CN111383461A - Control method for avoiding stop of signal lamp at vehicle crossing road - Google Patents
Control method for avoiding stop of signal lamp at vehicle crossing road Download PDFInfo
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- CN111383461A CN111383461A CN202010203281.6A CN202010203281A CN111383461A CN 111383461 A CN111383461 A CN 111383461A CN 202010203281 A CN202010203281 A CN 202010203281A CN 111383461 A CN111383461 A CN 111383461A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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
- G08G1/095—Traffic lights
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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 relates to a vehicle crossing signal lamp stop-free control method.A signal lamp receiver transmits a next crossing signal lamp received in real time to a central processing unit, and the central processing unit respectively controls the presence or absence of a vehicle signal in front of a lane detected by a front millimeter wave radar and a high-definition camera according to the difference of a green lamp or a red lamp. According to the invention, through intelligent decision making after the driving environment is identified, the vehicle is accurately controlled to execute the driving action, and the vehicle is automatically controlled to be free from parking at the traffic intersection under the red light; the problem of because of the traffic lights of urban road are many, face the place ahead crossing red light and have to park waiting and lead to frequent idle operating mode is solved, improved the ride comfort of vehicle, effectively improved the economic nature of going of vehicle. And the possibility of traffic violation and the accident rate of the intersection are reduced through intelligent decision control. The technical scheme also considers a control method that multiple lanes can pass through the intersection in a straight-through manner, and greatly improves the passing efficiency of the intersection on the premise of ensuring the safety.
Description
Technical Field
The invention belongs to the technical field of automobile intelligent networking, and particularly relates to a control method for avoiding stopping a signal lamp at a vehicle crossing.
Background
Currently, the automatic driving technology is rapidly developed, and some advanced driving assistance functions aiming at improving the active safety of the vehicle have been applied to mass production vehicles, for example: automatic emergency braking, automatic lane keeping, fatigue driving early warning and other driving assisting functions. With the increasing maturity of automatic driving technologies such as high-precision and high-disturbance-rejection sensors, intelligent decision-making general chips, high-precision maps, linear steering systems and the like, and with the accelerated industrial application of the 5G technology, the application of intelligent networking on automobiles is gradually matured, more and more consumers can accept the technology, and the automatic driving experience of 'starting point-destination' is gradually realized to meet different requirements of the consumers.
At present, signal lamps of urban traffic intersections are dense, drivers of traditional vehicles need to select to accelerate or decelerate to stop according to subjective judgment, and accurate driving is difficult to achieve through the subjective judgment. For example, it is often considered that the vehicle can pass through the intersection before the green light is finished, so that a higher vehicle speed or acceleration preparation for passing is maintained, but the red light is turned on before passing, so that emergency braking is forced, the red light is easy to break by mistake, the vehicle is scratched, and even the pedestrian is collided; sometimes, the problem that the vehicle does not need to be stopped when the red light of the intersection is changed into the green light through certain deceleration can be solved, but the vehicle has to be stopped and then started immediately when the red light is in the last 1 second.
And by combining with other vehicles, pedestrians and the like at the intersection, the intersection has the characteristics of complex multi-application scenes, more traffic behavior participants and the like, how to utilize the intelligent networking technology to realize scientific, safe and effective intersection passing is realized, and more attention of technical personnel in the field is attracted.
Disclosure of Invention
The invention aims to provide a control method for preventing a signal lamp of a vehicle passing intersection from stopping, and aims to solve the problems that when the signal lamp intersection passes, a traditional vehicle driver carries out vehicle operation according to subjective judgment, so that the risks of mistaken red light running, vehicle scratch and even pedestrian collision are easily caused, the smooth running of the vehicle is not facilitated, the energy consumption of the vehicle is increased, and the like.
The invention is realized by the following technical scheme:
a control method for preventing a signal lamp of a vehicle passing through a road junction from stopping comprises the following steps:
s1, the signal lamp receiver receives the next road lamp signal in real time and transmits the next road lamp signal to the central processing unit; the front millimeter wave radar and the high-definition camera detect that no vehicle is in front of the lane;
s2, if the next intersection signal is green, the CPU executes the step S3;
if the next intersection signal is a red light, the central processing unit executes the step S4;
s3, the central processing unit judges whether the vehicle runs at a constant speed at the current speed and can pass through the next intersection before the yellow light is turned on, if so, the central processing unit does not send an adjusting signal, and if not, the central processing unit judges that:
accelerating to the maximum allowable vehicle speed under the current vehicle speed, passing through the next intersection before the yellow light is turned on, if so, sending an oiling signal to an accelerator actuator by the central processing unit, accelerating the vehicle at the minimum first acceleration, and if not, judging:
the vehicle runs at a constant speed at the current speed, and the next green light is turned on to judge whether the vehicle can pass through the next intersection, if so, the central processing unit does not send an adjusting signal, and if not, the central processing unit judges that:
when the current vehicle speed is reduced to the minimum allowable vehicle speed, the next green light is turned on, and then the vehicle can not pass through the next intersection, if so, the central processing unit sends a deceleration signal to a brake actuator to decelerate the vehicle at the minimum second acceleration, otherwise, the vehicle is decelerated at the third acceleration when the vehicle stops from the current vehicle speed to the intersection stop line under the optimal energy consumption, and the vehicle stops at the intersection stop line to wait for the next green light to be turned on;
s4, the central processing unit judges whether the vehicle runs at a constant speed at the current speed and can pass through the next intersection after the next green light is turned on, if so, the central processing unit does not send an adjusting signal, and if not, the central processing unit judges that:
when the current vehicle speed is reduced to the minimum allowable vehicle speed, the next green light is turned on, and then the vehicle can not pass through the next intersection, if yes, the central processing unit sends a deceleration signal to the brake actuator to decelerate the vehicle at the minimum fifth speed, otherwise, the vehicle is decelerated at the sixth acceleration when the vehicle stops from the current vehicle speed to the intersection stop line under the optimal energy consumption, and the vehicle stops at the intersection stop line to wait for the next green light to be turned on.
Further, the method also comprises the following steps:
s11, detecting that a vehicle is in front of the lane by the front millimeter wave radar and the high-definition camera and sending a signal to the central processing unit, wherein the next intersection signal is a green light;
s12, the front millimeter wave radar detects whether a vehicle exists in front of the adjacent lane and sends a signal to the central processing unit, if no vehicle exists in front of the adjacent lane on one side, and the GPS detects that the lane on the side is a straight lane;
s13, detecting the relative speed and the relative distance of the rear vehicle by the rear millimeter wave radar and sending the relative speed and the relative distance to the central processing unit;
s14, the CPU calculates whether the safe lane change condition is satisfied, if yes, the CPU sends a lane change signal to the steering actuator to perform safe lane change, and then the step S3 is executed, if not, the judgment:
and if not, the central processing unit sends a deceleration signal to a brake actuator, the vehicle decelerates from the current vehicle speed to a fourth acceleration of the vehicle stopping behind the front vehicle under the optimal energy consumption, and the vehicle stops at a stop line of the intersection to wait for the next green light to light.
Further, the method also comprises the following steps:
s21, detecting that a vehicle is in front of the lane by the front millimeter wave radar and the high-definition camera and sending a signal to the central processing unit, wherein the next intersection light signal is a red light;
s22, the front millimeter wave radar detects whether a vehicle exists in front of the adjacent lane and sends a signal to the central processing unit, if no vehicle exists in front of the adjacent lane on one side, and the GPS detects that the lane on the side is a straight lane;
s23, detecting the relative speed and the relative distance of the rear vehicle by the rear millimeter wave radar and sending the relative speed and the relative distance to the central processing unit;
s24, the CPU calculates whether the safe lane change condition is satisfied, if yes, the CPU sends a lane change signal to the steering actuator to perform safe lane change, and then the step S4 is executed, if not, the judgment:
the front vehicle reaches an intersection stop line within a second set time before a green light is turned on next time under the current time domain vehicle speed, if so, the vehicle is controlled to pass through the next intersection while keeping a safe distance with the front vehicle, if not, the central processing unit sends a deceleration signal to a brake actuator, and the vehicle stops at the intersection stop line and waits for the next green light to be turned on after the current vehicle speed is decelerated to a seventh acceleration of the front vehicle to stop at the rear under the optimal energy consumption, so that the invention has the advantages that:
the invention accurately controls the vehicle to execute the driving action by intelligent decision after identifying the driving environment, and can realize automatic control of the vehicle to avoid parking at the traffic intersection.
The invention avoids the idle working condition that the vehicle has to be used because the vehicle often needs to stop to wait for the signal lamp when the vehicle runs on the urban road with more traffic signal lamp intersections, improves the running smoothness of the vehicle, reduces the incidence rate of traffic violation and traffic intersection accidents through intelligent decision control, and can effectively improve the running economy of the vehicle.
The invention also considers a control method that the multi-lane can go straight through the intersection, and greatly improves the efficiency of intersection passage on the premise of ensuring the safety.
Drawings
FIG. 1 is a control logic diagram for green light at the intersection;
FIG. 2 is a control logic diagram when the intersection is a red light;
FIG. 3 is a schematic view of a multi-lane green light park-free strategy;
fig. 4 is a diagram of a red light stop avoidance strategy diagram of a multi-lane, in which the arrow direction is the vehicle forward direction, reference numeral 1 is the vehicle, reference numeral 2 is the vehicle in front of the lane, and reference numeral 3 is the signal light.
Detailed Description
The technical solutions of the present invention are described in detail below by examples, and the following examples are only exemplary and can be used only for explaining and explaining the technical solutions of the present invention, but not construed as limiting the technical solutions of the present invention.
The control method of the application uses a vehicle system capable of automatically controlling the red light to avoid parking, but not to say, the implementation of the technical scheme of the application must depend on the vehicle system, and all vehicle systems capable of implementing the technical scheme of the application can be implemented, for example, in the technical scheme of the application, a vehicle body controller can be used to replace a central processing unit and the like.
A front millimeter wave radar is arranged in front of the vehicle, in the embodiment, a 24GHZ millimeter wave radar is used, and the radar is provided with a controller for communicating with the central processing unit. The front millimeter wave radar is used for detecting the relative distance and the relative speed between other vehicles on the front road and the vehicle in real time, and transmitting the detected relative distance and relative speed signals to the central processing unit for the central processing unit to process.
The high-definition camera is provided with a controller, the controller is in electric signal connection with the central processing unit, is arranged at the right front of the vehicle and is used for identifying a front lane line; the high-definition camera transmits the shot front lane line real-time information to the central processing unit.
The signal lamp receiver is in electric signal connection with the central processing unit and is communicated with the traffic signal lamp through a 5G network in the embodiment; in other embodiments of the present application, the communication mode may also be a 4G network or another communication mode that can implement communication and can guarantee communication speed, but because of the problem of network speed, the implementation of the technical solution of the present application is affected by the network speed problem in the network below 4G, and the specific communication mode is to guarantee sufficient speed to avoid causing a misjudgment phenomenon due to delay. In the technical scheme of this application, signal lamp receiver sets up in the driver place ahead in the car.
The left rear millimeter wave radar is the same as the front millimeter wave radar in type, and in other embodiments of the present application, other types can be selected as needed, and the left rear millimeter wave radar is arranged at the left rear of the vehicle and is connected with the central processing unit through an electric signal; the millimeter wave radar is also 24GHZ millimeter wave radar behind the left side of this embodiment, and the radar is from taking the controller for communicate with central processing unit. The left rear millimeter wave radar is used for detecting the relative distance and the relative speed between the vehicle on the left lane and the vehicle in real time, transmitting the detected real-time data to the central processing unit and providing data support for the central processing unit to judge whether to change the lane.
The real-time vehicle positioning device is a GPS in this embodiment, and in other embodiments of the present application, other real-time vehicle positioning devices may also be used without affecting implementation of the technical solution of the present application. The GPS sends the speed, the position and the like of the vehicle to the central processing unit, and the central processing unit determines to carry out corresponding management strategies according to the information of the vehicle.
And the execution device is electrically connected with the central processing unit.
In the technical scheme of the application, the executing device comprises a brake actuator, a steering actuator and an accelerator actuator. The executing devices are arranged in the vehicle, but specific position requirements are not required, and the technical scheme of the application can be realized at all positions which can be arranged and can ensure the normal work of each executing device.
In this embodiment, the following specific positions are only used for describing the present technical solution, and do not represent the only positions, the brake actuator is disposed at the brake device of the wheel, the steering actuator and the accelerator actuator are both disposed in the vehicle in front of the driver and are respectively connected to the central processing unit, wherein the brake actuator is used for executing the brake command sent by the central processing unit; the steering actuator is used for executing a steering command sent by the central processing unit; the accelerator actuator is used for executing an acceleration instruction sent by the central processing unit.
The central processing unit is a central control hub of the system, communicates with each controller, makes an intelligent decision and sends the decision to the execution device.
As shown in fig. 1 to 4, wherein the wide lines in fig. 3 indicate the running course at the red light, the thin lines indicate the running course at the green light, the curved lines indicate the vehicle running locus, S1 indicates the fast mode, and S2 indicates the soft mode.
The application provides a control method for avoiding stopping a signal lamp at a vehicle crossing, which comprises the following steps:
the signal lamp receiver receives a next intersection street lamp signal in real time and transmits the next intersection street lamp signal to the central processing unit, and the front millimeter wave radar and the high-definition camera detect whether a vehicle exists in front of the lane or not, and if the vehicle does not exist, the front millimeter wave radar and the high-definition camera detect whether the vehicle exists in front of the lane or; the control can be performed in several ways, including the following control modes.
If the next intersection road lamp signal is a green lamp, the GPS sends the detected current position information of the vehicle to the central processing unit, the wheel speed sensor transmits the current vehicle speed information to the central processing unit, or the central processing unit obtains the current vehicle speed information through the CAN bus.
The central processing unit calculates the vehicle to run at a constant speed at the current speed and to pass through the next intersection according to the distance between the current position of the vehicle and the next intersection and the time of the current signal lamp, namely the time from the end of the green lamp to the end of the green lamp or the time of 2 seconds from the yellow lamp, if the calculation result is that the vehicle runs at the constant speed at the current speed and can pass through the intersection, the central processing unit does not send an adjusting signal to a brake actuator or an accelerator actuator at the moment.
After the central processing unit is calculated, if the vehicle cannot pass through the next intersection before the yellow light is turned on at the current speed, the central processing unit calculates whether the vehicle is accelerated to the maximum allowable speed from the current speed at full power or not and can pass through the next intersection before the yellow light is turned on. The maximum allowable vehicle speed here generally refers to the limit of the current passing road, for example, the speed limit of an urban road is 60Km/h, 80Km/h or 100Km/h, etc., so the maximum allowable vehicle speed is not higher than the speed limit requirement of these roads.
If the vehicle can pass through the next intersection before the yellow light is turned on at the maximum allowable vehicle speed, the central processing unit calculates the minimum first acceleration required by the vehicle to pass through the next intersection at the current vehicle speed, and transmits the signal to the acceleration actuator to accelerate the vehicle at least at the minimum first acceleration to pass through the next intersection.
The central processing unit calculates that the vehicle can not pass through the next crossing before the yellow light is turned on at the maximum allowable vehicle speed, the central processing unit calculates that whether the vehicle can pass through the next crossing after the next green light is turned on or not in the constant-speed driving at the current vehicle speed, if the calculation result is that the vehicle can pass through the next crossing, the central processing unit does not send an adjusting signal to the brake actuator or the acceleration actuator, the vehicle keeps the current vehicle speed, and the vehicle passes through the next crossing after the current green light is changed into the red light and then into the green light at the next crossing.
After calculation, under the current vehicle speed, the vehicle cannot pass through the next intersection after the next green light is turned on, and here, under the condition that a parking wait is needed before the next intersection, the central processing unit calculates, reduces the current vehicle speed to the minimum allowable vehicle speed, and after the next green light is turned on, whether the vehicle can pass through the next intersection without stopping.
If the vehicle passes through the intersection, the central processing unit calculates a third acceleration of the vehicle to the intersection stop line by taking energy consumption as an objective function and transmits the third acceleration to the brake actuator, and the brake actuator controls the vehicle to decelerate according to the third acceleration, so that the vehicle stops at the intersection stop line and waits for the next green light to be turned on.
The technical scheme of the application also includes that under the condition that the street lamp at the next intersection is a green lamp, the control method for detecting the vehicle in front of the lane by the front millimeter wave radar and the high-definition camera comprises the following steps:
the front millimeter wave radar detects whether a vehicle exists in front of the adjacent lane and sends a signal to the central processing unit, and if no vehicle exists in front of the adjacent lane on one side, the GPS detects that the lane on the side is a straight lane. The left lane of the vehicle is taken as an example for explanation, the front millimeter wave radar detects that no vehicle exists in front of the left lane, meanwhile, the GPS detects that the left lane is a straight lane, the rear millimeter wave radar detects the relative speed and the relative distance of the rear vehicle and sends the relative speed and the relative distance to the central processing unit, and the central processing unit calculates the condition of safe lane change.
And after the vehicle changes the lane, the central processing unit controls the vehicle according to the current speed and the position of the vehicle under the condition of a green light without the vehicle in front.
Through calculation, if the left lane does not meet the safe lane change condition, whether the vehicle in front of the lane can pass through the next intersection within the first set time (here, 5 seconds before the yellow light is turned on) before the yellow light is turned on under the current time domain vehicle speed is judged, and if the vehicle can pass through the next intersection, the vehicle and the front vehicle are controlled to pass through the next intersection under the condition of keeping a safe distance of 3 seconds. If the vehicle can not pass through the next intersection, the central processing unit calculates fourth acceleration of the vehicle, which is decelerated to the stopping position behind the front vehicle, by taking the energy consumption as an objective function, and sends the fourth acceleration to the brake actuator, the brake actuator decelerates the vehicle by the fourth acceleration, the vehicle stops at an intersection stopping line, and the vehicle passes through the intersection after the next green light is turned on.
The technical scheme of the application also includes that under the condition that the street lamp at the next intersection is the red light, the control method for detecting the vehicle in front of the lane by the front millimeter wave radar and the high-definition camera comprises the following steps:
the front millimeter wave radar detects whether a vehicle exists in front of the adjacent lane and sends a signal to the central processing unit, and if no vehicle exists in front of the adjacent lane on one side, the GPS detects that the lane on the side is a straight lane; the left lane is taken as an example for explanation, the front millimeter wave radar detects whether a vehicle exists in front of the left lane and sends a signal to the central processing unit, and the GPS detects that the left lane is a straight lane; the rear millimeter wave radar detects the relative speed and the relative distance of the rear vehicle and sends the relative speed and the relative distance to the central processing unit, the central processing unit calculates whether the conditions of safe lane change are met or not according to the signals, the central processing unit sends the calculation result to the steering actuator to carry out safe lane change, and after the vehicle lane change, the central processing unit controls the vehicle lane change according to the current vehicle speed and the current vehicle position and the control method of the front vehicle under the condition of red light.
If the central processing unit calculates that the safety lane change condition is not met, the central processing unit calculates that the vehicle in front of the current lane reaches an intersection stop line within the second set time (2 seconds before the green light is turned on) before the next green light is turned on under the current time domain vehicle speed, and if the safety lane change condition can be realized, the vehicle and the vehicle in front are controlled to pass through the next intersection under the condition of keeping the safety distance (the safety distance within 3 seconds); if the energy consumption is not enough, the central processing unit calculates a seventh acceleration of the vehicle decelerating to the position behind the front vehicle for parking by taking the energy consumption as an objective function, and sends the seventh acceleration to the brake actuator, the brake actuator decelerates the vehicle by the seventh acceleration, the vehicle stops at the stop line of the intersection, and the vehicle passes through the intersection after the next green light is turned on.
The technical solutions of the present application are explained and illustrated above, and it should be understood that those skilled in the art can implement the technical solutions of the present application with corresponding changes, modifications, or equivalents, but these changes, modifications, or equivalents should fall within the protection scope of the present application.
Claims (3)
1. A control method for preventing a signal lamp of a vehicle passing through a road junction from stopping is characterized by comprising the following steps:
s1, the signal lamp receiver receives the next road lamp signal in real time and transmits the next road lamp signal to the central processing unit; the front millimeter wave radar and the high-definition camera detect that no vehicle is in front of the lane;
s2, if the next intersection signal is green, the CPU executes the step S3;
if the next intersection signal is a red light, the central processing unit executes the step S4;
s3, the central processing unit judges whether the vehicle runs at a constant speed at the current speed and can pass through the next intersection before the yellow light is turned on, if so, the central processing unit does not send an adjusting signal, and if not, the central processing unit judges that:
accelerating to the maximum allowable vehicle speed under the current vehicle speed, passing through the next intersection before the yellow light is turned on, if so, sending an oiling signal to an accelerator actuator by the central processing unit, accelerating the vehicle at the minimum first acceleration, and if not, judging:
the vehicle runs at a constant speed at the current speed, and the next green light is turned on to judge whether the vehicle can pass through the next intersection, if so, the central processing unit does not send an adjusting signal, and if not, the central processing unit judges that:
when the current vehicle speed is reduced to the minimum allowable vehicle speed, the next green light is turned on, and then the vehicle can not pass through the next intersection, if so, the central processing unit sends a deceleration signal to a brake actuator to decelerate the vehicle at the minimum second acceleration, otherwise, the vehicle is decelerated at the third acceleration when the vehicle stops from the current vehicle speed to the intersection stop line under the optimal energy consumption, and the vehicle stops at the intersection stop line to wait for the next green light to be turned on;
s4, the central processing unit judges whether the vehicle runs at a constant speed at the current speed and can pass through the next intersection after the next green light is turned on, if so, the central processing unit does not send an adjusting signal, and if not, the central processing unit judges that:
when the current vehicle speed is reduced to the minimum allowable vehicle speed, the next green light is turned on, and then the vehicle can not pass through the next intersection, if yes, the central processing unit sends a deceleration signal to the brake actuator to decelerate the vehicle at the minimum fifth speed, otherwise, the vehicle is decelerated at the sixth acceleration when the vehicle stops from the current vehicle speed to the intersection stop line under the optimal energy consumption, and the vehicle stops at the intersection stop line to wait for the next green light to be turned on.
2. The vehicle intersection signal lamp stop-free control method according to claim 1, characterized by further comprising:
s11, detecting that a vehicle is in front of the lane by the front millimeter wave radar and the high-definition camera and sending a signal to the central processing unit, wherein the next intersection signal is a green light;
s12, the front millimeter wave radar detects whether a vehicle exists in front of the adjacent lane and sends a signal to the central processing unit, if no vehicle exists in front of the adjacent lane on one side, and the GPS detects that the lane on the side is a straight lane;
s13, detecting the relative speed and the relative distance of the rear vehicle by the rear millimeter wave radar and sending the relative speed and the relative distance to the central processing unit;
s14, the CPU calculates whether the safe lane change condition is satisfied, if yes, the CPU sends a lane change signal to the steering actuator to perform safe lane change, and then the step S3 is executed, if not, the judgment:
and if not, the central processing unit sends a deceleration signal to a brake actuator, the vehicle decelerates from the current vehicle speed to a fourth acceleration of the vehicle stopping behind the front vehicle under the optimal energy consumption, and the vehicle stops at a stop line of the intersection to wait for the next green light to light.
3. The vehicle intersection signal lamp stop-free control method according to claim 1, characterized by further comprising:
s21, detecting that a vehicle is in front of the lane by the front millimeter wave radar and the high-definition camera and sending a signal to the central processing unit, wherein the next intersection light signal is a red light;
s22, the front millimeter wave radar detects whether a vehicle exists in front of the adjacent lane and sends a signal to the central processing unit, if no vehicle exists in front of the adjacent lane on one side, and the GPS detects that the lane on the side is a straight lane;
s23, detecting the relative speed and the relative distance of the rear vehicle by the rear millimeter wave radar and sending the relative speed and the relative distance to the central processing unit;
s24, the CPU calculates whether the safe lane change condition is satisfied, if yes, the CPU sends a lane change signal to the steering actuator to perform safe lane change, and then the step S4 is executed, if not, the judgment:
and if not, the central processing unit sends a deceleration signal to a brake actuator, so that the vehicle decelerates from the current vehicle speed to a seventh acceleration of the vehicle parked behind the front vehicle under the optimal energy consumption, and stops at the intersection stop line to wait for the next green light to be lighted.
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| CN112198877A (en) * | 2020-09-30 | 2021-01-08 | 广东唯仁医疗科技有限公司 | Control method and system of unmanned vehicle based on 5G network |
| CN112562326A (en) * | 2020-11-26 | 2021-03-26 | 上汽通用五菱汽车股份有限公司 | Vehicle speed guiding method, server and readable storage medium |
| CN113299029A (en) * | 2021-05-14 | 2021-08-24 | 大旗时代（天津）科技有限公司 | Wisdom fire control remote monitering system |
| CN114387805A (en) * | 2022-01-13 | 2022-04-22 | 芜湖奇瑞科技有限公司 | Intersection passing method and device of vehicle, vehicle and storage medium |
| CN115171413A (en) * | 2022-05-25 | 2022-10-11 | 北京国家新能源汽车技术创新中心有限公司 | Control method and system for traffic light shielding scene based on vehicle-road perception fusion technology |
| CN115223347A (en) * | 2021-12-16 | 2022-10-21 | 广州汽车集团股份有限公司 | Early warning for red light running of vehicle and vehicle speed control method |
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| CN114387805A (en) * | 2022-01-13 | 2022-04-22 | 芜湖奇瑞科技有限公司 | Intersection passing method and device of vehicle, vehicle and storage medium |
| CN115171413A (en) * | 2022-05-25 | 2022-10-11 | 北京国家新能源汽车技术创新中心有限公司 | Control method and system for traffic light shielding scene based on vehicle-road perception fusion technology |
| CN115171413B (en) * | 2022-05-25 | 2023-08-22 | 北京国家新能源汽车技术创新中心有限公司 | Control method and system for shielding scene of traffic light based on vehicle road sensing fusion technology |
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