CN113870601A - Method and system for controlling vehicle to pass through green wave band - Google Patents
Method and system for controlling vehicle to pass through green wave band Download PDFInfo
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- CN113870601A CN113870601A CN202110458061.2A CN202110458061A CN113870601A CN 113870601 A CN113870601 A CN 113870601A CN 202110458061 A CN202110458061 A CN 202110458061A CN 113870601 A CN113870601 A CN 113870601A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
Abstract
The invention relates to a method and system for controlling a vehicle to pass through a green wave band, the method comprising the steps of: performing navigation planning on a vehicle running path, wherein the navigation planning comprises the steps of obtaining a running starting point and an arrival end point of a vehicle, and recommending the starting point and the end point running path, and the recommending method is a shortest path method; acquiring current vehicle data, driving data and traffic light information on a passing road; the traveling speed and the traveling lane of the vehicle are controlled. The invention can conveniently control the vehicle to run, so that the vehicle catches up with the next green light or the time for waiting for the traffic light is the least.
Description
Technical Field
The invention relates to the technical field of vehicle running control, in particular to a method and a system for controlling a vehicle to pass through a green wave band.
Background
Road traffic capacity refers to the capacity of road facilities to dredge traffic flow. I.e., the ability of the infrastructure to pass through traffic flow particles over a period of time (typically 15min or lh) and under normal road, traffic, regulatory and operational quality requirements. Road capacity is a result of group behavior. That is, the traffic capacity of one or more roads depends on the behavior of all vehicles traveling on the road, which means that to increase the traffic capacity of the road, it is a prerequisite to meet the traffic demand of each individual vehicle as much as possible, to reach the destination in the shortest time, or to pass through the currently traveled road in as short a time as possible.
However, we have found that when driving on the road, if the front is just red, then the next crossing and even the next crossing may be red. In fact, the few vehicles currently driving on the road lead to a path which theoretically takes little time to reach, with the result that the time required for waiting for a red light is almost doubled. It has sometimes been found that if exactly one green light is encountered, then the next crossing and even the next crossing may be all green lights. The reason is that some road areas of some cities are provided with green wave bands, and the green wave bands refer to a technology of calculating the time of a vehicle passing through a certain road section, and then coordinating traffic light signals of various intersections, so that the vehicle can continuously obtain a green light at one road when passing through. The green wave band is on the appointed traffic route, when the speed of the road section is stipulated, the signal controller is required to correspondingly adjust the starting time of the green light of each road junction passed by the traffic flow according to the distance of the road section, thus ensuring that the traffic flow just meets the green light when reaching each road junction.
For the driver, the traffic signal light on the driving path is fixed, and the switching time of the red light, the green light and the yellow light of the traffic signal light is also objective and unchanged and is not changed according to the intention of the driver. That is, the driver cannot change the traffic signal, and can keep up with the next traffic signal meeting the traffic demand as much as possible, but the current technology cannot know the situation of the traffic signal ahead of the driver. This results in the possibility of overtaking the next traffic light meeting its traffic demands and simply bumping. This is obviously a wasteful traffic resource situation.
Disclosure of Invention
In order to overcome the technical defects in the prior art, the invention provides a method and a system for controlling a vehicle to pass through a green wave band, which can conveniently control the vehicle to run, so that the vehicle catches up with the next green light or the waiting time for the green light is the least, and the problems in the background art can be effectively solved.
In order to solve the technical problem, the technical scheme of the method and the system for controlling the vehicle to pass through the green wave band provided by the invention is as follows:
in a first aspect, an embodiment of the present invention discloses a method for controlling a vehicle to pass through a green wave band, the method including the steps of:
performing navigation planning on a vehicle running path, wherein the navigation planning comprises the steps of obtaining a running starting point and an arrival end point of a vehicle, and recommending the starting point and the end point running path, and the recommending method is a shortest path method;
acquiring current vehicle data, driving data and traffic light information on a passing road;
the traveling speed and the traveling lane of the vehicle are controlled.
In any of the foregoing aspects, preferably, the method for controlling the vehicle to pass through the green band further includes determining whether the current vehicle is in the green band, and if so, performing the following control adjustment on the driving speed of the vehicle:
In any of the above aspects, preferably, the method for controlling the vehicle to pass through the green band, m0The number of the lanes consistent with the driving path on the current road is shown, and m represents the number of the lanes consistent with the driving planning path on the intersection road at the position of u.
In any of the above schemes, preferably, the method for controlling the vehicle to pass through the green wave band further includes that if the vehicle travels straight at the traffic light intersection, the speed of the vehicle is determined in a manner that:
judgment of
If the speed is not enough, the road distance between u and p is long enough, and the speed of the vehicle can be increased;
if it is
If the speed of the vehicle is higher than the current speed, the vehicle is accelerated if the vehicle is close to the green light of the intersection, otherwise, the vehicle is decelerated.
In any of the above aspects, preferably, the method for controlling a vehicle to pass through a green band further includes: if it is
Judging whether the intersection where the u is located is a green light or a red light;
if the intersection where the u is located is the green light, the remaining time t0 of the green light is obtained, and judgment is made
And if so, acquiring the number of waiting vehicles and/or the total length of the waiting vehicles in each lane at the intersection where u is located and the current vehicle driving direction, wherein the total length of the waiting vehicles is not the sum of the lengths of all vehicles but the total length from the head of the first vehicle to the parking space of the last vehicle.
In any of the above schemes, preferably, in the method for controlling the vehicle to pass through the green wave band, if there are L lanes at the intersection where u is located and the current vehicle driving direction, all lanes at the intersection are denoted by F, { F1, f2....., fl }, F1, F2 denote one lane of F, and the total length of the waiting vehicle on each lane is denoted by Lf1,Lf2,......,LflAnd (4) showing.
In any of the above schemes, preferably, the method for controlling the vehicle to pass through the green wave band judges the time required for all waiting vehicles on each lane to pass through the intersection, and for the fi-th lane, all waiting vehiclesTime required for vehicle to pass through the crossing
Wherein a is the acceleration of the automobile when starting, and b is the distance between the tail of the front imitation vehicle and the head of the rear vehicle.
In any of the above aspects, preferably, the method for controlling the vehicle to pass through the green band further includes determining that the vehicle is in the green band
If yes, the lane change is performed to the vehicle and the vehicle is changed to min (T)f1,Tf2,......Tfl) Corresponding lanes and accelerating the lanes; or
Judge one by one
If it is true, if the current vehicle is running on the lane fxSatisfy the requirement of
And not changing the lane of the vehicle, if not, selecting the lane closest to the current lane from the lanes { f1, f2,.. the.. fl }, and meeting the requirements
And selecting one lane from the lanes of the condition, and changing lanes.
In any of the above aspects, it is preferable that the method of controlling the vehicle to pass through the green band is performed if
If not, the vehicle is decelerated.
Compared with the prior art, the invention has the following beneficial effects: the vehicle can be conveniently controlled to run, so that the vehicle catches up with the next green light or the time for waiting for the green light is the least.
In a second aspect, a system for controlling a vehicle to pass through a green wave band, comprises:
the planning module is used for carrying out navigation planning on a vehicle running path, wherein the navigation planning comprises the steps of obtaining a running starting point and an arrival end point of a vehicle and recommending the starting point and the end point running path, and the recommending method is a shortest path method;
the acquisition module is used for acquiring current vehicle data, driving data and traffic light information on a passing road;
and the control module is used for controlling the running speed and the running lane of the vehicle.
The advantageous effects of the second aspect are the same as those of the first aspect, and therefore, the description thereof is omitted.
Drawings
The drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
Fig. 1 is a schematic diagram of a vehicle's starting point of travel p and ending point of arrival g according to the method of controlling the vehicle to travel through the green band of wavelengths of the present invention.
Fig. 2 is a schematic diagram of a situation where 8 traffic light intersections exist between a starting point p and a target point g on a vehicle traveling path according to the method for controlling a vehicle to pass through a green wave band of the present invention.
Fig. 3 is a schematic diagram showing the overall length of waiting vehicles on each lane in the method for controlling vehicles to pass through the green wave band according to the present invention.
FIG. 4 is a schematic diagram of the method of controlling a vehicle through the green band in accordance with the present invention.
FIG. 5 is a schematic diagram of a system for controlling a vehicle through the green band in accordance with the present invention.
Fig. 6 is a schematic diagram of the method for controlling a vehicle through the green band according to the present invention when m0 is 4, m 2, m0 is 4, m 4 and m0 is 2, m is 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
For better understanding of the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the drawings and the detailed description of the present invention.
Example (b):
in a first aspect, as shown in fig. 5, an embodiment of the present invention discloses a method for controlling a vehicle to pass through a green band, the method comprising the steps of:
step one, navigation planning is carried out on a vehicle running path, the navigation planning comprises the steps of obtaining a running starting point and an arrival end point of a vehicle, and recommending the starting point and the end point running path, wherein the recommending method can be a shortest path method.
And step two, acquiring current vehicle data, driving data and traffic light information on a passing road.
And step three, controlling the running speed and the running lane of the vehicle.
As shown in the figure, fig. 1 shows a vehicle driving starting point p and an arrival end point g, and a dotted line in the figure represents a navigation planned path of the automobile, on which two green bands exist: green band 1, green band 2.
Judging whether the current vehicle is in a green wave band, if so, performing the following control adjustment on the running speed of the vehicle,
in one non-limiting embodiment, the following adjustments may be made specifically to the travel speed of the vehicle,
in the above equation, v' represents the adjusted vehicle speed, p represents the position of the vehicle, i.e., p (x, y), and more generally, the position thereof may be represented as p (x, y, z), v represents the speed of the vehicle, v is a vector of the belt direction, u represents the position of the next traffic light intersection on the road where the vehicle travels, i.e., u (x, y), and more generally, the position thereof may be represented as u (x, y, z). Fig. 2 shows a situation where there are 8 traffic light intersections between the starting point p and the target point g on the vehicle travel path. I.e., the intersection at which u1, u2, u8 is located.
The u-p is a road distance between two points u and p, and can be obtained through road data. Note that u-p does not represent subtraction of absolute distance, but the road distance between u and p, and those skilled in the art will understand that the road distance is not less than the absolute distance between u and p because the absolute distance is a straight line segment, and a road may have a slope or a curve.
In the above equation, m0 represents the number of lanes on the current road that match the planned driving route, and m represents the number of lanes on the intersection where u is located that match the planned driving route. The number of m may be greater than m0, may be equal to m0, or may be less than m 0. As shown in the following figure, if the vehicles are going straight at the traffic light intersection. Then in fig. 6, as shown in (a), m0 is 4, m is 2; then in fig. 6, as shown in (b), m0 is 4, m is 4; then, in fig. 6, as shown in (c), m0 is 2 and m is 3.
Namely, the first step of judgment
If the determination is true, the determination means that the road distance between u and p is sufficiently long, so that the vehicle can be accelerated while ensuring safety.
If it is
It is true, meaning that the traffic light may change when the nearest road intersection is reached if traveling at the current speed. If it happens to be able to catch up with the green light at the intersection, the vehicle is accelerated, otherwise it is decelerated.
In that
In this case, it is necessary to determine whether the vehicle can catch up to the traffic light. In the present invention, the following determination method is preferably employed:
the second step is when
And judging whether the intersection where the u is located is a green light or a red light.
Case 2-1 if the intersection where u is located at this time is a green light, the remaining time t0 of the green light is acquired.
Case 2-1-1, judgment
Whether or not toIf yes, further acquiring the number of waiting vehicles in each lane at the intersection where u is located and the current vehicle driving direction and/or the total length of the waiting vehicles, wherein the total length of the waiting vehicles is not the sum of the lengths of all vehicles, but the total length from the head of the first vehicle to the parking space of the last vehicle, as shown in fig. 3. Let u be located at the intersection and there are l lanes in the current vehicle driving direction, all lanes at the intersection are denoted by F, and F ═ F1, f2... F, } l, F1, F2 denote one lane of F. For the total length of waiting vehicles on each lane Lf1,Lf2,......,LflAnd (4) showing.
Judging the time required by all waiting vehicles on each lane to pass through the intersection, and judging the time required by all waiting vehicles to pass through the intersection for the fi lane
Where a is the acceleration of the automobile when starting, and generally takes a value between 2 and 3, and b is the distance between the tail of the front dummy vehicle and the head of the rear vehicle, where an average value, such as 4, 5, 7, 10, etc., may be taken.
Case 2-1-1-1, at which point further judgments are made
If yes, changing the lane of the vehicle to min (T)f1,Tf2,......Tfl) The corresponding lane and the lane are accelerated so that the vehicle can catch up to the green wave band. Or, judge one by one
If it is true, if the current vehicle is running on the lane fxSatisfy the requirement of
And not changing the lane of the vehicle, if not, selecting the lane closest to the current lane from the lanes { f1, f2,.. the.. fl }, and meeting the requirements
And selecting one lane from the lanes of the condition, and changing lanes.
Case 2-1-1-2, if
If not, the vehicle is decelerated.
The vehicle may be accelerated by adjusting the speed of the vehicle
The method of decelerating the vehicle may be to adjust its speed to
I.e. to decelerate the vehicle.
Case 2-2 when
If the intersection where u is located is the red light, the remaining time t1 of the red light is obtained, and judgment is made
Whether or not the above-mentioned conditions are satisfied,
case 2-2-1, if
If the speed of the vehicle is up, the vehicle is decelerated by the fact that the red light is not changed into the green light when the vehicle is driven to the intersection where the u is located according to the current speed
Once the first green light is missed, it is likely that it will not catch up to the green band.
Case 2-2-2 if
If the speed is not up, the vehicle is red when the vehicle drives to the intersection where the u is located according to the current speedThe light has changed to green, and at this time, the number of waiting vehicles and/or the total length of waiting vehicles in each lane at the intersection where u is located and the current vehicle driving direction are further obtained, and the total length of waiting vehicles is not the sum of the lengths of all vehicles, but the total length from the head of the first vehicle to the parking space of the last vehicle, as shown in fig. 3. Let u be located at the intersection and there are l lanes in the current vehicle driving direction, all lanes at the intersection are denoted by F, F ═ F1, f2... multidot.fl }, F1, F2 denote one lane in F. For the total length of waiting vehicles on each lane Lf1,Lf2,......,LflAnd (4) showing.
Judging the time required by all waiting vehicles on each lane to pass through the intersection, and judging the time required by all waiting vehicles to pass through the intersection for the fi lane
Where a is the acceleration of the automobile when starting, and generally takes a value between 2 and 3, and b is the distance between the tail of the front dummy vehicle and the head of the rear vehicle, where an average value, such as 4, 5, 7, 10, etc., may be taken.
As mentioned above, if
Out of standing, i.e.
For each lane, the time duration is that the red light is changed to green light when the vehicle is at the intersection where u is located, because the vehicle waiting for the red light needs to pass through the intersection for a certain time duration
If there are l lanes at the intersection where u is located and the current vehicle driving direction, and all lanes at the intersection are represented by F, then the current lane F is determinedxWhether or not to satisfy
If so, not changing the lane of the vehicle and accelerating the vehicle; if not, selecting the lane closest to the current lane and meeting the requirements from the lanes { f1, f2
Lane change and acceleration are performed. In which case it will generally catch up to the green band. Where t2 is the length of time that the road intersection u is green in the current vehicle driving direction. If the lanes { f1, f2.,. fl } are not satisfied
The vehicle is decelerated. Once the first green light is missed, it is likely that it will not catch up to the green band. Under the condition, the vehicle can stay for a period of time at the current intersection or slowly move, so that the vehicle can catch up to the green wave band without waiting for the red light at the next intersection, and the fuel consumption can be saved. Preferably after the green light is lit
The next green wave band can be caught up by passing through the intersection before and after the moment.
Acceleration mode
Deceleration mode
Other rules are also possible.
If the current driving lane of the vehicle is not consistent with the lane passing through the road junction on the driving path of the vehicle before the vehicle reaches the road junction, an instruction or a prompt for adjusting and changing the driving lane of the vehicle is sent out, or the vehicle is directly operated to turn to change the lane so as to drive the vehicle to the lane consistent with the driving path. For example, when the vehicle is currently traveling on the innermost road, which is a left-turn lane at a road intersection, and the vehicle should go straight at the road intersection on the traveling path of the vehicle, an instruction or a prompt to adjust the change of the traveling lane of the vehicle is issued, the driver is prompted to change the current traveling lane, to travel to the straight lane, or the vehicle is directly steered to change its lane, and the vehicle is merged into the straight lane.
The vehicle stays at the current intersection for a period of time without waiting for the red light, so that the oil consumption can be saved.
Vi and Vi' are both less than vimax, which represents the highest speed limit for the road between the current location and the next traffic light.
T is a traffic light change period of the intersection, for example, 70 seconds, 90 seconds, etc., and the traffic light change period is different for each intersection. And m represents the number of lanes on the road with the road crossing consistent with the driving planning path.
Various road data are obtained through a big data platform, and data of the automobile can be acquired by an On Board Unit (OBU). A control system can be arranged on the automobile to control the acceleration and the lane merging of the automobile, and the acceleration and the lane merging are restricted by the relation of the parameters and the formula.
As shown in fig. 4, in a second aspect, a system for controlling a vehicle to pass through a green wave band includes:
the planning module is used for performing navigation planning on a vehicle driving path, wherein the navigation planning comprises the steps of obtaining a driving starting point and an arrival end point of the vehicle and recommending the driving path of the starting point and the end point;
the acquisition module is used for acquiring vehicle data, driving data and road traffic data;
the processing module is used for controlling the running of the vehicle according to vehicle data and running data, the vehicle data comprises the position of the vehicle, a running starting point, an arrival ending point, a current running speed and a running planned path, and the path data comprises data of traffic lights or traffic intersections on the vehicle running path.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. 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 of controlling a vehicle to pass through a green wave band, the method comprising the steps of:
performing navigation planning on a vehicle running path, wherein the navigation planning comprises the steps of obtaining a running starting point and an arrival end point of a vehicle, and recommending the starting point and the end point running path, and the recommending method is a shortest path method;
acquiring current vehicle data, driving data and traffic light information on a passing road;
the traveling speed and the traveling lane of the vehicle are controlled.
2. The method for controlling the vehicle to pass through the green wave band according to claim 1, further comprising judging whether the current vehicle is in the green wave band, if so, performing the following control adjustment on the running speed of the vehicle:
3. The method of claim 2, wherein m is a number of meters0The number of lanes consistent with the driving path on the current road is shown, m represents the number of lanes consistent with the driving path on the intersection road at the position of u, and m represents the number of lanes consistent with the driving path on the intersection road at the position of uThe number of lanes being consistent.
4. The method of claim 3, further comprising determining the speed of the vehicle if the vehicle is traveling straight at the traffic light intersection by:
judgment of
If the speed is not enough, the road distance between u and p is long enough, and the speed of the vehicle can be increased;
if it is
If the speed of the vehicle is higher than the current speed, the vehicle is accelerated if the vehicle is close to the green light of the intersection, otherwise, the vehicle is decelerated.
5. The method of controlling a vehicle to pass through the green band of claim 4, further comprising: if it is
Judging whether the intersection where the u is located is a green light or a red light;
if the intersection where the u is located is the green light, the remaining time t0 of the green light is obtained, and judgment is made
And if so, acquiring the number of waiting vehicles and/or the total length of the waiting vehicles in each lane at the intersection where u is located and the current vehicle driving direction, wherein the total length of the waiting vehicles is not the sum of the lengths of all vehicles but the total length from the head of the first vehicle to the parking space of the last vehicle.
6. The method of claim 5, wherein the method further comprises controlling the vehicle to pass through the green bandIf there are L lanes at the intersection where u is located and the current vehicle driving direction, all lanes at the intersection are denoted by F, { F1, f2.. ·, fl }, F1, F2 denote one lane of F, and the total length of the waiting vehicles on each lane is denoted by Lf1,Lf2,......,LflAnd (4) showing.
7. The method of claim 6 wherein the time required for all waiting vehicles on each lane to pass through the intersection is determined, for the fi-th lane, the time required for all waiting vehicles to pass through the intersection
Wherein a is the acceleration of the automobile when starting, and b is the distance between the tail of the front imitation vehicle and the head of the rear vehicle.
8. The method of controlling vehicle passage through the green band of claim 7, further comprising determining
If yes, the lane change is performed to the vehicle and the vehicle is changed to min (T)f1,Tf2,......Tfl) Corresponding lanes and accelerating the lanes; or
Judge one by one
If it is true, if the current vehicle is running on the lane fxSatisfy the requirement of
And not changing the lane of the vehicle, if not, selecting the lane closest to the current lane from the lanes { f1, f2,.. the.. fl }, and meeting the requirements
Conditional lane selectionSelecting a lane and changing lanes.
9. The method of claim 8, wherein if the vehicle passes the green band
If not, the vehicle is decelerated.
10. A system for controlling a vehicle through a green wave band, comprising:
the planning module is used for carrying out navigation planning on a vehicle running path, wherein the navigation planning comprises the steps of obtaining a running starting point and an arrival end point of a vehicle and recommending the starting point and the end point running path, and the recommending method is a shortest path method;
the acquisition module is used for acquiring current vehicle data, driving data and traffic light information on a passing road;
and the control module is used for controlling the running speed and the running lane of the vehicle.
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