CN112258873B - Method, apparatus, electronic device, and storage medium for controlling vehicle - Google Patents
Method, apparatus, electronic device, and storage medium for controlling vehicle Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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- 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
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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
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Abstract
The application discloses a method, a device, electronic equipment and a storage medium for controlling a vehicle, and relates to the fields of intelligent transportation, automatic driving and Internet of things, wherein the method comprises the following steps: acquiring a running path of at least one trip of a vehicle, and determining the green wave speed of the running path; the travel speed of the vehicle is controlled based on the green wave speed. By applying the scheme, the passing efficiency can be improved.
Description
Technical Field
The present application relates to computer application technologies, and in particular, to a method and an apparatus for controlling a vehicle, an electronic device, and a storage medium in the fields of intelligent transportation, automatic driving, and internet of things.
Background
At present, many vehicles have a driving Assistance function (ADAS, advanced Driver Assistance System), and when a vehicle makes a driving decision through a traffic light intersection, each intersection makes a decision independently after acquiring traffic light information of the intersection, such as determining whether to pass or wait, and the like, and there is no association with other intersections. The vehicle driving path usually includes a plurality of intersections such as traffic, which leads to low passing efficiency.
Disclosure of Invention
The application provides a method, a device, an electronic device and a storage medium for controlling a vehicle.
A method for controlling a vehicle, comprising:
acquiring a running path of at least one trip of a vehicle, and determining a green wave speed of the running path;
controlling a travel speed of the vehicle based on the green wave speed.
A method for controlling a vehicle, comprising:
determining a green wave speed of a travel path for at least one trip of a vehicle;
transmitting the green wave speed to the vehicle, the green wave speed being used as a traveling speed of the vehicle.
An apparatus for controlling a vehicle, comprising: the device comprises an acquisition module and a control module;
the acquisition module is used for acquiring a running path of at least one stroke of a vehicle and acquiring the green wave speed of the running path;
the control module is used for controlling the running speed of the vehicle based on the green wave speed.
An apparatus for controlling a vehicle, comprising: the device comprises a determining module and a sending module;
the determining module is used for determining the green wave speed of the running path aiming at the running path of at least one journey of the vehicle;
the sending module is used for sending the green wave speed to the vehicle, and the green wave speed is used as the running speed of the vehicle.
An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.
A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method as described above.
A computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
One embodiment in the above application has the following advantages or benefits: the vehicle can continuously pass through a plurality of traffic light intersections without stopping according to a certain vehicle speed, so that the passing efficiency is improved, and the like.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a flow chart of a first embodiment of a method for controlling a vehicle according to the present application;
FIG. 2 is a flow chart of a second embodiment of a method for controlling a vehicle according to the present application;
FIG. 3 is a schematic diagram illustrating an overall implementation of a method for controlling a vehicle according to the present application;
FIG. 4 is a schematic view of a 3 traffic light intersection being traversed in accordance with the method of the present application;
FIG. 5 is a schematic block diagram illustrating a first embodiment 50 of an apparatus for controlling a vehicle according to the present application;
FIG. 6 is a schematic structural diagram of a second embodiment 60 of the apparatus for controlling a vehicle according to the present application;
FIG. 7 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application to assist in understanding, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In addition, it should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
FIG. 1 is a flow chart of a first embodiment of a method for controlling a vehicle as described herein. As shown in fig. 1, the following detailed implementation is included.
In 101, a travel path of at least one trip of the vehicle is acquired and a green wave speed of the travel path is determined.
At 102, the travel speed of the vehicle is controlled based on the determined green wave speed.
In the embodiment of the method, the driving assistance function is integrated with the green wave passing, and the vehicles are assisted to continuously pass through a plurality of traffic light intersections without stopping at a certain speed, so that the passing efficiency is improved, and the like.
When a vehicle needs to go to a certain destination, destination information can be obtained firstly, such as destination information input/set by a user can be obtained, and path planning can be performed according to the destination information, such as that the current position of the vehicle is "Beijing university of industry", the destination is "Qinghua university", a running path from "Beijing university of industry" to "Qinghua university" can be planned for the journey, and the running path may include a plurality of traffic light intersections.
As described in 101, the green wave speed of the travel path may be determined. Specifically, in the process that the vehicle travels along the travel path, the green wave speed determined by the cloud platform can be acquired, the green wave speed is the vehicle travel speed capable of continuously passing through the N traffic light intersections in front, N is a positive integer greater than one, N is less than or equal to M, and M is a positive integer greater than one, and the number of the traffic light intersections on the travel path through which the vehicle does not pass is represented.
That is to say, it is assumed that 10 traffic light intersections exist on the planned driving path, and for convenience of description, the traffic light intersections 1 to 10 are respectively called according to the driving sequence, so that the vehicle can acquire the green wave speed from the cloud platform before passing through any one of the traffic light intersections 1 to 9.
Assuming that the green wave speed is obtained before passing through the traffic light intersection 1, the value of N is 3, the green wave speed is the speed A, then the vehicle can continuously pass through the 3 traffic light intersections 1, 2 and 3 according to the speed A, assuming that the green wave speed is obtained after passing through the traffic light intersection 4 and before passing through the traffic light intersection 5, the value of N is 4, the green wave speed is the speed B, then the vehicle can continuously pass through the 4 traffic light intersections 5, 6, 7 and 8 according to the speed B. The speed at which the vehicle passes through other traffic light intersections is not limited.
It should be noted that, the above manner/strategy for acquiring the green wave velocity is only for illustration and is not used to limit the technical solution of the present application, and how and when the green wave velocity is acquired may be determined according to actual needs.
Through the processing, the vehicle can acquire the green wave speed matched with the actual situation in time, and the passing efficiency is improved.
As described in 102, the travel speed of the vehicle may be controlled based on the green wave speed. The vehicle may be automatically controlled to travel based on the green wave speed, such as when the vehicle is in an autonomous driving mode.
When the vehicle is in the manual driving mode, the green wave speed can be used as the recommended vehicle speed to be prompted to the driver, so that the driver can manually control the vehicle to run according to the recommended vehicle speed.
The vehicle in the manual driving mode may refer to that the vehicle itself is an automatic driving vehicle, but is currently in the manual driving mode, or may refer to that the vehicle itself is a manual driving vehicle, and only the manual driving mode can be adopted. In any case, when the vehicle is in the manual driving mode, the green wave speed can be prompted to the driver, namely, vehicle-end prompting is performed, for example, the prompting can be performed through a screen or through voice, and the specific mode is not limited, so that the driver can manually control the vehicle to run according to the recommended vehicle speed.
That is to say, the scheme that this application was described is applicable to both automatic driving vehicle, also can be applicable to manual driving vehicle, has extensive suitability.
FIG. 2 is a flow chart of a second embodiment of a method for controlling a vehicle as described herein. As shown in fig. 2, the following detailed implementation is included.
In 201, for a travel path of at least one trip of the vehicle, a green wave speed of the travel path is determined.
At 202, a green wave speed is transmitted to the vehicle, the green wave speed being used as the travel speed of the vehicle.
The method comprises the steps that when a vehicle runs according to a running path, the green wave speed can be determined, the green wave speed is the running speed of the vehicle which can continuously pass through N traffic light intersections in front, N is a positive integer larger than one, N is smaller than or equal to M, and M is a positive integer larger than one, and the number of the traffic light intersections on the running path, which are not passed by the vehicle, is represented.
As a possible implementation manner, a first traffic light intersection on the driving path may be used as a to-be-processed intersection, and for the to-be-processed intersection, the following first processing is performed: acquiring a green wave speed before the vehicle does not pass through the intersection to be processed; if the acquisition is successful, after the vehicle continuously passes through the N traffic light intersections, if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as an intersection to be processed, and the first processing is repeatedly executed, or if the vehicle passes through one traffic light intersection every time and if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as an intersection to be processed, and the first processing is repeatedly executed; if the acquisition fails, after the vehicle passes through the intersection to be processed, if at least two traffic light intersections still exist in front of the intersection, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed.
The above process can be exemplified as follows.
Assuming that 10 traffic light intersections coexist on the planned path, for convenience of expression, the planned path is respectively called a traffic light intersection 1-a traffic light intersection 10 according to the driving sequence.
When the vehicle is started, for example, when the vehicle is away from the traffic light intersection 1 by a predetermined distance (specific value can be determined according to actual needs), the green wave speed can be obtained, and if the obtaining fails, namely the vehicle cannot continuously pass through a plurality of traffic light intersections in front at the green wave speed, the green wave speed can be obtained again after the vehicle passes through the traffic light intersection 1.
Assuming that the green wave speed is successfully obtained again after passing through the traffic light intersection 1, and the obtained green wave speed is a speed (vehicle speed) a, in an ideal case, if the value of N is 9, the vehicle can directly pass through the following 9 traffic light intersections continuously at the obtained green wave speed, that is, continuously travel all the following routes, if the value of N is 3, the vehicle can obtain the green wave speed again after continuously passing through 3 traffic light intersections, namely, the traffic light intersection 2, the traffic light intersection 3 and the traffic light intersection 4 according to the speed a, and accordingly, the vehicle can perform the subsequent processing in a corresponding manner, or if the value of N is 3, the green wave speed can be obtained again after passing through one traffic light intersection, for example, the vehicle passes through the traffic light intersection 2 according to the speed a, the green wave speed is obtained again, the obtained green wave speed may still be the speed a, the value of N is 2, or the obtained green wave speed is a speed B, the value of N is 4, and the like.
When the green wave speed is obtained, the green wave speed can be obtained according to the timing period of the traffic light intersection where the vehicle does not pass on the driving path and the current state information, and the green wave speed is usually within a preset vehicle driving speed range.
For any traffic light intersection, the timing cycle information can include information such as the display duration of each color signal light of the traffic light intersection, and the current state information can include information such as the color and the displayed duration of the currently displayed signal light of the traffic light intersection.
The method and the device for determining the green wave speed are not limited and can be determined according to actual needs.
For example, as a possible implementation manner, a vehicle driving speed range may be set first, assuming that the driving speed range is 40KM/H-60KM/H, then 60KM/H may be used as a predicted traffic speed at first, it is determined whether a green light may pass through a first traffic light intersection ahead from a current position at the predicted traffic speed, it may be determined by combining a timing cycle of the traffic light intersection and current state information, if so, it may be determined whether a green light may pass through a second traffic light intersection ahead at the predicted traffic speed, and so on, the traffic light intersections ahead are traversed sequentially, once a certain traffic light intersection fails to pass through, traversal is ended, and traffic light intersections ahead of the failed traffic light intersection may be used as N traffic light intersections that can pass through continuously, assuming that a value of N is 3, and the predicted traffic speed may be used as a green wave speed, if traversal is completed, a value of N is equal to a number of all traffic light intersections ahead, and if a plurality of traffic light that can pass through continuously cannot be found in the processing manner, the predicted traffic light speed range may be used as a new traffic light speed up to pass through, and KM/H may be re-60 KM/H, and the predicted traffic speed may be re-40 KM/H.
Based on the above description, fig. 3 is a schematic diagram of an overall implementation process of the method for controlling the vehicle according to the present application. As shown in fig. 3, taking the vehicle as an autonomous vehicle and currently in an autonomous driving mode as an example, after a destination is input, path planning and behavior decision can be performed according to the existing manner, and the cloud platform can determine a green wave speed, where the green wave speed is a vehicle driving speed that can continuously pass through N traffic light intersections ahead, where N is a positive integer greater than one, the fusion sensing and recognition system of the vehicle can fuse the acquired green wave speed with other environment sensing data (such as map traffic operation data, surrounding vehicle data, pedestrian position data, and the like) to generate a Control execution result of the driving speed and generate a corresponding operation instruction, and the vehicle Electronic Control Unit (ECU) and the whole vehicle working component execute the operation instruction, and finally drive according to the green wave speed and continuously pass through the N traffic light intersections.
Fig. 4 is a schematic diagram of a sequence of 3 traffic light intersections according to the method of the present application. As shown in fig. 4, the vehicle can pass through the 3 traffic light intersections shown in the figure in succession at a green wave speed.
It is noted that while for simplicity of explanation, the foregoing method embodiments are described as a series of acts or combination of acts, those skilled in the art will appreciate that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders and concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application. In addition, for parts which are not described in detail in a certain embodiment, reference may be made to relevant descriptions in other embodiments.
The above is a description of method embodiments, and the embodiments of the present application are further described below by way of apparatus embodiments.
Fig. 5 is a schematic structural diagram of a first embodiment 50 of the apparatus for controlling a vehicle according to the present application. As shown in fig. 5, includes: an acquisition module 501 and a control module 502.
The obtaining module 501 is configured to obtain a driving route of at least one trip of the vehicle, and obtain a green wave speed of the driving route.
A control module 502 for controlling a travel speed of the vehicle based on the green wave speed.
Specifically, the obtaining module 501 may obtain the green wave speed determined by the cloud platform in the process that the vehicle travels according to the travel route; the green wave speed is the vehicle running speed which can continuously pass through N traffic light intersections in front, N is a positive integer which is greater than one, N is less than or equal to M, and M is a positive integer which is greater than one, and the number of the traffic light intersections which are not passed by the vehicle on the running path is represented.
That is, assuming that 10 traffic light intersections exist on the planned driving path, for convenience of description, the traffic light intersections 1 to 10 are respectively referred to according to the driving sequence, and then the vehicle can acquire the green wave speed from the cloud platform before passing through any one of the traffic light intersections 1 to 9.
Additionally, the control module 502 may automatically control the vehicle to travel according to the green wave speed when the vehicle is in the autonomous driving mode.
When the vehicle is in the manual driving mode, the control module 502 may prompt the driver with the green wave speed as the recommended vehicle speed, so that the driver manually controls the vehicle to run according to the recommended vehicle speed.
The vehicle in the manual driving mode may refer to that the vehicle itself is an automatic driving vehicle, but is currently in the manual driving mode, or may refer to that the vehicle itself is a manual driving vehicle, and only the manual driving mode can be adopted. In any case, when the vehicle is in the manual driving mode, the control module 502 may prompt the driver with the green wave speed, that is, perform end-of-vehicle prompting, such as displaying through a screen or prompting through voice, and the like, and the specific manner is not limited, so that the driver may manually control the vehicle to run according to the recommended vehicle speed.
Fig. 6 is a schematic structural diagram of a second embodiment 60 of the apparatus for controlling a vehicle according to the present application. As shown in fig. 6, includes: a determination module 601 and a sending module 602.
The determining module 601 is configured to determine a green wave speed of a travel path for at least one trip of the vehicle.
And a sending module 602, configured to send the green wave speed to the vehicle, where the green wave speed is used as a running speed of the vehicle.
The determining module 601 may determine a green wave speed during a vehicle traveling process according to a traveling path, where the green wave speed is a vehicle traveling speed capable of continuously passing through N traffic light intersections ahead, N is a positive integer greater than one, and N is less than or equal to M, where M is a positive integer greater than one, and represents the number of traffic light intersections on the traveling path through which the vehicle does not pass.
Specifically, the determining module 601 may use a first traffic light intersection on the driving path as a to-be-processed intersection, and execute the following first processing for the to-be-processed intersection: acquiring a green wave speed before the vehicle does not pass through the intersection to be processed; if the acquisition is successful, after the vehicle continuously passes through the N traffic light intersections, if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as an intersection to be processed, and the first processing is repeatedly executed, or if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as an intersection to be processed, and the first processing is repeatedly executed; if the acquisition fails, after the vehicle passes through the intersection to be processed, if at least two traffic light intersections still exist in front of the intersection, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed.
In addition, the determining module 601 may obtain the green wave speed according to the timing period of the traffic light intersection where the vehicle does not pass on the driving path and the current state information, and the green wave speed may be within a predetermined vehicle driving speed range.
For a specific work flow of the device embodiments shown in fig. 5 and fig. 6, reference is made to the related description in the foregoing method embodiments, and details are not repeated.
In a word, by adopting the scheme of the embodiment of the device, the vehicle can continuously pass through a plurality of traffic light intersections without stopping according to a certain vehicle speed, so that the passing efficiency is improved, and the like.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 7 is a block diagram of an electronic device according to the method of the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 7, the electronic apparatus includes: one or more processors Y01, a memory Y02, and interfaces for connecting the components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information for a graphical user interface on an external input/output device (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing some of the necessary operations (e.g., as an array of servers, a group of blade servers, or a multi-processor system). In fig. 7, one processor Y01 is taken as an example.
The memory Y02 is a non-transitory computer readable storage medium provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the methods provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the methods provided herein.
The memory Y02, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods in the embodiments of the present application. The processor Y01 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory Y02, that is, implements the method in the above-described method embodiment.
The memory Y02 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 the electronic device, and the like. Further, the memory Y02 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, the memory Y02 may optionally include a memory remotely located from the processor Y01, and these remote memories may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, blockchain networks, local area networks, mobile communication networks, and combinations thereof.
The electronic device may further include: an input device Y03 and an output device Y04. The processor Y01, the memory Y02, the input device Y03, and the output device Y04 may be connected by a bus or other means, and are exemplified by being connected by a bus in fig. 7.
The input device Y03 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input devices. The output device Y04 may include a display apparatus, an auxiliary lighting device, a tactile feedback device (e.g., a vibration motor), and the like. The display device may include, but is not limited to, a liquid crystal display, a light emitting diode display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific integrated circuits, computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable logic devices) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a cathode ray tube or a liquid crystal display monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area networks, wide area networks, blockchain networks, and the internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (16)
1. A method for controlling a vehicle, comprising:
acquiring a running path of at least one stroke of a vehicle, and acquiring a green wave speed of the running path; the green wave speed is the vehicle running speed which can continuously pass through N traffic light intersections in front, N is a positive integer greater than one, and N is less than or equal to M; m is a positive integer greater than one and represents the number of the traffic light intersections on the driving path through which the vehicle does not pass; the green wave velocity is determined in the following way: the maximum value in the vehicle running speed range is taken as the predicted passing speed, and the following first processing is executed: in response to determining that N traffic light intersections ahead can be continuously passed at the predicted passage speed from the current position, taking the predicted passage speed as the green wave speed, otherwise, subtracting a predetermined value from the predicted passage speed, in response to determining that the difference is greater than or equal to the minimum value in the vehicle travel speed range, taking the difference as the predicted passage speed, and repeatedly executing the first processing;
controlling a travel speed of the vehicle based on the green wave speed.
2. The method of claim 1, wherein the obtaining the green wave speed of the travel path comprises:
and acquiring the green wave speed determined by the cloud platform in the running process of the vehicle according to the running path.
3. The method of claim 1, wherein the controlling the travel speed of the vehicle based on the green wave speed comprises: when the vehicle is in an automatic driving mode, automatically controlling the vehicle to run according to the green wave speed;
further comprising: and when the vehicle is in a manual driving mode, prompting the driver of the green wave speed as a recommended vehicle speed.
4. A method for controlling a vehicle, comprising:
determining a green wave speed of a travel path for at least one trip of a vehicle; the green wave speed is the vehicle running speed which can continuously pass through N traffic light intersections in front, N is a positive integer which is greater than one, N is less than or equal to M, and M is a positive integer which is greater than one, and represents the number of the traffic light intersections which are not passed by the vehicle on the running path; the green wave velocity is determined according to the following mode: the maximum value in the vehicle running speed range is taken as the predicted passing speed, and the following first processing is executed: in response to determining that N traffic light intersections ahead can be continuously passed at the predicted passage speed from the current position, taking the predicted passage speed as the green wave speed, otherwise, subtracting a predetermined value from the predicted passage speed, in response to determining that the difference is greater than or equal to the minimum value in the vehicle travel speed range, taking the difference as the predicted passage speed, and repeatedly executing the first processing;
transmitting the green wave speed to the vehicle, the green wave speed being used as a travel speed of the vehicle.
5. The method of claim 4, wherein the determining the green wave speed of the travel path comprises:
and determining the green wave speed during the running process of the vehicle according to the running path.
6. The method of claim 5, wherein the determining the green wave velocity comprises:
taking a first traffic light intersection on the driving path as a to-be-processed intersection, and aiming at the to-be-processed intersection, executing the following first processing:
acquiring the green wave speed before the vehicle does not pass through the intersection to be processed;
if the acquisition is successful, after the vehicle continuously passes through the N traffic light intersections, if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed, or if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed;
if the acquisition fails, after the vehicle passes through the intersection to be processed, if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed.
7. The method of claim 6, wherein the acquiring the green wave velocity comprises:
and acquiring the green wave speed according to the timing period of the traffic light intersection where the vehicle does not pass on the driving path and the current state information.
8. An apparatus for controlling a vehicle, comprising: the device comprises an acquisition module and a control module;
the acquisition module is used for acquiring a running path of at least one trip of a vehicle and acquiring the green wave speed of the running path; the green wave speed is the vehicle running speed which can continuously pass through N traffic light intersections in front, N is a positive integer greater than one, and N is less than or equal to M; m is a positive integer greater than one and represents the number of the traffic light intersections on the driving path through which the vehicle does not pass; the green wave velocity is determined in the following way: the maximum value in the vehicle travel speed range is taken as the predicted traffic speed, and the following first process is performed: in response to determining that N traffic light intersections ahead can be continuously passed at the predicted passage speed from the current position, taking the predicted passage speed as the green wave speed, otherwise, subtracting a predetermined value from the predicted passage speed, in response to determining that the difference is greater than or equal to the minimum value in the vehicle travel speed range, taking the difference as the predicted passage speed, and repeatedly executing the first processing;
the control module is used for controlling the running speed of the vehicle based on the green wave speed.
9. The apparatus of claim 8, wherein,
the acquisition module acquires the green wave speed determined by the cloud platform in the driving process of the vehicle according to the driving path.
10. The apparatus of claim 8, wherein the control module automatically controls the vehicle to travel according to the green wave speed when the vehicle is in an autonomous driving mode;
the control module is further configured to prompt a driver with the green wave speed as a recommended vehicle speed when the vehicle is in a manual driving mode.
11. An apparatus for controlling a vehicle, comprising: a determining module and a sending module;
the determining module is used for determining the green wave speed of the running path aiming at the running path of at least one journey of the vehicle; the green wave speed is the vehicle running speed which can continuously pass through N traffic light intersections in front, N is a positive integer greater than one, and N is less than or equal to M; m is a positive integer greater than one and represents the number of the traffic light intersections on the driving path through which the vehicle does not pass; the green wave velocity is determined in the following way: the maximum value in the vehicle running speed range is taken as the predicted passing speed, and the following first processing is executed: in response to determining that N traffic light intersections ahead can be continuously passed at the predicted passage speed from the current position, taking the predicted passage speed as the green wave speed, otherwise, subtracting a predetermined value from the predicted passage speed, in response to determining that the difference is greater than or equal to the minimum value in the vehicle travel speed range, taking the difference as the predicted passage speed, and repeatedly executing the first processing;
the sending module is used for sending the green wave speed to the vehicle, and the green wave speed is used as the running speed of the vehicle.
12. The apparatus of claim 11, wherein,
the determination module determines the green wave speed during the vehicle traveling along the travel path.
13. The apparatus of claim 12, wherein,
the determining module takes a first traffic light intersection on the driving path as a to-be-processed intersection, and executes the following first processing aiming at the to-be-processed intersection: acquiring the green wave speed before the vehicle does not pass through the intersection to be processed; if the acquisition is successful, after the vehicle continuously passes through the N traffic light intersections, if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed, or if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed; if the acquisition fails, after the vehicle passes through the intersection to be processed, if at least two traffic light intersections still exist in front of the vehicle, the next traffic light intersection is taken as the intersection to be processed, and the first processing is repeatedly executed.
14. The apparatus of claim 13, wherein,
the determining module acquires the green wave speed according to the timing period of the traffic light intersection where the vehicle does not pass on the driving path and the current state information.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
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