CN113570875A - Green wave vehicle speed calculation method, device, equipment and storage medium - Google Patents
Green wave vehicle speed calculation method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, equipment and a storage medium for calculating green wave vehicle speed, and relates to the technical field of intelligent traffic. The method for calculating the green wave vehicle speed comprises steps S1 to S4. And S1, acquiring the road end information and the vehicle end information when the vehicle approaches the intersection. The road end information comprises signal lamp information, timing information and the distance from the current position to the intersection. The vehicle-end information includes the current vehicle speed. And S2, generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information. The driving strategy comprises constant speed passing, variable speed passing and deceleration stopping. And S3, when the judgment result is that the speed is changed to pass, taking the speed changing time length as a variable to obtain a plurality of schemes passing through the current intersection. And S4, respectively calculating the energy consumption of the plurality of schemes, and acquiring parameters corresponding to the scheme with the lowest energy consumption to control the vehicle and/or generate and send reminding information. The vehicle travels at the green wave vehicle speed, and the frequency of waiting at the intersection can be reduced.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method, a device, equipment and a storage medium for calculating green wave vehicle speed.
Background
Along with the rapid development of industrialization, the process of urbanization and motorization is accelerated, and the automobile industry is rapidly developed, so that great convenience is provided for people to go out, and the development and progress of social economy are accelerated. Although the rapid development of the automobile industry improves the traveling efficiency of people, a series of energy and environmental problems such as traffic jam, energy consumption and emission pollution are brought along with the rapid development of the automobile industry. Among them, intersections are one of the main road conditions considered to be high energy consumption, high emission, and high pollution.
Particularly, idling for a long time before a red light causes a great deal of energy waste and exhaust emission. In view of the above, the applicant has specifically proposed the present application after studying the existing technologies.
Disclosure of Invention
The invention provides a green wave vehicle speed calculating method, a device, equipment and a storage medium, which are used for solving the problems of energy waste and environmental pollution caused by forced idling stop of an automobile at a red light at an intersection in the related art.
The first aspect,
The embodiment of the invention provides a method for calculating green wave vehicle speed, which comprises the steps S1 to S4.
S1, acquiring road end information and vehicle end information when approaching an intersection; the road end information comprises signal lamp information, timing information and the distance from the current position to the intersection; the vehicle-end information comprises the current vehicle speed;
s2, generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information; the driving strategy comprises constant speed passing, variable speed passing and deceleration stopping;
s3, when the judgment result is that the speed is changed to pass, taking the speed changing duration as a variable to obtain a plurality of schemes passing through the current intersection;
and S4, respectively calculating the energy consumption of the schemes, and acquiring parameters corresponding to the scheme with the lowest energy consumption to control the vehicle and/or generate and send reminding information.
Optionally, the variable speed pass comprises an acceleration pass and a deceleration pass; then, step S3 specifically includes:
s31, when the judgment result is that the vehicle passes through the acceleration and is green when reaching the intersection, acquiring a plurality of acceleration duration according to the preset step length, and calculating the acceleration a corresponding to each acceleration durationaAnd an accelerated transit velocity va(ii) a To obtain a plurality of solutions for accelerating through the current intersection; wherein the acceleration
Accelerated speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcThe remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is green) or the period time of one green lamp to add the remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is red), taIs the acceleration duration;
s32, when the judgment result is that the vehicle passes the deceleration and the vehicle reaches the intersection under the condition of green light, acquiring a plurality of deceleration duration according to the preset step length, and calculating the deceleration a corresponding to each deceleration durationdAnd a decelerated passing speed vd(ii) a To obtain a plurality of solutions for decelerating through the current intersection; wherein the deceleration
Reduced speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the present lamp to change colorTime remaining for the next lamp color, tdIs the deceleration duration.
Alternatively,
the acceleration energy consumption model used to calculate the acceleration pass is:
the deceleration energy consumption model used to calculate the deceleration pass is:
wherein F is total energy consumption, taFor acceleration duration, tdFor the deceleration duration, i is the index of the acceleration passing speed and the deceleration passing speed, j is the index of the acceleration and the deceleration, Li,jFitting coefficients for accelerated passage, Mi,jFitting coefficient for passing at a reduced speed, v0Is the current speed of the vehicle, aaIs an acceleration, adFor deceleration, t is an acceleration period or a deceleration period, Li,0Is a fitting coefficient v at the time of uniform speed drivingaTo accelerate the passing speed, vdTo slow down the passing speed, tvThe time for driving to the intersection at a constant speed after acceleration or deceleration.
Optionally, the fitting coefficient is obtained by combining a traditional VT-Micro model with an actual measurement experiment;
optionally, step S4 specifically includes:
s41, respectively calculating the total energy consumption of the schemes; calculating the average energy consumption of the unit distance according to the total energy consumption and the distance;
s42, acquiring the acceleration a corresponding to the scheme with the lowest average energy consumptionaAnd an accelerated transit velocity vaOr deceleration adAnd a decelerated passing speed vd。
Optionally, the variable speed pass comprises an acceleration pass and a deceleration pass; the timing information comprises a red light period tr ^ and a green light period tg ^ and the residual time of the current light colortc(ii) a Then, step S2 specifically includes:
when the current light color information is judged to be green light:
s201, judging whether the uniform speed running can pass through the current intersection or not according to the timing information, the distance and the current vehicle speed;
s202, when judging that the constant-speed running can pass through the current intersection, judging that the constant-speed running can pass through the intersection; otherwise, judging whether the vehicle can pass through the current intersection after accelerating to the first speed at the maximum acceleration and then driving at a constant speed;
s203, judging that the vehicle can pass through the current intersection in an accelerated way when the vehicle is judged to pass through the current intersection after being accelerated to the first speed at the maximum acceleration and then driven at a constant speed; otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the second speed by the maximum deceleration and driven at the constant speed;
s204, when the situation that the vehicle can pass through the current intersection after being decelerated to the second speed by the maximum deceleration and driven at the constant speed is judged, the vehicle is judged to pass through the deceleration; otherwise, the vehicle is judged to be decelerated and stopped.
Optionally, step S2 further includes:
when the current light color information is judged to be red light:
s205, according to the timing information and the distance duJudging whether the constant speed running can pass through the current intersection or not;
s206, when judging that the constant-speed running can pass through the current intersection, judging that the constant-speed running can pass through the intersection; otherwise, judging whether a green light period tg ^ passes or not when the vehicle runs to the intersection at a constant speed;
s207, when the crossing is judged to be driven at the constant speed and a green light period tg ^ passes, judging whether the crossing can be driven at the constant speed after the crossing is accelerated to a third speed at the maximum acceleration or not;
s208, judging that the vehicle can pass through the current intersection in an accelerated way when the vehicle is judged to pass through the current intersection after being accelerated to the third speed at the maximum acceleration and then driven at a constant speed; otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the fourth speed by the maximum deceleration and driven at a constant speed;
s209, when the situation that the vehicle can pass through the current intersection after being decelerated to the fourth speed by the maximum deceleration and driven at the constant speed is judged, judging that the vehicle passes through the deceleration; otherwise, judging deceleration and parking;
s210, when the situation that the intersection is driven at the constant speed is judged not to pass a green light period tg ^, judging whether the intersection can be driven at the constant speed after the speed is reduced to the fifth speed at the maximum deceleration;
s211, when the situation that the vehicle can pass through the current intersection after being decelerated to the fifth speed by the maximum deceleration and then driven at the constant speed is judged, the vehicle is judged to pass through the deceleration; otherwise, judging deceleration and parking;
optionally, the first speed and the third speed are road maximum speed limits; the second speed, the fourth speed, and the fifth speed are a minimum speed limit of the road.
The second aspect,
The embodiment of the invention provides a green wave vehicle speed calculating device, which comprises:
the information acquisition module is used for acquiring road end information and vehicle end information when approaching an intersection; the road end information comprises signal lamp information, timing information and the distance from the current position to the intersection; the vehicle-end information comprises the current vehicle speed;
the strategy generating module is used for generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information; the driving strategy comprises constant speed passing, variable speed passing and deceleration stopping;
the scheme acquisition module is used for acquiring a plurality of schemes passing through the current intersection by taking the speed change duration as a variable when the judgment result is that the speed change passes;
and the scheme selection module is used for respectively calculating the energy consumption of the plurality of schemes and acquiring the parameters corresponding to the scheme with the lowest energy consumption so as to control the vehicle and/or generate and send reminding information.
Optionally, the variable speed pass comprises an acceleration pass and a deceleration pass; then, the scheme acquiring module includes:
an acceleration scheme obtaining unit, configured to obtain a plurality of acceleration durations according to a preset step length under the condition that a vehicle is green when arriving at an intersection when the determination result is acceleration passing, and calculate an acceleration a corresponding to each acceleration durationaAnd accelerationPassing velocity va(ii) a To obtain a plurality of solutions for accelerating through the current intersection; wherein the acceleration
Accelerated speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcThe remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is green) or the period time of one green lamp to add the remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is red), taIs the acceleration duration;
a deceleration scheme obtaining unit, configured to obtain a plurality of deceleration durations according to a preset step length under the condition that a vehicle is green when arriving at an intersection when the determination result is deceleration passing, and calculate a deceleration a corresponding to each deceleration durationdAnd a decelerated passing speed vd(ii) a To obtain a plurality of solutions for decelerating through the current intersection; wherein the deceleration
Reduced speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the remaining time for the present lamp color to change to the next lamp color, tdIs the deceleration duration.
The third aspect,
The embodiment of the invention provides a green wave vehicle speed calculating device, which comprises a processor, a memory and a computer program stored in the memory; the computer program is executable by the processor to implement the green wave vehicle speed calculation method according to the first aspect.
The fourth aspect,
An embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the method for calculating green wave vehicle speed according to the first aspect.
By adopting the technical scheme, the invention can obtain the following technical effects:
the vehicle speed calculated by the method for calculating the green wave vehicle speed provided by the embodiment of the invention can ensure that the signal lamp is in a green light in most cases when the vehicle reaches the intersection. Without the need to stop at the intersection and idle waiting. The tail gas increase caused by long-time parking is avoided, and the method has good practical significance.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart illustrating a method for calculating a green wave vehicle speed according to a first embodiment of the present invention.
Fig. 2 is a classification of the operation condition that the color of the initial signal lamp is green according to the first embodiment of the present invention.
Fig. 3 is a classification of the operation condition that the initial signal light color is red according to the first embodiment of the present invention.
Fig. 4 is a first logic block diagram for determining a green wave vehicle speed calculation method according to the first embodiment of the present invention.
Fig. 5 is a second judgment logic block diagram of the green wave vehicle speed calculation method according to the first embodiment of the present invention.
Fig. 6 is a third logic block diagram for determining a green wave vehicle speed calculating method according to the first embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a green wave vehicle speed calculation device according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
In the embodiments, the references to "first \ second" are merely to distinguish similar objects and do not represent a specific ordering for the objects, and it is to be understood that "first \ second" may be interchanged with a specific order or sequence, where permitted. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced in sequences other than those illustrated or described herein.
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the first embodiment is as follows:
as shown in fig. 1 to 6, a method for calculating a green wave vehicle speed according to a first embodiment of the present invention may be executed by a green wave traffic controller, an electronic control unit, or a cloud server installed in an automobile. In particular, the steps (including at least steps S1 to S4) are performed by one or more of a green wave pass controller, an electronic control unit, or a server in the cloud.
And S1, acquiring the road end information and the vehicle end information when the vehicle approaches the intersection. The road end information comprises signal lamp information, timing information and the distance from the current position to the intersection. The vehicle-end information includes the current vehicle speed.
Note that the shift passage includes an acceleration passage and a deceleration passage. The timing information comprises a red light period tr ^ and a green light period tg ^ and the residual time t of the current light colorc。
It can be understood that the green wave vehicle speed means that the vehicle runs according to the vehicle speed, when the vehicle reaches the intersection, the signal lamp is just green, and the vehicle just can directly pass through the intersection without stopping and waiting. Specifically, when the automobile runs to an adjacent intersection, the vehicle-mounted terminal and the road surface terminal communicate to obtain information of the road surface equipment. And the distance between the vehicle and the intersection and the current vehicle speed are obtained through the vehicle-mounted positioning device.
And S2, generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information. The driving strategy comprises constant speed passing, variable speed passing and deceleration stopping.
It can be understood that, under normal conditions, the red light time length tr ^ and the green light time length tg ^ of a traffic light are fixed within a certain time range, so that the traffic light has a stable period SPAT. When the time T required by the vehicle to reach the intersection at a constant speed is longer than the SPAT of one period of the signal lamp, the green wave passing of the vehicle causes the repetition of the period. Therefore, the invention classifies the working conditions according to the condition that T is not greater than SPAT.
In addition, the signal lamp is yellow, and can be regarded as red according to the traffic regulations in China, therefore, the invention only classifies the working condition that the initial signal (namely the color of the signal lamp when T is less than or equal to SPAT) is green or red, because the SPAT of different signal intersections is different and the initial distance of the vehicle receiving the road end information is different,
in the embodiment, T represents the time required for the vehicle to reach the signal lamp intersection at a constant speed at that time without any driving behavior; the SPAT represents the time of one period of the signal light; tr and tg represent the whole cycle time of the red and green lights; tr1 and tg1 respectively represent the remaining time of the red light and the green light obtained from the road end equipment, and tr2 and tg2 represent that tr2 or tg2 time is needed to reach the intersection where the signal light is located when the next red (green) light enters; v is the speed of the vehicle, duThe distance between the vehicle and the traffic light intersection is taken as the distance, and the remaining time tc represents the remaining time of the initial signal light color (namely tc ═ tg1 or tc ═ tr1), so that the working condition classification is carried out.
According to different SPAT and different vehicle speeds, when the vehicle-mounted terminal receives signal lamp information sent by the road surface terminal, the working conditions that the initial signal lamp color is green are classified as shown in FIG. 2.
When the initial signal light color is green, tr2 does not exist within one SPAT.
Working condition 1: t ═ SPAT, and tg1 ═ tg ^, tr1 ═ tr ^ and tg2 ═ 0, i.e., T ═ tg1+ tr1 ═ tg1+ tr; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is just changed from red to green;
working condition 2: t ═ SPAT, and tg1>0, tg2>0, i.e. SPAT ═ T > (tg1+ tr ^); when the traffic light reaches the intersection at a constant speed, the color of the traffic light is still green;
working condition 3: t is less than SPAT, tg1 is more than or equal to T, tg2 is 0; namely T is less than or equal to tg 1; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is still green;
working condition 4: t < SPAT, and tg1>0, tg2> 0; namely (tg1+ tr ^ T < SPAT; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is still green;
working condition 5: t < SPAT, and 0< tg1< tg ^, tg2 ^ 0; namely tg1 is less than or equal to T < tg1+ tr ^. When the traffic light reaches the intersection at a constant speed, the color of the traffic light is red.
When the vehicle-mounted terminal receives signal lamp information sent by the road surface terminal, the working condition classification that the initial signal lamp color is red is shown in fig. 3.
When the initial signal light color is red, tg2 is not present within one SPAT.
Working condition 6: t ═ SPAT, and tr1 ═ tr ^ and tg1 ═ tg ^ and; namely T ═ tr1+ tg ^ tr ^ tg + tg ^ c; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is just green;
working condition 7: t < SPAT, and tr1< tr ^, tg1< tg ^; namely tr1< T < tr1+ tg ^; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is still green;
working condition 8: t ═ SPAT, and tr1>0, tr2> 0; tr1+ tg ^ < T ═ SPAT; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is still red;
working condition 9: t < SPAT, and tr1>0, tr2> 0; namely tr1+ tg < T < SPAT; when the traffic light reaches the intersection at a constant speed, the color of the traffic light is still red;
working condition 10: t < SPAT, and tr1 ═ T. T < tr1, when the crossing is reached at a constant speed, the color of the signal lamp is red;
when the above 10 operating conditions are met, it needs to be judged that the automobile can pass through the current intersection. Specifically, as shown in fig. 4 to 5, step S2 specifically includes:
when the current light color information is judged to be green light:
s201, judging whether the uniform speed running can pass through the current intersection or not according to the timing information, the distance and the current vehicle speed.
S202, when the situation that the vehicle can pass through the current intersection in the constant-speed driving process is judged, the vehicle is judged to pass through at the constant speed. Otherwise, judging whether the vehicle can pass through the current intersection after accelerating to the first speed at the maximum acceleration and then driving at a constant speed.
And S203, judging that the vehicle can pass through the current intersection in an accelerated way when the vehicle is judged to pass through the current intersection after being accelerated to the first speed at the maximum acceleration and then driven at a constant speed. Otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the second speed by the maximum deceleration and driven at the constant speed.
And S204, when the situation that the vehicle can pass through the current intersection after being decelerated to the second speed at the maximum deceleration and then driven at the constant speed is judged, the vehicle is judged to pass through the deceleration. Otherwise, the vehicle is judged to be decelerated and stopped.
When the current light color information is judged to be red light:
s205, according to the timing information and the distance duAnd judging whether the uniform speed running can pass through the current intersection or not.
And S206, judging that the vehicle can pass through the road junction at the constant speed when judging that the vehicle can pass through the road junction at the constant speed. Otherwise, judging whether a green light period tg ^ passes or not when the vehicle runs to the intersection at a constant speed.
S207, when the fact that a green light period tg ^ passes when the vehicle runs to the intersection at the constant speed is judged, whether the vehicle can run through the current intersection at the constant speed after the vehicle is accelerated to the third speed at the maximum acceleration is judged.
And S208, judging that the vehicle can pass through the current intersection in an accelerated way when the vehicle is accelerated to the third speed at the maximum acceleration and then runs at a constant speed. Otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the fourth speed by the maximum deceleration and driven at the constant speed.
And S209, judging that the vehicle can pass through the intersection at the reduced speed when the vehicle can pass through the current intersection at the constant speed after being reduced to the fourth speed by the maximum deceleration. Otherwise, the vehicle is judged to be decelerated and stopped.
S210, when the situation that the intersection is driven at the constant speed is judged not to pass a green light period tg ^, whether the intersection can be driven at the constant speed after the speed is reduced to the fifth speed at the maximum deceleration is judged.
And S211, when the situation that the vehicle can pass through the current intersection after being decelerated to the fifth speed by the maximum deceleration and then driven at the constant speed is judged, the vehicle is judged to pass through the deceleration. Otherwise, the vehicle is judged to be decelerated and stopped.
Specifically, when the intersection is in close proximity, the signal lamp of the intersection is judged first, and whether the signal lamp is a red lamp or a green lamp at present is judged. And then judging whether the uniform speed can pass or not, if the uniform speed cannot pass, judging whether the acceleration can pass or not, and if the acceleration cannot pass, judging whether the deceleration can pass or not. If all the three schemes can not pass through, the vehicle can only stop at the intersection for waiting.
It can be appreciated that the driving experience is best when driving at a constant speed. Therefore, the present embodiment preferentially determines whether the uniform speed running can pass, determines whether the acceleration can pass, and finally determines whether the deceleration can pass. The speed is high, the time of a driver can be saved, and the device is more humanized.
When the color of the initial signal lamp is red, whether a green lamp period passes or not is considered, and when the green lamp period does not pass, the accelerated vehicle can obviously not pass through the intersection. Therefore, the method directly calculates whether the vehicle can pass through the current intersection or not during the deceleration driving, greatly saves the calculated amount and has good practical significance.
On the basis of the above embodiment, in an optional embodiment of the present invention, the first speed and the third speed are the maximum speed limit of the road. The second speed, the fourth speed, and the fifth speed are the road minimum speed limit. In other embodiments, the first speed and the third speed may be different speeds below the highest speed limit, and the second speed, the fourth speed and the fifth speed may be different speeds above the lowest speed limit, which is not particularly limited by the present invention.
And S3, when the judgment result is that the speed is changed to pass, taking the speed changing time length as a variable to obtain a plurality of schemes passing through the current intersection. In the embodiment, the scheme of firstly accelerating and decelerating and then uniformly maintaining is adopted, so that the vehicle operation is easier. And the calculation amount can be greatly reduced. Specifically, step S3 includes:
s31, when the judgment result is that the vehicle passes through the intersection in an acceleration way, the color is green when the vehicle reaches the intersectionUnder the condition of a lamp, acquiring a plurality of acceleration durations according to a preset step length, and calculating the acceleration a corresponding to each acceleration durationaAnd an accelerated transit velocity va. To obtain multiple solutions for speeding up the passage through the current intersection. Wherein the acceleration
Accelerated speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcThe remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is green) or the period time of one green lamp to add the remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is red), taIs the acceleration period.
S32, when the judgment result is that the vehicle passes through the deceleration and the vehicle reaches the intersection under the condition of green light, acquiring a plurality of deceleration duration according to the preset step length, and calculating the deceleration a corresponding to each deceleration durationdAnd a decelerated passing speed vd. To obtain multiple scenarios of slowing down through the current intersection. Wherein the deceleration
Reduced speed of passage
du is the distance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the remaining time for the present lamp color to change to the next lamp color, tdIs the deceleration duration.
In this embodiment, the duration of acceleration or deceleration is used as a variable, and parameters such as the distance to the intersection and the time for switching the light color are used as references, so that the vehicle can be ensured to be in a green light state when reaching the intersection. Preferably, the green light is switched to the red light just after the vehicle arrives at the intersection. Thereby minimizing the average speed of the vehicle through the intersection.
And S4, respectively calculating the energy consumption of the plurality of schemes, and acquiring parameters corresponding to the scheme with the lowest energy consumption to control the vehicle and/or generate and send reminding information. In the embodiment, the specific scheme of passing through the current intersection is selected through energy consumption, so that the pollution of the automobile to the environment can be greatly reduced, and the method has good practical significance. Specifically, step S4 includes:
and S41, respectively calculating the total energy consumption of the schemes. And calculates the average energy consumption per unit distance from the total energy consumption and the distance.
S42, obtaining the acceleration a corresponding to the scheme with the lowest average energy consumptionaAnd an accelerated transit velocity vaOr deceleration adAnd a decelerated passing speed vd。
In this embodiment, an exhaustion method is used to exhaust possible motion trajectories in the current working condition, then the average oil consumption of each motion trajectory is calculated, and then the optimal (lowest oil consumption) scheme is selected by a selection method. And obtaining the optimal acceleration, the optimal deceleration and the speed of the intersection.
It can be understood that when the vehicle is an automatic driving vehicle above the level L3, the automobile can also run according to the calculated optimal acceleration, optimal deceleration and speed of the automobile passing through the intersection, so as to avoid waiting at the intersection and reduce the pollution of the automobile to the environment.
The acceleration energy consumption model used to calculate the acceleration pass is:
the deceleration energy consumption model used to calculate the deceleration pass is:
wherein F is total energy consumption, taFor acceleration duration, tdFor the deceleration duration, i is the index of the acceleration passing speed and the deceleration passing speed, j is the index of the acceleration and the deceleration, Li,jFor accelerating passageCoefficient of fit, Mi,jFitting coefficient for passing at a reduced speed, v0Is the current speed of the vehicle, aaIs an acceleration, adFor deceleration, t is an acceleration period or a deceleration period, Li,0Is a fitting coefficient v at the time of uniform speed drivingaTo accelerate the passing speed, vdTo slow down the passing speed, tvThe time for driving to the intersection at a constant speed after acceleration or deceleration.
On the basis of the above embodiment, in an optional embodiment of the present invention, the fitting coefficient is obtained by combining a conventional VT-Micro model with an actual measurement experiment. Specifically, the method comprises the following steps: according to the invention, the optimal running track of the automobile is planned on the traditional VT-micro model by combining with a fitting coefficient obtained by an actual measurement experiment, and the optimal acceleration or the optimal deceleration is determined. The specific energy consumption model is shown as the following formula:
TABLE 1 fitting coefficients
The vehicle speed calculated by the method for calculating the green wave vehicle speed provided by the embodiment of the invention can be used for driving, so that when the vehicle reaches the intersection, the signal lamp of the intersection is in a green lamp and directly passes through the current intersection without stopping at the intersection and waiting at an idle speed. The tail gas increase caused by long-time parking is avoided, and the method has good practical significance.
The invention combines the existing VT-micro oil consumption model and fitting parameters, utilizes the characteristic of real-time two-way communication between the vehicle roads under the vehicle-road cooperative environment, utilizes traffic lights at the intersection and the current state information of the vehicle, provides a reasonable passing scheme, and can effectively reduce the average travel time, the average delay time, the average parking times and the average energy consumption of the vehicle. The invention is based on the real-time traffic light information and the real-time vehicle information of the intersection, combines different traffic conditions and accords with the human factors engineering characteristics. The optimal energy consumption and green wave passing are realized to the maximum extent, and the effects of saving energy, reducing emission, and improving the traffic transportation efficiency and the traffic light intersection utilization rate are achieved.
Example II,
As shown in fig. 7, the embodiment of the present invention provides a green wave vehicle speed calculation device, which includes an information acquisition module 1, a strategy generation module 2, a scheme acquisition module 3, and a scheme selection module 4.
The information acquisition module 1 is used for acquiring road end information and vehicle end information when approaching an intersection. The road end information comprises signal lamp information, timing information and the distance from the current position to the intersection. The vehicle-end information includes the current vehicle speed. Optionally, the variable speed pass includes an acceleration pass and a deceleration pass. The timing information comprises a red light period tr ^ and a green light period tg ^ and the residual time t of the current light colorc。
And the strategy generating module 2 is used for generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information. The driving strategy comprises constant speed passing, variable speed passing and deceleration stopping. Optionally, the policy generating module 2 specifically includes:
when the current light color information is judged to be green light:
and the first judgment unit is used for judging whether the uniform speed running can pass through the current intersection or not according to the timing information, the distance and the current vehicle speed.
And the second judgment unit is used for judging that the vehicle can pass through the current intersection at the constant speed when judging that the vehicle can pass through the current intersection at the constant speed. Otherwise, judging whether the vehicle can pass through the current intersection after accelerating to the first speed at the maximum acceleration and then driving at a constant speed.
And the third judging unit is used for judging that the vehicle can pass through the current intersection at the accelerated speed when the vehicle is judged to pass through the current intersection after being accelerated to the first speed at the maximum accelerated speed. Otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the second speed by the maximum deceleration and driven at the constant speed.
And the fourth judging unit is used for judging that the vehicle can pass through the intersection at the constant speed after being decelerated to the second speed by the maximum deceleration. Otherwise, the vehicle is judged to be decelerated and stopped.
Optionally, step S2 further includes:
when the current light color information is judged to be red light:
a fifth judging unit for judging the distance d according to the timing informationuAnd judging whether the vehicle can pass through the current intersection or not when the vehicle runs at a constant speed for the current speed.
And the sixth judging unit is used for judging that the vehicle can pass through the current intersection at the constant speed when judging that the vehicle can pass through the current intersection at the constant speed. Otherwise, judging whether a green light period tg ^ passes or not when the vehicle runs to the intersection at a constant speed.
And the seventh judging unit is used for judging whether the constant-speed running can pass through the current intersection after the constant-speed running is accelerated to the third speed at the maximum acceleration when the green light period tg ^ passes through when the constant-speed running is judged to pass through the intersection.
And the eighth judging unit is used for judging that the vehicle can pass through the current intersection at the constant speed after being accelerated to the third speed at the maximum acceleration. Otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the fourth speed by the maximum deceleration and driven at the constant speed.
And the ninth judging unit is used for judging that the vehicle can pass through the current intersection at the constant speed after being decelerated to the fourth speed by the maximum deceleration. Otherwise, the vehicle is judged to be decelerated and stopped.
And the tenth judging unit is used for judging whether the uniform speed running can pass through the current intersection after the maximum deceleration is reduced to the fifth speed when judging that the uniform speed running does not pass through a green light period tg ^.
And an eleventh judging unit, configured to judge that the vehicle can pass through at a decelerated speed when it is judged that the vehicle can pass through the current intersection at a constant speed after being decelerated to the fifth speed at the maximum deceleration. Otherwise, the vehicle is judged to be decelerated and stopped.
Optionally, the first speed and the third speed are the road maximum speed limit. The second speed, the fourth speed, and the fifth speed are the road minimum speed limit.
And the scheme acquisition module 3 is used for acquiring a plurality of schemes passing through the current intersection by taking the speed change duration as a variable when the judgment result is that the speed change passes. Optionally, the scheme acquiring module 3 includes:
acceleration scheme acquisition unitAnd the acceleration calculation module is used for acquiring a plurality of acceleration durations according to a preset step length and calculating the acceleration a corresponding to each acceleration duration when the judgment result is that the vehicle passes through the acceleration and the vehicle reaches the intersection under the condition that the vehicle is greenaAnd an accelerated transit velocity va. To obtain multiple solutions for speeding up the passage through the current intersection. Wherein the acceleration
Accelerated speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcThe remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is green) or the period time of one green lamp to add the remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is red), taIs the acceleration period.
A deceleration scheme obtaining unit, configured to obtain a plurality of deceleration durations according to a preset step length under the condition that the vehicle is green when arriving at the intersection when the determination result is deceleration passing, and calculate a deceleration a corresponding to each deceleration durationdAnd a decelerated passing speed vd. To obtain multiple scenarios of slowing down through the current intersection. Wherein the deceleration
Reduced speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the remaining time for the present lamp color to change to the next lamp color, tdIs the deceleration duration.
And the scheme selection module 4 is used for respectively calculating the energy consumption of the plurality of schemes and acquiring the parameters corresponding to the scheme with the lowest energy consumption so as to control the vehicle and/or generate and send reminding information. Optionally, the scheme selecting module 4 specifically includes:
and the average energy consumption calculating unit is used for calculating the total energy consumption of the plurality of schemes respectively. And calculates the average energy consumption per unit distance from the total energy consumption and the distance.
A scheme obtaining unit for obtaining the acceleration a corresponding to the scheme with the lowest average energy consumptionaAnd an accelerated transit velocity vaOr deceleration adAnd a decelerated passing speed vd。
Alternatively,
the acceleration energy consumption model used to calculate the acceleration pass is:
the deceleration energy consumption model used to calculate the deceleration pass is:
wherein F is total energy consumption, taFor acceleration duration, tdFor the deceleration duration, i is the index of the acceleration passing speed and the deceleration passing speed, j is the index of the acceleration and the deceleration, Li,jFitting coefficients for accelerated passage, Mi,jFitting coefficient for passing at a reduced speed, v0Is the current speed of the vehicle, aaIs an acceleration, adFor deceleration, t is an acceleration period or a deceleration period, Li,0Is a fitting coefficient v at the time of uniform speed drivingaTo accelerate the passing speed, vdTo slow down the passing speed, tvThe time for driving to the intersection at a constant speed after acceleration or deceleration. The fitting coefficient is obtained by combining a traditional VT-Micro model with an actual measurement experiment.
The vehicle speed calculated by the method for calculating the green wave vehicle speed provided by the embodiment of the invention can be used for driving, so that when the vehicle reaches the intersection, the signal lamp of the intersection is in a green lamp and directly passes through the current intersection without stopping at the intersection and waiting at an idle speed. The tail gas increase caused by long-time parking is avoided, and the method has good practical significance.
The invention combines the existing VT-micro oil consumption model and fitting parameters, utilizes the characteristic of real-time two-way communication between the vehicle roads under the vehicle-road cooperative environment, utilizes traffic lights at the intersection and the current state information of the vehicle, provides a reasonable passing scheme, and can effectively reduce the average travel time, the average delay time, the average parking times and the average energy consumption of the vehicle. The invention is based on the real-time traffic light information and the real-time vehicle information of the intersection, combines different traffic conditions and accords with the human factors engineering characteristics. The optimal energy consumption and green wave passing are realized to the maximum extent, and the effects of saving energy, reducing emission, and improving the traffic transportation efficiency and the traffic light intersection utilization rate are achieved.
Example III,
An embodiment of the present invention provides a green wave vehicle speed calculation apparatus, which includes a processor, a memory, and a computer program stored in the memory. The computer program can be executed by a processor to implement the green wave vehicle speed calculation method as described in the first embodiment. The vehicle speed calculated by the method for calculating the green wave vehicle speed provided by the embodiment of the invention can be used for driving, so that when the vehicle reaches the intersection, the signal lamp of the intersection is in a green lamp and directly passes through the current intersection without stopping at the intersection and waiting at an idle speed. The tail gas increase caused by long-time parking is avoided, and the method has good practical significance.
Example four,
The embodiment of the invention provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium comprises a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the green wave vehicle speed calculation method according to the embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. 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 apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for calculating a green wave vehicle speed, comprising:
when approaching to an intersection, acquiring road end information and vehicle end information; the road end information comprises signal lamp information, timing information and the distance from the current position to the intersection; the vehicle-end information comprises the current vehicle speed;
generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information; the driving strategy comprises constant speed passing, variable speed passing and deceleration stopping;
when the judgment result is that the speed is changed to pass, taking the speed change duration as a variable to obtain a plurality of schemes for passing through the current intersection;
and respectively calculating the energy consumption of the plurality of schemes, and acquiring the parameters corresponding to the scheme with the lowest energy consumption so as to control the vehicle and/or generate and send reminding information.
2. The green wave vehicle speed calculation method according to claim 1, wherein the shift passage includes an acceleration passage and a deceleration passage;
when the judgment result is that the speed change passes, taking the speed change duration as a variable to obtain a plurality of schemes passing through the current intersection, specifically comprising:
when the judgment result is that the vehicle passes the acceleration, the vehicle is drivenThe method comprises the steps of obtaining a plurality of acceleration duration according to a preset step length on the condition that a vehicle is green when reaching a crossing, and calculating the acceleration a corresponding to each acceleration durationaAnd an accelerated transit velocity va(ii) a To obtain a plurality of solutions for accelerating through the current intersection; wherein the acceleration
Accelerated speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcThe remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is green) or the period time of one green lamp to add the remaining time for the color of the present lamp to change to the next lamp color (the color of the present lamp is red), taIs the acceleration duration;
when the judgment result is that the vehicle passes through the deceleration, a plurality of deceleration duration is obtained according to a preset step length under the condition that the vehicle is green when reaching the intersection, and the deceleration a corresponding to each deceleration duration is calculateddAnd a decelerated passing speed vd(ii) a To obtain a plurality of solutions for decelerating through the current intersection; wherein the deceleration
Reduced speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the remaining time for the present lamp color to change to the next lamp color, tdIs the deceleration duration.
3. The green wave vehicle speed calculation method according to claim 2, wherein the acceleration energy consumption model for calculating the acceleration passage is:
the deceleration energy consumption model used to calculate the deceleration pass is:
wherein F is total energy consumption, taFor acceleration duration, tdFor the deceleration duration, i is the index of the acceleration passing speed and the deceleration passing speed, j is the index of the acceleration and the deceleration, Li，jFitting coefficients for accelerated passage, Mi，jFitting coefficient for passing at a reduced speed, v0Is the current speed of the vehicle, aaIs an acceleration, adFor deceleration, t is an acceleration period or a deceleration period, Li，0Is a fitting coefficient v at the time of uniform speed drivingaTo accelerate the passing speed, vdTo slow down the passing speed, tvThe time for driving to the intersection at a constant speed after acceleration or deceleration.
4. The method for calculating the green wave vehicle speed according to claim 3, wherein the fitting coefficient is obtained by combining a traditional VT-Micro model with an actual measurement experiment;
respectively calculating the energy consumption of the plurality of schemes, and acquiring a parameter corresponding to the scheme with the lowest energy consumption, specifically comprising:
respectively calculating the total energy consumption of the plurality of schemes; calculating the average energy consumption of the unit distance according to the total energy consumption and the distance;
obtaining the acceleration a corresponding to the scheme with the lowest average energy consumptionaAnd an accelerated transit velocity vaOr deceleration adAnd a decelerated passing speed vd。
5. The green wave vehicle speed calculation method according to claim 1, wherein the shift passage includes an acceleration passage and a deceleration passage; the timing information comprises a red light period tr and a green light periodtg ^ and the remaining time t of the current light colorc；
Generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information; the method specifically comprises the following steps:
when the current light color information is judged to be green light:
judging whether the uniform speed running can pass through the current intersection or not according to the timing information, the distance and the current speed;
when judging that the constant-speed running can pass through the current intersection, judging that the constant-speed running can pass through the intersection; otherwise, judging whether the vehicle can pass through the current intersection after accelerating to the first speed at the maximum acceleration and then driving at a constant speed;
when the situation that the vehicle can pass through the current intersection after accelerating to the first speed at the maximum acceleration and then driving at a constant speed is judged, the vehicle is judged to pass through the intersection in an accelerated manner; otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the second speed by the maximum deceleration and driven at the constant speed;
when the situation that the vehicle can pass through the current intersection after being decelerated to the second speed by the maximum deceleration and driven at the constant speed is judged, the vehicle is judged to pass through the deceleration; otherwise, the vehicle is judged to be decelerated and stopped.
6. The method for calculating the green wave vehicle speed according to claim 5, wherein generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information further comprises:
when the current light color information is judged to be red light:
according to the timing information and the distance duJudging whether the constant speed running can pass through the current intersection or not;
when judging that the constant-speed running can pass through the current intersection, judging that the constant-speed running can pass through the intersection; otherwise, judging whether a green light period tg ^ passes or not when the vehicle runs to the intersection at a constant speed;
when the uniform speed driving is judged to pass a green light period tg ^ when the intersection is driven at the uniform speed, judging whether the uniform speed driving can pass the current intersection after the acceleration to the third speed at the maximum acceleration is carried out;
when the situation that the vehicle can pass through the current intersection after accelerating to the third speed at the maximum acceleration and then driving at a constant speed is judged, the vehicle is judged to pass through the intersection in an accelerated manner; otherwise, judging whether the vehicle can pass through the current intersection after being decelerated to the fourth speed by the maximum deceleration and driven at a constant speed;
when the situation that the vehicle can pass through the current intersection at the constant speed after being decelerated to the fourth speed by the maximum deceleration is judged, the vehicle is judged to pass through the deceleration; otherwise, judging deceleration and parking;
when the intersection is judged to be driven at the constant speed without a green light period tg ^, judging whether the intersection can be driven at the constant speed after the intersection is decelerated to the fifth speed at the maximum deceleration;
when the situation that the vehicle can pass through the current intersection after being decelerated to the fifth speed by the maximum deceleration and then driven at the constant speed is judged, the vehicle is judged to pass through the intersection in a deceleration way; otherwise, judging deceleration and parking;
wherein the first speed and the third speed are the maximum speed limit of the road; the second speed, the fourth speed, and the fifth speed are a minimum speed limit of the road.
7. A green wave vehicle speed calculation device, comprising:
the information acquisition module is used for acquiring road end information and vehicle end information when approaching an intersection; the road end information comprises signal lamp information, timing information and the distance from the current position to the intersection; the vehicle-end information comprises the current vehicle speed;
the strategy generating module is used for generating a driving strategy of the vehicle at the current intersection according to the road end information and the vehicle end information; the driving strategy comprises constant speed passing, variable speed passing and deceleration stopping;
the scheme acquisition module is used for acquiring a plurality of schemes passing through the current intersection by taking the speed change duration as a variable when the judgment result is that the speed change passes;
and the scheme selection module is used for respectively calculating the energy consumption of the plurality of schemes and acquiring the parameters corresponding to the scheme with the lowest energy consumption so as to control the vehicle and/or generate and send reminding information.
8. The vehicle speed control device according to claim 7, characterized in that the shift-through includes an acceleration-through and a deceleration-through; the scheme acquisition module comprises:
an acceleration scheme obtaining unit, configured to obtain a plurality of acceleration durations according to a preset step length under the condition that a vehicle is green when arriving at an intersection when the determination result is acceleration passing, and calculate an acceleration a corresponding to each acceleration durationaAnd an accelerated transit velocity va(ii) a To obtain a plurality of solutions for accelerating through the current intersection; wherein the acceleration
Accelerated speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the remaining time for the present lamp color to change to the next lamp color, taIs the acceleration duration;
a deceleration scheme obtaining unit, configured to obtain a plurality of deceleration durations according to a preset step length under the condition that a vehicle is green when arriving at an intersection when the determination result is deceleration passing, and calculate a deceleration a corresponding to each deceleration durationdAnd a decelerated passing speed vd(ii) a To obtain a plurality of solutions for decelerating through the current intersection; wherein the deceleration
Reduced speed of passage
duDistance from the location of the vehicle to the intersection, v0Is the current speed of the vehicle, tcFor the remaining time for the present lamp color to change to the next lamp color, tdIs the deceleration duration.
9. A green wave vehicle speed calculation apparatus comprising a processor, a memory, and a computer program stored in the memory; the computer program is executable by the processor to implement the green wave vehicle speed calculation method according to any one of claims 1 to 6.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer-readable storage medium controls an apparatus to execute the green wave vehicle speed calculating method according to any one of claims 1 to 6 when the computer program is executed.
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| CN115223347A (en) * | 2021-12-16 | 2022-10-21 | 广州汽车集团股份有限公司 | Early warning for red light running of vehicle and vehicle speed control method |
| CN116092311A (en) * | 2023-02-14 | 2023-05-09 | 广州通达汽车电气股份有限公司 | Vehicle passing method, device, equipment and storage medium based on green wave band |
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