CN111445713B - Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation - Google Patents
Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation Download PDFInfo
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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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- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
Abstract
The invention discloses an intelligent networking vehicle driving speed guiding method based on vehicle-road cooperation, which comprises the following steps: the method comprises the steps that signal information is obtained by an intelligent network connection platform, roadside equipment setting, intelligent traffic equipment and a vehicle-mounted unit, and the origin-destination point of the travel of an intelligent network connection vehicle and the current position information of the intelligent network connection vehicle are obtained through the communication between the roadside equipment and the vehicle-mounted unit; the road condition, signal lamp period configuration and real-time phase data are uploaded to the intelligent network connection platform in real time through the butt joint of the road acquisition equipment and the signal machine and the interface of the intelligent network connection platform; the intelligent network connection platform is combined with the origin-destination points to judge all paths, calculates a route with the shortest passing time according to the road condition and the current signal lamp condition, defines the route as an optimal route, and calculates the green wave speed of the optimal route; the intelligent network platform transmits the optimal route, signal lamp information along the optimal route, green wave vehicle speed and brake information to a vehicle-mounted end through road side equipment. The congestion is reduced, and the road traffic efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent network vehicle-connecting road cooperation, and particularly relates to an intelligent network vehicle driving speed guiding method based on vehicle-connecting road cooperation.
Background
At present, the intelligent network connection becomes an important development strategy of the country and is also an important transformation direction of each vehicle and enterprise. Each part commits a series of policies to promote and standardize the development of intelligent network connection. The national definition of intelligent internet automobiles means that advanced vehicle-mounted sensors, controllers, actuators and other devices are carried, modern communication and network technologies are combined, intelligent information exchange and sharing between automobiles and X (automobiles, roads, people, cloud ends and the like) are realized, the intelligent internet automobiles have the functions of complex environment perception, intelligent decision, cooperative control and the like, safe, efficient, comfortable and energy-saving driving can be realized, and finally, new-generation automobiles which are operated by people can be replaced can be realized.
The provinces and the cities firstly try to promote the development of intelligent networked automobiles, actual road measurement is opened in Beijing, Shanghai, Suzhou, Chongqing and other places, and more cities use closed test fields. The research and development of the automatic driving technology and the industrial application are accelerated in various regions, and the transformation, upgrading and development of transportation are promoted.
Aiming at the phenomenon, the intelligent networking vehicle driving guiding method based on vehicle-road cooperation is provided, the road side equipment, the intelligent networking platform and the vehicle-mounted equipment are communicated with each other, and the platform guides the driving behaviors (including vehicle speed, braking and the like) of the intelligent networking vehicle so as to improve the driving smoothness and safety of the intelligent networking vehicle, promote the technical development of the intelligent networking vehicle and promote the development of vehicle-road cooperation.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide the intelligent internet vehicle driving speed guiding method based on the vehicle-road coordination, which is used for carrying out real-time driving guidance on the intelligent internet vehicle through the vehicle-road coordination, ensuring the driving smoothness of the intelligent internet vehicle and improving the driving safety and the driving efficiency of the intelligent internet vehicle.
In order to achieve the above purposes, the invention adopts the technical scheme that: an intelligent networking vehicle driving speed guiding method based on vehicle-road cooperation comprises the following steps:
s1, equipment layout and communication, including
S1.1, laying and communicating roadside communication equipment, wherein the roadside communication equipment is in communication connection with an intelligent network platform and a vehicle-mounted unit of an intelligent network vehicle, and acquires origin-destination information, vehicle speed and positioning information of the vehicle in real time;
s1.2, communication of an intelligent network connection platform, wherein signal interfaces are arranged on the intelligent network connection platform, roadside communication equipment and a signal machine, information of the information machine, intelligent network connection vehicle information, road conditions and the like can be obtained in real time, a calculation module is arranged in the intelligent network connection platform, an optimal route, signal lamp information along the optimal route, green wave vehicle speed and brake information are obtained through the calculation module, and the information is transmitted to a vehicle-mounted unit through the roadside equipment;
s1.3, setting signal phase acquisition, namely communicating a signal machine with an intelligent networking platform through a communication protocol, wherein the intelligent networking platform can acquire flow information, a signal configuration scheme, time length of each phase and light color information of an intersection in real time;
s2, setting guide parameters, including
S2.1, defining a speed change interval of the intelligent networked vehicle, setting the speed change interval of the intelligent networked vehicle according to the actual conditions of the intersection, the speed limit of the road section and the actual conditions of mixed running of the intelligent networked vehicle and the social vehicle, defining the speed change interval of the intelligent networked vehicle and the maximum speed V of the intelligent networked vehiclemaxMinimum vehicle speed VminGreen wave vehicle speed V, and Vmin≤V≤VmaxCombining the actual flow on the road and the distance L between each intersectioniCalculating the maximum time T for passing through each intersectionimaxMinimum time TiminGreen wave transit time T;
s2.2, setting phases and control parameters of the signal lamps, and acquiring a configuration scheme, a lamp color condition, time length R, Y, G of each phase, a period time length and a countdown condition of the signal lamp of the current intersection in real time by the intelligent network connection control platform and the signal machine through a communication protocol;
s3, controlling the intelligent networking platform to publish the guide content, including
S3.1, obtaining information of the vehicle, and obtaining origin-destination information, positioning information and current vehicle speed of the intelligent network connection vehicle through communication between the vehicle-mounted unit and the road side communication unit, and communication between the road side equipment and the intelligent network connection platform;
s3.2, acquiring the phase and phase parameters of the signal lamp, communicating with the signal machine through the intelligent network platform, acquiring the signal configuration, the time length R, Y, G of each phase and the period time length c of each intersection signal lamp on the current road network, and storing the phase time of the current signal lamp in a database;
s3.3, judging an optimal path, communicating with an intelligent network connection platform through a roadside communication unit, arranging all the paths among the origin-destination points after acquiring origin-destination information of the intelligent network connection vehicle, calculating the current passing time of all the paths according to the traffic on the road and the signal timing conditions along the line, selecting the shortest passing time path after comparing and selecting, and defining the shortest passing time path as the optimal path;
s3.4, judging a current guiding form in real time, wherein the road section vehicle speed guiding means a real-time green wave vehicle speed which can pass through the intersection without stopping and is calculated by the intelligent network connection platform according to real-time road conditions and signal conditions, and the braking guiding means braking information provided by the intelligent network connection platform according to the road conditions and the signal timing conditions, so that safe driving of the intelligent network connection vehicle and red light passing and stopping guiding of the intersection are ensured;
and S4, the intelligent networking platform issues the guiding information, and the intelligent networking vehicle acquires the driving guiding information in real time through the communication between the intelligent networking platform and the road side equipment, and the communication between the road side equipment and the vehicle-mounted unit, so that the safe driving of the intelligent networking vehicle is guaranteed.
The intelligent networking vehicle driving speed guiding method based on vehicle-road cooperation has the advantages that,
firstly, the intelligent networking vehicle is driven and guided in real time through the vehicle-road cooperative system and the intelligent networking platform, driving smoothness of the intelligent networking vehicle is guaranteed, and driving safety and driving efficiency of the intelligent networking vehicle are improved.
And secondly, signal lamp information is provided for the intelligent networked vehicle in real time through communication of the road side equipment and the vehicle-mounted equipment, a good information basis is provided for pre-judging the driving behavior of the intelligent networked vehicle, and a positive promoting effect is played on the technical development of intelligent networking.
Thirdly, the method adopts a vehicle-road cooperative information transmission mode, the utilization rate of the method is higher than that of the single vehicle intelligence, the manufacturing cost of the single vehicle is reduced, and the cost is saved.
Preferably, the roadside communication equipment in S1.1 is in information communication connection with the intelligent networking platform and the vehicle-mounted unit of the intelligent networking vehicle through an LTE-V, DSRC or 5G communication mode.
Preferably, in S1.1, the roadside communication devices are erected at road sections and intersections.
Preferably, in S3.3, the determining the optimal path includes the following steps:
s3.3.1 calculating available route according to origin-destination of intelligent network connection vehicle
Marking all road sections among the origin-destination points which are respectively road sections 1,2 and 3 … … after the origin-destination point information of the intelligent network connection vehicle is acquired by the roadside communication unit, arranging and combining adjacent road sections to form a driving path, and arranging all non-detour paths to form a list s1、s、2s3......sn；
S3.3.2 calculating the transit time of all paths
(1) Obtaining different paths s according to flow collection equipment1、s、2s3......snThe length of the direct road section of each adjacent intersection is L1、、L2、L3......Ln；
(2) Calling stored signal timing conditions along the line, wherein the stored signal timing conditions comprise configuration conditions (three phases and four phases), and the time length of each lamp color of each phase is R, yellow lamp Y, green lamp G and cycle time length c;
(3) according to the flow and the signal timing situation along the line, different road sections s between the origin and destination points are calculated1、s、2s3......snUpper transit time Ti(i-1, 2,3 … …), each different route is composed of different links, and S isi＝S1+S2+S3......SpIn which S ispIf the road section with the largest mark number is the road section with the largest mark number, the different routes S are respectively taken1、S2、S3......SnThe required passing time of each road section is added to obtain the passing time of different routes
(4) Selecting the shortest passing time path after comparison and defining the shortest passing time path as the optimal path Sbest；
Preferably, in S3.4, to ensure safety, if the intelligent internet vehicle is a leading vehicle, defining that the intelligent internet vehicle stops at the intersection stop line 3 seconds before the end of the green light; when the condition that the intelligent internet vehicle can pass through the intersection at the maximum speed is met or when the intelligent internet vehicle cannot pass through the intersection at the current green light phase at the maximum speed but reaches the intersection at the minimum speed, the next period of driving direction phase is green light, namely T is metimax＝Li/VmaxG-3 or T is satisfied at the same timeimax＝Li/VmaxNot less than G-3 and Timin＝Li/VminWhen t + R + Y (t is the residual time of the green light phase in the last period) is more than or equal to t, the intelligent networking platform can provide green wave vehicle speed guidance for the intelligent networking vehicle; when the green wave vehicle speed guiding condition is not met and the distance L between the intelligent network connection vehicle and the front vehicle is not metsAnd when the safety distance is less than 2 meters, the intelligent networking platform issues braking guidance for the intelligent networking vehicle, and if the intelligent networking vehicle requires taking braking measures, the intelligent networking platform sends braking guidance to the intelligent networking vehicle.
Preferably, the S3 control the intelligent networking platform to release the guidance content further includes S3.5, guidance settings of different guidance types are provided, when the green wave vehicle speed guidance condition is satisfied, a signal received by a vehicle-mounted unit of the intelligent networking vehicle is always a vehicle speed, the intelligent networking platform calculates a real-time guidance green wave vehicle speed according to a road condition in real time, if the vehicle speed is unchanged from the last calculation, the pushed vehicle speed remains unchanged, and if the vehicle speed is changed, the latest green wave vehicle speed is pushed; when full ofWhen the condition of sufficient braking guidance is met, the intelligent network connection generates braking prompt information in real time, such as 'please take braking measures', and calculates the time T needed to brakeBAnd providing information push of 3-second countdown and green wave vehicle speed before the brake is released, wherein the calculation methods of the green wave vehicle speed are consistent.
Preferably, in S3.5, the following steps are included:
s3.5.1 vehicle speed guiding method
Obtaining the maximum vehicle speeds V of the vehicles according to the S2.1maxMinimum vehicle speed VminMaximum time T through intersectionmaxMinimum time Tmin；
When the recommended speed guiding condition is met, the vehicle-mounted unit of the intelligent networked vehicle always receives a signal of the speed, the intelligent networked platform follows the road condition in real time, and the distance L of the intelligent networked vehicle from the intersection is obtained according to the positioning informationwAnd calculating the green wave speed of the intelligent networked vehicle in real time:
(1) when T is satisfiedimax＝Li/VmaxWhen the current green light phase is less than or equal to G-3, recording the residual time of the current green light phase as t
(2) When T is satisfiedimax＝Li/VmaxNot less than G-3 and Timin＝Li/Vmin≥t+R+Y
If the vehicle speed does not change with the last calculated vehicle speed, the pushed vehicle speed keeps unchanged, and if the vehicle speed changes, the latest suggested vehicle speed is pushed;
s3.5.2, brake guiding method
When the braking guiding condition is met, the intelligent networking platform generates information of 'please take braking measures' at the first time, countdown and green wave vehicle speed information pushing services are provided 3 seconds before braking is relieved, and the method for calculating the green wave vehicle speed is consistent with the method.
Detailed Description
The following detailed description of the preferred embodiments of the present invention is provided to enable those skilled in the art to more readily understand the advantages and features of the present invention, and to clearly and unequivocally define the scope of the present invention.
The method for guiding the driving speed of the intelligent networked vehicle based on the vehicle-road cooperation is characterized by comprising the following steps of:
s1, equipment layout and communication
S1.1, layout and communication of roadside communication equipment
Road Side communication equipment, namely RSU (road Side Unit), is erected at a road section and an intersection, various information communication is completed between the road Side communication equipment and an intelligent network connection platform and an On Board Unit (OBU) (on board Unit) of an intelligent network connection vehicle through communication modes such as LTE-V, DSRC and 5G, and origin-destination information, vehicle speed and positioning information of the vehicle are obtained in real time;
s1.2, communication of intelligent networking platform
The intelligent network platform has signal interfaces with roadside communication equipment, signal machines and the like, and can acquire information such as information machines, intelligent network vehicle information and road conditions in real time. Obtaining an optimal route, signal lamp information, green wave vehicle speed and brake information along the optimal route through a calculation module, and transmitting the information to a vehicle-mounted unit through road side equipment;
s1.3, setting of Signal phase acquisition
The traffic signal machine is communicated with the intelligent networking platform through a communication protocol, and the intelligent networking platform can acquire traffic information, a signal configuration scheme, time length of each phase and light color information of the intersection in real time;
s2, setting guide parameters
S2.1, defining a speed change interval of the intelligent networked vehicle
In order to ensure the driving safety of the intelligent network connection, the intelligence is set according to the actual conditions of the intersection, the speed limit of the road section and the actual conditions of the mixed running of the intelligent network connection vehicle and the social vehicleThe speed change interval of the networked vehicles is defined, the speed change interval of the intelligent networked vehicles is defined, and the maximum speed V is obtainedmaxMinimum vehicle speed VminGreen wave vehicle speed V, and Vmin≤V≤VmaxCombining the actual flow on the road and the distance L between each intersectioniCalculating the maximum time T for passing through each intersectionimaxMinimum time TiminGreen wave transit time T;
s2.2, setting of phase and control parameters of signal lamp
The intelligent network connection control platform and the annunciator obtain the configuration scheme, the light color condition, the time length R, Y, G of each phase, the period time length and the countdown condition of the signal lamp of the current intersection in real time through a communication protocol.
S3, controlling the intelligent networking platform to release the guide content
S3.1, obtaining information of the vehicle
The method comprises the steps that the start-to-end point information, the positioning information and the current vehicle speed of the travel of an intelligent network connection vehicle are obtained through the communication between a vehicle-mounted unit and a road side communication unit as well as between road side equipment and an intelligent network connection platform;
s3.2, obtaining the phase position and the phase position parameter of the signal lamp
Communicating with a signal machine through an intelligent network platform to obtain signal configuration, phase time R, Y, G and period time c of each intersection signal lamp on the current road network, and storing the phase time of the current signal lamp in a database;
s3.3, judging the optimal path
Through the communication between the roadside communication unit and the intelligent network connection platform, after the obtained origin-destination information of the intelligent network connection vehicle, all possible routes (non-turn-around) are arranged among the origin-destination information, the current passing time of all the routes is calculated according to the traffic on the road and the signal timing conditions along the route, and the shortest passing time route is selected after the comparison and selection and is defined as the optimal route.
S3.3.1 calculating available route according to origin-destination of intelligent network connection vehicle
Marking all road sections between the origin-destination points according to the origin-destination point information of the intelligent network connection vehicle acquired by the roadside communication unitThe links 1,2 and 3 … … are respectively arranged and combined to form a driving path, and all the non-detour paths are listed as s1、s、2s3......sn。
S3.3.2 calculating the transit time of all paths
Obtaining different paths s according to flow collection equipment1、s、2s3......snThe length of the direct road section of each adjacent intersection is L1、L2、L3......Ln；
And calling stored signal timing conditions along the line, wherein the stored signal timing conditions comprise configuration conditions (three phases and four phases), and the time length of each lamp color of each phase is R, yellow Y, green G and cycle time length c.
According to the flow and the signal timing situation along the line, different road sections s between the origin and destination points are calculated1、s、2s3......snUpper transit time Ti(i-1, 2,3 … …), each different route is composed of different links, and S isi＝S1+S2+S3......SpWherein Sp is the road section with the maximum mark number in the road section, then different routes S are arranged1、S2、S3......SnThe required passing time of each road section is added to obtain the passing time of different routes
By comparison and selectionThen selecting the shortest passing time path and defining it as optimum path Sbest。
S3.4, judging the current guidance form in real time
The guiding mode comprises green wave vehicle speed guiding and brake guiding, the road section vehicle speed guiding means real-time green wave vehicle speed which can pass through the intersection without stopping and is calculated by the intelligent network connection platform according to real-time road conditions and signal conditions, and the brake guiding means brake information provided by the intelligent network connection platform according to road conditions and signal timing conditions, so that safe driving of the intelligent network connection vehicle and intersection red light passing and stopping guiding are guaranteed. In order to ensure safety, if the intelligent internet vehicle is a first vehicle, the intelligent internet vehicle is defined to stop at the stop line of the intersection 3 seconds before the end of the green light.
When the condition that the intelligent internet vehicle can pass through the intersection at the maximum speed is met or when the intelligent internet vehicle cannot pass through the intersection at the current green light phase at the maximum speed but reaches the intersection at the minimum speed, the next period of driving direction phase is green light, namely T is metimax＝Li/VmaxG-3 or T is satisfied at the same timeimax＝Li/VmaxNot less than G-3 and Timin＝Li/VminWhen t + R + Y (t is the residual time of the green light phase in the last period) is more than or equal to t, the intelligent networking platform can provide green wave vehicle speed guidance for the intelligent networking vehicle; when the green wave vehicle speed guiding condition is not met and the distance L between the intelligent network connection vehicle and the front vehicle is not metsWhen the safety distance is less than 2 meters, the intelligent networking platform issues braking guidance for the intelligent networking vehicle, and 'please take braking measures';
s3.5, boot settings for different boot types
When the green wave vehicle speed guiding condition is met, the signal received by the vehicle-mounted unit of the intelligent network vehicle is always the vehicle speed, the intelligent network platform calculates the real-time green wave guiding vehicle speed according to the road condition in real time, if the vehicle speed is unchanged from the last calculated vehicle speed, the pushed vehicle speed is kept unchanged, and if the vehicle speed is changed, the latest green wave vehicle speed is pushed;
when the braking guide condition is met, the intelligent network connection generates information of 'please take braking measure' in real time and calculates the time T needed to brakeBBefore the brake is released, providing information push of 3 seconds countdown and green wave vehicle speed, wherein the calculation methods of the green wave vehicle speed are consistent;
s3.5.1 vehicle speed guiding method
Obtaining the maximum vehicle speeds V of the vehicles according to the S2.1maxMinimum vehicle speed VminMaximum time T through intersectionmaxMinimum time Tmin；
When the recommended speed guiding condition is met, the vehicle-mounted unit of the intelligent networked vehicle always receives a signal of the speed, the intelligent networked platform follows the road condition in real time, and the distance L of the intelligent networked vehicle from the intersection is obtained according to the positioning informationwAnd calculating the green wave speed of the intelligent networked vehicle in real time:
(1) when T is satisfiedimax＝Li/VmaxWhen the current green light phase is less than or equal to G-3, recording the residual time of the current green light phase as t
(2) When T is satisfiedimax＝Li/VmaxNot less than G-3 and Timin＝Li/Vmin≥t+R+Y
If the vehicle speed does not change with the last calculated vehicle speed, the pushed vehicle speed keeps unchanged, and if the vehicle speed changes, the latest suggested vehicle speed is pushed;
s3.5.2, brake guiding method
When the braking guiding condition is met, the intelligent networking platform generates information of 'please take braking measures' at the first time, countdown and green wave vehicle speed information pushing services are provided 3 seconds before braking is relieved, wherein the method for calculating the green wave vehicle speed is consistent with the method;
s6, the intelligent networking platform issues the guide information
Through the communication between the intelligent internet platform and the road side equipment, the road side equipment and the vehicle-mounted unit, the intelligent internet vehicle can acquire driving guide information in real time, and the safe driving of the intelligent internet vehicle is guaranteed.
The method has the advantages that the intelligent networking vehicle driving speed guiding method based on vehicle-road cooperation obtains signal information through the intelligent networking platform, the roadside device setting, the intelligent traffic device and the vehicle-mounted unit. The method comprises the steps that firstly, the origin-destination point of the travel of the intelligent networked vehicle and the current position information of the intelligent networked vehicle are obtained through the communication between road side equipment and vehicle-mounted equipment; the road condition, signal lamp period configuration and real-time phase data are uploaded to the intelligent network connection platform in real time through the butt joint of the road acquisition equipment and the signal machine and the interface of the intelligent network connection platform; the intelligent network connection platform is combined with the origin-destination points to judge all non-repeated paths, calculates the route with the shortest passing time according to the road condition and the current signal lamp condition, defines the route as the optimal route and calculates the green wave speed of the optimal route; the intelligent network platform transmits the optimal route, signal lamp information along the optimal route, green wave vehicle speed and brake information to a vehicle-mounted end through road side equipment. The invention improves the driving safety of the intelligent networked vehicles, reduces congestion and improves road traffic efficiency.
The present invention provides an intelligent network vehicle driving guiding method based on vehicle-road cooperation, and the principle and the implementation of the present invention are explained above in detail, it should be noted that the above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An intelligent networking vehicle driving speed guiding method based on vehicle-road cooperation is characterized by comprising the following steps:
s1, equipment layout and communication, including
S1.1, laying and communicating roadside communication equipment, wherein the roadside communication equipment is in communication connection with an intelligent networking platform and vehicle-mounted units of intelligent networking vehicles;
s1.2, communication of an intelligent networking platform, wherein signal interfaces are arranged on the intelligent networking platform, roadside communication equipment and a signal machine, and a computing module for obtaining an optimal route, signal lamp information along the optimal route, green wave vehicle speed and brake information is arranged in the intelligent networking platform;
s1.3, setting signal phase acquisition, and communicating a signal machine with an intelligent network platform through a communication protocol;
s2, setting guide parameters, including
S2.1, defining a vehicle speed change interval of the intelligent networked vehicle, defining a speed change interval of the intelligent networked vehicle, and defining a maximum vehicle speed VmaxMinimum vehicle speed VminGreen wave vehicle speed V, and Vmin≤V≤VmaxCombining the actual flow on the road and the distance L between each intersectioniCalculating the maximum time T for passing through each intersectionimaxMinimum time TiminGreen wave transit time T;
s2.2, setting phases and control parameters of the signal lamps, and acquiring a configuration scheme, a lamp color condition, time length R, Y, G of each phase, a period time length and a countdown condition of the signal lamp of the current intersection in real time by the intelligent network connection control platform and the signal machine through a communication protocol;
s3, controlling the intelligent networking platform to publish the guide content, including
S3.1, obtaining information of the vehicle, and obtaining origin-destination information, positioning information and current vehicle speed of the intelligent network connection vehicle through communication between the vehicle-mounted unit and the road side communication unit, and communication between the road side equipment and the intelligent network connection platform;
s3.2, acquiring the phase and phase parameters of the signal lamp, communicating with the signal machine through the intelligent network platform, acquiring the signal configuration, the time length R, Y, G of each phase and the period time length c of each intersection signal lamp on the current road network, and storing the phase time of the current signal lamp in a database;
s3.3, judging an optimal path, communicating with an intelligent network connection platform through a roadside communication unit, arranging all the paths among the origin-destination points after acquiring origin-destination information of the intelligent network connection vehicle, calculating the current passing time of all the paths according to the traffic on the road and the signal timing conditions along the line, selecting the shortest passing time path after comparing and selecting, and defining the shortest passing time path as the optimal path;
the optimal path judgment method comprises the following steps:
s3.3.1 calculating available route according to origin-destination of intelligent network connection vehicle
Marking all road sections among the origin-destination points which are respectively road sections 1,2 and 3 … … after the origin-destination point information of the intelligent network connection vehicle is acquired by the roadside communication unit, arranging and combining adjacent road sections to form a driving path, and arranging all non-detour paths to form a list s1、s2、s3......sn；
S3.3.2 calculating the transit time of all paths
(1) Obtaining different paths s according to flow collection equipment1、s2、s3......snThe length of the direct road section of each adjacent intersection is L1、L2、L3......Ln；
(2) Calling stored signal timing conditions along the line, wherein the stored signal timing conditions comprise configuration conditions (three phases and four phases), and the time length of each lamp color of each phase is R, yellow lamp Y, green lamp G and cycle time length c;
(3) according to the flow and the signal timing situation along the line, different road sections s between the origin and destination points are calculated1、s2、s3......snUpper transit time Ti(i-1, 2,3 … …), each different route is composed of different links, and S isi＝S1+S2+S3......SpIn which S ispIf the road section with the largest mark number is the road section with the largest mark number, the different routes S are respectively taken1、S2、S3......SnThe required passing time of each road section is added to obtain the passing time of different routes
(4) Selecting the shortest passing time path after comparison and defining the shortest passing time path as the optimal path Sbest；
S3.4, judging the current guidance form in real time, wherein the current guidance form comprises green wave vehicle speed guidance which is calculated by the intelligent network platform according to real-time road conditions and signal conditions and can pass through the intersection without stopping and brake guidance which must stop at the intersection;
and S4, the intelligent networking platform issues the guiding information, and the intelligent networking vehicle acquires the driving guiding information in real time through the communication between the intelligent networking platform and the road side equipment, and the communication between the road side equipment and the vehicle-mounted unit, so that the safe driving of the intelligent networking vehicle is guaranteed.
2. The intelligent networked vehicle driving speed guiding method based on vehicle-road cooperation according to claim 1, characterized in that: and the roadside communication equipment in the S1.1 is in information communication connection with the intelligent networking platform and the vehicle-mounted unit of the intelligent networking vehicle through an LTE-V, DSRC or 5G communication mode.
3. The intelligent networked vehicle driving speed guiding method based on vehicle-road cooperation according to claim 1, characterized in that: in S1.1, the roadside communication equipment is erected on road sections and intersections.
4. The intelligent networked vehicle driving speed guiding method based on vehicle-road cooperation according to claim 1, characterized in that: in S1.3, the intelligent networking platform is used for acquiring traffic information, a signal configuration scheme, time length of each phase and light color information of the intersection in real time.
5. The intelligent networked vehicle driving speed guiding method based on vehicle-road cooperation according to claim 1, characterized in that: in S3.4, if the intelligent Internet-connected vehicle is a head vehicle, defining that the intelligent Internet-connected vehicle stops at the stop line of the intersection 3 seconds before the end of the green light;
when the condition that the intelligent internet vehicle can pass through the intersection at the maximum speed is met or when the intelligent internet vehicle cannot pass through the intersection at the current green light phase at the maximum speed but reaches the intersection at the minimum speed, the next period of driving direction phase is green light, namely T is metimax＝Li/VmaxG-3 or T is satisfied at the same timeimax＝Li/VmaxNot less than G-3 and Timin＝Li/VminThe intelligent networking platform can provide green wave vehicle speed guidance for the intelligent networking vehicle when t is more than or equal to t + R + Y and is the green light phase residual time in the previous period; when the green wave vehicle speed guiding condition is not met and the distance L between the intelligent network connection vehicle and the front vehicle is not metsWhen the safety distance is less than 2 meters, the intelligent networking platform issues braking guidance for the intelligent networking vehicle.
6. The intelligent networked vehicle driving speed guiding method based on vehicle-road cooperation according to claim 1, characterized in that: the step S3, controlling the intelligent networking platform to publish the guidance content, further includes step S3.5, setting guidance of different guidance types,
when the green wave vehicle speed guiding condition is met, the signal received by the vehicle-mounted unit of the intelligent network vehicle is always the vehicle speed, the intelligent network platform calculates the real-time green wave guiding vehicle speed according to the road condition in real time, if the vehicle speed is unchanged from the last calculated vehicle speed, the pushed vehicle speed is kept unchanged, and if the vehicle speed is changed, the latest green wave vehicle speed is pushed;
when the brake guiding condition is met, the intelligent network connection generates brake prompt information in real time and calculates the time T required to brakeBAnd providing information push of 3-second countdown and green wave vehicle speed before the brake is released, wherein the calculation methods of the green wave vehicle speed are consistent.
7. The intelligent networked vehicle driving speed guiding method based on vehicle-road cooperation according to claim 5, characterized in that: in S3.5, include
S3.5.1 vehicle speed guiding method
Obtaining the maximum vehicle speeds V of the vehicles according to the S2.1maxMinimum vehicle speed VminMaximum time T through intersectionmaxMinimum time Tmin；
When the recommended speed guiding condition is met, the vehicle-mounted unit of the intelligent networked vehicle always receives a signal of the speed, the intelligent networked platform follows the road condition in real time, and the distance L of the intelligent networked vehicle from the intersection is obtained according to the positioning informationwAnd calculating the green wave speed of the intelligent networked vehicle in real time:
(1) when T is satisfiedimax＝Li/VmaxWhen the current green light phase is less than or equal to G-3, recording the residual time of the current green light phase as t
(2) When T is satisfiedimax＝Li/VmaxNot less than G-3 and Timin＝Li/Vmin≥t+R+Y
If the vehicle speed does not change with the last calculated vehicle speed, the pushed vehicle speed keeps unchanged, and if the vehicle speed changes, the latest suggested vehicle speed is pushed;
s3.5.2, brake guiding method
When the braking guiding condition is met, the intelligent networking platform generates information of 'please take braking measures' at the first time, countdown and green wave vehicle speed information pushing services are provided 3 seconds before braking is relieved, and the method for calculating the green wave vehicle speed is consistent with the method.
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| CN111968383A (en) * | 2020-08-24 | 2020-11-20 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Method for realizing speed guidance of intersection by using electronic identification information of automobile |
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| CN112967506A (en) * | 2021-02-26 | 2021-06-15 | 安徽达尔智能控制系统股份有限公司 | Green wave band traffic control method and system for urban road |
| CN113096421B (en) * | 2021-04-02 | 2022-08-26 | 南京交通职业技术学院 | Road intersection green wave vehicle speed guiding method and system under vehicle-road cooperative mode |
| CN113470407B (en) * | 2021-06-21 | 2023-03-24 | 上汽通用五菱汽车股份有限公司 | Vehicle speed guiding method for multi-intersection passing, server and readable storage medium |
| CN113380042B (en) * | 2021-08-12 | 2022-01-18 | 深圳市城市交通规划设计研究中心股份有限公司 | 5G vehicle-road cooperative speed guiding control method, system, equipment and storage medium |
| CN113611122B (en) * | 2021-10-09 | 2022-01-14 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Vehicle speed guiding method, device and equipment |
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