CN111681414B - Method and device for evaluating and predicting time precision required by vehicle to pass signal lamp intersection - Google Patents
Method and device for evaluating and predicting time precision required by vehicle to pass signal lamp intersection Download PDFInfo
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- CN111681414B CN111681414B CN202010366285.6A CN202010366285A CN111681414B CN 111681414 B CN111681414 B CN 111681414B CN 202010366285 A CN202010366285 A CN 202010366285A CN 111681414 B CN111681414 B CN 111681414B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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Abstract
The invention provides a method and a device for evaluating and predicting the time precision required by a vehicle to pass through a signal lamp intersection, comprising the following steps: acquiring running information, target position information and signal lamp information of each vehicle on a current road section; judging whether a second vehicle and a signal lamp exist in front of the first vehicle; when a second vehicle exists in front of the first vehicle and a signal lamp exists, judging whether the speed of the second vehicle is zero or not; when the signal light is not zero, judging the state of a signal light in front of a second vehicle; when the vehicle is in a forbidden state, calculating first time when a first vehicle reaches a target position; acquiring a second time when the first vehicle actually reaches the target position; and calculating the time precision of predicting the first vehicle to reach the target position according to the first time and the second time. By implementing the invention, the prediction condition of the vehicle passing time can be accurately evaluated, the signal lamp is controlled based on the evaluation result, and the passing pressure of the signal lamp control intersection can be effectively relieved.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to a method and a device for evaluating and predicting the time precision required by a vehicle to pass through a signal lamp intersection.
Background
In order to improve the traffic efficiency of signal lamps at controlled intersections and ensure the safety and smoothness of people going out, public security traffic management departments pay great attention to the prediction technology of the time required by motor vehicles to pass through the signal lamp intersections, and necessary means are formulated according to prediction results so as to deal with the future traffic trend changes. Therefore, how to ensure and estimate the accuracy of predicting the time required by the motor vehicle to pass through the signal lamp control intersection becomes a problem to be solved urgently.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the precision of predicting the time required by a motor vehicle to pass through a signal lamp control intersection cannot be evaluated in real time in the prior art, so that the method and the device for evaluating and predicting the precision of the time required by the motor vehicle to pass through the signal lamp intersection are provided.
According to a first aspect, an embodiment of the present invention provides a method for evaluating accuracy of predicting time required for a vehicle to pass through a signal intersection, including: acquiring running information, target position information and signal lamp information of each vehicle on a current road section, wherein the running information comprises position information and speed information of the vehicle, and the signal lamp information comprises state information, position information and duration information of a signal lamp; judging whether a second vehicle and a first signal lamp exist in front of the first vehicle or not according to the running information, the target position information and the signal lamp information; when a second vehicle exists in front of the first vehicle and a first signal lamp exists, judging whether the speed of the second vehicle is zero or not according to the running information of the second vehicle; when the speed of the second vehicle is not zero, judging the state of a first signal lamp; when the state of a first signal lamp is a forbidden state, calculating first time when the first vehicle reaches the target position according to the running information of the first vehicle, the running information of the second vehicle and the remaining time of the forbidden state of the signal lamp; acquiring a second time when the first vehicle actually reaches the target position; and calculating the accuracy of predicting the time when the first vehicle reaches the target position according to the first time and the second time.
With reference to the first aspect, in a first embodiment of the first aspect, the method further includes: when the speed of the second vehicle is zero, judging the state of a second signal lamp, wherein the second signal lamp is a signal lamp arranged in front of the second vehicle; and when the state of the second signal lamp is a passing state, sending congestion source position information to an alarm platform.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, when the state of the second signal lamp is a traffic state, the sending congestion source location information to an alarm platform specifically includes: when the state of a second signal lamp is a passing state, judging whether a third vehicle exists in front of the second vehicle; when a third vehicle does not exist, determining that a second vehicle is a congestion source, and sending the position information of the second vehicle to an alarm platform; when a third vehicle exists, vehicle speed information of the third vehicle and vehicles in front of the third vehicle are obtained, the vehicle speed information is compared with a preset speed threshold value, the vehicle with the speed larger than the preset speed threshold value is determined to be a congestion source, and position information of the vehicle with the speed larger than the preset speed threshold value is sent to an alarm platform.
With reference to the first aspect, in a third embodiment of the first aspect, the method further includes: when a second vehicle exists in front of the first vehicle and a first signal lamp does not exist, judging whether the speed of the second vehicle is zero or not; when the speed of the second vehicle is not zero, calculating a third time when the first vehicle reaches the target position according to the position information and the speed information of the second vehicle and the separation distance between the first vehicle and the second vehicle; obtaining a fourth time when the first vehicle actually reaches the target position; and calculating the accuracy of predicting the time when the vehicle reaches the target position according to the third time and the fourth time.
With reference to the third embodiment of the first aspect, in a fourth embodiment of the first aspect, the method further includes: and when the speed of the second vehicle is zero, judging whether the second signal lamp is in a passing state or not according to the running information, and when the second signal lamp is in the passing state, sending congestion source position information to an alarm platform.
With reference to the first aspect, in a fifth embodiment of the first aspect, the method further comprises: when a second vehicle is not present in front of the first vehicle, and when a first signal lamp is not present; determining a fifth time when the first vehicle reaches the target position according to the running information of the first vehicle; acquiring a sixth time when the first vehicle actually reaches the target position; and calculating the accuracy of predicting the time when the vehicle reaches the target position according to the fifth time and the sixth time.
With reference to the first aspect, in a sixth embodiment of the first aspect, the method further includes: in a target scanning period, acquiring first driving information of vehicles in a first target area acquired by a first vehicle tracking detection device and second driving information of vehicles in a second target area acquired by a second vehicle tracking detection device; partial information that overlaps in the first travel information and the second travel information is extracted, and the overlapping partial information is eliminated in the first travel information.
According to a second aspect, an embodiment of the present invention provides an apparatus for evaluating accuracy of predicting time required for a vehicle to pass through a signal intersection, including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the driving information, the target position information and the signal lamp information of each vehicle on the current road section, the driving information comprises the position information and the speed information of the vehicle, and the signal lamp information comprises the state information, the position information and the duration time information of a signal lamp; the first judging module is used for judging whether a second vehicle and a first signal lamp exist in front of the first vehicle or not according to the running information, the target position information and the signal lamp information; the second judging module is used for judging whether the speed of the second vehicle is zero or not according to the running information of the second vehicle when the second vehicle exists in front of the first vehicle and the first signal lamp exists; the third judging module is used for judging the state of the first signal lamp when the speed of the second vehicle is not zero; the first calculation module is used for calculating the first time when the first vehicle reaches the target position according to the running information of the first vehicle, the running information of the second vehicle and the remaining time of the forbidden state of the first signal lamp when the state of the first signal lamp is the forbidden state; the second obtaining module is used for obtaining a second time when the first vehicle actually reaches the target position; and the second calculation module is used for calculating the precision of the time for predicting the first vehicle to reach the target position according to the first time and the second time.
According to a third aspect, an embodiment of the present invention provides a system for evaluating accuracy of predicting time required for a vehicle to pass through a signal intersection, including: at least one control device for performing the steps of the method for evaluating the accuracy of the time required for predicting the vehicle to pass through the signal intersection as set forth in the first aspect or any one of the embodiments of the first aspect, and predicting the time for the vehicle to reach the target position based on the acquired travel information of the vehicle on the road section.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for evaluating the accuracy of time required for predicting that a vehicle passes through a signal intersection, as set forth in the first aspect or any of the embodiments of the first aspect.
The technical scheme of the invention has the following advantages:
the embodiment of the invention provides a method and a device for evaluating and predicting the time precision required by a vehicle to pass through a signal lamp intersection, wherein the method comprises the steps of obtaining the running information of all motor vehicles running on a road section of the signal lamp control intersection, including current running position information and current speed information, and obtaining the signal lamp information arranged at the signal lamp control intersection, including the duration time of each state of a signal lamp; judging whether other vehicles in front of the current predicted vehicle run or not and whether signal lamps are arranged in front of the current predicted vehicle or not according to the acquired information, judging the speed of the vehicle in front of the current vehicle and the state of a first signal lamp when the situation of a motor vehicle in front of the current predicted vehicle and the signal lamps exist, and determining the time for the current predicted vehicle to reach the predicted position according to the distance between the current predicted vehicle and the front motor vehicle, the speed of the current predicted vehicle and the time for the current predicted vehicle to reach the predicted position when the signal lamps are in a forbidden state; and acquiring the actual arrival time of the current predicted vehicle at the predicted position, and calculating to obtain the accuracy of the predicted time. By implementing the invention, the prediction condition of the vehicle passing time can be accurately evaluated, the signal lamp is controlled based on the evaluation result, and the passing pressure of the signal lamp control intersection can be effectively relieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are 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 flowchart of a specific example of a method for evaluating the accuracy of predicting the time required for a vehicle to pass through a signal intersection in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a signal light control intersection in a method for evaluating the accuracy of time required to predict the passing of a vehicle through the signal light intersection in embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of elimination of redundant errors in a method for evaluating the accuracy of predicting the time required for a vehicle to pass through a signal intersection in embodiment 1 of the present invention;
fig. 4 is a block diagram showing a specific example of an apparatus for evaluating the accuracy of predicting the time required for a vehicle to pass through a signal intersection according to embodiment 2 of the present invention;
fig. 5 is a block diagram of a control device in a system for evaluating and predicting the accuracy of time required for a vehicle to pass through a signal intersection in embodiment 3 of the present invention;
fig. 6 is a block diagram of a controller in a system for evaluating accuracy of time required for predicting that a vehicle passes through a signal intersection in embodiment 3 of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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 should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The embodiment of the invention provides a method for evaluating and predicting the accuracy of time required by a vehicle to pass through a signal lamp intersection, which is applied to a specific application scene for evaluating and predicting the accuracy of time required by the vehicle to reach a target position and pass through the intersection when the vehicle runs on a signal lamp control road section, and comprises the following steps of:
step S101: acquiring running information, target position information and signal lamp information of each vehicle on a current road section, wherein the running information comprises position information and speed information of the vehicles, and the signal lamp information comprises state information, position information and duration information of the signal lamps; in the present embodiment, the current road segment may be a road segment provided with a vehicle tracking detection device, and specifically, as shown in fig. 2, may be an intersection provided with a signal lamp control, on which the vehicle travels, and when arriving at the intersection, advances or waits according to the state of the signal lamp.
For example, a plurality of vehicles may travel on the current road segment, and the travel information of the vehicles may include: position information Jwd where the vehicle is traveling on the link, speed information Jsd where the vehicle is traveling; the signal lamp information can also be acquired, and specifically, the signal lamp information includes position information of the set signal lamp, current state information of the signal lamp, and duration of a passing state and a forbidden state of the signal lamp, the forbidden state of the signal lamp can be represented by a red light that the vehicle cannot continue to run temporarily, and a yellow light that the vehicle needs to wait in place, and the forbidden state is represented when the signal lamp is yellow or red.
Exemplarily, as shown in fig. 2, the signal lamp is disposed at the intersection to indicate that the vehicle in the corresponding lane continuously travels through the intersection or continuously waits at the intersection; the target position may be denoted by Yw.
Step S102: judging whether a second vehicle and a first signal lamp exist in front of the first vehicle or not according to the running information, the target position information and the signal lamp information; in this embodiment, the vehicle traveling on the road segment is randomly designated as the first vehicle, and it is determined whether there is another vehicle ahead of the first vehicle, that is, a second vehicle is traveling, based on the traveling information and the signal light information of the vehicle acquired in the above step; whether a signal lamp is arranged in front of the first vehicle or not needs to be judged, and the first signal lamp is a signal lamp arranged in front of the first vehicle. As shown in fig. 2, the first vehicle may be any one of the vehicles J1, J2, J3, and J4, that is, any one of the vehicles traveling on the road section.
Step S103: when a second vehicle exists in front of the first vehicle and a first signal lamp exists, judging whether the speed of the second vehicle is zero or not according to the running information of the second vehicle; in the present embodiment, when there is a second vehicle ahead of the first vehicle and there is a first signal light, that is, at this time, the first vehicle may be J4, and when the first vehicle is J4, it is determined whether the vehicle speed of the adjacent vehicle ahead of J4 is zero, that is, it is determined whether the vehicle speed Jsd3 of J3 is zero.
Step S104: when the speed of the second vehicle is not zero, judging the state of the first signal lamp; in this embodiment, when the speed of the vehicle adjacent to the first vehicle in front of the first vehicle is not zero, at this time, the state of the first signal lamp is continuously determined, which may be a passing state or a non-passing state, and specifically, the first signal lamp is a signal lamp located in front of the first vehicle.
Step S105: when the state of a signal lamp in front of a second vehicle is in a forbidden state, calculating the first time when the first vehicle reaches the target position according to the running information of the first vehicle, the running information of the second vehicle and the remaining time of the forbidden state of the signal lamp; in the present embodiment, when the state of the traffic light before the second vehicle is the disabled state, the remaining time Xhs, Xhs of the traffic light being the disabled state, that is, the remaining time indicating that the traffic light located upstream of the target position Yw is the red light, is acquired according to the information of the traffic light, the target position Yw is the preset vehicle arrival position, and the predicted time may be the time for the vehicle to travel from the current position to the preset arrival position. Specifically, when the first vehicle is J4, at which time a first traffic light is provided in front of J4 and a second vehicle J3 is traveling in front of J4, if the first traffic light is in a disabled state, a time JDt1 at which J4 reaches the target position Yw from the current position is predicted according to the following formula:
JDt1＝Lz1/Jsd4+JDtq3+Xhs1，
where JDt1 represents the time for which J4 travels from the current position to the target position Yw, Lz1 represents the distance between J4Y and J3, Jsd4 represents the current travel speed of J4, JDtq3 represents the time for which the vehicle ahead of J4, i.e., J3, reaches the target position Yw, and Xhs1 represents the remaining duration of time when the vehicle ahead of J4 is in the disabled state.
Step S106: acquiring a second time when the first vehicle actually reaches the target position Yw; in this embodiment, the time for acquiring that the first vehicle actually travels from the current position to the target position Yw during actual travel, that is, the preset arrival position, may be the second time.
Step S107: the accuracy of predicting the time when the first vehicle reaches the target position Yw is calculated according to the first time and the second time, and specifically, the accuracy of predicting the time when the first vehicle reaches the target position Yw may be calculated according to the following formula:
Yj＝JDt/STs，
where Yj denotes the accuracy of predicting the first vehicle arrival at the target position Yw, and STs denotes the second time at which the first vehicle actually acquired arrives at the target position Yw.
The method for evaluating and predicting the time precision required by a vehicle to pass through a signal lamp intersection provided by the embodiment of the invention comprises the following steps: acquiring running information of all motor vehicles running on a road section of a signal lamp control intersection, including current running position information and current speed information, and acquiring signal lamp information arranged at the signal lamp control intersection, including duration of each state of a signal lamp; judging whether other vehicles in front of the current predicted vehicle run or not and whether signal lamps are arranged in front of the current predicted vehicle or not according to the acquired information, judging the speed of the vehicle in front of the current vehicle and the state of a first signal lamp when the situation of a motor vehicle in front of the current predicted vehicle and the signal lamps exist, and determining the time for the current predicted vehicle to reach the predicted position according to the distance between the current predicted vehicle and the front motor vehicle, the speed of the current predicted vehicle and the time for the current predicted vehicle to reach the predicted position when the signal lamps are in a forbidden state; and acquiring the actual arrival time of the current predicted vehicle at the predicted position, and calculating to obtain the accuracy of the predicted time. By implementing the invention, the prediction condition of the vehicle passing time can be accurately evaluated, the signal lamp is controlled based on the evaluation result, and the passing pressure of the signal lamp control intersection can be effectively relieved.
As an optional embodiment of the present invention, in step S103 and step S108, it is determined whether the second vehicle is zero, and the method further includes:
step S115: when the speed of the second vehicle is zero, judging the state of a second signal lamp, wherein the second signal lamp is a signal lamp arranged in front of the second vehicle;
step S116: and when the state of the second signal lamp is a passing state, transmitting the position information of the congestion source to the alarm platform. In this embodiment, the second vehicle may be a motor vehicle that runs in front of the first vehicle, and when the speed of the second vehicle is zero, and a signal lamp in front of the second vehicle is in a traffic state, that is, the signal lamp indicates traffic, but the vehicle cannot continue to run forward, at this time, congestion occurs in front of the second vehicle and the second vehicle, and at this time, the source of the congestion may be the second vehicle, or may be any motor vehicle that runs in front of the second vehicle, and the position information of the source of the congestion is sent to the alarm platform, that is, to the command center.
As an optional implementation manner of the present invention, the sending of the congestion source location information to the alarm platform in the above steps specifically includes:
firstly, when the state of a signal lamp in front of a second vehicle is a passing state, judging whether a third vehicle exists in front of the second vehicle; in the present embodiment, when the second vehicle speed is zero and the traffic state of the traffic light in front of the second vehicle is the traffic state, it is continuously determined whether there is the third vehicle traveling in front of the second vehicle.
Secondly, when a third vehicle does not exist, determining that the second vehicle is a congestion source, and sending the position information of the second vehicle to an alarm platform;
and secondly, when a third vehicle exists, acquiring vehicle speed information of the third vehicle and each vehicle in front of the third vehicle, comparing the vehicle speed information with a preset speed threshold value, determining the vehicle with the speed greater than the preset speed threshold value as a congestion source, and sending the position information of the vehicle with the speed greater than the preset speed threshold value to an alarm platform. Specifically, when a third vehicle and other vehicles run in front of the second vehicle, that is, other vehicles run downstream of the second vehicle, it may be determined that the second vehicle is not a congestion source, at this time, speed information of each vehicle is determined according to the obtained running information of the vehicle, and when a vehicle with a speed greater than a preset speed threshold is detected, position information of the vehicle is determined, and the position information is sent to the alarm platform.
Illustratively, the preset speed threshold may be 5km/h or 10km/h, and a specific value of the preset speed threshold may be determined by those skilled in the art according to practical details, and the present invention is not limited to this.
As an optional embodiment of the present invention, after step S104, the method further includes:
step S117: when the state of the traffic light in front of the second vehicle is the traffic state, the first time when the first vehicle reaches the target position Yw is calculated based on the travel information of the first vehicle and the travel information of the second vehicle. Specifically, the time for the first vehicle to reach the predicted position is determined according to the separation distance between the first vehicle and the second vehicle, the running speed of the first vehicle and the time for the second vehicle to reach the predicted position.
As an optional embodiment of the present invention, the method further comprises:
step S108: when a second vehicle exists in front of the first vehicle and no signal lamp exists, judging whether the speed of the second vehicle is zero or not; in this embodiment, the first vehicle may be J2, and correspondingly, the second vehicle is a vehicle J1 traveling in front of J2, at which time there is a motor vehicle in front of J2 and there is no signal light; the first vehicle may also be J3, correspondingly, the second vehicle may be vehicle J2 traveling in front of J3; it is determined whether the travel speed of the second vehicle is zero.
Step S109: when the speed of the second vehicle is not zero, calculating a third time for the first vehicle to reach the target position Yw according to the position information and the speed information of the second vehicle and the separation distance between the first vehicle and the second vehicle; in the present embodiment, when the traveling speed of the second vehicle is not zero, the time when the first vehicle travels to the target position Yw, that is, the third time, is predicted according to the following formula:
JDt2＝Lz/Jsd+JDtq，
wherein JDt2 represents the time required for the first vehicle to travel from the current position to the target position Yw when there is a second vehicle ahead of the first vehicle and there is no traffic light; lz represents a position separation distance between the first vehicle and the second vehicle; jsd denotes the current travel speed of the first vehicle; JDtq represents the time required for the second vehicle to travel to the target position Yw.
Illustratively, when the first vehicle is J2, the time required for J2 to travel from the current position to the target position Yw is predicted according to the following equation:
JDt2’＝Lz3/Jsd2+JDtq1,
wherein Lz3 represents the separation distance length between J2 and J1; jsd2 denotes the current travel speed of J2; JDtq1 represents the time when J1 travels to the target position Yw.
For example, the first vehicle may be J3, and the time required for J3 to travel from the current position to the target position Yw is predicted according to the following formula:
JDt3＝Lz2/Jsd3+JDtq2,
wherein Lz2 represents the separation distance length between J3 and J2; jsd3 denotes the current travel speed of J3; JDtq2 represents the time when J2 travels to the target position Yw.
Step S110: acquiring fourth time when the first vehicle actually reaches the target position Yw; in this embodiment, the time for acquiring that the first vehicle actually travels from the current position to the target position Yw during actual travel, that is, the preset arrival position, may be a fourth time.
Step S111: and calculating the accuracy of the time for predicting the vehicle to reach the target position Yw according to the third time and the fourth time.
As an optional embodiment of the present invention, the method further comprises:
step S115: when the speed of the second vehicle is zero, judging whether the second signal lamp is in a passing state or not according to the running information;
step S116: and when the traffic state is the traffic state, sending the position information of the congestion source to the alarm platform. In this embodiment, the second vehicle may be a motor vehicle that runs in front of the first vehicle, and when the speed of the second vehicle is zero, and a signal lamp in front of the second vehicle is in a traffic state, that is, the signal lamp indicates traffic, but the vehicle cannot continue to run forward, at this time, congestion occurs in front of the second vehicle and the second vehicle, and at this time, the source of the congestion may be the second vehicle, or may be any motor vehicle that runs in front of the second vehicle, and the position information of the source of the congestion is sent to the alarm platform, that is, to the command center.
As an optional embodiment of the present invention, the method further comprises:
step S112: when the second vehicle does not exist in front of the first vehicle and no signal lamp exists, determining a fifth time when the first vehicle reaches the target position Yw according to the running information of the first vehicle; in the present embodiment, before the target position Yw, there is no motor vehicle and no traffic light, that is, the first vehicle may be J1, at which time the time when J1 reaches the target position Yw, that is, the fifth time, is predicted according to the length Lwd of J1 from the target position Yw and the current running speed Jwd1 of J1.
Step S113: acquiring sixth time when the first vehicle actually reaches the target position Yw;
step S114: and calculating the accuracy of the time for predicting the vehicle to reach the target position Yw according to the fifth time and the sixth time.
As an optional embodiment of the present invention, the method further comprises, as shown in fig. 3:
first, in a target scanning period, first traveling information of a vehicle in a first target area acquired by a first vehicle tracking detection device and second traveling information of a vehicle in a second target area acquired by a second vehicle tracking detection device are acquired. In the embodiment, the target scanning period may be 100ms, and the vehicle tracking detection device disposed on the target road segment may continuously acquire the driving information of the vehicle on the target road segment, that is, the signal lamp control intersection, with the period of 100ms, specifically, the first vehicle tracking detection device S1 may have a detection range from S1-0 to S1-1, and the second vehicle tracking detection device S2 may have a detection range from S2-0 to S2-1, but S2-0 is disposed in S1-0 and S1-1.
Then, the partial information overlapping the first travel information and the second travel information is extracted, and the overlapping partial information is eliminated from the first travel information. In the present embodiment, the data to S2-0 to S1-1 are eliminated from the traveling data detected by the first vehicle tracking detection device S1.
Illustratively, the (N-1) th vehicle tracking detection device S (N-1) may detect data in a range from S (N-1) -0 to S (N-1) -1, and the Nth vehicle tracking detection device SN may detect data in a range from SN-0 to SN-1, and at this time, data up to SN-0 to S (N-1) -1 are to be eliminated. Redundant errors generated due to the detection range of the vehicle tracking detection device can be eliminated, and the accuracy of obtaining the running information on the road section is improved.
Example 2
The embodiment of the invention provides a device for evaluating and predicting the precision of time required by a vehicle to pass through a signal lamp intersection, which is applied to a specific application scene for evaluating and predicting the precision of the time required by the vehicle to reach a target position and pass through the intersection when the vehicle runs on a signal lamp control road section, as shown in figure 4, the device comprises:
the first acquisition module 21 is configured to acquire driving information, target position information, and signal lamp information of each vehicle on a current road segment, where the driving information includes position information and speed information of the vehicle, and the signal lamp information includes state information, position information, and duration information of a signal lamp; for details, reference may be made to the description related to step S101 in the above method embodiment.
The first judging module 22 is configured to judge whether a second vehicle and a signal lamp exist in front of the first vehicle according to the driving information, the target position information, and the signal lamp information; the detailed implementation contents can be referred to the related description of step S102 in the above method embodiment.
The second judging module 23 is configured to, when a second vehicle exists in front of the first vehicle and a signal lamp exists, judge whether the speed of the second vehicle is zero according to the running information of the second vehicle; for details, reference may be made to the description related to step S103 in the above method embodiment.
The third judging module 24 is configured to judge a state of a signal lamp in front of the second vehicle when the speed of the second vehicle is not zero; the detailed implementation contents can be referred to the related description of step S104 in the above method embodiment.
The first calculating module 25 is configured to calculate a first time when the first vehicle reaches the target position according to the running information of the first vehicle, the running information of the second vehicle, and the remaining time of the forbidden state of the signal lamp when the state of the signal lamp in front of the second vehicle is the forbidden state; the detailed implementation can be referred to the related description of step S105 in the above method embodiment.
A second obtaining module 26, configured to obtain a second time when the first vehicle actually reaches the target position; the detailed implementation can be referred to the related description of step S106 in the above method embodiment.
The second calculating module 27 is configured to calculate an accuracy of predicting a time when the first vehicle reaches the target position according to the first time and the second time, and the detailed implementation content may be referred to in the related description of step S107 in the foregoing method embodiment.
The embodiment of the invention provides a device for evaluating and predicting the time precision required by a vehicle to pass through a signal lamp intersection, which comprises: the method comprises the steps that the driving information of all motor vehicles driving on a road section of a signal lamp control intersection is obtained through a first obtaining module, the driving information comprises current driving position information and current speed information, and the signal lamp information arranged at the signal lamp control intersection is obtained through a second obtaining module, and the signal lamp information comprises the duration time of each state of a signal lamp; judging whether other vehicles in front of the current predicted vehicle run or not and whether signal lamps are arranged in front of the current predicted vehicle or not according to the acquired information through a first judging module, judging the vehicle speed of the vehicle in front of the current vehicle and the state of the first signal lamps through a second judging module when the situation of a motor vehicle in front of the current predicted vehicle and the signal lamps exist, and determining the time for the current predicted vehicle to reach the predicted position through a first calculating module according to the distance between the current predicted vehicle and the front motor vehicle, the speed of the current predicted vehicle and the time for the current predicted vehicle to reach the predicted position when the signal lamps are in a forbidden state; and acquiring the actual arrival time of the current predicted vehicle at the predicted position, and calculating the accuracy of the predicted time through a second calculation module. By implementing the invention, the prediction condition of the vehicle passing time can be accurately evaluated, the signal lamp is controlled based on the evaluation result, and the passing pressure of the signal lamp control intersection can be effectively relieved.
Example 3
The embodiment of the invention provides a system for evaluating and predicting the accuracy of time required by a vehicle to pass through a signal lamp intersection, which comprises at least one control device 31, wherein the control device 31 is used for executing the steps of the method for evaluating and predicting the accuracy of time required by the vehicle to pass through the signal lamp intersection in any one of the embodiments.
As shown in fig. 5, the control device 31 includes:
the first communication module 311: the first communication module can be a Bluetooth module or a Wi-Fi module, and then communicates through a set wireless communication protocol.
The first controller 312: connected to the first communication module 311, as shown in fig. 6, includes: at least one processor 41; and a memory 42 communicatively coupled to the at least one processor 41; the memory 42 stores instructions executable by the at least one processor 41, and when receiving data information, the at least one processor 41 is caused to execute the method for evaluating and predicting the time accuracy required by the vehicle to pass through the signal intersection shown in fig. 1, in fig. 6, taking one processor as an example, the processor 41 and the memory 42 are zero-connected through the bus 4, in this embodiment, the first communication module may be a wireless communication module, for example, a bluetooth module, a Wi-Fi module, or the like, or may be a wired communication module. The transmission between the first controller 312 and the first communication module 311 is a wireless transmission.
The memory 42, which is a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for evaluating the accuracy of time required for predicting the passing of a vehicle through a signal intersection in the embodiments of the present application. The processor 41 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 42, namely, implementing the method for evaluating the accuracy of the time required for predicting the passing of the vehicle through the signal intersection of the vehicle according to the above-described method embodiment.
The memory 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 42 may optionally include memory located remotely from processor 41, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 42 and, when executed by the one or more processors 41, perform the method described in any of the above embodiments.
Example 4
The embodiment of the present invention further provides a non-transitory computer readable medium, where the non-transitory computer readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for evaluating and predicting the time precision required by a vehicle to pass through a signal light intersection, where the storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviation: HDD), or a Solid-State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A method for evaluating accuracy of predicting time required for a vehicle to pass through a signal intersection, comprising:
the method comprises the steps of obtaining driving information, target position information and signal lamp information of each vehicle on a current road section, wherein the driving information comprises position information and speed information of the vehicles, and the signal lamp information comprises state information, position information and duration information of a signal lamp, wherein the driving information is obtained by a vehicle tracking detection device arranged on the current road section, and the target position information and the signal lamp information are obtained by a target system;
judging whether a second vehicle and a first signal lamp exist in front of the first vehicle or not according to the running information, the target position information and the signal lamp information;
when a second vehicle exists in front of the first vehicle and a first signal lamp exists, judging whether the speed of the second vehicle is zero or not according to the running information of the second vehicle;
when the speed of the second vehicle is not zero, judging the state of a first signal lamp;
when the state of a first signal lamp is a forbidden state, calculating first time when the first vehicle reaches the target position according to the running information of the first vehicle, the running information of the second vehicle and the remaining time of the forbidden state of the first signal lamp;
acquiring a second time when the first vehicle actually reaches the target position;
and calculating the precision of predicting the time when the first vehicle reaches the target position according to the first time and the second time, wherein the precision is used for evaluating the prediction condition of the passing time of the vehicle and controlling the signal lamp to relieve the passing pressure of the signal lamp control intersection.
2. The method of claim 1, further comprising:
when the speed of the second vehicle is zero, judging the state of a second signal lamp, wherein the second signal lamp is a signal lamp arranged in front of the second vehicle;
and when the state of the second signal lamp is a passing state, sending congestion source position information to an alarm platform.
3. The method according to claim 2, wherein when the state of the second signal lamp is a traffic state, sending congestion source location information to an alarm platform specifically comprises:
when the state of the second signal lamp is a passing state, judging whether a third vehicle exists in front of the second vehicle;
when a third vehicle does not exist, determining that a second vehicle is a congestion source, and sending the position information of the second vehicle to an alarm platform;
when a third vehicle exists, vehicle speed information of the third vehicle and vehicles in front of the third vehicle are obtained, the vehicle speed information is compared with a preset speed threshold value, the vehicle with the speed larger than the preset speed threshold value is determined to be a congestion source, and position information of the vehicle with the speed larger than the preset speed threshold value is sent to an alarm platform.
4. The method of claim 1, further comprising:
when a second vehicle exists in front of the first vehicle and a first signal lamp does not exist, judging whether the speed of the second vehicle is zero or not;
when the speed of the second vehicle is not zero, calculating a third time when the first vehicle reaches the target position according to the position information and the speed information of the second vehicle and the separation distance between the first vehicle and the second vehicle;
obtaining a fourth time when the first vehicle actually reaches the target position;
and calculating the accuracy of predicting the time when the vehicle reaches the target position according to the third time and the fourth time.
5. The method of claim 4, further comprising:
when the speed of the second vehicle is zero, judging whether a second signal lamp is in a passing state or not according to the running information, and when the second signal lamp is in the passing state, sending congestion source position information to an alarm platform, wherein the second signal lamp is a signal lamp arranged in front of the second vehicle.
6. The method of claim 1, comprising:
when a second vehicle is not present in front of the first vehicle, and when a first signal lamp is not present;
determining a fifth time when the first vehicle reaches the target position according to the running information of the first vehicle;
acquiring a sixth time when the first vehicle actually reaches the target position;
and calculating the accuracy of predicting the time when the vehicle reaches the target position according to the fifth time and the sixth time.
7. The method of claim 1, further comprising:
in a target scanning period, acquiring first driving information of vehicles in a first target area acquired by a first vehicle tracking detection device and second driving information of vehicles in a second target area acquired by a second vehicle tracking detection device;
partial information that overlaps in the first travel information and the second travel information is extracted, and the overlapping partial information is eliminated in the first travel information.
8. An apparatus for evaluating accuracy of predicting time required for a vehicle to pass through a signal intersection, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the driving information, the target position information and the signal lamp information of each vehicle on the current road section, the driving information comprises the position information and the speed information of the vehicle, the signal lamp information comprises the state information, the position information and the duration time information of a signal lamp, the driving information is obtained by a vehicle tracking detection device arranged on the current road section, and the target position information and the signal lamp information are obtained by a target system;
the first judging module is used for judging whether a second vehicle and a first signal lamp exist in front of the first vehicle or not according to the running information, the target position information and the signal lamp information;
the second judging module is used for judging whether the speed of the second vehicle is zero or not according to the running information of the second vehicle when the second vehicle exists in front of the first vehicle and the first signal lamp exists;
the third judging module is used for judging the state of the first signal lamp when the speed of the second vehicle is not zero;
the first calculation module is used for calculating the first time when the first vehicle reaches the target position according to the running information of the first vehicle, the running information of the second vehicle and the remaining time of the forbidden state of the first signal lamp when the state of the first signal lamp is the forbidden state;
the second obtaining module is used for obtaining a second time when the first vehicle actually reaches the target position;
and the second calculation module is used for calculating and predicting the accuracy of the time when the first vehicle reaches the target position according to the first time and the second time, wherein the accuracy is used for evaluating the prediction condition of the passing time of the vehicle, and is used for controlling the signal lamp to relieve the passing pressure of the signal lamp at the intersection.
9. A system for evaluating accuracy of predicting a time required for a vehicle to pass through a signal intersection, comprising:
at least one control device for performing the steps of the method of evaluating the accuracy of the time required to predict the vehicle's passage through a signal intersection as claimed in any one of claims 1 to 7, predicting the time at which the vehicle reaches the target location based on the acquired travel information of the vehicle on the road section.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of assessing the accuracy of time required to predict a vehicle's passage through a signal crossing as claimed in any one of claims 1 to 7.
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| CN112750322A (en) * | 2021-01-03 | 2021-05-04 | 何世鸿 | Method for setting state time of traffic signal lamp |
| 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 |
| CN114633764B (en) * | 2022-03-14 | 2022-11-22 | 小米汽车科技有限公司 | Traffic signal lamp detection method and device, storage medium, electronic equipment and vehicle |
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