CN115862343A

CN115862343A - Vehicle passing speed determining method and device and terminal

Info

Publication number: CN115862343A
Application number: CN202111122444.9A
Authority: CN
Inventors: 张学艳
Original assignee: CICTCI Technology Co Ltd
Current assignee: CICTCI Technology Co Ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2023-03-28

Abstract

The invention provides a method, a device and a terminal for determining vehicle passing speed, wherein the method comprises the following steps: determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing of the vehicle; the first influence factor is obtained according to the first influence factor and/or the second influence factor of the road environment. According to the scheme of the invention, the passing speed of the vehicle can be determined according to the influence factors of the road environment, namely the passing speed of the vehicle is determined by considering the actual traffic condition, the running safety of the vehicle is improved, and the user experience is improved.

Description

Vehicle passing speed determining method and device and terminal

Technical Field

The invention relates to the technical field of communication, in particular to a method, a device and a terminal for determining vehicle passing speed.

Background

In the existing green wave passing scene, namely in a series of intersections, a set of signal lamps with automatically controlled linkage signals in a certain period are installed, so that vehicles on a main road meet the green lamps when arriving at the intersections in sequence. When there are a plurality of available recommended traffic speeds, the recommended traffic speed may be selected according to the scheme that minimizes fuel consumption. The suggested traffic speed is updated in real time according to the road conditions.

The existing scheme for suggesting the passing speed is applicable in an ideal state, but in the actual running process of a vehicle, when the density of the vehicles on the road is high, or pedestrians pass through the road, bus stop platforms, the road in front is slippery or the vehicles frequently change the road and other emergencies, the road condition in front of the vehicle may be congested, the speed range estimated according to the real-time vehicle speed may change continuously, the vehicle needs to be accelerated and decelerated continuously, the vehicle may be congested due to traffic, the vehicle cannot pass through the intersection according to the suggested passing speed, the safety of the vehicle passing through the intersection cannot be guaranteed, and the green wave passing application can also continuously prompt the information of the suggested passing speed, so that the user experience is poor.

Disclosure of Invention

The embodiment of the invention provides a vehicle passing speed determining method, a vehicle passing speed determining device and a vehicle passing speed determining terminal, which are used for solving the problems of poor vehicle running safety and poor user experience caused by the fact that the actual traffic condition is not considered in the conventional vehicle passing speed determining method.

In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:

the embodiment of the invention provides a vehicle passing speed determining method, which is applied to a first terminal and comprises the following steps:

determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing influence of the vehicle;

the first influence factor is obtained according to the first influence factor and/or the second influence factor of the road environment.

Optionally, the first influencing factor of the road environment is obtained by at least one of the following means:

receiving the first influence factor sent by at least one of other vehicles, other road side equipment and other cloud end equipment;

the first influencing factor is perceived.

Optionally, the second influencing factor of the road environment is obtained by at least one of the following means:

receiving the second influence factors sent by at least one of other vehicles, other road side equipment and other cloud end equipment;

calculating a first influence factor sent by at least one of other vehicles, other road side equipment and other cloud end equipment to obtain the first influence factor;

and calculating second influence factor information sent by at least one of other vehicles, other road side equipment and other cloud end equipment to obtain the second influence factor information.

Optionally, the first influencing factor comprises at least one of:

ambient vehicle type influencing factors;

weather affecting factors;

traffic congestion affecting factors;

influencing factors of pedestrian crossing;

traffic accident influencing factors;

road topography influencing factors.

Optionally, the second influencing factor comprises at least one of:

influence factors of the types of surrounding vehicles in the preset road section of the current position;

influence factors of road closure characteristics in a preset road section of the current position;

traffic jam influence factors within a preset duration of the current time;

influence factors of school areas within a preset duration of the current time;

and influence factors of the traffic accident within the preset duration of the current time.

Optionally, obtaining the first influence factor according to the first influence factor and/or the second influence factor of the road environment includes:

analyzing a second influence factor of each influence factor;

determining the first influence factor according to the second influence factor;

wherein the influence factor is a first influence factor and/or a second influence factor.

grading the road environment according to the number of the first influence factors and/or the second influence factors to obtain a grading result;

determining the first influence factor according to the rating result;

wherein the first influence factors corresponding to different rating results are different.

Optionally, the road environment is a road section where the vehicle is currently running and a road environment of a next intersection where the vehicle is going to pass, and/or road environments of a preset number of intersections after the next intersection where the vehicle is going to pass and a road section corresponding to the preset number of intersections;

wherein the road segment comprises one of:

the current lane of the vehicle and/or the related lane thereof;

all lanes of the road section where the vehicle is currently located;

all the road sections of the whole road where the current vehicle is located.

Optionally, determining the passing speed of the vehicle according to a first influence factor of the road environment on the vehicle passing influence, wherein the first influence factor comprises at least one of the following:

acquiring a first speed limit of a current driving road section of a vehicle, and determining a second speed limit of a preset number of intersections passed by the vehicle on the current driving road section and/or behind according to the first influence factor and the first speed limit;

and acquiring a first guiding speed of the current driving road section of the vehicle, and determining a second guiding speed of the current driving road section and/or intersections passing by the vehicle at preset number according to the first influence factor and the first guiding speed.

Optionally, in a case that the first terminal device is a vehicle, the method further includes at least one of:

receiving the first influence factors sent by other road side equipment and/or other cloud end equipment;

and receiving the passing speed of the vehicle sent by other road side equipment and/or other cloud end equipment.

Optionally, in a case that the first terminal is a roadside device or a cloud device, the method further includes:

and sending the first influence factor and/or the second influence factor to the first target vehicle.

sending the first impact factor to a first target vehicle; the first influence factors corresponding to different target vehicles are the same or different.

Optionally, in a case that the first terminal is a roadside device or a cloud device, after determining a passing speed of a vehicle according to a first influence factor that affects a road environment on vehicle passing, the method further includes:

sending the passing speed of the vehicle to a first target vehicle; wherein the passing speed comprises the second speed limit and/or the second guiding speed.

Optionally, the first target vehicle is one of:

all vehicles on the target lane;

all vehicles on all lanes of the target road segment;

all vehicles on all segments of the target road.

Optionally, in a case that the first terminal is a roadside device or a cloud device, the method further includes, after a rating result is obtained by rating a road environment according to the number of the first influencing factor and/or the second influencing factor:

sending the rating result to a second target vehicle; the grading results corresponding to different second target vehicles are the same or different;

the second target vehicle is a vehicle located within a preset range of the target intersection;

the target intersections are all intersections on the current road section or intersections with preset number.

An embodiment of the present invention further provides a terminal, where the terminal is a first terminal, and the terminal is characterized by including: a processor, a memory and a program or instructions stored on the memory and executable on the processor which, when executed by the processor, implement the steps of the vehicle transit speed determination method as described in any one of the above.

The embodiment of the invention also provides a vehicle passing speed determining device, which is applied to the first terminal and applied to the first terminal, and the device comprises:

the first determining module is used for determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing of the vehicle;

wherein the first influence factor is obtained according to the first influence factor and/or the second influence factor of the road environment.

Optionally, the first influence factor of the road environment is obtained by at least one of the following means:

the first influencing factor is perceived.

Optionally, the first influencing factor comprises at least one of:

ambient vehicle type influencing factors;

weather affecting factors;

traffic congestion affecting factors;

influencing factors of pedestrian crossing;

traffic accident impact factors;

road topography influencing factors.

Optionally, the second influencing factor comprises at least one of:

traffic jam influence factors within a preset duration of the current time;

influence factors of school areas within the preset duration of the current time;

Optionally, the first determining module includes:

the first analysis unit is used for analyzing the second influence factor of each influence factor;

a first determining unit, configured to determine the first influence factor according to the second influence factor;

Optionally, the first determining module includes:

the second analysis unit is used for grading the road environment according to the number of the first influence factors and/or the second influence factors to obtain a grading result;

a second determining unit, configured to determine the first influence factor according to the rating result;

Optionally, the road environment is a road section currently driven by the vehicle and a road environment of a next intersection through which the vehicle is about to pass, and/or road environments of a preset number of intersections behind the next intersection through which the vehicle is about to pass and a road section corresponding to the preset number of intersections;

wherein the road segment comprises one of:

the current lane of the vehicle and/or the related lane thereof;

all lanes of the road section where the vehicle is currently located;

all the road sections of the whole road where the current vehicle is located.

Optionally, the first determining module includes at least one of:

the first acquisition unit is used for acquiring a first speed limit of a current running road section of a vehicle and determining a second speed limit of a preset number of intersections passed by the vehicle in the current running road section and/or afterwards according to the first influence factor and the first speed limit;

and the second acquisition unit is used for acquiring a first guiding speed of the current running road section of the vehicle and determining second guiding speeds of the current running road section and/or intersections passing through by the vehicle in a preset number according to the first influence factor and the first guiding speed.

Optionally, in a case that the first terminal device is a vehicle, the apparatus further includes at least one of:

the first receiving module is used for receiving the first influence factors sent by other roadside devices and/or other cloud end devices;

the second receiving module is used for receiving the passing speed of the vehicle sent by other roadside devices and/or other cloud devices.

Optionally, in a case that the first terminal is a roadside device or a cloud device, the apparatus further includes:

and the first sending module is used for sending the first influence factor and/or the second influence factor to the first target vehicle.

a second sending module for sending the first impact factor to a first target vehicle; the first influence factors corresponding to different target vehicles are the same or different.

the third sending module is used for sending the passing speed of the vehicle to the first target vehicle; wherein the passing speed comprises the second speed limit and/or the second guiding speed.

Optionally, the first target vehicle is one of:

all vehicles on the target lane;

all vehicles on all lanes of the target road segment;

all vehicles on all segments of the target road.

a fourth sending module for sending the rating result to a second target vehicle; the grading results corresponding to different second target vehicles are the same or different;

the target intersections are all intersections on the current road section or intersections with a preset number.

Embodiments of the present invention also provide a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the vehicle passing speed determination method as described in any one of the above.

The invention has the beneficial effects that:

according to the scheme, the first influence factor and/or the second influence factor of the road environment are/is obtained, the first influence factor is obtained according to the first influence factor and/or the second influence factor, the passing speed of the vehicle is determined according to the first influence factor, the passing speed of the vehicle can be determined according to the influence factor of the road environment, namely the passing speed of the vehicle is determined by considering the actual traffic condition, the running safety of the vehicle is improved, and the user experience is improved.

Drawings

FIG. 1 is a flow chart of a method for determining a vehicle passing speed according to an embodiment of the invention;

fig. 2 is a schematic structural diagram of a terminal according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle passing speed determining apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The invention provides a vehicle passing speed determining method, a vehicle passing speed determining device and a terminal, aiming at solving the problems of poor safety and poor user experience of vehicle running caused by the fact that the actual traffic condition is not considered in the existing vehicle passing speed determining method.

As shown in fig. 1, an embodiment of the present invention provides a method for determining a vehicle passing speed, which is applied to a first terminal, and the method includes:

step 101: determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing of the vehicle;

It should be noted that the first terminal may be one of a vehicle, a Road Side Unit (RSU), and a cloud end device. Specifically, when the first terminal is a vehicle, the vehicle passing speed determination method is performed by an On Board Unit (OBU) On the vehicle.

Preferably, the vehicle passing speed determination method is applied to a green wave passing scene.

Under the condition that the first terminal device is one of a vehicle, a roadside device and a cloud device, first obtaining a first influence factor and/or a second influence factor of a road environment of the vehicle in a driving process, wherein it needs to be explained that the first influence factor is a current influence factor, the second influence factor is a predicted influence factor, and the first influence factor and the second influence factor are both influence factors influencing a driving speed of the vehicle on a road, wherein the current influence factor, namely an influence factor occurring in a current state, includes signal lamp information, and also includes driving information of the vehicle, such as a speed, an acceleration, a position and a distance from a previous vehicle, and also includes passing information of pedestrians on the road environment, weather information of the road, and other information of traffic accident information lamps on the road, and the predicted influence factor, namely a change factor for predicting a traffic condition in a future period of time, or a condition factor of a section of a driving road.

After the first influence factor and/or the second influence factor of the road environment of the vehicle in the driving process are/is obtained, the influence of the first influence factor and/or the second influence factor of the road environment on the vehicle passing speed is analyzed to obtain the first influence factor, and the speed limit of the road or the vehicle passing guiding speed can be conveniently adjusted subsequently according to the first influence factor.

According to the first influence factor, the passing speed of the vehicle is determined, namely the speed of the vehicle is adjusted by combining the influence factors of the road environment of the vehicle in the running process, so that the influence factors of the road environment influencing the passing speed of the vehicle in the running process of the vehicle can be fused under the green wave passing scene of the vehicle, the passing speed of the vehicle is determined, the passing speed of the vehicle is enabled to be more in line with the actual traffic condition, the user experience is improved, and the driving safety is improved.

The first influencing factor of the road environment is obtained by at least one of the following modes:

the first influencing factor is perceived.

In the embodiment of the present invention, in a case that the first terminal is one of a vehicle, a roadside device, and a cloud device, the first influence factor (current influence factor) may be a current influence factor sent by at least one of another vehicle, another roadside device, and another cloud device, or a current influence factor perceived by itself, and may receive the current influence factor sent by at least one of another vehicle, another roadside device, and another cloud device, or may obtain the current influence factor perceived by itself.

In the embodiment of the present invention, in a case where the first terminal is one of a vehicle, a roadside device, and a cloud device, the second influence factor (predicted influence factor) may be obtained in the following three ways: the predicted impact factors can be sent for at least one of other vehicles, other roadside devices and other cloud-side devices; the first influence factor (current influence factor) sent by at least one of other vehicles, other road side equipment and other cloud end equipment can also be received, and the current influence factor is calculated; and the relevant information (the predicted influence factor information, namely the second influence factor information) of the predicted influence factor, which is sent by at least one of other vehicles, other road side equipment and other cloud end equipment, can be received and calculated. The second influencing factor may also be obtained by a combination of two or three of the three ways described above.

Illustratively, for a V2X system, the first influencing factor (current influencing factor) and the second influencing factor (predicted influencing factor) may be obtained via V2X messages.

For example, the Message broadcasted by the on-board unit OBU may include dynamic driving information of the Vehicle (such as Basic Safety Message (BSM) including information of a Basic type of the Vehicle, a position, a speed, and an acceleration of the Vehicle), sensed ambient environment information (such as a Sensor Sharing Message (SSM) including information of a speed, a position, and the like of the Vehicle sensed by the Vehicle), and driving Intention information (Vehicle Intention Request (VIR) including lane change Intention, intersection driving Intention, request signal priority, and the like).

Besides necessary Information such as MAP (MAP) Information and traffic light Phase Timing Message (spam), etc., the RSU may also broadcast other Information representing the real-time status of the Road, such as sensing Information (Road Safety Message (RSM) Information, information including vehicles and other Road participants sensed by the RSU-mounted sensor, etc.), and Road Side emergency Information (Road Side Information, RSI) Information, information including current emergency traffic events, etc.).

Optionally, the first influencing factor comprises at least one of:

ambient vehicle type influencing factors;

weather-affecting factors;

traffic congestion affecting factors;

influencing factors of pedestrian crossing;

traffic accident impact factors;

road topography influencing factors.

It should be noted that the first influence factor (current influence factor) of the vehicle includes one or more of a surrounding vehicle type influence factor, a weather influence factor, a traffic jam influence factor, a pedestrian crossing influence factor, a traffic accident influence factor, and a road terrain influence factor, and the current influence factor further includes road signal light information and vehicle driving information; the vehicle running information includes a speed of the vehicle, an acceleration of the vehicle, a current position of the vehicle, and a distance from a preceding vehicle.

The surrounding vehicle type influence factors comprise the type of the surrounding vehicle, such as whether a loading vehicle (truck) exists and information of the loading type, weight and the like of the loading vehicle, or whether a special vehicle (such as a sprinkler, an engineering emergency car, a bus and the like) which is in operation exists in front of the surrounding vehicle, the operation specificity of the surrounding vehicle is considered, so that the speed of the surrounding vehicle is possibly lower than the normal traffic speed of a road, the surrounding vehicle is suddenly stopped at any time, or the surrounding vehicle possibly needs to give way when an emergency vehicle exists behind the surrounding vehicle;

the weather influence factors comprise whether the current road has rain and snow or is frozen or whether the current road weather is rainy day, snowy day, foggy day and other severe weather conditions which may influence the road slippery degree and visibility;

the traffic jam influence factors comprise the traffic flow density of a road in front and vehicles needing lane changing or changing at present;

the pedestrian crossing influence factors comprise whether pedestrians cross the front road or not, the number of the pedestrians to cross and the like;

traffic accident influencing factors include: whether a traffic accident exists on the front road, the severity of the traffic accident and the like;

road topography contributing factors include: the road indicated by the map information in the road ahead is a topography such as a straight road, a curved road, an uphill slope, a downhill slope, or the like.

Optionally, the second influencing factor comprises at least one of:

traffic jam influence factors within a preset duration of the current time;

It should be noted that the second influencing factor (predicted influencing factor) is a change in traffic conditions in a future period of time or a future road, and the predicted influencing factor includes: one or more of surrounding vehicle type influence factors in a preset road section of the current position, road closing characteristic influence factors in the preset road section of the current position, traffic jam influence factors in preset duration of the current time, school area influence factors in the preset duration of the current time, and traffic accident influence factors in the preset duration of the current time.

The surrounding vehicle type influence factors in the preset road section of the current position comprise: whether a prior vehicle exists in a certain distance in front of and behind the current vehicle, whether a special operation vehicle (such as a sprinkler, an engineering emergency car, a bus and the like) exists, and the operation specificity should be considered, so that the speed of the vehicle can be lower than the normal traffic speed of a road, and the vehicle can be stopped suddenly at any time, or the vehicle can possibly give way when an emergency vehicle exists behind the vehicle, and the like;

the influence factors of the road closing characteristics in the preset road section of the current position comprise: the method comprises the following steps of (1) closing characteristics of a road within a certain distance of a current vehicle, wherein the closing characteristics comprise closing, semi-closing and opening;

the traffic jam influence factors in the preset duration of the current time include: predicting traffic flow density of a front road in a preset time of the current time, predicting the number of vehicles needing lane changing and the like;

the school area influence factors in the preset duration of the current time comprise: the current road section is a school area, and students may enter or leave the school and the like within a preset duration of the current time;

the influence factors of the traffic accident in the preset duration of the current time comprise: the handling condition of the traffic accident of the front road section within the preset duration of the current time and the like;

it should be further noted that the predicted influence factors further include influence factors of bus stops in a preset road section of the current position; wherein, the influence factor of bus stop in the preset road section of current position includes: whether a bus station exists in a preset road section of the current position and whether a bus is about to stop and the like.

analyzing a second influence factor of each influence factor;

It should be noted that each first influence factor and/or each second influence factor is analyzed to obtain a second influence factor, and the first influence factor is obtained by calculating each obtained second influence factor.

Optionally, in a case that the first terminal is one of a vehicle, a roadside device, and a cloud device, analyzing a second influence factor of each influence factor includes:

analyzing the influence degree of each influence factor on the vehicle passing respectively;

determining a second influence factor of each influence factor for influencing vehicle passing respectively according to the influence degree;

wherein the influence degrees comprise different levels, and the second influence factors corresponding to the influence degrees of different levels are different.

It should be noted that the influence factors may influence the vehicle passing speed, the influence degrees of the influence of each influence factor on the vehicle passing are analyzed, the influence degrees obtained through the analysis are different, the influence degrees further include different levels, and the second influence factors set by the different levels are different.

Exemplary analyzed degrees of influence include: a mild level, a moderate level and a severe level, wherein the second influence factor of the mild level is 1, the second influence factor of the moderate level is 1/2 and the second influence factor of the severe level is 1/3.

Optionally, at the same level, the second influence factors corresponding to the influence degrees of the different influence conditions on the vehicle passing influence are the same or different.

That is, different influence conditions are analyzed to obtain different influence degrees, but the second influence factors of different influence degrees corresponding to different influence conditions may be set to be the same or different corresponding to the same level.

Illustratively, in the case that the influence factor is a weather influence factor in the first influence factor (current influence factor), the weather influence factor is analyzed to obtain three weather factor influence degrees: (1) The intensity of rain and snow is small, and the road has no accumulated water or accumulated snow, and the corresponding grade is a mild grade; (2) The rain and snow are mild and moderate, a small amount of accumulated water or accumulated snow exists on the road, and the corresponding grade is moderate; (3) The intensity of rain and snow is larger, and the road is ponded or the accumulated snow is deeper, and the corresponding grade is the severe grade at this moment. Wherein the second influence factor of the mild level is set to 1, the second influence factor of the moderate level is set to 1/2, and the second influence factor of the severe level is set to 1/3.

Under the condition that the influence factors are road terrain influence factors in the current influence factors, analyzing the road terrain influence factors to obtain influence degrees of three road terrain factors: (1) The current road is a straight road, and the corresponding grade is a mild grade; (2) The current road is an ascending slope or a descending slope, and the corresponding grade is a medium grade; (3) The current road is a curve, and the corresponding grade is a severe grade at the moment. The second influence factor of the light level may be set to 1 (the same as the second influence factor corresponding to the light level in the weather factor influence degrees), the second influence factor of the light level may also be set to 1/2 (different from the second influence factor corresponding to the light level in the weather factor influence degrees), the second influence factor of the medium level may be set to 1/2 (the same as the second influence factor corresponding to the medium level in the weather factor influence degrees), the second influence factor of the medium level may also be set to 1/3 (different from the second influence factor corresponding to the medium level in the weather factor influence degrees), the second influence factor of the heavy level may also be set to 1/3 (the same as the second influence factor corresponding to the heavy level in the weather factor influence degrees), and the second influence factor of the heavy level may also be set to 1/4 (different from the second influence factor corresponding to the heavy level in the weather factor influence degrees).

It should be noted that the value of the second influence factor can be set according to requirements.

Optionally, determining, according to the influence degree, a second influence factor of each influence factor, which influences vehicle traffic, includes:

determining a first sub-influence factor of each first influence factor for influencing vehicle passing respectively according to the first sub-influence degree;

determining a second sub-influence factor of each second influence factor for influencing vehicle passing respectively according to a second sub-influence degree;

determining the second influence factor according to the first sub-influence factor and the second sub-influence factor;

analyzing the influence degree of each first influence factor on the vehicle passing respectively as the first sub-influence degree;

and analyzing the influence degree of each second influence factor on the vehicle passing respectively as the second sub-influence degree.

In the embodiment of the invention, the influence degree of each first influence factor (current influence factor) on the vehicle passing is analyzed to obtain a first sub-influence degree, the first sub-influence factor of each current influence factor on the vehicle passing is determined according to the first sub-influence degree, and the following factors are included by combining the current influence factors: at least one of the surrounding vehicle type influence factor, the weather influence factor, the traffic jam influence factor, the pedestrian crossing influence factor, the traffic accident influence factor and the road terrain influence factor is specifically described, wherein the first sub-influence degree corresponding to each current influence factor and the first sub-influence factor corresponding to each current influence factor.

Analyzing the surrounding vehicle type influence factors to obtain first sub-influence degrees corresponding to the three surrounding vehicle type influence factors, wherein the first sub-influence degrees are respectively as follows: no special work vehicle (the first sub-influence degree corresponds to a mild level at this time); there are special working vehicles not working or there are emergency vehicles immediately in front (at this time the first sub-influence level corresponds to a medium level); the special work vehicle is working or there is an emergency vehicle behind it that needs to yield immediately (the first sub-influence level corresponds to the severity level at this time).

Analyzing the weather influence factors, and obtaining first sub-influence degrees corresponding to the three weather influence factors as follows: the rain and snow intensity is small, or the road surface has no accumulated snow or ice, or the visibility is less than a first distance (for example, the first distance is 200 m) (in this case, the first sub-influence degree corresponds to a mild level); moderate intensity of rain and snow, or little water accumulation on the road, or partial icing on the road, or less than a second distance (illustratively, 100 m) in visibility (when the first sub-influence level corresponds to a moderate level); the intensity of rain and snow is high, or the accumulated water on the road is deep, or the whole road is iced, or the visibility is less than a third distance (for example, the third distance is 50 m) (in this case, the first sub-influence degree corresponds to the severity level).

Analyzing the traffic jam influence factors to obtain first sub-influence degrees corresponding to the three traffic jam influence factors, wherein the first sub-influence degrees are respectively as follows: the running speed of the vehicle can reach the road speed limit (at the moment, the first sub-influence degree corresponds to a mild level); the vehicle speed is lower than the road speed limit but higher than 2/3 of the road speed limit (when the first sub-influence degree corresponds to a middle level); the vehicle speed is less than 1/3 of the road speed limit (the first sub-influence level corresponds to the severity level).

Analyzing the pedestrian crossing influence factors, and obtaining first sub-influence degrees corresponding to the three pedestrian crossing influence factors as follows: no pedestrian passes through (at this time, the first sub-influence degree corresponds to a mild level); pedestrians pass through the pedestrian detection device, and the number of the pedestrians passing through the pedestrian detection device is smaller than a first value (at the moment, the first sub-influence degree corresponds to a medium level); pedestrians pass through the device, and the number of the pedestrians passing through the device is larger than or equal to a first numerical value (at the moment, the first sub-influence degree corresponds to the severity level). Optionally, in a case that the front road segment is a school area, the passerby is a student who enters or leaves the school, and correspondingly, the three first sub-influence degrees are: no student walks (the first sub-influence corresponds to the mild level at this time); students enter or leave the school, and the number of the students is smaller than the second value, namely, a small number of the students enter or leave the school (at the moment, the first sub-influence degree corresponds to a middle level); there are students entering or leaving the school and the number of students is greater than the second value, i.e. there are a large number of students entering or leaving the school (when the first sub-influence level corresponds to the severity level).

Analyzing the traffic accident influence factors to obtain first sub-influence degrees corresponding to the three traffic accident influence factors, wherein the first sub-influence degrees are respectively as follows: no traffic accident (at this time, the first sub-influence degree corresponds to a mild level); a light traffic accident occurs (when the first sub-influence degree corresponds to a medium level); a severe traffic accident occurs (when the first sub-influence level corresponds to a severe level).

Analyzing the road topography influence factors, and obtaining first sub-influence degrees corresponding to the three road topography influence factors as follows: the front road is a straight road (at the moment, the first sub-influence degree corresponds to a mild level); the front road is an uphill slope or a downhill slope (at the moment, the first sub-influence degree corresponds to a medium level); the road ahead is a curve (the first sub-influence level corresponds to a severe level at this time).

In the embodiment of the invention, the influence factor of the mild level corresponding to the current influence factor is set to be 1, the influence factor of the moderate level is set to be 2/3, and the influence factor of the severe level is set to be 1/3.

Analyzing the influence degree of each second influence factor (prediction influence factor) on the vehicle passing influence respectively to obtain a second sub-influence degree, determining a second sub-influence factor of each prediction influence factor on the vehicle passing influence respectively according to the second sub-influence degree, wherein the following combined prediction influence factors comprise: specifically, the second sub-influence degree corresponding to each predicted influence factor and the second sub-influence factor corresponding to each predicted influence factor are specified by at least one of the influence factors of the types of surrounding vehicles in the preset road section of the current position, the influence factor of the road closure characteristics in the preset road section of the current position, the influence factor of traffic congestion in the preset time of the current time, the influence factor of school zone in the preset time of the current time, and the influence factor of traffic accidents in the preset time of the current time.

Analyzing the influence factors of the types of the vehicles around the preset road section of the current position, and obtaining second sub-influence degrees corresponding to the influence factors of the types of the vehicles around the preset road section of the three current positions respectively as follows: the special operation vehicle does not operate or no emergency vehicle is arranged in front of or behind the special operation vehicle, and the vehicle does not need to give way (at the moment, the second sub-influence degree corresponds to a light level); the special operation vehicle prepares or finishes the operation or has an emergency vehicle far ahead, and the vehicle ahead gives way (at the moment, the second sub-influence degree corresponds to a medium level); the special work vehicle is working or there is an emergency vehicle behind it that needs to yield immediately (the second sub-influence level corresponds to the severity level at this time).

Analyzing the influence factors of the road closure characteristics in the preset road section of the current position, and obtaining second sub-influence degrees corresponding to the influence factors of the road closure characteristics in the preset road section of the three current positions respectively as follows: the road closure characteristic in the preset road section of the current position is open (at the moment, the second sub-influence degree corresponds to a mild level); the road sealing characteristic in the preset road section of the current position is semi-closed (at the moment, the second sub-influence degree corresponds to a medium level); the road closure characteristic in the preset section of the current position is closed (at this time, the second sub-influence degree corresponds to the severity level).

Analyzing the traffic jam influence factors in the preset time length of the current time to obtain second sub-influence degrees corresponding to the traffic jam influence factors in the preset time length of the three types of current time, wherein the second sub-influence degrees are respectively as follows: the predicted traffic flow density is smaller than the actual traffic flow density, and/or the number of required lane changes is smaller than the number of the current lane (at the moment, the second sub-influence degree corresponds to a mild level); the predicted traffic density is equal to the actual traffic density and/or the number of lane changes required is equal to the number of current lanes (at this time, the second sub-influence degree corresponds to a medium level); the predicted traffic density is greater than the actual traffic density and/or the number of required lane changes is greater than the number of current lanes (when the second sub-influence level corresponds to a severity level).

Analyzing the school zone influence factors in the preset duration of the current time, and obtaining second sub-influence degrees corresponding to the school zone influence factors in the preset duration of the three types of current time, wherein the second sub-influence degrees are respectively as follows: the current road section has a school area, and the current non-school time period of entering or leaving (at the moment, the second sub-influence degree corresponds to a mild level); the current road section has a school zone, and the current road section is close to a school entering time period or a school leaving time period (at the moment, the second sub-influence degree corresponds to a middle level); the current road section has a school zone, and the current road section is in a school entering period or a school leaving period (at the moment, the second sub-influence degree corresponds to a severe level).

Analyzing the traffic accident influence factors in the preset duration of the current time to obtain second sub-influence degrees corresponding to the traffic accident influence factors in the preset duration of the three types of current time, wherein the second sub-influence degrees are respectively as follows: the traffic accident exists on the front road section, and the processing is finished (at the moment, the second sub-influence degree corresponds to a mild level); a traffic accident just happened on the road section ahead (at this time, the second sub-influence degree corresponds to a middle level); there is a traffic accident on the road section ahead and is in progress (the second sub-influence level corresponds to the severity level at this time).

In the embodiment of the present invention, the impact factor of the mild level is set to 1, the impact factor of the moderate level is set to 2/3, and the impact factor of the moderate level is set to 1/3.

When a plurality of influence factors (including the current influence factor and the predicted influence factor) exist, the final influence factor is calculated by the following formula.

Wherein F is an influence factor obtained by combining the current influence factor and the predicted influence factor, k is the number of all the influence factors, and alpha is _i Is the weight of different influencing factors, is a preset value, and has the value range of 0-1/k, f _i The value of the influence factor corresponding to each influence factor.

For example, the following description will take an example of the influence process of the traffic congestion influence factor on the vehicle passing speed within a preset time period of the current time in the second influence factor (predicted influence factor).

The main Vehicle (Vehicle of the first terminal) runs on a city road, the surrounding vehicles send Basic Safety Message (BSM) and Vehicle Intention Request (VIR) messages, and the road side unit RSU sends MAP (MAP) messages and traffic light Phase and Timing messages (SPAT). The BSM message contains dynamic driving information of the vehicle, such as speed, position, acceleration and the like, the VIR message comprises lane change information of the vehicle, target lane information of an intersection and the like, and the vehicle end is responsible for grading the traffic environment condition and calculating the influence factor.

For example, in a lane in front of the host vehicle, there are X vehicles traveling, where X is ₁ The vehicle being or about to change to another lane, with an X in the other lane ₂ The vehicle is or will soon change to the lane in which the host vehicle is located. The current signal light is green, the remaining time of the green light is t seconds, the distance between the current position of the main vehicle and the stop line is S meters, and the current road section speed limit isV _limit km/h。

The actual traffic density is X/S, and the predicted traffic density is (X-X) ₁ +X ₂ ) S, the number of vehicles needing lane change is X ₁ +X ₂ 。

If X ₁ +X ₂ <X, and X ₁ >X ₂ Then, it indicates that the lane change number is required<Current number of lanes and predicted traffic density<And calculating and selecting a speed guide range of the vehicle according to the existing scheme if the second sub-influence degree of the traffic jam influence factors on the vehicle passing within the preset time of the current time corresponds to a light level if the actual traffic flow density and the lane change of the vehicle have small influence on the traffic jam condition in front of the vehicle.

If X ₁ +X ₂ (= X), and X ₁ ≤X ₂ If the number of required lane changes is larger than the current number of lanes, the predicted traffic flow density is smaller than or equal to the actual traffic flow density, the vehicle lane change has a certain influence on the traffic jam condition in front of the vehicle, if the second sub-influence degree of the traffic jam influence factor on the vehicle passing speed within the preset time of the current time corresponds to a medium level, the road speed limit is adjusted to be 2/3V _limit Or the upper limit of the vehicle after calculating the vehicle speed guide range according to the existing scheme is reduced to 2/3.

If X ₁ +X ₂ >X, or X ₁ >X ₂ Then it indicates that the lane change number is required>Number of current lanes, and predicted traffic density>The actual traffic density and the influence of the lane change of the vehicle on the traffic jam condition in front of the vehicle are large, the second sub-influence degree of the traffic jam influence factor on the traffic speed within the preset time length of the current time corresponds to the severe level, and the road speed limit is adjusted to be 1/3V _limit Or the upper limit of the vehicle after calculating the vehicle speed guide range according to the existing scheme is reduced to 1/3.

The following describes an example of an influence process of the influence factor of the road closure characteristic in the preset section of the current position in the second influence factor (predicted influence factor) on the vehicle passing speed.

If the vehicle runs on a totally-enclosed road, a scene that pedestrians or non-motor vehicles pass through is basically avoided, at the moment, the second sub-influence degree of the influence factor of the road closure characteristic on the vehicle passing speed in the preset road section of the current position is in a mild level, and the vehicle speed guiding suggestion is consistent with the existing scheme. If the main vehicle runs on a semi-closed or open road, the deceleration possibly caused by the passing of pedestrians or non-motor vehicles in the middle needs to be considered, and at the moment, when the vehicle carries out green wave passing suggestion, the suggestion needs to be provided by adjusting the speed limit or the upper limit of the vehicle speed guide range.

The following description will take, as an example, the process of the influence of the weather influence factor on the vehicle passing speed among the first influence factors (current influence factors).

In heavy rain or heavy snow weather, poor visibility between vehicles<Under the condition of 50m, the preset speed limit of the road is V _limit If the first sub-influence degree of the weather influence factors on the passing speed of the vehicle corresponds to the severe level, the passing speed of the vehicle is adjusted to be 2/3V _limit Alternatively, weather-affecting factors (rainstorm or snowstorm weather, poor visibility, visibility between vehicles) may be communicated via the MAP message<50 m) are sent to other vehicles within a preset range from the vehicle, namely surrounding vehicles, and the surrounding vehicles calculate the green wave passing vehicle speed range according to an algorithm.

determining the first influence factor according to the rating result;

In the embodiment of the present invention, when the first terminal is one of a vehicle, a roadside device, and a cloud device, the number of first influencing factors (current influencing factors) may be determined separately, a road environment influencing a vehicle passing speed is ranked according to the determined number of the current influencing factors, a ranking result is obtained, and different first influencing factors are set for different ranking results. Illustratively, if the number of the current influence factors is 1 or 0, the rating result is light, the set first influence factor is 1, if the number of the current influence factors is 2 to 4, the rating result is medium, the set first influence factor is 1/2, if the number of the current influence factors is 5 to 6, the rating result is heavy, and the set first influence factor is 1/3.

The number of the second influence factors (prediction influence factors) can be independently determined, the road environment influencing the vehicle passing speed is graded according to the number of the determined prediction influence factors to obtain a grading result, and different first influence factors are set for different grading results. Illustratively, if the number of predicted influencing factors is 1 or 0, the rating result is light, the set first influencing factor is 1, if the number of predicted influencing factors is 2 to 4, the rating result is medium level, the set first influencing factor is 1/2, if the number of predicted influencing factors is 5, the rating result is heavy level, and the set first influencing factor is 1/3.

The sum of the number of the first influence factors (current influence factors) and the number of the second influence factors (predicted influence factors) can be determined, the road environment influencing the vehicle passing speed is graded according to the sum of the number of the determined current influence factors and the number of the predicted influence factors, grading results are obtained, and different first influence factors are set for different grading results. Illustratively, if the sum of the number of the current influence factors and the number of the predicted influence factors is 0-3, the rating result is light, the set first influence factor is 1, if the sum of the number of the current influence factors and the number of the predicted influence factors is 4-8, the rating result is medium level, the set first influence factor is 1/2, if the sum of the number of the current influence factors and the number of the predicted influence factors is 9-11, the rating result is heavy level, and the set first influence factor is 1/3.

wherein the road segment comprises one of:

the current lane of the vehicle and/or the related lane thereof;

all lanes of the road section where the vehicle is currently located;

all the sections of the whole road where the current vehicle is located.

It should be noted that, in a case that the first terminal is one of a vehicle, a roadside device, and a cloud device, the obtained first influence factor (current influence factor) and/or the obtained second influence factor (predicted influence factor) may be an influence factor of a road segment on which the vehicle is currently traveling and a next intersection of the road segment (a next intersection through which the vehicle is going to pass), and the obtained current influence factor and/or the predicted influence factor may also be road environments of a preset number of intersections behind the next intersection through which the vehicle is going to pass and road segments corresponding to the preset number of intersections, that is, the influence factor information obtained by the vehicle is not limited to the current intersection, and also includes a preset number of intersections that will arrive in the future.

The preset number of intersections can be a certain number of intersections on the road section where the vehicle is currently running, and can also be all intersections on the road section.

It should be further noted that the road section currently traveled by the vehicle may be one of the following: a lane in which the vehicle is currently located and/or other related lanes (such as lanes adjacent to the lane in which the vehicle is located or lanes of the same road attribute); all lanes on the road section where the vehicle is currently located; all road segments on the entire road on which the vehicle is currently traveling.

The road section where the vehicle is located at present is a road section between the position of the vehicle at present and an intersection to be passed through.

The whole road where the vehicle is located at present is the whole road where the divided vehicle runs at present determined according to the map information.

Optionally, determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing of the vehicle, wherein the first influence factor comprises at least one of the following:

In the embodiment of the invention, under the condition that the first terminal is a vehicle, a roadside device or a cloud device, after the first terminal obtains the first influence factor (current influence factor) and the second influence factor (predicted influence factor), the influence factors are analyzed to obtain the first influence factor, and then the first influence factor and the first speed limit can be calculated according to the obtained first speed limit of the current driving road section of the vehicle to obtain the second speed limit. Optionally, in the case that the first terminal is a vehicle, the vehicle directly passes through the currently-driven road segment and the preset number of intersections thereafter according to the second speed limit. And under the condition that the first terminal is the road side equipment or the cloud equipment, the road side equipment or the cloud equipment obtains a second speed limit, the second speed limit is sent to the vehicle, and the vehicle is guided to pass through the current running road section and the following preset number of intersections according to the second speed limit.

Under the condition that the first terminal is a vehicle, a road side device or a cloud device, after the first terminal obtains a first influence factor (a current influence factor) and a second influence factor (a predicted influence factor), the influence factors are analyzed to obtain the first influence factor, and then the influence factors and the first guiding speed can be calculated according to the obtained first guiding speed of the current driving road section of the vehicle to obtain a second guiding speed. Optionally, in a case that the first terminal is a vehicle, the vehicle directly passes through the currently-driven road segment and the preset number of intersections thereafter according to the second guidance speed. Under the condition that the first terminal is road side equipment or cloud end equipment, the road side equipment or the cloud end equipment obtains a second guiding speed, the second guiding speed is sent to the vehicle, and the vehicle is guided to pass through a current running road section and a preset number of intersections afterwards according to the second guiding speed.

For example, the following is an example of a process in which the road closure characteristic influencing factor in the preset section of the current position in the second influencing factor (the prediction influencing factor) and the weather influencing factor in the first influencing factor (the current influencing factor) influence the passing speed of the vehicle.

The open road among the road closure characteristic influencing factors is one of the influencing factors influencing the traffic speed of vehicles for safety reasons because pedestrians may pass through the open road, but compared with a special event (traffic accident influencing factor) or severe weather (weather influencing factor), the special event (traffic accident) or severe weather already influences the traffic speed of vehicles, so that the influence degrees of the road characteristic influencing factors on the traffic speed of vehicles from a mild level to a severe level are respectively 1,4/5 and 3/5, and the influence degrees of the severe weather influencing factors on the traffic speed of vehicles from a mild level to a severe level are respectively 1,2/3 and 1/3. That is, the range of the vehicle speed limit or guidance speed correspondingly adjusted at different levels corresponding to the degree of influence of the road characteristic influence factor on the passing speed of the vehicle is smaller than the range of the vehicle speed limit or guidance speed correspondingly adjusted at different levels corresponding to the degree of influence of severe weather on the passing speed of the vehicle.

The concrete formula is as follows:

wherein, V _limit Is the first speed limit, V' _limit For the second rate limit, k is the number of all influencing factors, β _i For each value of influence factor, w _i The weights for the different influencing factors are preset values.

Wherein the first guide speed is in a range of V _min ～V _max ，V _min Is the minimum value of the first guiding speed, V _max Is the maximum value of the first guiding speed, k is the number of all influencing factors, beta _i For each value of influence factor, w _i The weights for the different influencing factors are preset values.

receiving the first influence factors sent by other roadside devices and/or other cloud end devices;

It should be noted that, in the case that the first terminal is a vehicle, the first influence factor may be calculated by itself, and may also be sent by other road side devices and/or other cloud end devices.

Under the condition that the first terminal is the vehicle, the passing speed of the vehicle can be calculated by the first terminal according to the first influence factor, and can also be calculated by other road side equipment and/or other cloud end equipment according to the first influence factor and sent to the vehicle.

Optionally, receiving the first influence factor sent by other roadside devices and/or other cloud devices includes:

receiving first influence factor information sent by at least one of other road side equipment and/or other cloud end equipment;

analyzing the received first influence factor information to obtain a first influence factor influencing vehicle passing;

the first influence factor information sent by at least one of the other roadside devices and/or the other cloud devices may include each first influence factor and/or first sub-influence factor information corresponding to each second influence factor, or may be final influence factor information obtained by fusing the first sub-influence factor information;

the first sub-influence factor information corresponds to the influence degree of each first influence factor and/or each second influence factor on the vehicle passing.

In this embodiment of the present invention, in a case that the first terminal is a roadside device and/or a cloud device, the first influence factor may be received first influence factor information (including each current influence factor and/or sub-influence factor information corresponding to each predicted influence factor) sent by other roadside devices and/or other cloud devices, or may be a final influence factor obtained by receiving first influence factor information (including each current influence factor and/or sub-influence factor information corresponding to each predicted influence factor) sent by other roadside devices and/or other cloud devices, and calculating the received first influence factor information.

It should be further noted that the first sub-influence factor information sent by at least one of the other roadside devices and/or the other cloud devices may include sub-influence factor information corresponding to an influence degree obtained by analyzing an influence of each current influence factor and/or each predicted influence factor on vehicle passing, and may also be final influence factor information calculated for the sub-influence factors.

and sending the first influence factor and/or the second influence factor to a first target vehicle.

It should be noted that, in the case that the first terminal is a roadside device or a cloud device, the obtained influence factors (including the first influence factor and/or the second influence factor) may be selected to be sent to the first target vehicles, where the same or different influence factors are sent for each first target vehicle.

sending the first impact factor to a first target vehicle; the first influence factors corresponding to different first target vehicles are the same or different.

It should be noted that, in the case that the first terminal is a road side device or a cloud device, the first influence factor calculated by the road side device or the cloud device may be selected to be sent to the first target vehicles, where the same or different first influence factors are sent for each first target vehicle.

It should be noted that, in the case that the first terminal is a roadside device or a cloud device, the passing speed of the vehicle may be selected to be sent to the first target vehicles, where the passing speed of the same or different vehicle is sent for each first target vehicle.

Wherein the passing speed comprises the second speed limit and/or the second guiding speed.

Optionally, the first target vehicle is one of:

all vehicles on the target lane;

all vehicles on all lanes of the target road segment;

all vehicles on the entire section of the target road.

It should be noted that, in the case that the first terminal is a road side device or a cloud device, the target lane, the target road segment, or the target lane may be determined by the road side device or the cloud device according to the map information.

Optionally, in a case that the first terminal is a roadside device or a cloud device, the method further includes, after a rating result is obtained by rating the road environment according to the number of the first influencing factor and/or the second influencing factor:

sending the rating result to a second target vehicle; the rating results corresponding to different second target vehicles are the same or different;

In the embodiment of the invention, under the condition that the rating result is calculated by the road side device or the cloud device, the rating result is sent to all vehicles (second target vehicles) located in the preset range of the target intersection, so that the vehicles determine the first influence factor according to the rating result, and further the calculation of the passing speed is calculated. Wherein the transmitted evaluation result is the same or different for each second target vehicle. It should be noted that the roadside device or the cloud device is determined according to the map information according to the current road segment.

As shown in fig. 2, an embodiment of the present invention further provides a terminal, where the terminal is a first terminal and includes a processor 200; and a memory 210 connected to the processor 200 through a bus interface, wherein the memory 210 is used for storing programs and data used by the processor 200 when executing operations, and the processor 200 calls and executes the programs and data stored in the memory 210.

Wherein the first terminal further comprises a transceiver 220, the transceiver 220 is connected with the bus interface, and is used for receiving and transmitting data under the control of the processor 200; the processor 200 is used to read the program in the memory 210.

The processor 200 is configured to: determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing of the vehicle;

the first influencing factor is perceived.

Optionally, the first influencing factor comprises at least one of:

ambient vehicle type influencing factors;

weather affecting factors;

traffic congestion affecting factors;

influencing factors of pedestrian crossing;

traffic accident influencing factors;

road topography influencing factors.

Optionally, the second influencing factor comprises at least one of:

influencing factors of the types of the vehicles around the preset road section of the current position;

traffic jam influence factors within a preset duration of the current time;

influence factors of school areas within a preset duration of the current time;

Optionally, the processor 200 is specifically configured to:

analyzing a second influence factor of each influence factor;

Optionally, the processor 200 is specifically configured to:

determining the first influence factor according to the rating result;

wherein the road segment comprises one of:

the current lane of the vehicle and/or the related lane thereof;

all lanes of the road section where the vehicle is currently located;

all the road sections of the whole road where the current vehicle is located.

Optionally, the processor 200 is specifically configured to at least one of:

and acquiring a first guiding speed of the current running road section of the vehicle, and determining a second guiding speed of the vehicle passing through the current running road section and/or the preset number of intersections according to the first influence factor and the first guiding speed.

Optionally, in a case that the first terminal device is a vehicle, the transceiver 220 is further configured to at least one of:

Optionally, in a case that the first terminal is a roadside device or a cloud device, the transceiver 220 is further configured to:

Optionally, the first target vehicle is one of:

all vehicles on the target lane;

all vehicles on all lanes of the target road segment;

all vehicles on all segments of the target road.

Optionally, the transceiver 220 is further configured to:

Where in fig. 2, the bus architecture may include any number of interconnected buses and bridges, with various circuits of one or more processors, represented by processor 200, and memory, represented by memory 210, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 220 may be a number of elements, including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 230 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 200 is responsible for managing the bus architecture and general processing, and the memory 210 may store data used by the processor 200 in performing operations.

As shown in fig. 3, an embodiment of the present invention further provides a vehicle passing speed determining apparatus, which is applied to a first terminal, and is applied to the first terminal, where the apparatus includes:

the first determining module 301 is configured to determine a passing speed of a vehicle according to a first influence factor that affects the vehicle passing by a road environment;

According to the embodiment of the invention, the first influence factor and/or the second influence factor of the road environment are/is obtained, the first influence factor is obtained according to the first influence factor and/or the second influence factor, the passing speed of the vehicle is determined according to the first influence factor, and the passing speed of the vehicle can be determined according to the influence factor of the road environment, namely the passing speed of the vehicle is determined by considering the actual traffic condition, so that the driving safety of the vehicle is improved, and the user experience is improved.

the first influencing factor is perceived.

Optionally, the first influencing factor comprises at least one of:

ambient vehicle type influencing factors;

weather affecting factors;

traffic congestion affecting factors;

influencing factors of pedestrian crossing;

traffic accident impact factors;

road topography influencing factors.

Optionally, the second influencing factor comprises at least one of:

traffic jam influence factors within a preset duration of the current time;

influence factors of school areas within a preset duration of the current time;

Optionally, the first determining module 301 includes:

wherein the road segment comprises one of:

the current lane of the vehicle and/or the related lane thereof;

all lanes of the road section where the vehicle is currently located;

all the sections of the whole road where the current vehicle is located.

Optionally, the first determining module 301 includes at least one of:

the first obtaining unit is used for obtaining a first speed limit of a current running road section of a vehicle, and determining a second speed limit of a preset number of intersections through which the vehicle passes at the current running road section and/or later according to the first influence factor and the first speed limit;

and the second acquisition unit is used for acquiring a first guiding speed of the current running road section of the vehicle and determining second guiding speeds of the preset number of intersections passed by the vehicle on the current running road section and/or after the vehicle passes through according to the first influence factor and the first guiding speed.

the second receiving module is used for receiving the passing speed of the vehicle sent by other road side equipment and/or other cloud end equipment.

Optionally, the first target vehicle is one of:

all vehicles on the target lane;

all vehicles on all lanes of the target road segment;

all vehicles on all segments of the target road.

It should be noted that the vehicle passing speed determination device provided in the embodiment of the present invention is all embodiments capable of executing the vehicle passing speed determination method, and all embodiments of the vehicle passing speed determination method are applicable to the device, and can achieve the same or similar technical effects.

While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims

1. A vehicle passing speed determination method is applied to a first terminal and comprises the following steps:

2. The method of claim 1, wherein the first influencing factor of the road environment is derived by means of at least one of:

the first influencing factor is perceived.

3. The method of claim 1, wherein the second influencing factor of the road environment is derived by means of at least one of:

4. The method of claim 1, wherein the first influencing factor comprises at least one of:

ambient vehicle type influencing factors;

weather affecting factors;

traffic congestion affecting factors;

influencing factors of pedestrian crossing;

traffic accident influencing factors;

road topography influencing factors.

5. The method of claim 1, wherein the second influencing factor comprises at least one of:

traffic jam influence factors within a preset duration of the current time;

influence factors of school areas within a preset duration of the current time;

6. The method of claim 1, wherein deriving a first influence factor from the first and/or second influence factor of the road environment comprises:

analyzing a second influence factor of each influence factor;

7. The method of claim 1, wherein deriving a first influence factor from a first influence factor and/or a second influence factor of the road environment comprises:

determining the first influence factor according to the rating result;

8. The method according to claim 1, wherein the road environment is the road environment of a road segment currently driven by the vehicle and a next intersection to be passed by the vehicle, and/or the road environment of a preset number of intersections after the next intersection to be passed by the vehicle and a road segment corresponding to the preset number of intersections;

wherein the road segment comprises one of:

the current lane of the vehicle and/or the related lane thereof;

all lanes of the road section where the vehicle is currently located;

all the road sections of the whole road where the current vehicle is located.

9. The method of claim 1, wherein determining the speed of the vehicle based on a first impact factor of the road environment on the vehicle traffic comprises at least one of:

10. The method according to claim 1, wherein in case the first terminal device is a vehicle, the method further comprises at least one of:

11. The method of claim 1, wherein in the case that the first terminal is a roadside device or a cloud device, the method further comprises:

12. The method of claim 1, wherein in the case that the first terminal is a roadside device or a cloud device, the method further comprises:

13. The method according to claim 9, wherein in the case that the first terminal is a roadside device or a cloud device, after determining the passing speed of the vehicle according to a first influence factor of the road environment on the passing of the vehicle, the method further comprises:

14. The method according to any one of claims 11-13, characterized in that the first target vehicle is one of the following:

all vehicles on the target lane;

all vehicles on all lanes of the target road segment;

all vehicles on the entire section of the target road.

15. The method according to claim 7, wherein in a case that the first terminal is a roadside device or a cloud device, after the road environment is ranked according to the number of the first influencing factor and/or the second influencing factor and a ranking result is obtained, the method further comprises:

16. A terminal, the terminal being a first terminal, comprising: a processor, a memory and a program or instructions stored on and executable on the processor which, when executed by the processor, carry out the steps of the vehicle transit speed determination method as claimed in any one of claims 1 to 15.

17. A vehicle transit speed determining apparatus, applied to a first terminal, the apparatus comprising:

18. A readable storage medium, characterized in that it stores thereon a program or instructions which, when executed by a processor, implement the steps of a vehicle transit speed determination method as claimed in any one of claims 1 to 15.