CN112509343A - Roadside type guiding method and system based on vehicle-road cooperation - Google Patents

Roadside type guiding method and system based on vehicle-road cooperation Download PDF

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CN112509343A
CN112509343A CN202011159886.6A CN202011159886A CN112509343A CN 112509343 A CN112509343 A CN 112509343A CN 202011159886 A CN202011159886 A CN 202011159886A CN 112509343 A CN112509343 A CN 112509343A
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vehicle
intersection
current
road
information
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CN112509343B (en
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龙科军
包有为
谷健
郝威
吴伟
魏隽君
刘洋
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Changsha University of Science and Technology
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Changsha University of Science and Technology
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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights

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Abstract

本发明公开一种基于车路协同的路侧式导行方法及系统，该方法步骤包括：S1.预先将目的路口进口道上的指定区域作为引导区域，并沿引导区域中道路的一侧或两侧布置引导指示单元；S2.当车辆到达引导区域时，获取当前车辆的车辆状态信息、当前目的路口进口道的路况信息以及目的路口处信号灯的状态信息；S3.根据获取到的信息，控制引导指示单元发出指示信息，以在若当前车辆到达目的路口时会存在排队车辆或当前车辆不能在黄灯时间通过路口停止线时，提前引导当前车辆停止或减速。本发明具有实现方法简单、实现成本以及复杂度低，且车辆行驶安全可靠性以及路口通信效率高等优点。

Figure 202011159886

The invention discloses a roadside guidance method and system based on vehicle-road coordination. The method steps include: S1. Preliminarily take a designated area on the entrance road of a destination intersection as a guidance area, and follow one or two sides of the road in the guidance area. A guidance and indication unit is arranged on the side; S2. When the vehicle arrives at the guidance area, obtain the vehicle status information of the current vehicle, the road condition information of the entrance road of the current destination intersection and the status information of the signal lights at the destination intersection; S3. Control the guidance according to the obtained information The instruction unit sends out instruction information to guide the current vehicle to stop or decelerate in advance if there are queued vehicles when the current vehicle reaches the destination intersection or the current vehicle cannot pass the intersection stop line at the yellow light time. The invention has the advantages of simple realization method, low realization cost and complexity, high safety reliability of vehicle driving and high intersection communication efficiency.

Figure 202011159886

Description

Roadside type guiding method and system based on vehicle-road cooperation
Technical Field
The invention relates to a roadside type guiding method and system based on vehicle-road cooperation.
Background
A dilemma zone, i.e., an area where the vehicle cannot pass the stop line of the intersection at the highest speed limit condition nor safely stop the vehicle within the stop line of the intersection during yellow lights, may exist at the entrance of the intersection, as shown in fig. 1. When a vehicle enters a dilemma area, the phenomena of red light running and sudden braking inevitably occur no matter how a driver makes a decision, great potential safety hazards exist, and therefore wide attention is drawn.
Aiming at relieving the problem that vehicles at an intersection enter a dilemma area, the following methods are mainly adopted at present:
1. method for setting green light flashing time. The method is that the green light flashing time is set between the green light and the red light of the signal lamp to remind a vehicle driver and provide extra passing time to enable the vehicle to smoothly pass through the stop line. However, although this type of method for setting the green flashing time can effectively remind the driver, the driver cannot clearly determine the distance between the vehicle and the stop line and the remaining passing time by self-perception, and thus cannot judge whether the vehicle can pass the stop line in time, and therefore the driver still cannot make a correct and effective decision accordingly. Meanwhile, the duration of the green flashing signal needs to be set scientifically and reasonably, and the vehicle is trapped in a dilemma area due to too short duration of the green flashing, so that the safety is reduced; the long green flashing time can cause driving confusion, a driver cannot judge whether the vehicle should continue to move forward or stop for waiting, and potential safety hazards still exist.
2. A green light countdown display method. The method is characterized in that the last period of time of the green light signal is set to be displayed in a countdown mode, and a driver of the vehicle is reminded of how much time remains to enter a yellow light, so that the driver can make a stop or pass decision in advance. However, in this type of method, the last period of time of the green light signal is set as a countdown display mode, and although the driver is reminded and informed of the remaining passing time, the driver cannot obtain the distance from the stop line through visual observation, that is, the time required for the driver to smoothly pass through the stop line is unclear, so that the driver cannot be helped to make a correct and effective decision, and safety and privacy still exist.
3. Method for prolonging green time. The method comprises the steps of acquiring running state information (such as position and speed) of each vehicle in real time when the green light time is about to end under the cooperative environment of the vehicle and the road, judging whether the vehicle enters a dilemma area, and properly prolonging the green light time if the vehicle enters the dilemma area so that the vehicle can smoothly pass through a stop line. However, in this way, there may be a situation that a small part of vehicles, even one vehicle, needs to extend the green time of the phase, which reduces the passing time of the vehicles in other phases, thereby affecting the passing efficiency of the whole intersection. Meanwhile, the green time cannot be infinitely prolonged, and the phenomenon that the existing vehicle is in the dilemma area cannot be avoided, namely the problem of the dilemma area cannot be well solved.
4. Method for adjusting yellow light time. The method is characterized in that when a yellow light of a signalized intersection is turned on, if a vehicle enters a dilemma area through detection, the yellow light time is properly prolonged on the basis of the initial yellow light time so as to ensure that the vehicle in the dilemma area can safely pass through the intersection. However, the adjustment of the yellow light time has limitations, when the traffic flow of a road is large, the yellow light time cannot be prolonged so that all vehicles can avoid a dilemma, the yellow light time is not too long, if the yellow light time is too long, rear-end collision accidents are easily caused by the fact that the vehicles driven in front and at the back are different in judgment of the yellow light time by drivers, and meanwhile, the intersection passing efficiency is influenced by the fact that the yellow light time is prolonged due to the fact that the yellow light time utilization rate is low, and therefore the problem of the dilemma cannot be really solved by the method.
5. Provided is a vehicle-mounted early warning method. The method comprises the steps that sensing detection, wireless communication and other high and new technical equipment are laid on all roads, a vehicle-mounted unit and terminal equipment are arranged on a vehicle, so that the vehicle-mounted unit and the terminal equipment can be communicated with each other in real time, information of all the vehicles and the roads is obtained based on the wireless communication, the sensing detection and other technologies, and the vehicle is prompted to decelerate and stop when the vehicles cannot safely pass through an intersection.
In summary, in the prior art, for various control modes for a vehicle to enter an intersection, the problem of entering a dilemma area cannot be really solved, so that potential safety hazards still exist, or the cost is high, and the implementation is complex, so that it is urgently needed to provide an intersection guidance method to solve the problem of the dilemma area at an intersection, improve the safety and reliability of vehicle driving and the communication efficiency at the intersection, and reduce the implementation cost and complexity.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the road side type guiding method and system based on the vehicle-road cooperation, which have the advantages of simple implementation method, low implementation cost and complexity, safe and reliable vehicle running and high intersection communication efficiency, can solve the problem of 'two-difficulty area' of the vehicle entering the intersection, and improve the safe and reliable vehicle running and the intersection communication efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a road side type guiding method based on vehicle-road cooperation comprises the following steps:
s1, taking a designated area on an entrance road of a destination intersection as a guide area in advance, and arranging guide indicating units along one side or two sides of a road in the guide area;
s2, when the vehicle reaches the guiding area on the entrance lane of the destination intersection, acquiring the vehicle state information of the current vehicle, the road condition information of the entrance lane of the current destination intersection and the information of a signal lamp at the destination intersection;
and S3, controlling the guide indication unit to send out indication information according to the acquired vehicle state information, road condition information and signal lamp information, so as to guide the current vehicle to stop or decelerate in advance when the current vehicle reaches a target intersection and is queued or cannot pass through an intersection stop line at the time of yellow light.
Further, the vehicle state information includes one or more of speed, deceleration, and distance between the vehicle and the destination intersection, the traffic information includes the number of queued vehicles and/or traffic flow on the road, and the signal light information includes one or more of remaining green light time, next green light on time, yellow light time, and green signal ratio.
Further, the step of step S3 includes:
s31, judging whether a parking lot exists: judging whether a queuing vehicle exists when the current vehicle reaches a target intersection according to the acquired vehicle state information, road condition information and signal lamp information, if so, executing a step S32, otherwise, executing a step S33;
s32, judging whether the stop line can be passed: judging whether the current vehicle can pass through a stop line of a target intersection at the current yellow light time or not according to the acquired vehicle state information, road condition information and signal light information, and if not, turning to the step S33;
s33, controlling a guide indication unit: and controlling the guide indication unit to send out deceleration or stop indication information so as to guide the current vehicle to stop or decelerate in advance.
Further, the specific step of determining whether there is a vehicle in line when the current vehicle reaches the destination intersection in step S31 includes:
s311, calculating the number N of first vehicles which need to be consumed in the time period that the current vehicle drives to the intersection stop line from the current position according to the current speed1：
Figure BDA0002743245240000041
Figure BDA0002743245240000042
Wherein, T1The time required for a vehicle to travel from a current position to an intersection stop line at a current speed, D is the distance between the current vehicle and the intersection stop line, V is the travel speed of the current vehicle, Q is the average traffic flow of a current destination intersection entrance lane, and N is the time at the current time T0The number of queued vehicles existing at the entrance lane of the target intersection;
and calculating T1A second number N of vehicles theoretically capable of dissipating during the time periodc：
Nc＝S×Xi×Ti
Wherein S is the saturation flow rate at the intersection;
s312, comparing the first number of vehicles N1And the second number of vehicles NcIf the first number of vehicles N is judged1>Number of second vehicles NcIf the current vehicle is judged to have the vehicle in line when the current vehicle drives to the intersection stop line from the current position at the current speed, otherwise, the vehicle in line is judged not to exist.
Further, the step of determining whether the current vehicle can pass through the destination intersection stop line at the current yellow light time in step S32 includes:
s321, calculating a first distance L which can be passed by the current vehicle in the yellow light time according to the running speed of the current vehiclep：
Figure BDA0002743245240000043
And calculating a second distance D between the current vehicle and the stop line of the intersection when the yellow light is ony：
Figure BDA0002743245240000044
Wherein, TyellowThe time of yellow light, V the running speed of the current vehicle, and D the stop of the current vehicle at the intersectionDistance between stops, TgreenThe remaining time of the green light;
s322, comparing the first distance LpAt the second distance DyIf D is judgedy>LpAnd if not, judging that the current vehicle can normally pass through the intersection stop line when the yellow light is turned on.
Further, the guidance indication unit includes a plurality of guidance lights arranged at intervals to form a roadside green light guide belt, the guidance lights are all green lights in a normal state, when the vehicle reaches a stop line, no vehicle queues up and the vehicle can pass through an intersection stop line at a yellow light time, each of the guidance lights is kept as a green light, and when the guidance indication unit is controlled in step S3, specifically, if there is a vehicle in queue when the current vehicle reaches a destination intersection or the current vehicle cannot pass through the intersection stop line at the yellow light time, the guidance light closest to the vehicle is sequentially controlled to be changed into a red light to guide the vehicle to decelerate or stop in the vehicle driving process.
Further, the specific step of sequentially controlling the guidance light closest to the vehicle to be changed into the red light includes:
s331, finding a destination guidance light i so as to satisfy { (L)s+Dl)-DiIs the minimum positive value, where LsFor safe stopping distance, DlPredicted queue length for each lane and DlLen is the length of the standard vehicle, N is the number of possible stops per lane and N is (N) ═ len1-NC)÷m，N1The number of the first vehicles which need to be consumed in the time period that the current vehicle drives from the current position to the stop line of the intersection at the current speed, NcIs T1The number of second vehicles which can be theoretically dissipated in the time period, wherein m is the number of lanes at the entrance of the intersection;
s332, calculating the current time T of the current vehicle0Time T required for traveling to the destination guide lamp i2Controlling the destination pilot lamp i at time T2Changing the red light to the red light, and keeping the red light to pass the current entrance way again;
s333. during each time intervalPartition
Figure BDA0002743245240000051
And then controlling the next guide lamp to become a red lamp, and keeping the red lamp to go to the current entrance lane again, wherein d is the distance between the guide lamps, and V is the running speed of the current vehicle.
A roadside type guiding system based on vehicle-road cooperation comprises:
the guidance indicating unit is arranged along one side or two sides of a road in a guidance area, and the guidance area is a designated area on an entrance way of the destination intersection;
the vehicle-mounted unit is used for acquiring vehicle state information of a current vehicle and sending the vehicle state information to the road side control unit;
the information acquisition unit is used for acquiring road condition information of an intersection entrance road and information of signal lamps and sending the information to the road side control unit;
and the roadside control unit is used for receiving the vehicle state information sent by the vehicle-mounted unit, the road condition information sent by the information acquisition unit and the information of the signal lamp, and controlling the guide indication unit to send out indication information according to the received vehicle state information, road condition information and signal lamp information when the vehicle reaches the guide area on the entrance lane of the destination intersection so as to guide the current vehicle to stop or decelerate in advance when the current vehicle reaches the destination intersection and can have queued vehicles or the current vehicle cannot pass through an intersection stop line at the time of yellow light.
Further, the guide indication unit specifically comprises a plurality of indication lamps, and each indication lamp is arranged at intervals according to a specified interval.
Further, the information acquisition unit comprises image acquisition equipment for acquiring image information, a detector for detecting the traffic flow of the road and acquisition equipment for acquiring signal lamp information.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the guiding and indicating unit is arranged on the intersection entrance lane, when the vehicle enters the guiding area, the guiding and indicating unit is controlled to send the indicating information according to the vehicle state information, the road condition information of the current intersection entrance lane and the information of the signal lamp, when the vehicle arrives at the target intersection, queuing vehicles can exist or the vehicle can not pass through the intersection stop line at the time of yellow light, the vehicle can be guided to stop or decelerate in advance, the driver is prevented from entering the dilemma area, and the traffic safety of the intersection is improved. Compared with the traditional ways of prolonging the green time, adjusting the yellow time and the like, the timing scheme of the signal lamp at the intersection does not need to be changed, so that the passing efficiency of the whole intersection is not influenced, and the passing efficiency of the intersection can be ensured on the basis of effectively solving the problem of the dilemma area.
2. The invention realizes early warning by arranging the guide indicating unit at the roadside outer side, judges and controls guide indication through information interaction between vehicles and roads after the vehicles enter the guide area, and compared with the traditional vehicle-mounted early warning mode, the invention can realize vehicle early warning without interconnection and intercommunication between vehicles and roads, thereby greatly reducing the realization cost and realizing the complexity.
3. The guiding and indicating unit further adopts the technical scheme that the guiding lamp belts are arranged on the central separation belt and the vehicle-mounted separation belt to form the green lamp guiding belt, the driver is reminded of whether the vehicle is normally driven or decelerated and stopped by controlling the change of the lamp color of the guiding lamp, the driver can conveniently and clearly obtain the guiding information based on the mode of the guiding lamp belts, and the guiding and indicating unit is low in installation cost and strong in practicability.
Drawings
Fig. 1 is a schematic diagram of a dilemma area.
Fig. 2 is a schematic flow chart illustrating an implementation of the road-side guiding method based on vehicle-road cooperation according to the embodiment.
Fig. 3 is a schematic diagram of a guidance system based on a green light guidance tape according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a navigation system in an embodiment of the present invention.
Fig. 5 is a flowchart illustrating detailed steps of implementing road-side type guiding based on vehicle-road cooperation in an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 2, the road-side guiding method based on vehicle-road coordination of the present embodiment includes the steps of:
s1, taking a designated area on an entrance road of a target intersection as a guide area in advance, and arranging guide indicating units along one side or two sides of a road in the guide area;
s2, when the vehicle reaches a guide area on a target intersection entrance way, acquiring vehicle state information of the current vehicle, road condition information of the current target intersection entrance way and signal lamp information of the target intersection;
and S3, controlling a guide indication unit to send out indication information according to the acquired vehicle state information, road condition information and signal lamp information so as to guide the current vehicle to stop or decelerate in advance when the current vehicle reaches a target intersection and is queued or cannot pass through an intersection stop line at the time of yellow light.
According to the embodiment, the guiding indication unit is arranged in the guiding area on the intersection entrance way, when a vehicle enters the guiding area, according to the vehicle state information, the road condition information of the current intersection entrance way and the information of the signal lamp, the guiding indication unit is controlled to send the indication information to guide the driver to stop at a reduced speed or continue to pass, when the vehicle reaches a target intersection, a queued vehicle exists or the vehicle cannot pass through an intersection stop line at a yellow light time, the vehicle can be guided to stop or decelerate in advance, the driver can be guided to make scientific and reasonable decision judgment at the intersection, the driver is prevented from entering a dilemma area, traffic safety accidents caused by the personal judgment error of the driver are effectively avoided, and the passing safety of the intersection is improved. Compared with the traditional mode of prolonging the green light time and adjusting the yellow light time, the timing scheme of the signal light at the intersection does not need to be changed, so that the passing efficiency of the whole intersection cannot be influenced by increasing the green light time, the yellow light time and the like, and the passing efficiency of the intersection can be ensured on the basis of effectively solving the problem of the dilemma.
And this embodiment realizes the early warning based on the guider in the roadside formula outside, begins early warning judgement and control guide instruction through the information interaction between the vehicle road after the vehicle gets into the guide region, compares in traditional on-vehicle early warning mode, only needs arrange the guide indicating unit in certain region of crossing entry road, need not to reach car, vehicle road interconnection intercommunication simultaneously, only needs the vehicle to the roadside transmission information, can significantly reduce and realize cost and realization complexity.
In this embodiment, the vehicle state information includes speed, deceleration, distance between the vehicle and the destination intersection, the road condition information includes the number of queued vehicles, traffic flow, and the like on the road, and the signal lamp information includes remaining green lamp time, next green lamp turn-on time, yellow lamp time, green signal ratio, and the like, and may further include signal lamp timing status and the like.
In this embodiment, the guidance indication unit specifically includes a plurality of guidance lights arranged at intervals, that is, a roadside green light guide belt is formed by the plurality of guidance lights arranged at intervals, the guidance lights are all green in a normal state, the vehicle is guided to decelerate or stop before entering the dilemma area by controlling the change of the colors of the guidance lights and the traffic lights, specifically, when the vehicle reaches a stop line, no vehicle queues up, and the vehicle can pass through the intersection stop line at the time of yellow light, each guidance light is kept as a green light, if there is a vehicle in queue when the current vehicle reaches a target intersection, or the current vehicle cannot pass through the intersection stop line at the time of yellow light, the guidance light closest to the vehicle is sequentially controlled to be changed into a red light to guide the vehicle to decelerate or stop in the vehicle driving process. The guide lamp body can be arranged on the central separation belt and the non-mechanical separation belt, the mode that the guide lamp belt is arranged on the central separation belt and the non-mechanical separation belt is adopted, a driver can conveniently and quickly and clearly obtain guide information, the installation cost is low, and the practicability is high. The guide lamp can be a light emitting device such as an LED light emitting module. The guide area is specifically a lamp strip area provided with a guide lamp, and can be taken into a specified length area before the dilemma area.
In a specific application embodiment, the guidance lamps are symmetrically arranged on the central separation belt and the non-motor separation belt every 5 meters from the stop line to form a roadside green lamp guide belt, the guidance lamps can be controlled to be changed into red and green colors, the guidance lamps are displayed in green to represent that the vehicle can keep the existing speed to normally run, and when the guidance lamps are displayed in red, the vehicle needs to be decelerated and stopped. When the vehicle which cannot normally drive over the stop line runs to the safe parking distance, the nearest guide lamp in front of the vehicle is controlled to display a red lamp to warn a driver to stop at a reduced speed, and the subsequent guide lamps are sequentially changed into the red lamps according to the time interval determined by the vehicle speed.
In this embodiment, a roadside control unit is specifically and previously arranged at the intersection, and when the vehicle reaches the guidance area, specifically, the light zone, in step S2, the vehicle sends self state information to the roadside control unit, where the self state information includes information such as vehicle speed, deceleration, and distance to the stop line; the road side control unit acquires the vehicle state information of the current vehicle, the road condition information of the current target intersection entrance road and the information of the target intersection signal lamp, and controls the guiding and indicating unit, wherein if the current vehicle arrives at the target intersection, a queuing vehicle exists or the current vehicle cannot pass through an intersection stop line at the time of yellow light, the guiding and indicating unit is controlled to send out corresponding prompt information so as to guide the current vehicle to stop or decelerate in advance.
As shown in FIG. 1, when the yellow light is on, the vehicle is according to the stop line distance DyAt the maximum safe parking distance DSDistance L from the vehicle to the yellow lightpIn between, the vehicle is in the area of difficulty in two promptly, neither can normally drive away nor safe parking, has great potential safety hazard. The embodiment gives the signal lamp guide when the vehicle does not enter the dilemma area, so that the vehicle can be indicated to normally pass through the vehicle, the vehicle which cannot pass through is indicated to decelerate and stop, and the problem that the vehicle can enter the dilemma area is avoided.
In this embodiment, the step S3 includes:
s31, judging whether a parking lot exists: judging whether a queuing vehicle exists when the current vehicle reaches a target intersection according to the acquired vehicle state information, road condition information and signal lamp information, if so, executing a step S32, otherwise, executing a step S33;
s32, judging whether the stop line can be passed: judging whether the current vehicle can pass through a stop line of the destination intersection at the current yellow light time (namely when the yellow light is started) or not according to the acquired vehicle state information, road condition information and signal light information, and if not, turning to the step S33;
s33, controlling a guide indication unit: and controlling the guide indication unit to send out indication information of deceleration or stop so as to guide the current vehicle to stop or decelerate in advance.
According to the embodiment, whether the vehicles can queue up or not when arriving at the destination crossing is judged respectively according to the vehicle state information, the road condition information and the information of the signal lamps, whether the vehicles can pass through the destination crossing stop line at the current yellow light time or not is judged, if the vehicles can queue up or cannot safely pass through the crossing stop line at the yellow light time is judged, the guiding and indicating unit is controlled to send out the indicating information, the early warning can be sent out before the vehicles enter a dilemma area, and the vehicles are guided to decelerate or stop in time to avoid the problem that the vehicles can enter the dilemma area.
In this embodiment, the specific step of determining whether there is a vehicle in line when the current vehicle reaches the destination intersection in step S31 includes:
s311, calculating the number N of first vehicles which need to be consumed in the time period that the current vehicle drives to the intersection stop line from the current position according to the current speed1：
Figure BDA0002743245240000101
Figure BDA0002743245240000102
Wherein, T1The time required for a vehicle to travel from a current position to an intersection stop line at a current speed, D is the distance between the current vehicle and the intersection stop line, V is the travel speed of the current vehicle, Q is the average traffic flow of a current destination intersection entrance lane, and N is the time at the current time T0Temporary destination crossing entrance lane storageNumber of vehicles in line;
and calculating T1A second number N of vehicles theoretically capable of dissipating during the time periodc：
Nc＝S×Xi×Ti (3)
Wherein S is the saturation flow rate at the intersection;
s312, comparing the first number of vehicles N1And a second number of vehicles NcIf the first number of vehicles N is judged1>Number of second vehicles NcIf the current vehicle is judged to have the vehicle in line when the current vehicle drives to the intersection stop line from the current position at the current speed, otherwise, the vehicle in line is judged not to exist.
The saturation flow rate S at the intersection may be
Figure BDA0002743245240000103
And h is a saturated headway, specifically, the headway of the fourth vehicle which is queued continuously passing through the stop line during the period from green light of each vehicle at the tail of the queue is collected, and the average value of a plurality of (for example, 15) periods is continuously observed to be used as the saturated headway h, so that the saturated flow rate is obtained.
The specific steps of determining whether the current vehicle can pass through the destination intersection stop line at the current yellow light time in step S32 in this embodiment include:
s321, calculating a first distance L which can be passed by the current vehicle in the yellow light time according to the running speed of the current vehiclep：
Figure BDA0002743245240000104
And calculating a second distance D between the current vehicle and the stop line of the intersection when the yellow light is ony：
Figure BDA0002743245240000105
Wherein, TyellowIs the time of yellow light, V is the running speed of the current vehicle, D is the distance between the current vehicle and the stop line of the intersectionFrom, TgreenGreen light time;
s322, comparing the first distance LpAt a second distance DyIf D is judgedy>LpAnd if not, judging that the current vehicle can normally pass through the intersection stop line when the yellow light is turned on.
In this embodiment, whether a vehicle queue exists when the vehicle reaches the stop line or not is judged according to the roadside information and the obtained vehicle information, whether the vehicle can smoothly pass through the stop line at the time of yellow light is judged, if the vehicle queue exists or the vehicle cannot smoothly pass through the stop line at the time of yellow light, a proper guide light is controlled to turn red at a specified time, and the following guide lights are sequentially turned red and keep the red state until the signal light is turned green again; if there is no queue or a stop line can be passed during the yellow light time, the guidance light is kept green.
In this embodiment, the specific steps of sequentially controlling the guidance light closest to the vehicle to be converted into the red light include:
s331, finding a destination guidance light i so as to satisfy { (L)s+Dl)-DiIs the minimum positive value, where LsFor safe stopping distance, DlPredicted queue length for each lane and DlLen is the length of the standard vehicle, N is the number of possible stops per lane and N is (N) ═ len1-NC)÷m，N1The number of the first vehicles which need to be consumed in the time period that the current vehicle drives from the current position to the stop line of the intersection at the current speed, NcIs T1The number of second vehicles which can be theoretically dissipated in the time period, wherein m is the number of lanes at the entrance of the intersection;
s332, calculating the current time T of the current vehicle0Time T required for traveling to the destination guide lamp i2Controlling the destination pilot lamp i at time T2Changing the red light to the red light, and keeping the red light to pass the current entrance way again;
s333. in each time interval
Figure BDA0002743245240000111
And then controlling the next guide lamp to become a red lamp, and keeping the red lamp to go to the current entrance lane again, wherein d is the distance between the guide lamps, and V is the running speed of the current vehicle.
The specific safe parking distance LsSpecifically, the formula can be calculated as follows:
Figure BDA0002743245240000112
wherein, VlimFor the highest speed limit at the intersection, AsFor usual deceleration of the vehicle, TrThe average reflecting time of the driver.
The above time T2Specifically, the formula can be calculated as follows:
Figure BDA0002743245240000113
the embodiment adjusts the safe parking distance L by judging whether the intersection has queued vehicles or notsThe method can fully consider the factors of queuing vehicles while preventing the vehicles from entering the dilemma area, further reduce the potential safety hazard of vehicle driving and ensure the driving safety at the intersection.
In order to implement the method, the embodiment further includes a road-side type guiding system based on vehicle-road cooperation, where the system includes:
the guidance indicating unit is arranged along one side or two sides of a road in a guidance area, and the guidance area is a designated area on an entrance way of the destination intersection;
the vehicle-mounted unit is used for acquiring vehicle state information of a current vehicle and sending the vehicle state information to the road side control unit;
the information acquisition unit is used for acquiring road condition information of an intersection entrance road and information of signal lamps and sending the information to the road side control unit;
and the road side control unit is used for receiving the vehicle state information sent by the vehicle-mounted unit, the road condition information sent by the information acquisition unit and the information of the signal lamp, and controlling the guide indication unit to send indication information according to the received vehicle state information, road condition information and signal lamp information when the vehicle reaches a guide area on a target intersection entrance road so as to guide the current vehicle to stop or decelerate in advance when the current vehicle reaches the target intersection and has queued vehicles or the current vehicle cannot pass through an intersection stop line at the time of yellow light.
In this embodiment, the information acquisition unit includes image acquisition equipment for acquiring image information, a detector for detecting road traffic flow, acquisition equipment for acquiring signal lamp information, and the like.
The roadside control unit in this embodiment specifically corresponds to the guidance control step S3, and has the same implementation principle and technical effect, and is not described herein any more, and the specific roadside control unit may adopt a communication device RSU capable of implementing the function of the step S3.
In a specific application embodiment, as shown in fig. 3, when the vehicle reaches the light zone, the vehicle sends its own state (including vehicle speed, deceleration, and distance to the stop line) to the roadside control unit 4, the roadside control unit 4 determines whether there is a vehicle queue when the vehicle reaches the stop line, determines whether the vehicle can smoothly pass through the stop line at the time of yellow light, and controls a proper guide light to turn red at a specified time if there is a queue or the vehicle cannot smoothly pass through the stop line at the time of yellow light, and the following guide lights turn red in sequence and keep the red state until the signal light turns green again; if there is no queue or a stop line can be passed during the yellow light time, the guidance light is kept green.
As shown in fig. 3 and 4, in this embodiment, specifically, a guidance light strip is provided on the central division strip and the vehicle-to-vehicle division strip as a guidance indication unit, a roadside communication device RSU is arranged at the intersection as a roadside control unit 4, and a wide-angle camera is installed at the intersection for acquiring T0The number of vehicles N is present at the moment, a detector (such as a magnetic sensor, in particular) is arranged at the upstream of an entrance road to detect the road flow Q, an on-board unit OBU is arranged on the vehicle and communicates with an RSU installed at the road side to transmit the vehicle state information, and the information obtained by the vehicle is obtained by a road side communication device RSUAnd the information sent by the OBU is transmitted to the roadside control unit, edge calculation is carried out by combining the information acquired by the roadside from the camera, the detector and the signal lamp, and a corresponding color change instruction is sent to the roadside guide lamp after corresponding judgment (whether a queued vehicle exists or whether the vehicle can pass an intersection stop line at the time of yellow light when the vehicle reaches a target intersection is judged) is carried out according to the judgment steps. The signal lamp sends the residual green lamp time T to the road side control centergreen"Luxin ratio" XiThe next green light on time, the yellow light on time, etc.
The vehicle-mounted unit OBU of this embodiment specifically adopts 5G technique to interact with the RSU of the roadside, accomplishes the interaction between vehicle-mounted unit OBU and the roadside communication equipment RSU through using 5G technique, can make data transmission have fast and low delay, further improves and leads the efficiency.
The method of the present invention is further described below by taking an example of implementing intersection vehicle guidance by using the above method of the present invention in a specific application embodiment, wherein a system structure adopted is shown in fig. 4.
The related parameters related to the embodiment specifically include: average driver response time TrThe usual deceleration of the vehicle is AsStandard car length len, intersection maximum speed limit is VlimThe yellow light time at the intersection is TyellowThe time for the vehicle to transmit information to the drive test control unit is T0，T0The number of vehicles queued at the time entrance lane is N, T0The time-speed is V, T0The time-green light residual time is Tgreen，T0The distance D between the vehicle and the stop line is set as the guide lamp i (i is 1,2, 3 … … from the stop line), and the distance D between the guide lamp i and the stop linei(ii) a The distance between the guide lamps is d, the number of lanes at the entrance of the intersection is m, the number of predicted stops at the intersection is n, the upstream flow of the intersection is Q, and the green ratio of the signal lamps at the intersection is XiThe inlet-road saturation flow rate is S, and the time required from the detector to the stop-line at V is
Figure BDA0002743245240000131
Yellow light time carThe distance that the vehicle can pass is
Figure BDA0002743245240000132
Maximum safe parking distance of
Figure BDA0002743245240000133
When the yellow light is on, the distance between the vehicle and the stop line is
Figure BDA0002743245240000141
When the time for passing each guide light is t when the vehicle speed is V, the number of dissipated vehicles is estimated at the intersection
Figure BDA0002743245240000142
Dissipating capacity N at intersectionc＝S×Xi×Ti. In the above variables, the time variable unit is s, the speed variable unit is km/h, and the distance variable unit is m.
As shown in fig. 5, the detailed steps for implementing road-side type guiding based on vehicle-road cooperation in the embodiment of the present invention are as follows:
step 1: a guide light strip is previously provided on the central dividing strip and the vehicle-to-vehicle dividing strip to form a green light guide strip, and a roadside control unit RSU, a camera, a detector and the like are arranged at the intersection, as shown in fig. 3.
Step 2: judging whether a stop line exists or not, comprising the following steps:
1) the on-board unit OBU of the vehicle uses the RSU to calculate the running speed V, the distance D from the stop line and the deceleration A of the vehicleSTransmitting the data to a road side control unit (RSU);
2) obtaining the vehicle at T through a camera0The number N of the vehicles in the queue at the entrance road and the average traffic flow Q of the entrance road are obtained through a camera;
3) calculating the intersection saturation flow rate S and the time T required for the vehicle to travel from D to the stop line at the current speed1The time period T1Number of vehicles N that may need to be dissipated1And the number of vehicles N theoretically capable of dissipating during the time periodc；
4) Comparison of N1And NcSize when N1>NcJudging that queuing vehicles exist when the vehicles reach the intersection; otherwise, no vehicle is queued;
5) if queuing exists, calculating the expected queuing length D of each lanel；
And step 3: judging whether the vehicle can safely pass through the stop line or not, comprising the following steps:
1) calculating the yellow light time T at the current running speed VyellowDistance L that can be passedpAnd the distance D between the vehicle and the stop line when the yellow light is ony；
2) Comparison DyAnd LpSize to judge whether the vehicle can safely pass the stop line when the yellow light is turned on, and when Dy>LpWhen the vehicle passes through the system, the vehicle cannot pass through the system normally; otherwise, the vehicle can normally pass
And 4, step 4: the pilot light color control includes:
a) when there are queued vehicles present when the vehicle reaches the stop line:
1) calculating the possible number n of the parking in each lane and the parking length D of each lanelAnd a safe parking distance Ls;
2) finding a target guiding lamp i to enable the target guiding lamp i to be away from the stopping line distance Di, and satisfying { (L)s+Dl)-DiIs the minimum positive value;
3) calculate from T0Time T to destination guidance light i2Then the ith guiding lamp is at T2Then changing the red light to the red light, and keeping the red light to the entrance passage to pass again;
4) changing the next guiding light to red light at each time interval t, and keeping the red light to the entrance passage to pass again;
b) no vehicles are queued when they reach the stop-line and the vehicle cannot pass the stop-line at yellow light time:
1) at this time DlTo 0, calculate the safe stopping distance Ls, find a destination guidance light i, so that the guidance light i is at a distance D from the stop linei，{(Ls+Dl)-DiIs the minimum positive value;
2) calculate from T0Time T to pilot lamp i2Then the ith guiding lamp is at T2Then changing the red light to the red light, and keeping the red light to the entrance passage to pass again;
3) after each time interval t, the next guidance light changes to red and keeps the red light passing to the entrance lane again.
c) No vehicles are queued when they reach the stop-line and the vehicle is able to pass the stop-line at yellow light time:
the guidance light remains green until it turns red when a vehicle cannot pass through it normally.
Besides the light strip composed of the guide lamps, the guide indicating unit can adopt other indicating devices capable of providing indicating information, such as a display and the like, according to actual needs, or further additionally arrange information display devices such as a display and the like on the basis of the arrangement of the guide lamps, so that a driver can obtain more prompting information.
The invention can be suitable for intersections controlled by two phase signals to ensure reasonable vehicle guiding, can also be applied to other types of intersections to realize vehicle guiding according to actual requirements, can also be suitable for green wave coordination control roads to provide information reminding for vehicle drivers, and further can be combined with a vehicle-mounted early warning mode to be matched with a vehicle-mounted module in a vehicle to further improve the early warning effect.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims (10)

1.一种基于车路协同的路侧式导行方法，其特征在于，步骤包括：1. a roadside guidance method based on vehicle-road coordination, is characterized in that, step comprises: S1.预先将目的路口进口道上的指定区域作为引导区域，并沿所述引导区域中道路的一侧或两侧布置引导指示单元；S1. The designated area on the entrance road of the destination intersection is used as a guide area in advance, and a guide indication unit is arranged along one side or both sides of the road in the guide area; S2.当车辆到达目的路口进口道上的所述引导区域时，获取当前车辆的车辆状态信息、当前目的路口进口道的路况信息以及目的路口处信号灯的信息；S2. When the vehicle reaches the guidance area on the entrance road of the destination intersection, obtain the vehicle status information of the current vehicle, the road condition information of the current entrance road of the destination intersection, and the information of the signal lights at the destination intersection; S3.根据获取到的所述车辆状态信息、路况信息以及信号灯的信息，控制所述引导指示单元发出指示信息，以在若当前车辆到达目的路口时会存在排队车辆或当前车辆不能在黄灯时间通过路口停止线时，提前引导当前车辆停止或减速。S3. According to the obtained vehicle status information, road condition information and signal light information, control the guidance and indication unit to issue indication information, so that if the current vehicle arrives at the destination intersection, there will be queued vehicles or the current vehicle cannot be at the yellow light time. When passing the intersection stop line, guide the current vehicle to stop or slow down in advance. 2.根据权利要求1所述的基于车路协同的路侧式导行方法，其特征在于：所述车辆状态信息包括车辆的速度、减速度、车辆与目的路口之间的距离中一种或多种，所述路况信息包括道路上的排队车辆数和/或车流量，所述信号灯的信息包括剩余绿灯时间、下一绿灯启亮时间、黄灯时间以及绿信比中一种或多种。2 . The roadside guidance method based on vehicle-road coordination according to claim 1 , wherein the vehicle state information includes one of the speed of the vehicle, the deceleration, the distance between the vehicle and the destination intersection or the following: 2 . Various, the road condition information includes the number of queued vehicles and/or traffic flow on the road, and the information of the signal light includes one or more of the remaining green light time, the next green light turn-on time, the yellow light time and the green signal ratio . 3.根据权利要求1所述的基于车路协同的路侧式导行方法，其特征在于，所述步骤S3的步骤包括：3. The roadside guidance method based on vehicle-road coordination according to claim 1, wherein the step of step S3 comprises: S31.是否有停车判断：根据获取的所述车辆状态信息、路况信息以及信号灯的信息，判断当前车辆到达目的路口时是否会存在排队车辆，如果存在转入执行步骤S32，否则转入步骤S33；S31. Whether there is a parking judgment: according to the obtained vehicle status information, road condition information and signal light information, judge whether there will be a queued vehicle when the current vehicle arrives at the destination intersection, if there is, go to step S32, otherwise go to step S33; S32.能否通过停止线判断：根据获取的所述车辆状态信息、路况信息以及信号灯的信息，判断当前车辆能否在当前黄灯时间通过目的路口停止线，如果不可以转入步骤S33；S32. Judging whether the stop line can be passed: according to the obtained vehicle status information, road condition information and signal light information, determine whether the current vehicle can pass the stop line at the destination intersection at the current yellow light time, and if not, go to step S33; S33.引导指示单元控制：控制所述引导指示单元发出减速或停止的指示信息，以提前引导当前车辆前停止或减速。S33. Guidance instructing unit control: control the guiding instructing unit to issue deceleration or stop instructing information, so as to stop or decelerate before guiding the current vehicle in advance. 4.根据权利要求3所述的基于车路协同的路侧式导行方法，其特征在于，所述步骤S31中判断当前车辆到达目的路口时是否存在排队车辆的具体步骤包括：4. The roadside guidance method based on vehicle-road coordination according to claim 3, wherein the specific step of judging whether there is a queued vehicle when the current vehicle arrives at the destination intersection in the step S31 comprises: S311.计算当前车辆从当前位置按当前速度行驶至路口停止线的时间段内需要消耗的第一车辆数N1：S311. Calculate the first vehicle number N 1 that needs to be consumed within the time period when the current vehicle travels from the current position at the current speed to the intersection stop line:
Figure FDA0002743245230000021
Figure FDA0002743245230000021
Figure FDA0002743245230000022
Figure FDA0002743245230000022
 其中，T1为车辆从当前位置处按当前速度行驶至路口停止线所需要的时间，D为当前车辆与路口停止线之间的距离，V为当前车辆的行驶速度，Q为当前目的路口进口道的平均交通流量，N为在当前时刻T0时目的路口进口道存在的排队车辆数；Among them, T 1 is the time required for the vehicle to travel from the current position at the current speed to the intersection stop line, D is the distance between the current vehicle and the intersection stop line, V is the current speed of the vehicle, and Q is the current destination intersection entrance is the average traffic flow of the road, and N is the number of queued vehicles in the entrance road of the destination intersection at the current time T0 ; 以及计算T1时间段内理论能够消散的第二车辆数Nc：And calculate the second number N c of vehicles that theoretically can be dissipated in the time period T 1 : Nc＝S×Xi×Ti N c =S×X i ×T i 其中，S为路口的饱和流率；Among them, S is the saturated flow rate of the intersection; S312.比较所述第一车辆数N1与所述第二车辆数Nc的大小，如果判断到所述第一车辆数N1>第二车辆数Nc，则判定当前车辆从当前位置按当前速度行驶至路口停止线时会存在排队车辆，否则判定不会存在排队车辆。S312. Compare the size of the first vehicle number N 1 and the second vehicle number N c , and if it is determined that the first vehicle number N 1 > the second vehicle number N c , then determine that the current vehicle presses When the current speed reaches the intersection stop line, there will be queued vehicles, otherwise it is determined that there will be no queued vehicles. 5.根据权利要求3所述的基于车路协同的路侧式导行方法，其特征在于，所述步骤S32中判断当前车辆能否在当前黄灯时间通过目的路口停止线的步骤包括：5. The roadside guidance method based on vehicle-road coordination according to claim 3, wherein the step of judging whether the current vehicle can pass the stop line at the destination intersection at the current yellow light time in the step S32 comprises: S321.计算按照当前车辆的行驶速度在黄灯时间可通过的第一距离Lp：S321. Calculate the first distance L p that can be passed at the yellow light time according to the current speed of the vehicle:
Figure FDA0002743245230000023
Figure FDA0002743245230000023
 以及计算黄灯亮时当前车辆距路口停止线的第二距离Dy：And calculate the second distance D y from the current vehicle to the intersection stop line when the yellow light is on:
Figure FDA0002743245230000024
Figure FDA0002743245230000024
 其中，Tyellow为黄灯时间，V为当前车辆的行驶速度，D为当前车辆与路口停止线之间的距离，Tgreen为绿灯剩余时间；Among them, T yellow is the time of the yellow light, V is the speed of the current vehicle, D is the distance between the current vehicle and the stop line at the intersection, and T green is the remaining time of the green light; S322.比较所述第一距离Lp与所述第二距离Dy的大小，如果判断到Dy>Lp，则判定当前车辆不能在黄灯时间通过路口停止线，否则判定当前车辆能够在黄灯启亮时正常通过路口停止线。S322. Compare the size of the first distance L p and the second distance Dy, if it is determined that D y > L p , it is determined that the current vehicle cannot pass the intersection stop line at the yellow light time, otherwise it is determined that the current vehicle can Pass the intersection stop line normally when the yellow light is on. 6.根据权利要求1～5中任意一项所述的基于车路协同的路侧式导行方法，其特征在于，所述引导指示单元包括多个间隔布置的引导灯，形成路侧绿灯导行带，正常状态时各所述引导灯均为绿灯，当车辆到达停止线时无车辆排队且车辆能够在黄灯时间通过路口停止线时各所述引导灯保持为绿灯，所述步骤S3中控制所述引导指示单元时，具体若当前车辆到达目的路口时会存在排队车辆或当前车辆不能在黄灯时间通过路口停止线，则在车辆行驶过程中依次控制距离车辆最近的引导灯变换为红灯以引导车辆减速或停止。6 . The roadside guidance method based on vehicle-road coordination according to any one of claims 1 to 5 , wherein the guidance and indication unit comprises a plurality of guidance lights arranged at intervals to form a roadside green light guide. 7 . In the normal state, each of the guiding lights is a green light. When the vehicle arrives at the stop line, there is no queue of vehicles and the vehicle can pass the stop line at the intersection at the time of the yellow light. When controlling the guiding and indicating unit, specifically if there are queued vehicles when the current vehicle arrives at the destination intersection or the current vehicle cannot pass the intersection stop line at the yellow light time, then control the guiding light closest to the vehicle to change to red in turn during the driving process of the vehicle. lights to guide the vehicle to slow down or stop. 7.根据权利要求6所述的基于车路协同的路侧式导行方法，其特征在于，所述依次控制距离车辆最近的引导灯变换为红灯的具体步骤包括：7 . The roadside guidance method based on vehicle-road coordination according to claim 6 , wherein the specific step of sequentially controlling the guidance light closest to the vehicle to change to a red light comprises: 8 . S331.寻找目的引导灯i使得满足{(Ls+Dl)-Di}是最小正值，其中Ls为安全停车距离，Dl为每条车道的预计排队长度且Dl＝n×len，len为标准车辆的长度，n为每条车道可能的停车数且n＝(N1-NC)÷m，N1为当前车辆从当前位置按当前速度行驶至路口停止线的时间段内需要消耗的第一车辆数，Nc为T1时间段内理论能够消散的第二车辆数，m为路口进口道车道数；S331. Find the destination guide light i such that {(L s +D l )-D i } is the minimum positive value, where L s is the safe stopping distance, D l is the expected queue length of each lane and D l =n× len, len is the length of the standard vehicle, n is the number of possible stops in each lane and n=(N 1 -N C )÷m, N 1 is the time period for the current vehicle to travel from the current position to the intersection stop line at the current speed is the number of first vehicles that need to be consumed within the time period, N c is the number of second vehicles that can theoretically be dissipated in the time period of T1, and m is the number of lanes at the entrance of the intersection; S332.计算当前车辆从当前时刻T0行驶到目的引导灯i需要的时间T2，控制目的引导灯i在时间T2后变为红灯，并保持红灯到当前进口道再次放行；S332. Calculate the time T 2 required for the current vehicle to travel from the current time T 0 to the destination guidance light i, control the destination guidance light i to become a red light after the time T 2 , and keep the red light until the current entrance road is released again; S333.在每个时间间隔
Figure FDA0002743245230000031
后，控制下一引导灯变为红灯，并保持红灯到当前进口道再次放行，其中d为引导灯间的距离，V为当前车辆的行驶速度。S333. At each time interval
Figure FDA0002743245230000031
After that, control the next guide light to turn into a red light, and keep the red light to the current entrance road to release again, where d is the distance between the guide lights, and V is the current speed of the vehicle. 8.一种基于车路协同的路侧式导行系统，其特征在于，包括：8. A roadside guidance system based on vehicle-road coordination, characterized in that, comprising: 引导指示单元，沿引导区域中道路的一侧或两侧布置，所述引导区域为目的路口进口道上的指定区域；The guiding and indicating unit is arranged along one side or both sides of the road in the guiding area, and the guiding area is the designated area on the entrance road of the destination intersection; 车载单元，用于获取当前车辆的车辆状态信息，发送给路侧控制单元；The on-board unit is used to obtain the vehicle status information of the current vehicle and send it to the roadside control unit; 信息采集单元，用于获取路口进口道的路况信息以及信号灯的信息，发送给路侧控制单元；The information collection unit is used to obtain the road condition information of the entrance road and the information of the signal lights, and send it to the roadside control unit; 路侧控制单元，用于接收所述车载单元发送的车辆状态信息、所述信息采集单元发送的路况信息以及信号灯的信息，当车辆到达目的路口进口道上的所述引导区域时，根据接收到的所述车辆状态信息、路况信息以及信号灯的信息，控制所述引导指示单元发出指示信息，以在若当前车辆到达目的路口时会存在排队车辆或当前车辆不能在黄灯时间通过路口停止线时，提前引导当前车辆停止或减速。The roadside control unit is used to receive the vehicle status information sent by the vehicle-mounted unit, the road condition information sent by the information collection unit, and the signal light information. The vehicle status information, road condition information and signal light information, control the guidance and indication unit to send out the instruction information, so that if the current vehicle arrives at the destination intersection, there will be queuing vehicles or the current vehicle cannot pass the intersection stop line at the yellow light time, Guide the current vehicle to stop or slow down in advance. 9.根据权利要求8所述的基于车路协同的路侧式导行系统，其特征在于：所述引导指示单元具体包括多个指示灯，各所述指示灯按照指定间距间隔布置。9 . The roadside guidance system based on vehicle-road coordination according to claim 8 , wherein the guidance and indication unit specifically comprises a plurality of indicator lights, and each of the indicator lights is arranged at specified intervals. 10 . 10.根据权利要求8或9所述的基于车路协同的路侧式导行系统，其特征在于：所述信息采集单元包括用于采集图像信息的图像采集设备、用于检测道路车流量的检测器以及用于采集信号灯信息的采集设备。10. The roadside guidance system based on vehicle-road coordination according to claim 8 or 9, wherein the information collection unit comprises an image collection device for collecting image information, a device for detecting road traffic flow. A detector and a collection device for collecting signal light information.
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