CN111508254B - Control method and control system for efficiently passing through traffic intersection - Google Patents
Control method and control system for efficiently passing through traffic intersection Download PDFInfo
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- CN111508254B CN111508254B CN202010185429.8A CN202010185429A CN111508254B CN 111508254 B CN111508254 B CN 111508254B CN 202010185429 A CN202010185429 A CN 202010185429A CN 111508254 B CN111508254 B CN 111508254B
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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
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
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Abstract
The invention discloses a control method and a control system for efficiently passing through a traffic intersection, and relates to the technical field of intelligent driving. According to the control method and the control system for efficiently passing through the traffic intersection, the optimal vehicle speed is calculated for the vehicle with the vehicle networking communication function according to the road side unit information and the high-precision positioning information, and the vehicle speed adjustment is completed; and for vehicles without the vehicle networking communication function, driving in a vehicle following speed or preset speed mode according to the self-adaptive cruise system, and realizing vehicle-road cooperation. Compared with the prior art, the invention can help the driver to pass through the intersection efficiently without the operation of the driver in the appointed area of the traffic signal lamp intersection, avoid the phenomenon of traffic intersection congestion caused by illegal operation of the driver and uneven driving level, reduce the traffic safety risk caused by inconsistent vehicle speed of the driver, reduce the time for driving the vehicle to pass through the traffic intersection, be beneficial to reducing the traffic congestion and improve the traffic efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a control method and a control system for efficiently passing through a traffic intersection.
Background
Along with the increase of automobile reserves in the market, the urban road congestion phenomenon is very serious, and the main reasons are three: too many motor vehicles; violation operation of the driver; the driving technique of the driver is uneven. In addition, in the red light waiting stage, partial drivers forcibly merge the roads and add the plugs, and in the yellow light red changing stage, partial drivers accelerate the passing, so that red light running behaviors and traffic accidents are caused, and the phenomena cause slow passing of signal lamp intersections.
At present, the intersection signal lamp is judged mainly by judging the distance from the intersection according to a navigation system, then a driver can observe the state information of the traffic light by himself, and whether the traffic light can pass through the intersection or not is judged according to the current road condition and the past experience. The prior patent discloses a system and a method for assisting a driver in judging to pass through a traffic light intersection based on navigation, but only can prompt the driver about the time required for arriving at the traffic light intersection, cannot acquire traffic light state information and needs the driver to observe the traffic light state information by self; another patent discloses a judgment method for reminding a driver of whether the vehicle can pass through a red light lamp in a green light time, and finally, the driver still needs to comprehensively make judgment according to prompts. In the prior art, when passing through a traffic intersection, a driver mainly makes a judgment manually, but due to factors such as driving technology, driving experience, road conditions and traffic conditions of the driver, misjudgment may occur, so that the intersection is blocked slowly, and even traffic accidents may be caused.
Therefore, there is a need for a control method and a control system for efficiently passing through a traffic intersection to improve the effectiveness, efficiency and safety of vehicles passing through the traffic light intersection.
Disclosure of Invention
The present invention is directed to a control method and a control system for efficiently passing through a traffic intersection, so as to overcome the technical problems in the background art.
The invention is realized by the following technical scheme:
the invention provides a control method for efficiently passing through a traffic intersection on one hand, which at least comprises the following steps:
acquiring distance information between a vehicle and a signal lamp;
according to the distance information, when the vehicle drives to a preset distance away from a signal lamp, signal lamp information is obtained, wherein the signal lamp information comprises signal lamp states and remaining time;
according to the signal lamp information, when the signal lamp is a green lamp, judging whether the vehicle has a vehicle networking communication function;
if the vehicle has the vehicle networking communication function, controlling the vehicle to run at a suggested speed, wherein the suggested speed is calculated according to the distance information and the remaining time; if the vehicle does not have the vehicle networking communication function, controlling the vehicle to run at a vehicle following speed or a preset speed, wherein the vehicle following speed is determined through adaptive cruise control, and the preset speed is determined according to the preset distance;
and when the signal lamp is a red lamp, controlling the vehicle to brake and stop at the stop line of the intersection.
Further, acquiring distance information between the vehicle and the signal lamp specifically comprises: if the vehicle has the function of internet of vehicles communication, the distance information between the vehicle and the signal lamp is acquired through the road side unit; and if the vehicle does not have the vehicle networking communication function, acquiring distance information between the vehicle and the signal lamp through navigation.
Further, when the signal lamp is a red lamp, at the stop line of the intersection, after controlling the vehicle to stop, the method further comprises the following steps: when the signal lamp is changed from the red lamp to the green lamp, restarting the vehicle; the vehicle travels at a speed before stopping.
Further, after the signal lamp information is acquired when the vehicle drives to a preset distance away from the signal lamp according to the distance information, the method further comprises: when a vehicle with the internet of vehicles communication function is in a left-turn straight-going shared lane, if the vehicle needs to turn left, a left-turn signal is obtained; calculating a left-turn vehicle speed by the remaining time and the distance information, wherein the left-turn driving time is half of the remaining time; and the vehicle runs in a left turn at the left turn vehicle speed.
Further, if the vehicle has the internet of vehicles communication function, controlling the vehicle to run at a suggested speed, wherein the suggested speed is calculated according to the distance information and the remaining time; if the vehicle does not have the vehicle networking communication function, controlling the vehicle to run at a vehicle following speed or a preset speed, wherein the vehicle following speed is determined through adaptive cruise control, and after the preset speed is determined according to the preset distance, the method further comprises the following steps: if the vehicle suddenly intervenes, judging whether a collision risk exists; if the collision risk does not exist, the vehicle continues to run at the current speed; and if the collision risk exists, controlling the vehicle to brake emergently.
In another aspect, the present invention provides a control system for efficiently passing through a traffic intersection, for implementing the above control method for efficiently passing through a traffic intersection, the control system for efficiently passing through a traffic intersection comprising:
the system comprises a signal acquisition module, a signal processing module and a signal processing module, wherein the signal acquisition module is used for acquiring signal lamp information and distance information between a vehicle and a signal lamp;
the first calculation module is used for calculating the suggested vehicle speed according to the signal lamp information and the distance information;
the self-adaptive cruise control module is used for determining the following speed;
the vehicle speed control module is used for controlling the vehicle to run at any one of the suggested vehicle speed, the following vehicle speed or the preset speed;
the vehicle speed control module is also used for controlling the vehicle to brake and stop at the stop line of the intersection.
Furthermore, the signal acquisition unit comprises a remote communication unit, a host, a radar and a camera, wherein the remote communication unit is connected with the road side unit through a vehicle and network infrastructure communication function; the vehicle speed control module comprises an active safety controller and an electronic stabilizing unit which are connected with each other; the remote communication unit, the host, the radar and the camera are respectively connected with the active safety controller.
Further, the vehicle speed control module is also used for controlling the vehicle to run at the speed before stopping after restarting.
Further, the signal acquisition module further comprises a left-turning signal acquisition unit for acquiring a left-turning signal of the vehicle, and the control system further comprises a second calculation module for calculating the left-turning speed of the left-turning vehicle.
Further, the control system also comprises a judging module and an emergency braking module; the judging module is used for judging whether collision risks exist between the vehicle and the suddenly-intervened vehicle; and if the collision risk exists with the suddenly-intervened vehicle, the emergency braking module is used for controlling the emergency braking of the vehicle.
The implementation of the invention has the following beneficial effects:
according to the control method and the control system for efficiently passing through the traffic intersection, the vehicle with the vehicle networking communication function calculates the suggested vehicle speed according to the road side unit information and the high-precision positioning information, and finishes vehicle speed regulation; for vehicles without the internet of vehicles communication function, the self-adaptive cruise control function is used for controlling the vehicles to run at the following speed or the preset speed, so that the cooperation of the vehicle and the road is realized. According to the invention, through the functions of vehicle networking communication and adaptive cruise control, a driver can be helped to efficiently pass through the intersection without operating in the designated area of the traffic signal lamp intersection, the phenomenon of traffic intersection congestion caused by illegal operation of the driver and uneven driving level is avoided, the traffic safety risk caused by the fact that the speed of the driver is inconsistent is reduced, the time for driving through the traffic intersection is favorably shortened, the traffic congestion is reduced, and the traffic efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of a control method for efficient traffic crossing according to an embodiment of the present invention;
FIG. 2 is a schematic view of a control method for efficient traffic crossing according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system for efficiently passing through a traffic intersection according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following examples. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms first, second, third and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
In the description of the present invention, the roadside unit V2X (Vehicle-to-electrical Communications, abbreviated as V2X) provides Vehicle information through sensors, Vehicle terminals and electronic tags mounted on a Vehicle, and various Communication technologies are used to implement Vehicle-to-Vehicle Communication (abbreviated as V2V), Vehicle-to-human Communication (abbreviated as V2P), Vehicle-to-Network Infrastructure Communication (abbreviated as V2I), Vehicle-to-Network Communications (abbreviated as V2N), and information is extracted and shared on an information Network platform to make effective use of the information, thereby effectively providing comprehensive services for the Vehicle. Among them, V2I is one of V2X services, which is communication between a user equipment using a V2I application and a Road Side Unit (RSU). ACC refers to Adaptive Cruise Control (Adaptive Cruise Control).
Examples
Referring to fig. 1, the control method for efficiently passing through a traffic intersection of the present embodiment at least includes the following steps:
acquiring distance information between a vehicle and a signal lamp;
according to the distance information, when the vehicle drives to a preset distance away from a signal lamp, signal lamp information is obtained, wherein the signal lamp information comprises signal lamp states and remaining time;
according to the signal light information, when the signal light is green, judging whether the vehicle has a vehicle networking communication (V2X) function;
if the vehicle has the vehicle networking communication function, controlling the vehicle to run at the suggested speed, wherein the suggested speed is calculated according to the distance information and the remaining time; if the vehicle does not have the vehicle networking communication function, controlling the vehicle to run at a vehicle following speed or a preset speed, wherein the vehicle following speed is determined through self-adaptive cruise control, and the preset speed is determined according to a preset distance;
when the signal lamp is a red lamp, the vehicle is controlled to brake and stop at the stop line of the intersection.
In this embodiment, the preset distance indicates a coverage area of the road side unit RSU. The communication distance between the general road side unit and the vehicle is about 500m, namely the coverage distance of the road side unit is about 500m, and the road side unit sends a message to the traveling vehicle within the distance range. The application scenario of the embodiment mainly aims at that a vehicle enters a range 500m away from a traffic signal lamp through navigation information in a range 500m away from the traffic signal lamp, the vehicle runs at a suggested speed for the vehicle with the V2X function, and the vehicle starts adaptive cruise control for the vehicle without the V2X function, and the vehicle runs with the vehicle or runs at a preset speed, specifically, when the vehicle is ahead, the following speed is determined through the adaptive cruise control and runs at the following speed; when the vehicle is not in front of the vehicle, the vehicle is driven at a preset speed, under the general road condition, the maximum green light time is 60s, the distance is calculated by a boundary distance of 500m, the minimum vehicle speed is 500/60 × 3.6 ═ 30km/h, and the condition that the residual green light time is half of the maximum time is considered, so the preset speed is a constant speed of 30km/h-60 km/h. Under normal conditions, the speed of a driver going straight through a traffic intersection is about 30km/h-60km/h, but the highest speed per hour cannot exceed the speed of the intersection sign.
By adopting the method of the embodiment, the problem of traffic jam caused by manual operation intervention and illegal operation of the driver can be avoided, the traffic safety risk caused by inconsistent speed of the driver is reduced, the time of driving through a traffic intersection is reduced, the traffic jam is reduced, and the traffic efficiency is improved.
In other embodiments, the preset distance may be set to other values as needed, as long as the same function can be achieved. Accordingly, the preset speed may be set to other values as long as the same function can be achieved.
In this embodiment, to ensure the safety of the vehicle, the following factors are considered: the time delay of V2V and V2I is generally 100 ms; when the vehicle speed is 30-60 km/h, the distance between two adjacent vehicles close to the traffic intersection is about 1-2 m by combining the time for triggering the emergency brake module to perform emergency brake.
As a specific implementation manner, acquiring distance information between a vehicle and a signal lamp specifically includes: if the vehicle has the vehicle networking communication function, the vehicle is connected with the road side unit, and the distance information between the vehicle and the signal lamp is acquired through the road side unit; if the vehicle does not have the vehicle networking communication function, the distance information between the vehicle and the signal lamp is obtained through navigation, the navigation system has a high-precision map and a high-precision positioning function, the high-precision map provides accurate lane-level information, and the position of the vehicle can be more accurately positioned through high-precision positioning.
In this embodiment, for a vehicle with the function of V2X, the position of a stop line is determined at the stop line of a traffic intersection according to a high-precision map and high-precision positioning information, and the vehicle is controlled to automatically brake and stop at the stop line of the intersection in combination with signal light information provided by a road side unit. For vehicles without the V2X function, the position of a stop line is determined according to a high-precision map and high-precision positioning information, traffic lights are identified by combining a camera and a millimeter wave radar, and the vehicles are controlled to automatically brake and stop at the stop line of an intersection.
As a specific implementation mode, after controlling the vehicle to stop braking at the stop line of the intersection when the signal lamp is red, the method further comprises the following steps: when the signal lamp is changed from the red lamp to the green lamp, restarting the vehicle; the vehicle travels at a speed before stopping. In this embodiment, after the red light turns to green, the vehicle starts at a speed above the memory speed, and after the vehicle leaves the intersection, the vehicle control function fails, and the vehicle returns to normal running.
As a specific implementation mode, for a left-turn vehicle in the same lane, the vehicle enters a range covered by RSU for 500m, and a left-turn signal of the vehicle is given in advance, and an input is given to the system. 1/2, which is the total time of the vehicle, aiming at the vehicle with the left-turn lane and the straight lane, the straight lane is followed by the left-turn lane, the straight vehicle walks first, the left-turn vehicle walks afterwards, and the running time is respectively accounted for. When the vehicle drives to the preset distance from the signal lamp according to the distance information, after the signal lamp information is acquired, the method further comprises the following steps: when a vehicle with the internet of vehicles communication function is in a left-turning straight-going shared lane, if the vehicle needs to turn left, a left-turning signal is obtained; calculating the left-turn vehicle speed according to the remaining time and the distance information, wherein the left-turn driving time is half of the remaining time; the vehicle travels in a left turn at a left turn vehicle speed. For a vehicle without the V2X function, the vehicle turns at a preset speed, and the speed of the vehicle passing through the intersection is about 30 km/h. It should be noted that the highest speed must not exceed the speed of the crossing sign when the vehicle is running.
As a specific implementation manner, during the running process of the vehicle, if the vehicle suddenly intervenes, whether a collision risk exists is judged; if the collision risk does not exist, the vehicle continues to run at the current speed; if there is a risk of collision, the vehicle is braked urgently. After the emergency braking, whether there is a collision risk is judged again, and after the collision risk is released, the vehicle continues to run at the speed before the emergency braking.
In this embodiment, in the scene schematic diagram shown in fig. 2, the main car 1, the main car 2 and the vehicle running in the same lane enter the intersection area of the traffic signal lamp, and the vehicle enters the vehicle control state within a distance of 500m from the signal lamp. For the vehicle 1 with the V2X function, signal lamp information is received through the V2I, the state and time of the signal lamp are identified, the suggested vehicle speed is calculated according to the distance and the time, the suggested vehicle speed is automatically kept, and at the moment, a driver controls an accelerator to be invalid; the vehicle 2 and the rear vehicles 5 and 6 which do not have the V2X function start the ACC function and sequentially follow the vehicles according to the suggested speed of the front vehicle; according to the RSU information and the high-precision map, at the edge of a traffic intersection, the vehicle 1 automatically brakes and stops through an electronic stabilizing unit to finish red light parking; after the red light turns to green, the vehicle 1 is started to run at the last memorized vehicle speed before stopping, and after the vehicle leaves the intersection, the vehicle function is recovered to be normal, and the event is ended.
Aiming at the vehicle 3 without the V2X function, the distance signal lamp distance is positioned and identified according to the navigation high precision, and the vehicle runs at a constant speed of 30km/h-60 km/h; the rear vehicle 4 has a V2X function, and travels at the recommended speed; the vehicle 3 can be fused according to the camera, the millimeter wave radar and the high-precision map, the stop line is recognized, the vehicle is stopped at the edge of the traffic intersection, after the red light is changed into the green light, the vehicle 3 is started at a speed higher than the memory speed, after the vehicle leaves the intersection, the vehicle function is recovered to be normal, and the event is ended.
For left-turning vehicles in the same lane, the vehicles are required to enter the range of 500m covered by the RSU to give a left-turning signal in advance, and system input is given to control the left-turning vehicles to pass through the intersection quickly and efficiently.
According to the control method for the traffic intersection, the recommended vehicle speed is calculated for the vehicle with the vehicle networking communication function according to the road side unit information and the high-precision positioning information, and vehicle speed adjustment is completed; and for vehicles without the Internet of vehicles communication function, the speed of the vehicles is adjusted in a vehicle following mode through the self-adaptive cruise control function, so that the cooperation of the vehicle and the road is realized. According to the invention, through the functions of vehicle networking communication and adaptive cruise control, a driver can be helped to efficiently pass through the intersection without operating in the designated area of the traffic signal lamp intersection, the phenomenon of traffic intersection congestion caused by illegal operation of the driver and uneven driving level is avoided, the traffic safety risk caused by the fact that the speed of the driver is inconsistent is reduced, the time for driving through the traffic intersection is favorably shortened, the traffic congestion is reduced, and the traffic efficiency is improved. In addition, even if a front vehicle has a special accident in the process of passing through a traffic intersection, emergency braking of the vehicle can be timely avoided by controlling, and the driving safety is favorably improved.
Another embodiment of the present invention further provides a control system for efficiently passing through a traffic intersection, which is used to implement the control method for efficiently passing through a traffic intersection in the above embodiments, and the control system for efficiently passing through a traffic intersection in this embodiment includes: the signal acquisition module is used for acquiring signal lamp information and distance information between the vehicle and a signal lamp; the first calculation module is used for calculating the suggested vehicle speed according to the signal lamp information and the distance information; the self-adaptive cruise control module is used for determining the following speed; the vehicle speed control module is used for controlling the vehicle to run at any one of the suggested vehicle speed, the following vehicle speed or the preset speed; the vehicle speed control module is also used for controlling the vehicle to brake and stop at the stop line of the intersection.
As a specific implementation mode, the signal acquisition unit comprises a remote communication unit, a host, a radar and a camera, wherein the remote communication unit is connected with the road side unit through a vehicle and network infrastructure communication function (V2I); the vehicle speed control module comprises an active safety controller and an electronic stabilizing unit which are connected with each other; the remote communication unit, the host, the radar and the camera are respectively connected with the active safety controller. Referring to fig. 3, the vehicle mainly relates to the ECU including a remote communication unit, an active safety controller, a host, a camera, a radar and an electronic stability unit, the remote communication unit receives road-based RSU information through V2I, the remote communication unit, the host, the camera, the radar and the electronic stability unit are all connected with the active safety controller, the host has a built-in navigation function with high-precision maps and high-precision positioning functions for determining the position of the vehicle and the distance from a signal lamp, and a first calculation module may be provided in the active safety controller, and the active safety controller performs calculation of the suggested speed.
For vehicles with the function of V2X, in the working range covered by the RSU, the RSU sends traffic light state information to the remote communication unit in a V2I mode, the host machine calculates the distance through high-precision positioning and a high-precision map, the host machine and the remote communication unit send the information to the active safety controller, the active safety controller calculates the suggested vehicle speed, the suggested vehicle speed information is transmitted to the electronic stabilizing unit, and the electronic stabilizing unit sends a vehicle speed command. And at the stop line of the traffic intersection, the host determines the position of the stop line according to the high-precision map and the high-precision positioning information, and finishes parking by combining signal lamp information provided by the RSU.
For a vehicle without the V2X function, the host machine determines the accurate position of the distance signal lamp through a high-precision map and high-precision positioning, the vehicle enters the range of 500m from the distance signal lamp, the ACC is started, the active safety controller automatically sends a vehicle speed control instruction to the electronic stabilizing unit, and the vehicle runs with the vehicle or runs at a preset speed. And at the stop line of the traffic intersection, the host machine determines the position of the stop line through a high-precision map and high-precision positioning information, and the traffic lights are identified by combining a camera and a millimeter wave radar to finish parking.
When the signal lamp is changed from red lamp to green lamp, the active safety controller controls the vehicle to run at the speed before stopping, and after the vehicle runs through the signal lamp area, the active safety controller signals the electronic stabilizing unit to remove the speed control through the high-precision map lane line identification.
In one embodiment, the vehicle speed control module is further configured to control the vehicle to travel at a speed before the vehicle is stopped after the restart.
As a specific implementation manner, the signal obtaining module further includes a left-turning signal obtaining unit for obtaining a left-turning signal of the vehicle, and the control system in this embodiment further includes a second calculating module for calculating a left-turning vehicle speed of the left-turning vehicle.
As a specific implementation manner, the control system in this embodiment further includes a second determining module and an emergency braking module; the second judging module is used for judging whether a collision risk exists with a suddenly intervened vehicle or not; the emergency braking module is used for controlling the emergency braking of the vehicle if the collision risk exists with the suddenly-intervened vehicle.
The control system for efficiently passing through the traffic intersection in the embodiment is adopted, and the working process is as follows:
entering: when a vehicle enters a working area, the vehicle enters an electronic stability control mode according to centimeter-level recognition of a high-precision map, and a V2X vehicle runs according to RSU information and the suggested speed of an active safety controller; the vehicle without the V2X function performs adaptive following running in an ACC mode.
Stopping: the V2X vehicle realizes the intersection parking according to the RSU information and high-precision positioning; and the vehicle without V2X can realize intersection parking according to the camera and high-precision positioning.
Starting: after the red light turns green, the vehicle starts at a speed memorized above the speed, after the vehicle leaves the intersection, the electronic stability control mode is invalid, the vehicle recovers normal running, and the event is ended.
It should be noted that the high-precision map in this embodiment may also be placed in the cloud, and obtained through V2N, which may reduce vehicle cost and load, and does not need to be updated in real time, thereby facilitating the release of the memory space of the host.
The control system for efficiently passing through the traffic intersection relates to sensing data fusion, control logic and decision execution, helps a driver to efficiently pass through the traffic intersection by combining real-time traffic information and surrounding vehicle states, improves traffic efficiency, reduces the cost of a single vehicle, saves the cost and reduces energy loss.
The above embodiment of the invention has the following beneficial effects:
1. according to the control method and the control system for efficiently passing through the traffic intersection in the embodiment, the recommended vehicle speed is calculated for the vehicle with the vehicle networking communication function according to the road side unit information and the high-precision positioning information, and vehicle speed adjustment is completed; for vehicles without the internet of vehicles communication function, the self-adaptive cruise control function is used for controlling the vehicles to run at the following speed or the preset speed, so that the cooperation of the vehicle and the road is realized. According to the invention, through the functions of vehicle networking communication and adaptive cruise control, a driver can be helped to efficiently pass through the intersection without operating in the designated area of the traffic signal lamp intersection, the phenomenon of traffic intersection congestion caused by illegal operation of the driver and uneven driving level is avoided, the traffic safety risk caused by the fact that the speed of the driver is inconsistent is reduced, the time for driving through the traffic intersection is favorably shortened, the traffic congestion is reduced, and the traffic efficiency is improved;
2. the control method and the control system for efficiently passing through the traffic intersection in the embodiment relate to sensing data fusion, control logic and decision execution, help a driver to efficiently pass through the traffic intersection by combining real-time traffic information and surrounding vehicle states, and reduce the cost of a single vehicle, save the cost and reduce the energy loss while improving the traffic efficiency; in the process of passing through a traffic intersection, even if a special accident happens to a front vehicle, emergency braking of the front vehicle can be avoided in time by controlling, and the driving safety is improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A control method for efficiently passing through a traffic intersection is characterized by at least comprising the following steps:
obtaining distance information between a vehicle and a signal lamp specifically comprises: if the vehicle has the vehicle networking communication function, the distance information between the vehicle and the signal lamp is acquired through the road side unit; if the vehicle does not have the vehicle networking communication function, acquiring distance information between the vehicle and the signal lamp through navigation;
according to the distance information, when a vehicle drives to a preset distance away from a signal lamp, signal lamp information is obtained, and the vehicle is controlled to enter a vehicle control state, wherein the signal lamp information comprises a signal lamp state and remaining time, and a driver controls an accelerator to be out of order under the condition that the vehicle is in the vehicle control state;
according to the signal lamp information, when the signal lamp is a green lamp, judging whether the vehicle has a vehicle networking communication function;
if the vehicle has the internet of vehicles communication function, controlling the vehicle to run at a suggested speed, wherein the suggested speed is calculated according to the distance information and the remaining time; if the vehicle does not have the vehicle networking communication function, controlling the vehicle to run at a vehicle following speed or a preset speed, wherein the vehicle following speed is determined through adaptive cruise control, and the preset speed is determined according to the preset distance;
if the vehicle suddenly intervenes, judging whether a collision risk exists; if the collision risk does not exist, the vehicle continues to run at the current speed; if the collision risk exists, controlling the vehicle to brake emergently;
when the signal lamp is a red lamp, controlling the vehicle to brake and stop at the stop line of the intersection;
when the signal lamp is changed from the red lamp to the green lamp, restarting the vehicle; the vehicle is traveling at a speed before stopping;
and after the vehicle is detected to drive away from the intersection, the vehicle control function is invalid, and the vehicle is recovered to normally drive.
2. The method of claim 1, further comprising, after obtaining the signal light information when the vehicle travels a predetermined distance from the signal light based on the distance information, the step of:
when a vehicle with the internet of vehicles communication function is in a left-turning straight-going shared lane, if the vehicle needs to turn left, a left-turning signal is obtained;
calculating a left-turn vehicle speed according to the remaining time and the distance information, wherein the left-turn driving time is half of the remaining time;
and the vehicle runs in a left turn at the left turn vehicle speed.
3. A control system for efficient passage of traffic intersections for implementing the control method for efficient passage of traffic intersections according to any one of claims 1 to 2, comprising:
the system comprises a signal acquisition module, a signal processing module and a signal processing module, wherein the signal acquisition module is used for acquiring signal lamp information and distance information between a vehicle and a signal lamp;
the first calculation module is used for calculating the suggested vehicle speed according to the signal lamp information and the distance information;
the self-adaptive cruise control module is used for determining the following speed;
the vehicle speed control module is used for controlling the vehicle to run at any one of the suggested vehicle speed, the following vehicle speed or the preset speed;
the vehicle speed control module is also used for controlling the vehicle to brake and stop at the stop line of the intersection.
4. The control system for an efficient traffic intersection of claim 3, wherein the signal acquisition module comprises a remote communication unit, a host, a radar and a camera, the remote communication unit establishing connection with the roadside unit through a vehicle-to-network infrastructure communication function;
the vehicle speed control module comprises an active safety controller and an electronic stabilizing unit which are connected with each other;
the remote communication unit, the host, the radar and the camera are respectively connected with the active safety controller.
5. The control system for efficient passage of traffic intersections of claim 3 wherein the vehicle speed control module is further configured to control the vehicle to travel at a speed prior to stopping after a restart.
6. The control system for passing through a traffic intersection efficiently as recited in claim 3, wherein said signal acquisition module further comprises a left turn signal acquisition unit for acquiring a left turn signal of the vehicle, said control system further comprising a second calculation module for calculating a left turn vehicle speed of the left turn vehicle.
7. The control system for efficient passage of traffic intersections of claim 3 further comprising a decision module and an emergency braking module;
the judging module is used for judging whether collision risks exist between the vehicle and the suddenly-intervened vehicle;
and if the collision risk exists with the suddenly-intervened vehicle, the emergency braking module is used for controlling the emergency braking of the vehicle.
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| CN112925311A (en) * | 2021-01-22 | 2021-06-08 | 北京智能车联产业创新中心有限公司 | Parking accuracy detection device and method |
| CN112820125B (en) * | 2021-03-24 | 2023-01-17 | 苏州大学 | Intelligent internet vehicle traffic guidance method and system under mixed traffic condition |
| CN115273498A (en) * | 2021-04-30 | 2022-11-01 | 华为技术有限公司 | Vehicle speed guiding method and vehicle-mounted equipment |
| CN113450564B (en) * | 2021-05-21 | 2022-08-23 | 江苏大学 | Intersection passing method based on NARX neural network and C-V2X technology |
| CN113689718B (en) * | 2021-08-13 | 2022-09-13 | 吉林大学 | Intelligent signal lamp and lane matching system and method |
| CN114093200A (en) * | 2021-11-11 | 2022-02-25 | 湖南湘江智能科技创新中心有限公司 | System and method for bidirectional multi-mode early warning of road vehicles |
| CN114093166B (en) * | 2021-11-17 | 2022-10-25 | 上海交通大学 | Centralized hybrid vehicle coordination optimization method for signal-lamp-free fork |
| CN113990107A (en) * | 2021-11-26 | 2022-01-28 | 格林美股份有限公司 | Automatic driving dispatching system for automobile |
| CN114141040B (en) * | 2021-11-30 | 2023-02-21 | 燕山大学 | Signal lamp passing redundancy system used in intelligent networked vehicle cruise mode |
| 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 |
| CN115019527A (en) * | 2022-05-27 | 2022-09-06 | 江苏大学 | Traffic signal lamp information interaction method, intersection early warning method and system |
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| CN104575064A (en) * | 2015-01-06 | 2015-04-29 | 山东建筑大学 | Traffic signal light with wireless communication function and application method thereof |
| CN107622683B (en) * | 2016-07-15 | 2020-04-17 | 郑州宇通客车股份有限公司 | Crossing passing method and system for autonomously driven vehicle |
| EP3614223B1 (en) * | 2018-08-24 | 2020-06-17 | The Boeing Company | Method, system and emergency control device for traffic management of autonomous vehicles in emergency situations |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
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