CN113611113A - Interactive guiding method and interactive guiding system for vehicle speed and traffic light - Google Patents
Interactive guiding method and interactive guiding system for vehicle speed and traffic light Download PDFInfo
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- CN113611113A CN113611113A CN202110871918.3A CN202110871918A CN113611113A CN 113611113 A CN113611113 A CN 113611113A CN 202110871918 A CN202110871918 A CN 202110871918A CN 113611113 A CN113611113 A CN 113611113A
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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
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The application relates to an interactive guidance method and an interactive guidance system for vehicle speed and traffic lights, and relates to the field of automobile control. The interactive guidance method comprises the steps of if the situation that the vehicle can pass through the traffic light in the speed limit mode of the road section is judged, driving the vehicle to pass through the traffic light in the speed limit mode of the road section, if the situation that the vehicle cannot pass through the traffic light in the speed limit mode of the road section is judged, estimating the time length for driving in the speed limit mode of the road section for multiple times according to relevant information in a step-by-step approaching mode, obtaining multiple sections of corresponding estimated driving distances, determining whether the vehicle continues to drive in the speed limit mode of the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if the situation is not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light. The interactive guiding method solves the problems that in the related art, when the electric automobile meets a traffic light, the parking time is long, or the energy consumption is high due to the fact that the automobile speed is frequently changed in order to avoid reducing waiting time.
Description
Technical Field
The application relates to the field of automobile control, in particular to an interactive guidance method and an interactive guidance system for vehicle speed and traffic lights.
Background
Along with the coverage of the current road traffic is larger and larger, the number of the automobiles is larger and larger, correspondingly, in order to ensure the driving safety, more and more intersections or road sections are provided with traffic lights so as to ensure the driving process to be orderly, however, a driver frequently encounters the traffic lights in the driving process and needs to perform frequent starting and stopping, and the energy consumption of the automobile, particularly the electric automobile, is relatively large when the driver starts and stops each time.
In the related art, because navigation devices are correspondingly configured on the existing automobiles, in order to reduce the start and stop of a driver in the driving process as much as possible, some navigation devices can provide a planned path for the driver in the driving process, and simultaneously can monitor the number of traffic lights and inform the driver of the number of traffic lights so as to select the optimal driving path. However, although the navigation device has a choice for the route, the navigation device does not relate to the speed setting at all, so the navigation device still has the problem that the vehicle needs to be parked and waited for when meeting the traffic light, and consumes more energy, and in addition, a speed regulation prompting device is arranged in part of the vehicle, and the navigation device can prompt the vehicle to slow down or speed up in a voice broadcast or other forms which can be known by the driver immediately before meeting the traffic light, and repeatedly prompts the driver to change the vehicle speed, so the fatigue of the driver is increased, and the energy consumption is larger, especially for the electric vehicle.
Disclosure of Invention
The embodiment of the application provides an interactive guidance method and an interactive guidance system for vehicle speed and traffic lights, and aims to solve the problems that in the related art, an electric vehicle is long in parking time when meeting the traffic lights, or energy consumption is high due to frequent vehicle speed change in order to avoid reduction of waiting time.
In a first aspect, a method for guiding interaction between vehicle speed and traffic lights is provided, which includes:
when the speed of the road section is judged to be limited to pass through the traffic light, the vehicle can pass through the traffic light by the speed of the road section;
when the vehicle cannot pass through the traffic light by the road section speed limit, according to the distance traveled by the vehicle starting to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light, estimating the time length capable of traveling by the road section speed limit for multiple times in a successive approximation manner, and acquiring multiple sections of corresponding estimated traveling distances;
and determining whether the vehicle continues to run at the speed limited by the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light.
In some embodiments, the determining may be to drive through the traffic light at the road-segment-limited vehicle speed when the road-segment-limited vehicle speed passes through the traffic light, including:
and calculating the time required by the vehicle to accelerate to the road section speed limit at the current speed and the required driving distance, and driving the vehicle to pass through the traffic light at the road section speed limit if the remaining distance between the vehicle and the traffic light is more than 0 and the time required by the vehicle to drive the remaining distance at the road section speed limit is within the time interval of the traffic light in the traffic light allowing state when the vehicle accelerates to the road section speed limit.
In some embodiments, the determining whether the vehicle continues to travel at the road-section-limited speed according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light includes:
determining the remaining distance between the vehicle and the traffic light;
if the current traffic light is in the state of not allowing the traffic, and the time required for the vehicle to travel the remaining distance by limiting the vehicle speed at the road section is longer than the end time of the time interval when the traffic light is in the state of allowing the traffic for the last time, continuing to travel by limiting the vehicle speed at the road section;
if the current traffic light is in a non-passage-allowed state and the time required for the vehicle to travel the remaining distance at the road section speed limit is less than the starting time of the time interval when the traffic light is in the passage-allowed state last time, the speed of the vehicle needs to be reduced, and the speed of the vehicle passing through the traffic light is calculated according to the remaining distance between the vehicle and the traffic light and the starting time of the time interval when the distance between the vehicle and the traffic light is in the passage-allowed state last time;
if the current traffic light is in a traffic-permitted state and the time required for the vehicle to travel the remaining distance at the road section speed limit is within the time interval when the traffic light is in the non-permitted state for the last time, the speed of the vehicle needs to be reduced, and the speed of the vehicle passing through the traffic light is calculated according to the remaining distance between the vehicle and the traffic light and the end time of the time interval when the traffic light is in the non-permitted state for the last time;
and if the current traffic light is in the passage-allowed state and the time required for the vehicle to travel the remaining distance at the road section speed limit is not within the time interval when the traffic light is in the passage-disallowed state last time, continuing to travel at the road section speed limit.
In some embodiments, the traffic light is in a green light state, and the traffic light is in a red light state and a yellow light state.
In some embodiments, each of the predicted traveled distances is no greater than 30% of the remaining distance between the current vehicle and the traffic light.
In a second aspect, there is provided a vehicle speed and traffic light interactive guidance system, comprising:
the distance acquisition module is used for acquiring the distance between the vehicle and the traffic light;
the traffic light information acquisition module is used for acquiring the traffic information of the traffic light;
the control module is used for judging whether the vehicle can pass through the traffic light at the speed limited by the road section according to the running distance of the vehicle starting to the road section speed limited, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light; wherein the content of the first and second substances,
if the vehicle can pass through the traffic light by the road section speed limit, the vehicle can pass through the traffic light by the road section speed limit;
if the vehicle can not pass through the traffic light according to the road section speed limit, estimating the time length for driving according to the road section speed limit in a gradual approximation mode for multiple times according to the distance from the vehicle to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light, and acquiring multiple sections of corresponding estimated driving distances;
the traffic light control device is used for determining whether the vehicle continues to run at the speed limited by the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light.
In some embodiments, the control module comprises:
the time acquisition unit is used for acquiring time intervals of various traffic states of the traffic lights;
a time calculation comparing unit for calculating a time required to limit a vehicle speed by a link according to a distance between the vehicle and the traffic light and comparing the time with time intervals of respective traffic states of the traffic light;
and the vehicle speed control unit is used for determining whether the vehicle drives through the traffic light at the speed limited by the road section according to the traffic information of the traffic light and the distance between the vehicle and the traffic light, and is also used for calculating a comparison result of the comparison unit according to the traffic information of the traffic light and the time so as to determine that the vehicle drives continuously in a gradual approaching mode by adopting the road section to limit the vehicle speed or passes through the traffic light after the speed is reduced.
In some embodiments, the traffic light passage states include a passage allowing state and a passage disallowing state, the passage allowing state is a state in which the traffic light is at a green light, and the passage disallowing state is a state in which the traffic light is at a red light and a yellow light.
In some embodiments, each of the predicted traveled distances is no greater than 30% of the remaining distance between the current vehicle and the traffic light.
In some embodiments, the system further comprises a correction unit, and the correction unit is used for correcting and updating the road section speed limit at preset time intervals according to the real-time road condition and the road information.
The beneficial effect that technical scheme that this application provided brought includes:
the embodiment of the application provides an interactive guiding method of vehicle speed and traffic lights, which ensures that a vehicle can pass through the traffic lights at an average speed as close as possible to the speed limit of a road section by analyzing the initial distance between the vehicle and the traffic lights and the traffic information of the traffic lights and the difference value between the current vehicle speed of the vehicle and the speed limit of the road section, ensures that the traffic lights are in a state of allowing the traffic lights to pass when reaching the traffic lights, namely, eliminates the time required by the vehicle and the like as far as possible, thereby avoiding the defects that the vehicle needs to be started and stopped for many times and the speed is increased and reduced for many times in the driving process, expanding the oil-saving time to the driving process by accurately calculating the vehicle speed, obtaining more energy saving, simultaneously comparing with the speed limit of the road section, keeping the vehicle approaching the speed limit of the road section as far as possible to save energy, and avoiding unsafe factors and property loss caused by overspeed, the driving intensity of a driver is reduced, the speed does not need to be changed frequently in the driving process, and better driving experience is brought.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for guiding interaction between a vehicle speed and a traffic light according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for guiding a vehicle speed and a traffic light interactively according to an embodiment of the present application, wherein the method is used for driving directly through the traffic light by limiting the vehicle speed at a road section;
fig. 3 is a flowchart of a method for guiding a vehicle speed and a traffic light interactively, which is provided by an embodiment of the present application, and the method cannot travel directly through the traffic light by a road section limited vehicle speed.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but 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 application.
The embodiment of the application provides an interactive guiding method for vehicle speed and traffic lights, which can solve the problems that in the related art, an electric vehicle has long stopping time when meeting the traffic lights, or the energy consumption is more because the vehicle speed is frequently changed in order to avoid reducing the waiting time.
Referring to fig. 1, the interactive guidance method mainly includes the following steps:
when the speed of the road section is judged to be limited to pass through the traffic light, the vehicle can pass through the traffic light by the speed of the road section;
when the vehicle cannot pass through the traffic light by the road section speed limit, according to the distance traveled by the vehicle starting to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light, estimating the time length capable of traveling by the road section speed limit for multiple times in a successive approximation manner, and acquiring multiple sections of corresponding estimated traveling distances;
and determining whether the vehicle continues to run at the speed limited by the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light.
Further, referring to fig. 2, the specific step of driving through the traffic light at the road-section limited vehicle speed when it is determined that the vehicle can pass through the traffic light at the road-section limited vehicle speed includes:
and calculating the time required by the vehicle to accelerate to the road section speed limit at the current speed and the required driving distance, and driving the vehicle to pass through the traffic light at the road section speed limit if the remaining distance between the vehicle and the traffic light is more than 0 and the time required by the vehicle to drive the remaining distance at the road section speed limit is within the time interval of the traffic light in the traffic light allowing state when the vehicle accelerates to the road section speed limit.
Specifically, the interactive guidance between the speed and the traffic lights is generally started when the vehicle starts to run, so the initial speed of the vehicle is generally 0, even if not 0, since the road section limit vehicle speed is the maximum speed at which the road section can run, the initial speed of the vehicle does not exceed the road section limit vehicle speed, and therefore the vehicle needs to be accelerated at the beginning. If the vehicle accelerates to the road section speed limit, and the remaining distance between the vehicle and the traffic light is greater than 0, the vehicle does not reach the traffic light at the moment, and the vehicle needs to travel a certain distance to reach the traffic light, so that if the time required for the vehicle to travel the remaining distance at the road section speed limit is within the time interval when the traffic light is in the traffic light passing-allowing state, the vehicle is currently driven at the road section speed limit until the vehicle reaches the traffic light, the traffic light is just in the traffic light passing-allowing state, and waiting is not needed. If the vehicle accelerates to the road section speed limit, the remaining distance between the vehicle and the traffic light is larger than 0, the vehicle is indicated to be relatively close to the traffic light, therefore, the situation actually belongs to the situation when the vehicle cannot pass through the traffic light by the road section speed limit, the number of times of the vehicle can travel by the road section speed limit is estimated to be 0 in a gradual approximation mode after the distance traveled by the vehicle starting to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light are analyzed, and the speed of the vehicle passing through the traffic light is determined according to the initial distance between the vehicle and the traffic light and the traffic state of the traffic light, wherein the determined speed is smaller than the road section speed limit, but still is the maximum speed of the vehicle which does not need to wait when the vehicle reaches the traffic light.
Further, referring to fig. 3, the step of determining whether the vehicle continues to travel at the speed limited by the road segment according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light specifically includes:
determining the remaining distance between the vehicle and the traffic light;
if the current traffic light is in the state of not allowing the traffic, and the time required for the vehicle to travel the remaining distance by limiting the vehicle speed at the road section is longer than the end time of the time interval when the traffic light is in the state of allowing the traffic for the last time, continuing to travel by limiting the vehicle speed at the road section;
if the current traffic light is in a non-passage-allowed state and the time required for the vehicle to travel the remaining distance at the road section speed limit is less than the starting time of the time interval when the traffic light is in the passage-allowed state last time, the speed of the vehicle needs to be reduced, and the speed of the vehicle passing through the traffic light is calculated according to the remaining distance between the vehicle and the traffic light and the starting time of the time interval when the distance between the vehicle and the traffic light is in the passage-allowed state last time;
if the current traffic light is in a traffic-permitted state and the time required for the vehicle to travel the remaining distance at the road section speed limit is within the time interval when the traffic light is in the non-permitted state for the last time, the speed of the vehicle needs to be reduced, and the speed of the vehicle passing through the traffic light is calculated according to the remaining distance between the vehicle and the traffic light and the end time of the time interval when the traffic light is in the non-permitted state for the last time;
and if the current traffic light is in the passage-allowed state and the time required for the vehicle to travel the remaining distance at the road section speed limit is not within the time interval when the traffic light is in the passage-disallowed state last time, continuing to travel at the road section speed limit.
Specifically, if the initial state of the vehicle is a stationary state, i.e., the initial speed VFirst stageFor an initial distance S from the traffic light needing to pass next, the traffic light is in a state of not allowing passage, namely, a red light, and R1 seconds are left to change into a state of allowing passage of a green light, the duration of the green light is G1, and then the duration of the red light is R2, and a road section limit vehicle speed V of the vehicle from the beginning to the road section is calculatedLimit ofThe required time is t1, and the required travel distance is S1, the first round of determination process is:
if 0 < t1 < R1, accelerating the vehicle to VLimit ofBefore, the magnitude relation between the required travel distance S1 and the initial distance S between the vehicle and the traffic light is further compared:
if S1 is more than or equal to S, the vehicle is accelerated to VLimit ofThe traffic light is still in a red light state and cannot pass through the traffic light, so that the vehicle speed needs to be correspondingly reduced, the traffic light passes through at a better speed in the R1 time, namely the traffic light just turns into a green light, and the optimal energy consumption scheme is adopted. Since the initial speed of the vehicle is 0, the speed V of the wheel passing the traffic lightSuperior foodIs composed ofThe formula is jointly obtained:
if S1 < S, the vehicle is accelerated to VLimit ofThe traffic light has not yet been reached, and therefore, it is assumed that V is usedLimit ofAnd (5) continuing to drive for t2 time, wherein the driving distance is S2, and then performing judgment comparison of the next round:
if R1 is not less than t1+ t2 is less than R1+ G1, the vehicle accelerates to VLimit ofThen at VLimit ofThe vehicle runs at a constant speed, wherein,
if S1+ S2 is larger than or equal to S, the vehicle is indicated as V at the momentLimit ofThe speed can be always passed through the traffic light without correcting the speed;
if S1+ S2 < S, it indicates that V is used for vehicleLimit ofAfter some time of driving, the traffic light has not yet been reached, so V is used hereLimit ofAnd (5) continuing to travel for the time t3 and the distance S3, and continuing to perform judgment comparison of the next round:
if R1+ G1 is not less than t1+ t2+ t3 < R1+ G1+ R2, the vehicle is always VLimit ofDriving, wherein:
if S1+ S2+ S3 is larger than or equal to S, it indicates that the vehicle can not move at V on the journeyLimit ofAfter the vehicle passes through the traffic light after the vehicle runs for the remaining distance, the vehicle speed needs to be reduced, and the vehicle passes through the traffic light in the time of R1+ G1+ R2, namely the better vehicle speed, so the vehicle speed V of the wheel passing through the traffic lightSuperior foodThe previous round of calculation of VSuperior foodThe calculation method of (1);
if S1+ S2+ S3 < S, the same applies to V for vehicleLimit ofAfter some time of driving, the traffic light has not yet been reached, so V is used hereLimit ofAnd (5) continuing to travel for the time t4 and the distance S4, and continuing to perform judgment comparison of the next round:
if R1+ G1+ R2 is not more than t1+ t2+ t3+ t4 < R1+ G1+ R2+ G1, the vehicle always has VLimit ofDriving, wherein:
if S1+ S2+ S3+ S4 is not less than S, the vehicle is indicated to be V at the momentLimit ofThe speed can be always passed through the traffic light without correcting the speed;
if S1+ S2+ S3+ S4 < S, the vehicle V is describedLimit ofAfter a period of driving, the traffic light still does not arrive, so V is usedLimit ofAnd continuing to travel for the time t5 and the distance S5, and continuing to perform judgment comparison of the next round.
By analogy, cycle comparison and successive approximation can ensure that the vehicle keeps the vehicle running through the traffic light as high as possible and relatively comfortable vehicle speed or economic vehicle speed on the road section, and the time required by the vehicle is eliminated as much as possible, so that the problems that the vehicle needs to be started and stopped for many times, the vehicle is accelerated and decelerated for many times and the like in the running process are avoided, the energy consumption is saved as much as possible, the cruising mileage of the automobile, particularly the electric automobile, is effectively increased, the discomfort degree brought to passengers by starting and braking is also reduced, and the carbon emission is indirectly reduced. It is assumed that the change time of the traffic lights is fixed, and if not fixed, the variables G2, G3 … R3, and R4 … may be increased.
Further, the traffic light is in a green light state in the traffic-allowed state, and the traffic light is in a red light state and a yellow light state in the traffic-not-allowed state.
Further, the estimated driving distance of each section is not more than 30% of the remaining distance between the current vehicle and the traffic light, and the estimated driving distance can be adjusted according to actual conditions.
The application also provides an interactive guidance system of the vehicle speed and the traffic lights, which comprises a distance acquisition module, a traffic light information acquisition module and a control module, wherein the distance acquisition module is used for acquiring the distance between the vehicle and the traffic lights, the traffic light information acquisition module is used for acquiring the traffic light traffic information, and the control module is used for judging whether the vehicle can pass through the traffic lights in the way of limiting the vehicle speed according to the distance traveled by the vehicle when the vehicle starts to the road section to limit the vehicle speed, the initial distance between the vehicle and the traffic lights and the traffic light traffic information. If the vehicle can pass through the traffic light by the road section speed limit, the vehicle can pass through the traffic light by the road section speed limit; if the vehicle can not pass through the traffic light according to the road section speed limit, estimating the time length for driving according to the road section speed limit in a gradual approximation mode for multiple times according to the distance from the vehicle to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light, and acquiring multiple sections of corresponding estimated driving distances; the traffic light control device is used for determining whether the vehicle continues to run at the speed limited by the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light.
Further, the control module specifically comprises a time acquisition unit, a time calculation and comparison unit and a vehicle speed control unit, wherein the time acquisition unit is used for acquiring time intervals of each passing state of the traffic lights, the time calculation and comparison unit is used for calculating time required by limiting the vehicle speed by the road section according to the distance between the vehicle and the traffic lights and comparing the time with the time intervals of each passing state of the traffic lights, and the vehicle speed control unit is used for determining whether the vehicle passes through the traffic lights at the speed limited by the road section according to the passing information of the traffic lights and the distance between the vehicle and the traffic lights and calculating a comparison result of the comparison unit according to the passing information of the traffic lights and the time to determine whether the vehicle continues to run by adopting the road section to limit the vehicle speed in a gradual approaching manner or passes through the traffic lights after speed reduction is required.
Further, the traffic light passing state includes a passing-permitted state and a passing-not permitted state, the passing-permitted state is a state that the traffic light is at a green light, and the passing-not permitted state is a state that the traffic light is at a red light and a yellow light.
Further, the estimated driving distance of each section is not more than 30% of the remaining distance between the current vehicle and the traffic light, and the estimated driving distance can be adjusted according to actual conditions.
And further, the system also comprises a correction unit, wherein the correction unit is used for correcting and updating the road section speed limit at preset time intervals according to the real-time road condition and the road information.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for interactive guidance of vehicle speed and traffic lights, comprising:
when the speed of the road section is judged to be limited to pass through the traffic light, the vehicle can pass through the traffic light by the speed of the road section;
when the vehicle cannot pass through the traffic light by the road section speed limit, according to the distance traveled by the vehicle starting to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light, estimating the time length capable of traveling by the road section speed limit for multiple times in a successive approximation manner, and acquiring multiple sections of corresponding estimated traveling distances;
and determining whether the vehicle continues to run at the speed limited by the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light.
2. The method as claimed in claim 1, wherein the determining that the vehicle can travel through the traffic light with the road-section-limited vehicle speed when the vehicle speed is limited by the road section through the traffic light comprises:
and calculating the time required by the vehicle to accelerate to the road section speed limit at the current speed and the required driving distance, and driving the vehicle to pass through the traffic light at the road section speed limit if the remaining distance between the vehicle and the traffic light is more than 0 and the time required by the vehicle to drive the remaining distance at the road section speed limit is within the time interval of the traffic light in the traffic light allowing state when the vehicle accelerates to the road section speed limit.
3. The method for guiding interaction between vehicle speed and traffic light according to claim 1, wherein the determining whether the vehicle continues to travel at the road section limit speed according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light comprises:
determining the remaining distance between the vehicle and the traffic light;
if the current traffic light is in the state of not allowing the traffic, and the time required for the vehicle to travel the remaining distance by limiting the vehicle speed at the road section is longer than the end time of the time interval when the traffic light is in the state of allowing the traffic for the last time, continuing to travel by limiting the vehicle speed at the road section;
if the current traffic light is in a non-passage-allowed state and the time required for the vehicle to travel the remaining distance at the road section speed limit is less than the starting time of the time interval when the traffic light is in the passage-allowed state last time, the speed of the vehicle needs to be reduced, and the speed of the vehicle passing through the traffic light is calculated according to the remaining distance between the vehicle and the traffic light and the starting time of the time interval when the distance between the vehicle and the traffic light is in the passage-allowed state last time;
if the current traffic light is in a traffic-permitted state and the time required for the vehicle to travel the remaining distance at the road section speed limit is within the time interval when the traffic light is in the non-permitted state for the last time, the speed of the vehicle needs to be reduced, and the speed of the vehicle passing through the traffic light is calculated according to the remaining distance between the vehicle and the traffic light and the end time of the time interval when the traffic light is in the non-permitted state for the last time;
and if the current traffic light is in the passage-allowed state and the time required for the vehicle to travel the remaining distance at the road section speed limit is not within the time interval when the traffic light is in the passage-disallowed state last time, continuing to travel at the road section speed limit.
4. The interactive guidance method for vehicle speed and traffic light as claimed in claim 1, wherein: the traffic light is in a green light state, and the traffic light is in a red light state and a yellow light state.
5. The interactive guidance method for vehicle speed and traffic light as claimed in claim 1, wherein: each estimated driving distance is not more than 30% of the remaining distance between the current vehicle and the traffic light.
6. A vehicle speed and traffic light interactive guidance system, comprising:
the distance acquisition module is used for acquiring the distance between the vehicle and the traffic light;
the traffic light information acquisition module is used for acquiring the traffic information of the traffic light;
the control module is used for judging whether the vehicle can pass through the traffic light at the speed limited by the road section according to the running distance of the vehicle starting to the road section speed limited, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light; wherein the content of the first and second substances,
if the vehicle can pass through the traffic light by the road section speed limit, the vehicle can pass through the traffic light by the road section speed limit;
if the vehicle can not pass through the traffic light according to the road section speed limit, estimating the time length for driving according to the road section speed limit in a gradual approximation mode for multiple times according to the distance from the vehicle to the road section speed limit, the initial distance between the vehicle and the traffic light and the traffic information of the traffic light, and acquiring multiple sections of corresponding estimated driving distances;
the traffic light control device is used for determining whether the vehicle continues to run at the speed limited by the road section according to the remaining distance between the vehicle and the traffic light and the traffic information of the traffic light, and if not, determining the speed of the vehicle passing through the traffic light according to the remaining distance between the vehicle and the traffic light and the traffic state of the traffic light.
7. The interactive guidance system for vehicle speed and traffic light of claim 6, wherein the control module comprises:
the time acquisition unit is used for acquiring time intervals of various traffic states of the traffic lights;
a time calculation comparing unit for calculating a time required to limit a vehicle speed by a link according to a distance between the vehicle and the traffic light and comparing the time with time intervals of respective traffic states of the traffic light;
and the vehicle speed control unit is used for determining whether the vehicle drives through the traffic light at the speed limited by the road section according to the traffic information of the traffic light and the distance between the vehicle and the traffic light, and is also used for calculating a comparison result of the comparison unit according to the traffic information of the traffic light and the time so as to determine that the vehicle drives continuously in a gradual approaching mode by adopting the road section to limit the vehicle speed or passes through the traffic light after the speed is reduced.
8. The interactive guidance system for vehicle speed and traffic light as claimed in claim 6, wherein: the traffic light passing state comprises a passing allowing state and a passing disallowing state, the passing allowing state is a state that the traffic light is at a green light, and the passing disallowing state is a state that the traffic light is at a red light and a yellow light.
9. The interactive guidance system for vehicle speed and traffic light as claimed in claim 6, wherein: each estimated driving distance is not more than 30% of the remaining distance between the current vehicle and the traffic light.
10. The interactive guidance system for vehicle speed and traffic light as claimed in claim 6, wherein: the road traffic control system further comprises a correction unit, and the correction unit is used for correcting and updating the road section speed limit at preset time intervals according to the real-time road condition and the road information.
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