CN112562326A - Vehicle speed guiding method, server and readable storage medium - Google Patents
Vehicle speed guiding method, server and readable storage medium Download PDFInfo
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- CN112562326A CN112562326A CN202011351701.1A CN202011351701A CN112562326A CN 112562326 A CN112562326 A CN 112562326A CN 202011351701 A CN202011351701 A CN 202011351701A CN 112562326 A CN112562326 A CN 112562326A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
Abstract
The invention discloses a vehicle speed guiding method, a server and a readable storage medium, wherein the method comprises the following steps: acquiring running information of a controlled vehicle, and acquiring road section information of the controlled vehicle and phase information of a signal lamp corresponding to the road section information according to the running information; judging whether the controlled vehicle enters a guide area or not according to the driving information, the road section information and the phase information; if the controlled vehicle enters the guide area, judging whether the passing state of the controlled vehicle is passing according to the phase information and the running information; if the passing state is passing, obtaining an optimal target speed according to the running information and the phase information; and sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed. The speed guiding method provided by the invention improves the traffic rate of the vehicle at the traffic intersection and reduces the incidence rate of traffic violation and traffic accidents.
Description
Technical Field
The invention relates to the technical field of automobile intelligent networking, in particular to a speed guiding method, a server and a readable storage medium.
Background
Currently, the automatic driving technology is rapidly developed, and some advanced driving assistance functions aiming at improving the active safety of the vehicle have been applied to mass production vehicles, for example: automatic emergency braking, automatic lane keeping, fatigue driving early warning and other driving assisting functions. With high-precision and high-disturbance rejection sensor, intelligent decision general chip, high-precision map and linear steering system, the automatic driving technology is becoming mature.
At present, signal lamps of urban traffic intersections are dense, drivers of traditional vehicles need to select to accelerate or decelerate to stop according to subjective judgment, and accurate driving is difficult to achieve through the subjective judgment. For example, it is often considered that the vehicle can pass through the intersection before the green light is finished, so that a higher vehicle speed or acceleration preparation for passing is maintained, but the red light is turned on before passing, so that emergency braking is forced, the red light is easy to break by mistake, the vehicle is scratched, and even the pedestrian is collided; sometimes, the problem that the vehicle does not need to be stopped when the red light of the intersection is changed into the green light through certain deceleration can be solved, but the vehicle has to be stopped and then started immediately when the red light is in the last 1 second. Meanwhile, due to the fact that other vehicles, pedestrians and the like are arranged at the intersection, the intersection has the characteristics of complex multi-application scenes, more traffic behavior participants and the like, and the vehicle system is difficult to control at the intersection.
Disclosure of Invention
The invention mainly aims to provide a vehicle speed guiding method, a server and a readable storage medium, and aims to solve the problems that the vehicle easily runs red light by mistake, scratches and scratches of the vehicle and even collides with pedestrians when passing through a signal lamp intersection, and the vehicle energy consumption is increased due to the fact that the vehicle is not favorable for stable running of the vehicle.
To achieve the above object, the present invention provides a vehicle speed guidance method, including:
acquiring running information of a controlled vehicle, and acquiring road section information of the controlled vehicle and phase information of a signal lamp corresponding to the road section information according to the running information;
judging whether the controlled vehicle enters a guide area or not according to the driving information, the road section information and the phase information;
if the controlled vehicle enters the guide area, judging whether the passing state of the controlled vehicle is passing according to the phase information and the running information;
if the passing state is passing, obtaining an optimal target speed according to the running information and the phase information;
and sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed.
Preferably, the travel information includes: the position of the controlled vehicle, the position distance between the controlled vehicle and the intersection to be passed by and the current speed of the vehicle; the link information includes: the average speed of the road, the distance between two adjacent intersections of the road section where the controlled vehicle is located and the road speed limit; the phase information includes: phase period of the signal lamp and phase timing information of the signal lamp; the step of judging whether the controlled vehicle enters a guide area or not according to the driving information, the road section information and the phase information comprises the following steps:
calculating to obtain a theoretical guide length according to the road average speed and the phase period;
comparing the intersection distance with the theoretical guide length, and taking the smaller one of the intersection distance and the theoretical guide length as the green wave guide length;
determining whether the position distance is less than or equal to the green wave guide length;
if the controlled vehicle enters the guide area, the step of judging whether the passing state of the controlled vehicle passes or not according to the phase information and the running information comprises the following steps:
and if the position distance is less than or equal to the green wave guide length, judging whether the passing state of the controlled vehicle passes according to the phase information and the driving information.
Preferably, the step of determining whether the passing state of the controlled vehicle passes or not according to the phase information and the traveling information includes:
calculating the time threshold range of the controlled vehicle which is expected to reach the intersection according to the road speed limit, the position distance and the current vehicle speed;
and predicting whether a signal lamp of the intersection displays a green lamp phase within the time threshold range according to the phase timing information so as to judge whether the traffic state is passing.
Preferably, the road speed limit includes a road highest speed limit and a road lowest speed limit; the step of obtaining the time threshold range of the controlled vehicle to reach the intersection predicted according to the road speed limit, the position distance and the current vehicle speed comprises the following steps:
determining that the controlled vehicle accelerates to the highest speed limit of the road at the current speed according to the highest speed limit of the road, the position distance and the current speed, and taking the predicted arrival time of the controlled vehicle driving to a crossroad at the highest speed limit of the road as the time T1;
determining that the predicted arrival time of the controlled vehicle which is decelerated to the lowest speed limit of the road to the intersection by the current vehicle speed is T2 time according to the lowest speed limit of the road, the position distance and the current vehicle speed;
time T1 is set to the minimum value of the time threshold range and time T2 is set to the maximum value of the time threshold range.
Preferably, if the passing status is passing, the step of obtaining the optimal target vehicle speed according to the driving information and the phase information includes:
if the signal lamp of the intersection displays the green lamp phase within the time threshold range, determining that the passing state is passing;
if the passing state is passing, determining the predicted arrival time of the controlled vehicle to the intersection at the constant speed of the current speed as T time according to the position distance and the current speed;
respectively determining the phase states of the signal lamp at the time T, the time T1 and the time T2 according to the phase timing information;
if the phase state corresponding to the time T1 is a green light, the optimal target speed is the highest speed limit of the road;
if the phase state corresponding to the time T1 and the time T is a red light and the phase state corresponding to the time T2 is a green light, obtaining the optimal target vehicle speed according to a first preset formula;
and if the phase state corresponding to the time T2 and the time T is a green light and the phase state corresponding to the time T1 is a red light, obtaining the optimal target vehicle speed according to a second preset formula.
Preferably, the method comprises the following steps:
the first preset formula is as follows:
the second preset formula is as follows:
wherein v isglosaFor the optimal target vehicle speed, adeFor a predetermined deceleration, aacIs a preset acceleration, tgap1The time length T from the time when the signal lamp just changes from red to green at the time of Tgap2The time length of the time when the signal lamp just changes from red light to green light before the T time is the time length when the green light is continued at the T time, v is the current vehicle speed, dkThe green wave guide length or the position distance between the controlled vehicle and the intersection to be passed through.
Preferably, the method further comprises:
acquiring current running environment information of a controlled vehicle, and determining whether the controlled vehicle is located within a preset distance in front of a lane according to the running environment information;
if the vehicle is in the preset distance in front of the lane where the controlled vehicle is located, judging whether the controlled vehicle meets the preset lane changing condition or not according to the running environment information;
and if the controlled vehicle does not meet the preset lane changing condition, sending a command of entering a following mode to the controlled vehicle so as to enable the controlled vehicle to enter the following mode.
Preferably, the method further comprises:
acquiring current running environment information of a controlled vehicle, and generating a predicted running track of pedestrians and/or vehicles in a preset area according to the running environment information;
generating a predicted running track of the controlled vehicle according to the running information, and calculating the coincidence degree of the predicted running track of the pedestrian and/or the vehicle and the predicted running track of the controlled vehicle;
and if the contact ratio is greater than a preset value, sending an instruction for starting the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system to the controlled vehicle, and controlling the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
The invention also provides a server, which is characterized by comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the green wave vehicle speed control when being executed by the processor.
The invention also provides a readable storage medium, which is characterized in that the readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the green wave vehicle speed control.
According to the invention, through the analysis of the data model of the vehicle passing at the traffic intersection, the optimal speed of the current vehicle passing through the traffic light is calculated, and the vehicle is guided to run, so that the idle working condition that the vehicle has to be used because the vehicle often needs to stop for waiting for the traffic light when the vehicle runs on a city road with more traffic light intersections is avoided, the running smoothness of the vehicle is improved, the incidence rate of traffic violation and traffic intersection accidents is reduced, and the running economy of the vehicle can be effectively improved.
Drawings
FIG. 1 is a block diagram of a server according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a vehicle speed guidance method of the present invention;
FIG. 3 is a detailed flowchart of a second embodiment of the vehicle speed guiding method according to the present invention, based on step S200 in the first embodiment;
FIG. 4 is a detailed flowchart of a third embodiment of the vehicle speed guiding method according to the present invention, based on step S300 in the first embodiment;
FIG. 5 is a partial flow chart of a fourth embodiment of a vehicle speed guidance method of the present invention;
FIG. 6 is a flowchart illustrating a fifth embodiment of the vehicle speed guidance method of the present invention;
fig. 7 is a flowchart illustrating a sixth embodiment of the vehicle speed guidance method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a module structure of a server provided in each embodiment of the present invention. The server comprises a communication module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the server shown in fig. 1 may also include more or fewer components than shown, or combine certain components, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, and the memory 02 stores a computer program, which is executed by the processor 03 at the same time.
The communication module 01 may be connected to an external device through a network. The communication module 01 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a vehicle-mounted terminal, a data management terminal, a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (a target sub-process, a first monitoring sub-process and a shared file corresponding to the instruction are created based on a parent process), and the like; the storage data area may store data or information created by the behavior and running environment of the controlled vehicle and the phase change of the traffic signal, and the like. Further, the memory 02 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 03, which is a control center of the server, connects various parts of the entire server by using various interfaces and lines, and performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, thereby performing overall monitoring and speed guidance of the controlled vehicle. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 03. Although not shown in fig. 1, the server may further include a circuit control module, where the circuit control module is used for being connected to a commercial power to implement power control and ensure normal operation of other components.
Those skilled in the art will appreciate that the server module architecture shown in FIG. 1 does not constitute a limitation on the server, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
According to the above module structure, various embodiments of the method of the present invention are provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of the first embodiment of the present invention. A first embodiment of the present invention provides a vehicle speed guidance method including:
step S100, acquiring running information of a controlled vehicle, and acquiring road section information of the controlled vehicle and phase information of a signal lamp corresponding to the road section information according to the running information;
wherein the driving information may include: the position of the controlled vehicle, the position distance between the controlled vehicle and the intersection to be passed by, the current speed, the acceleration, the yaw rate, the yaw acceleration, the lateral acceleration of the vehicle body and the like; the link information may include: the road average speed, the length of a road section, the speed limit of the road, the distance between two adjacent intersections of the road section where the controlled vehicle is located, the congestion degree of the road section and the like; the phase information may include: phase period of the beacon and phase timing information of the beacon. The running information of the controlled vehicle can be obtained through a vehicle-mounted sensor arranged on the vehicle, and the vehicle sends the running information to a cloud server through communication protocols such as 4G/5G and the like so as to be further processed by the server. It is understood that in another embodiment, the driving information may also be obtained by the roadside detection device and the vehicle-mounted sensor together. The vehicle-mounted control unit in the vehicle reads and integrates data collected by each sensor through a CAN data bus to realize information sharing in the vehicle, then realizes vehicle road communication through data sharing with road side detection equipment and the like, and sends the data collected by each sensor and the data collected by the road side detection equipment to the cloud server. Certainly, the roadside detection device may be directly in communication connection with the cloud server to send vehicle information passing through the region corresponding to the roadside detection device, and position the position of each vehicle. The cloud server can obtain the road section where the controlled vehicle is located through the position information sent by the vehicle or the road side detection equipment, so that the road section information and the phase information of the signal lamp corresponding to the road section information are further obtained.
Step S200, judging whether the controlled vehicle enters a guide area or not according to the driving information, the road section information and the phase information;
specifically, the guidance area is an operation range of the vehicle speed guidance function, that is, the guidance area in which the controlled vehicle is located, and performs vehicle speed guidance for the controlled vehicle. The guidance area referred to in this embodiment is a range having a preset length from the stop line of the intersection ahead.
Step S300, if the controlled vehicle enters the guide area, judging whether the passing state of the controlled vehicle is passing according to the phase information and the running information;
the passing state comprises passing and waiting, and if the passing state is passing, the passing state indicates that the vehicle can lead the speed of the controlled vehicle to enable the signal lamp to be green when the vehicle arrives at the intersection and smoothly pass through the intersection; on the contrary, if the traffic state is waiting, it means that the traffic light is not turned green when the vehicle arrives at the intersection even by the guidance of the controlled vehicle speed, and a stop waiting is required. In one embodiment, the traffic status is waiting, and the cloud server sends a preset vehicle speed to the vehicle for forward driving, where the preset vehicle speed may be the vehicle speed with the highest driver comfort level, and when the vehicle drives to the intersection stop line at the preset vehicle speed for a certain distance (e.g. 100m), the cloud server guides the vehicle to gradually decelerate to a lower vehicle speed (e.g. 15km/h) at a deceleration within the driver comfort range. When the vehicle is very close to the stop line (for example, the vehicle is 10m away from the stop line), the cloud server sends a command to the vehicle again, guides the vehicle to slide for a certain distance, stops the vehicle and enters a waiting state. After the signal lights change from red to green, the vehicle is directed to start and pass through the intersection.
Step S400, if the passing state is passing, obtaining an optimal target speed according to the running information and the phase information;
the algorithm of the optimal target vehicle speed is stored in the cloud server, and a person skilled in the art can set different algorithms according to actual conditions. The parameters required by the algorithm of the optimal target speed can be extracted from the driving information and the phase information, and the cloud server calculates the optimal target speed according to the driving information, the phase information and a pre-stored algorithm.
And S500, sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed.
The cloud server can send the optimal target speed to the road side unit RSU through the optical fiber, the RSU is issued to the corresponding vehicle through C-V2X communication, the vehicle receives information, and speed guidance is conducted on the vehicle through controlling the corresponding module, so that the vehicle drives according to the optimal target speed, the traffic efficiency is improved, and traffic jam is avoided. And when the controlled vehicle runs through the intersection according to the optimal target vehicle speed, the controlled vehicle can run at the original expected speed, and if the guiding system enters another new road section and enters a guiding area corresponding to the next intersection, the controlled vehicle continues to receive the guiding information of the cloud server and runs according to the guiding information. The cloud server can also directly send the guiding information to each terminal through a communication protocol such as 4G/5G and the like, for example, a variable information board, a mobile phone terminal, a vehicle-mounted terminal and the like which are in communication connection with a vehicle control system, so that a display interface of each terminal displays the guiding information, or the guiding information is broadcasted to prompt a driver to drive according to the guiding information, and therefore the road passing efficiency of the traffic light intersection is improved. The cloud server can also directly send the guiding information to the vehicle end TCU through communication protocols such as 4G/5G and the like, the vehicle end TCU receives the information and then directly controls the corresponding module to conduct speed guiding on the vehicle, so that the vehicle drives according to the cloud recommended speed, the passing efficiency is improved, and traffic jam is avoided.
The embodiment determines whether to perform vehicle speed guidance on the controlled vehicle by judging whether the controlled vehicle enters a guidance area according to the driving information, the road section information and the phase information; if the controlled vehicle enters the guide area, judging whether the passing state of the controlled vehicle is passing according to the phase information and the running information so as to determine whether the vehicle speed of the controlled vehicle is interfered; the method for driving the controlled vehicle according to the optimal target speed is realized according to the driving information and the phase information, so that the vehicle can smoothly pass through the intersection when driving at the optimal target speed, the situation that the vehicle enters an idling working condition due to frequent need of stopping for waiting for a signal lamp when driving on urban roads with more traffic signal lamp intersections is avoided, the driving smoothness of the vehicle is improved, the occurrence rate of traffic violation and traffic intersection accidents is reduced, and the driving economy of the vehicle can be effectively improved.
Further, referring to fig. 3, the travel information includes, based on the first embodiment: the position of the controlled vehicle, the position distance between the controlled vehicle and the intersection to be passed by and the current speed of the vehicle; the link information includes: the average speed of the road, the distance between two adjacent intersections of the road section where the controlled vehicle is located and the road speed limit; the phase information includes: phase period of the signal lamp and phase timing information of the signal lamp; the step S200 includes:
step S210, calculating to obtain a theoretical guide length according to the road average speed and the phase period;
specifically, the theoretical guidance length is equal to the road average vehicle speed multiplied by the phase period multiplied by a preset guidance coefficient, and preferably, the preset guidance coefficient in this embodiment is 2.
Step S220, comparing the intersection distance with the theoretical guide length, and setting the smaller one as the green wave guide length;
step S230, determining whether the position distance is less than or equal to the green wave guide length;
specifically, if the position distance is less than or equal to the green wave guide length, it is determined that the controlled vehicle enters the guide area, and if the position distance is greater than the green wave guide length, it is determined that the controlled vehicle does not enter the guide area.
According to the method and the device, the theoretical guide length is calculated according to the road average speed and the phase period, so that the controllability of the controlled vehicle is effectively improved, the complexity of increasing the subsequent optimal target speed calculation of the cloud server due to the overlong green wave guide length is avoided, and the missing of the optimal opportunity of green wave guide on the controlled vehicle due to the overlong green wave guide length is also avoided.
Further, referring to fig. 4, based on the first embodiment, the step S300 includes:
step S310, calculating a time threshold range of the controlled vehicle which is expected to arrive at the intersection according to the road speed limit, the position distance and the current vehicle speed;
the road speed limit may include a road highest speed limit and a road lowest speed limit. The minimum value in the time threshold range is obtained by calculating the highest speed limit of the road, and the maximum value in the time threshold range is obtained by calculating the lowest speed limit of the road. And when the road section has no road lowest speed limit, the road lowest speed limit value is 0.
Step S320, predicting whether a signal lamp of the intersection displays a green lamp phase within the time threshold value range according to the phase timing information so as to judge whether the traffic state is passing;
according to the embodiment, the traffic efficiency of the intersection with the traffic light is improved through modeling and analyzing the traffic characteristics of the vehicles at the intersections such as the traffic lights, so that the fuel consumption is reduced and the emission is reduced in the single-vehicle sense.
Further, referring to fig. 5, which is a partial schematic flow chart of a fourth embodiment of the present invention, based on the above embodiment, the step 310 and the step S400 include:
step S311, according to the road highest speed limit, the position distance and the current speed, determining that the controlled vehicle accelerates to the road highest speed limit at the current speed, and taking the predicted arrival time of the controlled vehicle driving to a crossing at the road highest speed limit as the time T1;
specifically, the algorithm that the controlled vehicle is accelerated to the highest speed limit of the road at the current speed by calculating according to the highest speed limit of the road, the position distance and the current speed, and the expected arrival time when the controlled vehicle drives to the intersection at the highest speed limit of the road is the time T1 may include:
wherein, tvel_maxThe time and v required for the controlled vehicle to accelerate to the highest speed limit of the road at the current speed and to drive to the crossroad at the highest speed limit of the roadmaxThe highest speed limit of the road on the road section of the controlled vehicle, v is the current speed, dkFor the green wave guide length or the distance of the controlled vehicle from the intersection to be traversed, aacIs a preset acceleration, tcurrentIs the current time.
It is understood that the preset acceleration should be a maximum acceleration considering the comfort of the driver, and those skilled in the art can set the acceleration according to actual needs. The maximum speed limit of the road can also be the maximum cruising speed accepted by the driver, and the maximum cruising speed can be set by a person skilled in the art according to the actual situation. In the present embodiment, the above formula calculation is performed when the controlled vehicle just enters the guidance area, and the green wave guidance length should be equal to the distance between the controlled vehicle and the position of the intersection to be passed through. Of course, it can be understood by those skilled in the art that when the controlled vehicle enters the guidance area and travels for a period of time, and cannot travel at the optimal guidance speed issued by the cloud server due to interference of other vehicles, pedestrians, or other obstacles in the travel environment of the controlled vehicle, then d in the above formulakThe value of the target vehicle is the position distance between the controlled vehicle and the intersection to be passed through, so that a new optimal target vehicle speed is obtained through calculation, and the original optimal target vehicle speed is updated.
Step S312, according to the road lowest speed limit, the position distance and the current vehicle speed, determining that the controlled vehicle decelerates to the road lowest speed limit at the current vehicle speed, and the predicted arrival time when the controlled vehicle drives to the intersection at the road lowest speed limit is T2;
specifically, the algorithm that the controlled vehicle is obtained by calculating according to the road minimum speed limit, the position distance and the current vehicle speed and decelerates to the road minimum speed limit according to the current vehicle speed, and the expected arrival time when the controlled vehicle drives to the intersection at the road minimum speed limit is the time T2 may include:
wherein, tvel_minThe time and v required for the controlled vehicle to decelerate to the lowest speed limit of the road at the current speed and to drive to the intersection at the lowest speed limit of the roadminThe lowest speed limit of the road on the road section of the controlled vehicle, v is the current speed, dkFor the green wave guide length or the distance of the controlled vehicle from the intersection to be traversed, adeFor a predetermined deceleration, tcurrentIs the current time.
It will be appreciated that the preset deceleration should be a maximum deceleration taking into account the comfort of the driver, and that the skilled person can set this according to the actual need.
In step S313, the time T1 is set to the minimum value of the time threshold range, and the time T2 is set to the maximum value of the time threshold range.
Step S400 includes:
and step S410, if the signal lamp of the intersection displays the green lamp phase within the time threshold range, determining that the passing state is passing.
Step S420, determining the predicted arrival time of the controlled vehicle to the intersection at the constant speed of the current vehicle speed as T time according to the position distance and the current vehicle speed;
step S430, respectively determining the phase states of the signal lamp at the time T, the time T1 and the time T2 according to the phase timing information;
step S440, if the phase state corresponding to the time T1 is a green light, the optimal target speed is the highest speed limit of the road;
step S450, if the phase states corresponding to the time T1 and the time T are red lights, and the phase state corresponding to the time T2 is a green light, obtaining an optimal target vehicle speed according to a first preset formula;
it is understood by those skilled in the art that, in the present embodiment, the yellow light is also included in the phase state of the red light.
The first preset formula is as follows:
wherein v isglosaFor the optimal target vehicle speed, adeFor a predetermined deceleration, tgap1The time length of the time when the distance of the T moment is next the signal lamp is just changed from the red light to the green light, v is the current vehicle speed, dkThe green wave guide length or the position distance between the controlled vehicle and the intersection to be passed through.
In the present embodiment, the above formula calculation is performed when the controlled vehicle just enters the guidance area, and the green wave guidance length should be equal to the distance between the controlled vehicle and the position of the intersection to be passed through. Of course, it can be understood by those skilled in the art that when the controlled vehicle enters the guidance area and travels for a period of time, and cannot travel at the optimal guidance speed issued by the cloud server due to interference of other vehicles, pedestrians, or other obstacles in the travel environment of the controlled vehicle, then d in the above formulakThe value of (a) should be the distance between the controlled vehicle and the intersection to be passed through. Note that t isgap1Specifically, since the step predicts that the time when the controlled vehicle travels at a constant speed according to the current vehicle speed and reaches the intersection stop line is the time T, and the time T is the red light, if the time T3 is to be changed from the red light to the green light, the time T is the time when the signal lamp is changed from the red light to the green light immediatelygap1The time length value of time T subtracted from time T3.
And step S460, if the phase states corresponding to the time T2 and the time T are green lights and the phase state corresponding to the time T1 is a red light, obtaining the optimal target vehicle speed according to a second preset formula.
The second preset formula is as follows:
wherein v isglosaFor the optimal target vehicle speed, aacIs a preset acceleration, tgap2Front signal lamp for T time distanceThe time length of the time when the red light is just changed into the green light, namely the time length of the green light lasting at the T moment, v is the current vehicle speed, dkThe green wave guide length or the position distance between the controlled vehicle and the intersection to be passed through.
It is understood that in the case that there is no lowest speed limit on the road on some road sections, the lowest speed limit on the road may also be the lowest cruising speed that the driver can accept, which can be set by those skilled in the art according to the actual situation. It should be noted that, in the present embodiment, the above formula calculation is performed when the controlled vehicle just enters the guidance area, and the green wave guidance length should be equal to the distance between the controlled vehicle and the intersection to be passed through. Of course, it can be understood by those skilled in the art that when the controlled vehicle enters the guidance area and travels for a period of time, and cannot travel at the optimal guidance speed issued by the cloud server due to interference of other vehicles, pedestrians, or other obstacles in the travel environment of the controlled vehicle, then d in the above formulakThe value of (a) should be the distance between the controlled vehicle and the intersection to be passed through. Note that, the t isgap2Specifically, the time when the controlled vehicle runs at a constant speed according to the current vehicle speed and reaches the intersection stop line is predicted to be the T moment, the T moment is the green light, and if the time when the controlled vehicle changes from the red light to the green light last time before the T moment is T4, the T moment is the time when the controlled vehicle changes from the red light to the green light last time before the T momentgap2The duration value at time T4 is subtracted from time T.
According to the embodiment, the optimal guiding speed of the current vehicle passing through the traffic intersection is calculated through data model analysis of traffic lights at the traffic intersection, and the optimal guiding speed is issued to the controlled vehicle, so that the vehicle is controlled to pass through the intersection with higher passing efficiency. In addition, the vehicle speed guiding method is realized through the cloud server based on the vehicle road cloud integration technology, so that the operation load of a vehicle end is reduced, the calculation efficiency of vehicle speed guiding is improved, and the real-time performance and the accuracy of vehicle speed guiding are guaranteed. And on the premise of not influencing traffic efficiency, under the environment of the Internet of vehicles, the number of times of parking is reduced. The speed in the strategy implementation process is reasonably optimized from the perspective of safety and comfort.
Further, referring to fig. 6, which is a flowchart illustrating a fifth embodiment of the present invention, based on the above embodiment, the vehicle speed guiding method includes:
step S600, acquiring current running environment information of a controlled vehicle, and determining whether the controlled vehicle is in a preset distance in front of a lane in which the controlled vehicle is located or not according to the running environment information;
specifically, the running environment information may include: the position, speed and acceleration of the person and/or vehicle within a predetermined area around the controlled vehicle. In an embodiment, the running environment information may be acquired through a vehicle-mounted sensing device and a roadside detection device, if the running environment information is acquired by the vehicle-mounted sensing device, the vehicle-mounted sensing device transmits the running environment information to a vehicle-mounted unit TCU, the vehicle-mounted unit TCU transmits the running environment information to a cloud server, the cloud server receives the running environment information, and the communication mode may be 4G/5G; if the driving environment information is acquired by the road side detection equipment, the road side detection equipment transmits the driving environment information to the road test unit RSU, the driving environment information is transmitted to the cloud server by the road test unit RSU, the cloud server receives the driving environment information, and the communication mode can be 4G/5G or optical fiber.
Step S700, if a vehicle exists in a preset distance in front of a lane where the controlled vehicle is located, judging whether the controlled vehicle meets a preset lane changing condition or not according to the running environment information;
the preset lane changing condition can be set by workers in the field according to actual needs, and preferably, the step of judging whether the controlled vehicle meets the lane changing condition according to the traffic flow information comprises the following steps: judging whether the lane direction of the left lane is the driving intention direction of the driver, whether no vehicle exists in front of the left lane and whether the rear of the left lane meets the safety condition or not according to the traffic flow information; and if the lane direction of the left lane is the driving intention direction of the driver, no vehicle is in front of the left lane, and the rear of the left lane meets the safety condition, the controlled vehicle meets the lane change condition.
Step S800, if the controlled vehicle does not meet the preset lane changing condition, sending a command of entering a following mode to the controlled vehicle so as to enable the controlled vehicle to enter the following mode;
the following mode is that the rear vehicle adjusts the motion state of the vehicle according to the operation of the front vehicle; it can be understood that when the controlled vehicle reaches the stop line of the front intersection, the cloud server sends a command of exiting the following mode to the controlled vehicle, so that the controlled vehicle exits the following mode.
The method comprises the steps of determining whether a vehicle exists within a preset distance in front of a lane where a controlled vehicle is located according to running environment information by acquiring the current running environment information of the controlled vehicle; if the vehicle is in the preset distance in front of the lane where the controlled vehicle is located, judging whether the controlled vehicle meets the preset lane changing condition or not according to the running environment information; if the controlled vehicle does not meet the preset lane changing condition, a command of entering the following mode is sent to the controlled vehicle, so that the controlled vehicle enters the following mode.
Further, referring to fig. 7, which is a flowchart illustrating a sixth embodiment of the present invention, based on the above embodiment, the vehicle speed guiding method includes:
step S910, acquiring current running environment information of a controlled vehicle, and generating a predicted running track of pedestrians and/or vehicles in a preset area according to the running environment information;
the running environment information may include: the position, speed and acceleration of the person and/or vehicle within a predetermined area around the controlled vehicle.
Step S920, generating a predicted running track of the controlled vehicle according to the running information, and calculating the coincidence degree of the predicted running track of the pedestrian and/or the vehicle and the predicted running track of the controlled vehicle;
and step S930, if the contact ratio is greater than a preset value, sending an instruction for starting the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system to the controlled vehicle, and controlling the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
The anti-collision early warning system is an automobile anti-collision early warning system based on intelligent video analysis and processing, the early warning function is realized through a dynamic video shooting technology and a computer image processing technology, the road condition in front of a vehicle is continuously detected, the system can identify and judge various potential dangerous conditions, and different sounds and visual prompts are used for helping a driver to avoid or slow down collision accidents. The automatic emergency braking system can detect and identify vehicles, pedestrians or other obstacles in front through a camera or a radar, and firstly reminds a driver to perform braking operation by sound and a warning lamp to avoid collision under the condition that collision is possible. If the driver still has no braking operation, the system automatically brakes to avoid the collision or reduce the collision degree. The pre-crash warning system and the automatic emergency braking system have been studied in depth in the prior art and are not described in detail herein.
According to the embodiment, the influence of other vehicles or/and pedestrians on vehicle control when the vehicle runs is considered, the dangerous condition possibly met by the vehicle running is predicted in real time, the cloud server timely controls the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system when the vehicle is predicted to be dangerous, the driving safety of the guided vehicle is improved, and the safety and the robustness of the vehicle guiding system are improved by considering the interference of the pedestrians and other vehicles on the vehicle running.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 02 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several pieces of information for enabling the terminal to perform the method according to the embodiments of the present invention.
The specific embodiment of the readable storage medium of the present invention is substantially the same as the embodiments of the adaptive calibration method for braking deceleration described above, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle speed guidance method, characterized by comprising:
acquiring running information of a controlled vehicle, and acquiring road section information of the controlled vehicle and phase information of a signal lamp corresponding to the road section information according to the running information;
judging whether the controlled vehicle enters a guide area or not according to the driving information, the road section information and the phase information;
if the controlled vehicle enters the guide area, judging whether the passing state of the controlled vehicle is passing according to the phase information and the running information;
if the passing state is passing, obtaining an optimal target speed according to the running information and the phase information;
and sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed.
2. The vehicle speed guidance method according to claim 1, characterized in that the travel information includes: the position of the controlled vehicle, the position distance between the controlled vehicle and the intersection to be passed by and the current speed of the vehicle; the link information includes: the average speed of the road, the distance between two adjacent intersections of the road section where the controlled vehicle is located and the road speed limit; the phase information includes: phase period of the signal lamp and phase timing information of the signal lamp; the step of judging whether the controlled vehicle enters a guide area or not according to the driving information, the road section information and the phase information comprises the following steps:
calculating to obtain a theoretical guide length according to the road average speed and the phase period;
comparing the intersection distance with the theoretical guide length, and taking the smaller one of the intersection distance and the theoretical guide length as the green wave guide length;
determining whether the position distance is less than or equal to the green wave guide length;
if the controlled vehicle enters the guide area, the step of judging whether the passing state of the controlled vehicle passes or not according to the phase information and the running information comprises the following steps:
and if the position distance is less than or equal to the green wave guide length, judging whether the passing state of the controlled vehicle passes according to the phase information and the driving information.
3. The vehicle speed guidance method according to claim 2, wherein the step of determining whether the passing state of the controlled vehicle is passing based on the phase information and the travel information includes:
calculating the time threshold range of the controlled vehicle which is expected to reach the intersection according to the road speed limit, the position distance and the current vehicle speed;
and predicting whether a signal lamp of the intersection displays a green lamp phase within the time threshold range according to the phase timing information so as to judge whether the traffic state is passing.
4. The vehicle speed guidance method according to claim 3, characterized in that the road speed limit includes a road highest speed limit and a road lowest speed limit; the step of obtaining the time threshold range of the controlled vehicle to reach the intersection predicted according to the road speed limit, the position distance and the current vehicle speed comprises the following steps:
determining that the controlled vehicle accelerates to the highest speed limit of the road at the current speed according to the highest speed limit of the road, the position distance and the current speed, and taking the predicted arrival time of the controlled vehicle driving to a crossroad at the highest speed limit of the road as the time T1;
determining that the predicted arrival time of the controlled vehicle which is decelerated to the lowest speed limit of the road to the intersection by the current vehicle speed is T2 time according to the lowest speed limit of the road, the position distance and the current vehicle speed;
time T1 is set to the minimum value of the time threshold range and time T2 is set to the maximum value of the time threshold range.
5. The vehicle speed guidance method according to claim 4, wherein the step of obtaining the optimal target vehicle speed based on the travel information and the phase information if the traffic state is passing comprises:
if the signal lamp of the intersection displays the green lamp phase within the time threshold range, determining that the passing state is passing;
determining the predicted arrival time of the controlled vehicle to the intersection at the constant speed of the current speed as T time according to the position distance and the current speed;
respectively determining the phase states of the signal lamp at the time T, the time T1 and the time T2 according to the phase timing information;
if the phase state corresponding to the time T1 is a green light, the optimal target speed is the highest speed limit of the road;
if the phase state corresponding to the time T1 and the time T is a red light and the phase state corresponding to the time T2 is a green light, obtaining the optimal target vehicle speed according to a first preset formula;
and if the phase state corresponding to the time T2 and the time T is a green light and the phase state corresponding to the time T1 is a red light, obtaining the optimal target vehicle speed according to a second preset formula.
6. The vehicle speed guidance method according to claim 5, characterized by comprising:
the first preset formula is as follows:
the second preset formula is as follows:
wherein v isglosaFor the optimal target vehicle speed, adeFor a predetermined deceleration, aacIs a preset acceleration, tgap1The time length T from the time when the signal lamp just changes from red to green at the time of Tgap2The time length of the time when the signal lamp just changes from red light to green light before the T time is the time length when the green light is continued at the T time, v is the current vehicle speed, dkIs the green wave guide length or the position distance.
7. The vehicle speed guidance method according to any one of claims 1 to 6, characterized by further comprising:
acquiring current running environment information of a controlled vehicle, and determining whether the controlled vehicle is located within a preset distance in front of a lane according to the running environment information;
if the vehicle is in the preset distance in front of the lane where the controlled vehicle is located, judging whether the controlled vehicle meets the preset lane changing condition or not according to the running environment information;
and if the controlled vehicle does not meet the preset lane changing condition, sending a command of entering a following mode to the controlled vehicle so as to enable the controlled vehicle to enter the following mode.
8. The vehicle speed guidance method according to any one of claims 1 to 6, characterized by further comprising:
acquiring current running environment information of a controlled vehicle, and generating a predicted running track of pedestrians and/or vehicles in a preset area according to the running environment information;
generating a predicted running track of the controlled vehicle according to the running information, and calculating the coincidence degree of the predicted running track of the pedestrian and/or the vehicle and the predicted running track of the controlled vehicle;
and if the contact ratio is greater than a preset value, sending an instruction for starting the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system to the controlled vehicle, and controlling the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
9. A server comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the green wave vehicle speed control of any one of claims 1 to 8.
10. A readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the green wave vehicle speed control of any one of claims 1 to 8.
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