11-22 | 2022-03-01 | 中国建设银行股份有限公司 | Method for enabling vehicle to quickly pass through intersection, vehicle running system and electronic equipment |
| CN114120668B (en) * | 2021-11-22 | 2023-02-24 | 中国建设银行股份有限公司 | Method for enabling vehicle to quickly pass through intersection, vehicle running system and electronic equipment |
| CN114170816A (en) * | 2021-12-10 | 2022-03-11 | 上海万位科技有限公司 | Vehicle driving prompting method and device |
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