CN115985125A

CN115985125A - Time interval determination method and device, electronic equipment and program product

Info

Publication number: CN115985125A
Application number: CN202211543122.6A
Authority: CN
Inventors: 潘刚; 王梅梅
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2022-12-02
Filing date: 2022-12-02
Publication date: 2023-04-18

Abstract

The embodiment of the disclosure discloses a method, a device, an electronic device and a program product for determining a time interval, wherein the method comprises the following steps: acquiring traffic light data on a target road; the traffic light data comprises road traffic speed, front-of-light queue dissipation characteristics, traffic light spatial topology characteristics and traffic light signal time characteristics; determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data; wherein the green light passing time interval indicates that when the target time for the traveling object to reach the target position is within the green light passing time interval, the traveling object can pass through the traffic light in a green light state. The technical scheme can guide the driving object to safely pass through the traffic light in front, reduce the probability of red lights such as the driving object and the like, and integrally improve the traffic efficiency of the intersection.

Description

Time interval determination method and device, electronic equipment and program product

Technical Field

The present disclosure relates to the field of geographic information technologies, and in particular, to a method and an apparatus for determining a time interval, an electronic device, and a program product.

Background

Traffic lights are the core scenes of road facilities and users in traveling, and due to the fact that the properties of bayonets and the traffic light states of part of the traffic lights are in a non-second-reading mode, on one hand, most users are prone to generating anxiety emotions when waiting for the traffic lights, and the behaviors of 'robbing green lights' and running red lights can cause frequent intersection accidents, and on the other hand, the traffic capacity of intersections is reduced, so that serious traffic jam is prone to be caused. If the user can know that the user can directly pass the light before and after driving to the traffic light, the speed of directly passing the light without waiting and the like in advance, the change of the light state of the traffic light can be dealt with in advance, the passing anxiety is relieved, and the passing efficiency of the intersection is improved.

Therefore, related personnel put forward a concept of 'green wave band', and the intersection passing efficiency is improved by coordinating the control of traffic light signals. The green wave band means that the traffic flow can continuously obtain the green light signal in the traffic light intersection passing process of the traffic light intersection in the control range by coordinating the control of the traffic light signal on one road, and the traffic flow can pass through all the traffic light intersections in the control range without stopping. However, how to mine the time interval of passing through the front traffic light without stopping in real time is one of the technical problems that needs to be solved currently.

Disclosure of Invention

The embodiment of the disclosure provides a time interval determination method and device, electronic equipment and a program product.

In a first aspect, an embodiment of the present disclosure provides a method for determining a time interval, where the method includes:

acquiring traffic light data on a target road; the traffic light data comprises road traffic speed, front-of-light queue dissipation characteristics, traffic light spatial topology characteristics and traffic light signal time characteristics;

determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data; wherein the green light passing time interval indicates that when the target time for the traveling object to reach the target position is within the green light passing time interval, the traveling object can pass through the traffic light in a green light state.

Further, the traffic light spatial topological feature comprises spatial position relations of a plurality of traffic lights which are continuously arranged in front and behind the target road; determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data, wherein the green light passing time interval comprises the following steps:

and determining a green light passing time interval corresponding to the target position before the first one of the traffic lights and passing through one and/or a plurality of continuous traffic lights based on the traffic light data.

Further, the front queue dissipation feature comprises a queue length-to-duration correspondence between the front queue length of the traffic light and the duration of the tail of the queue passing through the traffic light in a green light state; the traffic light signal time characteristic comprises a green light duration interval of the traffic light; determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data, wherein the green light passing time interval comprises the following steps:

determining an offset time for the traveling object to travel from the target position to the traffic light at the road passing speed;

determining the queuing waiting time of the running object before the running object passes through the traffic light based on the corresponding relation between the queue length and the time;

determining a green light passing time interval during which a traveling object arriving at the target position passes through the traffic light in a green light state based on the green light duration interval, the offset time, and the queue waiting time.

Further, the green light duration time interval comprises time intervals corresponding to a plurality of continuous green light states of the same traffic light; determining a green light passing time interval during which a traveling object arriving at the target position passes through the traffic light in a green light state based on the green light duration interval, the offset time, and the queue waiting time, including:

determining a passing start time of each of the green light passing time intervals based on the green light start time, the offset time and the queuing waiting time of each of the green light duration intervals corresponding to a plurality of continuous green light states;

and determining the passing end time of each section in the green light passing time section based on the green light end time and the offset time of each section in the green light duration section corresponding to a plurality of continuous green light states.

Further, the method further comprises:

and determining the number of the traffic lights which can be continuously passed by the driving object in the green light state from the target position based on the green light passing time intervals corresponding to the plurality of continuous traffic lights.

Further, the method further comprises:

acquiring the current position of the driving object;

when the current position is within the preset distance range, determining the green light passing time interval corresponding to the target position matched with the current position;

and outputting recommendation information capable of passing through the traffic light in the green light state to the driving object based on the green light passing time interval.

Further, the method further comprises:

and pushing the preset distance range, the green light passing time interval corresponding to at least one target position in the preset distance range and the road traffic speed to a client of the driving object, so that the client outputs recommendation information capable of passing through the traffic light in a green light state to the driving object based on the current position of the driving object.

Further, the method further comprises:

acquiring the current position of the driving object;

determining a current distance of the driving object to a front traffic light based on the current position;

determining a recommended travel speed of the traveling object through a single traffic light ahead in a green light state based on the current distance, a current time, the pre-light queue dissipation feature, and the green light duration interval.

Further, determining a recommended travel speed of the traveling object through a single preceding traffic light in a green light state based on the current distance, the current time, the pre-light queue dissipation feature, and the green light duration interval, includes:

when the current moment is in a green light duration interval of the traffic light, determining a lower limit value of the recommended driving speed based on a first passing speed, and setting an upper limit value of the recommended driving speed as a first preset fixed value;

when the current moment is in the non-green light duration time interval of the traffic light, determining an upper limit value of the recommended driving speed based on a second passing speed, and setting a lower limit value of the recommended driving speed as a second preset fixed value; the first passing light speed is less than a second passing light speed and is determined based on the current distance, the current time, a pre-light queue dissipation characteristic, and the green light duration interval.

In a second aspect, an embodiment of the present invention provides a navigation method, where the navigation method includes:

acquiring a planned path from a navigation starting place to a navigation destination;

determining a green light passing time interval corresponding to a target road on the planned path by using the method of the first aspect;

and outputting relevant information of passing the front traffic light for the navigated object based on the current position of the navigated object and the green light passing time interval.

In a third aspect, an embodiment of the present invention provides a time interval determining apparatus, where the time interval determining apparatus includes:

a first acquisition module configured to acquire traffic light data on a target road; the traffic light data comprises road traffic speed, front-of-light queue dissipation characteristics, traffic light spatial topology characteristics and traffic light signal time characteristics;

the first determination module is configured to determine a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data; wherein the green light passing time interval indicates that when the target time for the traveling object to reach the target position is within the green light passing time interval, the traveling object can pass through the traffic light in a green light state.

In a fourth aspect, an embodiment of the present invention provides a navigation device, including:

the third acquisition module is configured to acquire a planned path from a navigation starting place to a navigation destination;

a sixth determining module, configured to determine, by using the apparatus in the third aspect, a green light passing time interval corresponding to a target road on the planned path;

a second output module configured to output the related information of passing the front traffic light for the navigated object based on the current position of the navigated object and the green light passing time interval.

The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.

In one possible design, the apparatus includes a memory configured to store one or more computer instructions that enable the apparatus to perform the corresponding method, and a processor configured to execute the computer instructions stored in the memory. The apparatus may also include a communication interface for the apparatus to communicate with other devices or a communication network.

In a fifth aspect, the disclosed embodiments provide an electronic device, comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of the above aspects.

In a sixth aspect, the disclosed embodiments provide a computer-readable storage medium for storing computer instructions for use by any of the above apparatuses, the computer instructions, when executed by a processor, being configured to implement the method of any of the above aspects.

In a seventh aspect, the disclosed embodiments provide a computer program product comprising computer instructions, which when executed by a processor, are configured to implement the method of any one of the above aspects.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

the traffic light data on the target road is obtained, and the traffic light data comprises road traffic speed, in-front queue dissipation characteristics, traffic light space topological characteristics and traffic light signal time characteristics on the target road; after a driving object is mined to reach a target position in front of any traffic light on a target road based on traffic data, a green light passing time interval which can directly pass through the traffic light in front in a green light state from the target position is determined. After the green light passing time interval is mined out, the green light passing time interval can be used for recommending the driving speed for the driving object in applications such as online navigation, and the driving object is guided to smoothly pass through the front traffic light under the condition of driving based on the recommended driving speed. According to the traffic light passing time interval mining method and device, the green light passing time interval capable of passing the traffic light on the target road is mined in real time, the running speed of the traffic light is recommended for the running object in advance, the running object is guided to safely pass through the traffic light in front, the probability of red lights of the running object and the like is reduced, and the passing efficiency of the intersection is integrally improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

fig. 1 illustrates a flowchart of a time interval determination method according to an embodiment of the present disclosure.

Fig. 2A-2B are schematic diagrams illustrating the effect of the correspondence between the green light passing time interval and the green light duration interval on the target road according to an embodiment of the disclosure.

Fig. 3 shows a schematic diagram of a single lamp-passing effect according to an embodiment of the present disclosure.

Fig. 4 shows a flow chart of a navigation method according to an embodiment of the present disclosure.

Fig. 5 shows a block diagram of a time interval determination apparatus according to an embodiment of the present disclosure.

Fig. 6 shows a block diagram of a navigation device according to an embodiment of the present disclosure.

Fig. 7 is a schematic structural diagram of an electronic device suitable for implementing a time interval determination method and/or a navigation method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, actions, components, parts, or combinations thereof, and do not preclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof are present or added.

It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the prior art, related personnel propose to realize green wave bands by controlling the traffic light state of a traffic light, and the mode is static data; the method also has the functions of providing traffic light state information, green light starting reminding, light passing speed recommending, red light running early warning, road information broadcasting and the like for users based on a vehicle-road cooperative system, and displays the functions by accessing the static data.

Therefore, the embodiment of the disclosure provides a time interval determining method, in the method, traffic light data on a target road is obtained, and the traffic light data comprises a road traffic speed, a pre-light queuing dissipation characteristic, a traffic light space topological characteristic and a traffic light signal time characteristic on the target road; after a driving object is mined to reach a target position in front of any traffic light on a target road based on traffic data, a green light passing time interval which can directly pass through a front traffic light from the target position in a green light state is determined. After the green light passing time interval is mined out, the green light passing time interval can be used for recommending the driving speed for the driving object in applications such as online navigation, and the driving object is guided to smoothly pass through the front traffic light under the condition of driving based on the recommended driving speed. According to the traffic light passing time interval (namely the bandwidth of the green wave band) capable of passing the traffic light on the target road is mined in real time, the running speed (namely the belt speed of the green wave band) of the traffic light is recommended for the running object in advance, the running object is guided to safely pass through the traffic light in front, the probability of red lights such as the running object is reduced, and the passing efficiency of the intersection is integrally improved.

Compared with the prior art, the traffic light real-time traffic analysis method and the traffic light real-time traffic analysis system have the advantages that the traffic light real-time traffic analysis method and the traffic light real-time traffic analysis system carry out empirical analysis on the basis of actual data of traffic lights, and real-time road characteristics (such as road conditions, queuing dissipation characteristics, road traffic speed and the like) are considered by combining big data of a driving object; the embodiment of the disclosure can guide the real-time speed of the driving object based on the real-time dynamic data of the driving object, increase the passable probability of the driving object on the target road, and further improve the data coverage.

The details of the embodiments of the present disclosure are described in detail below with reference to specific embodiments.

Fig. 1 illustrates a flowchart of a time interval determination method according to an embodiment of the present disclosure. As shown in fig. 1, the time interval determining method includes the steps of:

in step S101, traffic light data on a target road is acquired; the traffic light data comprises road traffic speed, front-of-light queue dissipation characteristics, traffic light spatial topology characteristics and traffic light signal time characteristics;

in step S102, based on the traffic light data, determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road; wherein the green light passing time interval indicates that when the target time for the traveling object to reach the target position is within the green light passing time interval, the traveling object can pass through the traffic light in a green light state.

In this embodiment, the time interval determining method may be executed on the server and/or the client. The target road may be a road to be dug in the "green band". In some embodiments, the target road may be a straight road, and one or more traffic lights may be disposed on the target road.

Traffic light data on a target road may include road speed of travel, pre-light queuing dissipation characteristics, traffic light spatial topology characteristics, and traffic light signal time characteristics, among others.

In some embodiments, the road traffic speed may be a speed of a traveling object on a target road, and the road traffic speed may be different before different traffic lights on different roads. In some embodiments, the driving object may be a vehicle, a smart driving object, or the like. In some embodiments, the road traffic speed may be aggregated based on historical traffic speeds of historical vehicles on the target road, and the road traffic speed may reflect traffic capacity on the target road. In addition, after the speed is obtained by aggregating the historical traffic speeds of the historical vehicles running on the target road, the speed can be corrected by using the speed limiting characteristic of the target road, so that the corrected road traffic speed is not higher than the speed limit of the target road. In addition, the corrected road running speed can be multiplied by 5 from top to bottom, so that the road running speed is integral multiple of 5. And the road passing speed is multiplied by 5, so that when the road passing speed is recommended to a user, the user can more intuitively understand the speed value.

In some embodiments, the pre-light queue dissipation characteristic may be a correspondence between a queue length of a traveling object passing a green light, such as a queue in front of a traffic light on the target road, and a time taken to pass the green light. For example, if the time from when a vehicle in a queue 100 meters ahead of a traffic light turns green to when the vehicle passes the green light is 10 seconds, the queue length is 100 meters, and the corresponding queue waiting time is 10 seconds. In some embodiments, the queue-waiting time corresponding to the range of the queue length before the traffic light with any value can be counted in advance to form the front-of-light queue dissipation characteristic.

In some embodiments, the in-front-of-light queue dissipation feature may be constructed by capturing floating vehicle trajectory data within the traffic light influence range, inferring the location of the floating vehicle at the intersection at which it parks and the time it takes to pass through the intersection. In the construction process, abnormal samples can be filtered out firstly, then the parking position of a single vehicle and the time for the single vehicle to pass through the intersection are calculated, then all vehicles in a certain time range are counted, the characteristics of the vehicles at the intersection are aggregated, and finally the dissipation characteristics of the front queue of the vehicle with the dimension of minutes are calculated, namely the corresponding relation between the length of the tail queue of the corresponding traffic light and the time for the vehicle at the tail queue to pass through the traffic light in each minute in one day is obtained, namely the dissipation characteristics of the front queue of the vehicle comprise the corresponding relation between the length of the front queue of the vehicle and the dissipation time of the queue of the vehicle. In some embodiments, in order to improve the real-time performance of the data, the functional relation between the queue length before the lamp and the queue dissipation time is captured, so that the client calculates the queue dissipation time of the traveling object based on the functional relation in the real-time guiding process of the traveling object. In some embodiments, the pre-lamp queuing dissipation characteristics may be different for different traffic lamps.

In some embodiments, the traffic light spatial topological relationship may include, but is not limited to, the spatial location of the traffic light on the target road, and in the case of multiple traffic lights, the relative positional relationship between the multiple traffic lights, and the like.

In some embodiments, the traffic light signal time characteristic may include, but is not limited to, a sequence of time duration intervals of three signal states of red, yellow, green, and the traffic light, the time duration intervals including a start time and an end time of the respective signal state. For example, the sequence of duration intervals of the green light state of a certain traffic light a on the target road may be represented as: [ t0, t1] [ t2, t3] … … [ tn-1, tn ]; where [ t0, t1] assumes the green duration interval of the first green state, and [ t2, t3] assumes the green duration interval of the second green signal, and so on.

The traffic light signal time characteristic may be calculated based on an actual light change condition of the traffic light on the target road, and specific details may be referred to in the prior art, which is not limited herein. Of course, the traffic light signal time characteristic may also be provided by the relevant department.

After the traffic light data is obtained, a green light passing time interval that the traveling object can pass through the traffic light in a green light state after the traveling object reaches a certain target position on the target road before the traffic light can be determined based on the traffic light data. In some embodiments, considering that in an online application, a recommended travel speed capable of passing through a traffic light ahead in a green light state needs to be provided to a traveling object in advance, a preset distance range may be set, and after the traveling object enters the preset distance range, it may be predicted whether or not the traveling object can pass through the traffic light ahead in the green light state, and the recommended travel speed in a case where the traveling object can pass through.

In order to achieve the above purpose, it may be determined that a plurality of positions are selected within the preset distance range, and a corresponding green light passing time interval is determined for each selected position, and the target position may be one of the selected positions. The green light passing time interval may be a green light passing time interval for a single traffic light, or may be a green light passing time interval for a plurality of traffic lights which are consecutive in front of and behind. The green light-passing time interval for a single traffic light indicates that the travel object may pass through a single traffic light ahead in a green light state if the travel object travels at the recommended travel speed when the target time for the travel object to travel to the target position is in the green light-passing time interval. When the target time for the traveling object to travel to the target position is in the green light passing time period, the traveling object may pass through the plurality of traffic lights in front in the green light state. The green light passing time interval corresponding to a plurality of continuous target positions in a distance range is equivalent to the bandwidth of the above mentioned "green band", and the time interval corresponding to the "green band" is driven from the target position at a certain speed, namely, the front single or a plurality of traffic lights can pass through in the green state.

In some embodiments, the preset distance range may be predefined based on the requirements of the actual application, and the preset distance range may be a preset distance range before any traffic light on the target road, for example, a distance range of 200-250 meters before the traffic light. In some embodiments, where a plurality of traffic lights are provided in succession on the target road, the preset distance range may be a distance range before the first traffic light. Of course, in other embodiments, in the case that a plurality of traffic lights are continuously arranged on the target road, the preset distance range may be arranged for one or more of the traffic lights, a plurality of preset distance ranges may be arranged, and the green light passing time interval of the traffic light is determined for each position in each preset distance range.

In some embodiments, the green light passing time interval may correspond to a green light duration interval of a traffic light. The green light duration interval may be a sequence of time intervals corresponding to successive periods of the green light state, that is, the green light duration interval of the traffic light is a series of green light duration intervals, each green light time-passing interval corresponding to one of the series of green light duration intervals, upper and lower boundary values of the green light time-passing interval being associated with upper and lower boundary values of the corresponding green light duration interval, for example, an upper boundary value (a boundary value earlier in time) of the green light time-passing interval is a value obtained by taking into account a travel time of a current distance from the target position to the traffic light and a queuing waiting time based on an upper boundary value (a boundary value earlier in time) of the corresponding green light duration interval, a lower boundary value (a boundary value later in time) of the green light time-passing interval is a value obtained by taking into account a travel time of a current distance from the target position to the traffic light based on a lower boundary value (a boundary value later in time) of the corresponding green light duration interval, that the upper boundary value of the green light duration interval is a linear relationship between the upper boundary value of the green light duration and the green light duration interval, that is a linear relationship between the upper boundary value of the green light duration and the green light duration interval.

In some embodiments, the green light passing time interval of the traffic light may be the green light passing time interval of one of the traffic lights on the target road. In other embodiments, the green light passing time interval of the traffic light may also be a green light passing time interval of a plurality of continuous traffic lights on the target road, and when the driving object can drive at a target position corresponding to the green light passing time interval at a certain speed, the driving object can continuously pass through the plurality of traffic lights in a green light state. In other embodiments, the green light passing time interval may also be a green light passing time interval of a part of the continuous multiple traffic lights on the target road, for example, three traffic lights are disposed on the target road, and then a green light passing time interval corresponding to any one of the three traffic lights, a green light passing time interval corresponding to two consecutive traffic lights before and after, and/or a green light passing time interval corresponding to three consecutive traffic lights, etc. may be determined respectively. It is understood that the green light passing time interval is associated with the traffic light and the position before the traffic light, and means that when the vehicle travels to the position before the one or the plurality of traffic lights and associated with the green light passing time interval at any time within the green light passing time interval, the traveling object can travel through the one or the plurality of traffic lights in the green light state at a certain speed.

In some embodiments, the target position may be any one position within a preset distance range, and the corresponding green light passing time interval may be calculated in advance for each position within the preset distance range.

In some embodiments, the green light passing time interval may be predetermined at the server, and the server issues the green light passing time interval and other related data to the client. In other embodiments, the green light passing time interval may also be determined directly at the client in real time.

Through the method, the green light passing time intervals corresponding to all positions in the preset distance range in front of the traffic light can be excavated aiming at the target road, so that the bandwidth of the 'green wave band' is formed.

The green light passing time interval can be applied to position-based online service, for example, in an online navigation process, the navigation system can determine whether the traveling object can pass through the front traffic light, the number of the traffic lights which can pass through the traveling object at the maximum and the like based on the current position and the current moment of the traveling object, further determine the recommended traveling speed of the traveling object passing through the front traffic light, and output the information to the traveling object.

In some embodiments, after the green light passing time interval corresponding to all or part of the positions in the preset distance range is determined, the driving speed can be recommended to the driving object in real time. The client of the driving object can acquire the current position of the driving object in real time, and when the current position is within the preset distance range, determine a green light passing time interval corresponding to the current position, and determine whether the current time is within the green light passing time interval. The recommended traveling speed may be a road traveling speed corresponding to the front traffic light, and the road traveling speeds may be different when the front traffic light is different.

When the driving object is a common vehicle, the recommended driving speed can be displayed to the driver of the driving object by the client in the form of voice or pictures to guide the driver to select the recommended driving speed for driving, so that the driver can sequentially pass through the front traffic lights in a green light state. When the driving object is the intelligent driving object, the recommended driving speed can be pushed to a control system of the intelligent driving object, so that the control system can control the intelligent driving object to drive at the recommended driving speed.

The traffic light data on the target road is obtained, and the traffic light data comprises road traffic speed, in-front queue dissipation characteristics, traffic light space topological characteristics and traffic light signal time characteristics on the target road; after a driving object is mined to reach a target position in front of any traffic light on a target road based on traffic data, a green light passing time interval which can directly pass through a front traffic light from the target position in a green light state is determined. After the green light passing time interval is mined out, the green light passing time interval can be used for recommending the driving speed for the driving object in applications such as online navigation, and the driving object is guided to smoothly pass through the front traffic light under the condition of driving based on the recommended driving speed. According to the traffic light passing time interval mining method and device, the green light passing time interval capable of passing the traffic light on the target road is mined in real time, the running speed of the traffic light is recommended for the running object in advance, the running object is guided to safely pass through the traffic light in front, the probability of red lights of the running object and the like is reduced, and the passing efficiency of the intersection is integrally improved.

In an optional implementation manner of this embodiment, the traffic light spatial topological feature includes a spatial position relationship of a plurality of traffic lights that are consecutively arranged in front of and behind the target road; step S102, namely, determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data, further comprising the following steps:

In this alternative implementation, the spatial topological feature of the traffic light includes a spatial position relationship of a plurality of traffic lights consecutively arranged in front and behind on the target road, and the spatial position relationship may include, but is not limited to, a position of each traffic light, a relative position relationship between two adjacent traffic lights in front and behind, and the like. The preset distance range may be a preset distance range before a first traffic light of a plurality of traffic lights arranged in series, and the first traffic light may be understood as a first encountered traffic light when the traveling object travels on the target road. Whether the traveling object enters the preset distance range and the distance from the traveling object to the first traffic light can be determined based on the spatial position of the first traffic light and the current position of the traveling object, and the distances from the traveling object to other traffic lights can be determined based on the relative positional relationship between the traffic lights and the distance from the traveling object to the first traffic light.

In this embodiment, it may be determined, based on the traffic light data, that the driving object continuously drives from the target position within the preset distance range through the green light passing time interval of the plurality of traffic lights on the target road, that is, after the driving object reaches the target position in the green light passing time interval, the driving object may pass through the first traffic light in the green light state, and continuously pass through the subsequent one or more traffic lights in the green light state without stopping.

It should be noted that, it may also be determined that, for each traffic light, a green light passing time interval that can separately pass through each traffic light is determined, and it may be understood that, a green light passing time interval corresponding to a plurality of consecutive traffic lights is an intersection of green light passing time intervals corresponding to each of the plurality of consecutive traffic lights.

If three continuous traffic lights are arranged on the target road, the single green light passing time interval of the first traffic light is green1, the single green light passing time interval of the second traffic light is green2, the single green light passing time interval of the third traffic light is green3, the green light passing time interval of the green light signals passing through the first traffic light and the second traffic light continuously is the intersection of green1 and green2, the green light passing time interval of the green light signals passing through the first traffic light and the third traffic light continuously is green1, the intersection of green2 and green3, and the green light passing time interval of the green light signals passing through the second traffic light and the third traffic light continuously is the intersection of green2 and green 3.

In an optional implementation manner of this embodiment, the front queue dissipation feature includes a queue length-to-time length correspondence between the front queue length of the traffic light and a time length of the tail queue passing through the traffic light in a green light state; the traffic light signal time characteristic comprises a green light duration interval of the traffic light; step S102, namely, determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data, further comprising the following steps:

determining the queuing waiting time of the running object before passing through the traffic light based on the corresponding relation between the queue length and the time;

In this alternative implementation, with any one position within a preset distance range as a target position, an offset time of the traveling object from the target position to the traffic light currently aimed at the road traveling speed is determined, and the offset time may be obtained by dividing the distance from the target position to the traffic light by the road traveling speed. In some embodiments, the traffic light currently being addressed may be the first traffic light on the target road.

The time period from the driving object driving to the traffic light from the target position depends not only on the distance and the driving speed, but also on whether there are other vehicles in front of the driving object queuing the traffic light in practical application. Therefore, the queuing waiting time of the traveling object in front of the traffic light can be determined based on the corresponding relation between the queue length and the duration in the embodiment of the disclosure.

In some embodiments, the process of calculating the queuing time may be completed in advance at the server side, or may be calculated in real time at the client side. When the server calculates in advance, any distance between the target position and the traffic light can be used as an actual queue length, corresponding queuing waiting time is determined, and then the queuing waiting time corresponding to all calculated actual queue lengths is sent to the client, so that the client can conveniently calculate the queuing waiting time corresponding to the actual queuing queue length of the target road where the driving object is located based on online application. Of course, it can be understood that, when the server is implemented, the server may also calculate the queue waiting time in real time for the traveling object, and the server may estimate in advance a queue length of the traveling object that has been queued up by the current traffic light based on the vehicle on the target road, and then determine the queue waiting time based on the queue length and the above-mentioned correspondence between the queue length and the time. For example, the server may calculate the queue length before the traffic light and the queue time corresponding to the queue length in the order of minutes, and may update the queue length once per minute; in this way, when the green light passing time interval is calculated for the traveling object, the latest queue waiting time may be used as it is.

Similarly, when the client calculates in real time, the server can send the corresponding relation between the queue length and the time to the client in advance, and in the online application process, the server can also send the queue length in front of the traffic light in front of the traveling object to the client in real time, and the client can calculate the queue waiting time based on the queue length and the corresponding relation between the queue length and the time. It is to be understood that the above is only one implementation of calculating the queue waiting time, and the embodiments of the present disclosure may also calculate the queue waiting time in other manners, as long as the embodiments of the present disclosure can determine the queue waiting time of the traveling object before the traffic light based on the correspondence relationship between the length of the queue and the time.

The green light passing time interval may be determined based on the offset time, the queue wait time, and the green light duration interval determined above. As described above, the green light passing time interval represents a time interval determined by the maximum time offset and the minimum time offset that the traveling object can pass without stopping when traveling from the current position to the traffic light ahead. Under the condition of the maximum time offset, the maximum boundary value of the green light duration interval is exactly when the driving object drives to the traffic light from the current position, namely the previous moment when the green light state corresponding to the green light duration interval is ended, and the maximum boundary value represents that the driving object passes through the traffic light at the last moment of the green light state after driving to the traffic light from the current position; and under the condition of the minimum time deviation, the time when the driving object drives to the traffic light from the current position is exactly the minimum boundary value of the green light duration interval, namely the time when the green light state corresponding to the green light duration interval starts, which indicates that the driving object passes through the traffic light at the first time of the green light state after driving to the traffic light from the current position.

In addition, it takes time for the traveling object to travel to the traffic light, and other vehicles that have queued up the traffic light may be encountered when the traveling object travels to the traffic light according to the actual road condition, and therefore the queuing time needs to be taken into consideration. Therefore, the green light passing time interval corresponding to the current position of the driving object can be obtained after the offset time from the driving of the driving object to the traffic light and the queuing waiting time are considered on the basis of the maximum boundary value and the minimum boundary value of the green light duration interval. That is, when the time at which the traveling object arrives at the current position is in the green light passing time interval, the traveling object can pass through the traffic light in the green light state.

In an optional implementation manner of this embodiment, the green light duration time interval includes time intervals corresponding to a plurality of continuous green light states of the same traffic light; a step of determining a green light passing time interval during which a traveling object arriving at the target position passes through the traffic light in a green light state based on the green light duration interval, the offset time, and the queue waiting time, further comprising the steps of:

and determining the passing end time of each section in the green light passing time section based on the green light end time and the offset time of each section in the green light duration time sections corresponding to a plurality of continuous green light states.

In this optional implementation manner, the green light duration interval may include a plurality of green light duration intervals corresponding to a plurality of continuous green light states of the traffic light, and the traffic light is in a green light state in each green light duration interval. The green light passing time interval may also include a plurality of green light passing time intervals, each corresponding to each green light duration interval. The pass start time of each green light time-lapse interval is determined by the green light start time, the offset time, and the queue waiting time of the corresponding green light duration interval, and the pass end time of each green light time-lapse interval is determined by the green light end time and the offset time of the corresponding green light duration interval.

Fig. 2A-2B are schematic diagrams illustrating the effect of the correspondence between the green light passing time interval and the green light duration interval on the target road according to an embodiment of the disclosure. Assuming that the target road includes three traffic lights arranged in series, as shown in fig. 2A, a green light passing time interval corresponding to a single traffic light, i.e., a first traffic light, is shown by a thick and short line group, a green light passing time interval corresponding to two traffic lights, i.e., a first traffic light and a second traffic light, is shown by a thin and short line group, and a green light passing time interval corresponding to three traffic lights, i.e., a first traffic light to a third traffic light, is shown by a long and thin dashed line group. As can be seen from fig. 2A, the green light passing time interval shown by each different line group can be understood as a bandwidth of a "green band" showing a correspondence relationship between a target position (indicated by a distance from the first traffic light in fig. 2A) and a time interval indicated by the "green band", indicating that when the traveling object reaches the target position within the time interval, the traveling object can pass through the corresponding traffic light in a green light state. The slope of these line groups in fig. 2A can be understood as the band velocity of the corresponding "green band", indicating that the traveling object can pass through the corresponding traffic light in the green state while traveling from the target position to the traffic light at that velocity. The speed is determined based on the road travel speed.

As shown in fig. 2B, at a target position within a preset distance range, a time offset1 (time _ offset 1) of the traveling object from the first traffic light is calculated based on a division of the distance (offset) between the target position and the first traffic light by a road traveling speed (kmph 1) corresponding to the first traffic light, a time offset2 (time _ offset 2) of the traveling object from the second traffic light is calculated based on a division of a distance (dist 12) between the first traffic light and the second traffic light by a road traveling speed (kmph 2) corresponding to the second traffic light, and a time offset1 is added, and a time offset 3 of the traveling object from the third traffic light is calculated based on a division of a distance (dist 23) between the second traffic light and the third traffic light by a division of a road traveling speed (kmph 3) corresponding to the third traffic light, and a time offset2 is added.

Assume that the green light duration periods for three traffic lights are as follows:

the green period [ t00, t01], [ t02, t03] … … of the 1 st traffic light, and the queue dissipation time of the 1 st traffic light, that is, the queue tail light passing time is wait _ time1.

The green period [ t10, t11] < u [ t12, t13] … … of the 2 nd traffic light, and the queue dissipation time of the 2 nd traffic light, that is, the queue tail light passing time is wait _ time2.

The green period [ t20, t21], [ t22, t23] … … of the 3 rd traffic light, and the queue dissipation time of the 3 rd traffic light, that is, the queue tail light passing time is wait _ time3.

Then the green light passing time interval during which the 1 st traffic light can be passed at the target location is:

green1＝[t00-time_offset1+wait_time1,t01-time_offset1]

∪[t02-time_offset1+wait_time1,t01-time_offset1]

∪……

then the green light passing time interval during which the 2 nd traffic light can be passed at the target location is:

green2＝[t10-time_offset2+wait_time2,t11-time_offset2]

∪[t12-time_offset2+wait_time2,t13-time_offset2]

∪……

then the green light passing time interval during which the 3 rd traffic light can be passed at the target location is:

green3＝[t20-time_offset3+wait_time3,t21-time_offset3]

∪[t22-time_offset3+wait_time3,t23-time_offset3]

∪……

the green wave of 2 lights, that is, the green light passing time interval of the first traffic light and the second traffic light in succession is:

geen1∩green2

the green wave of 3 lights, that is, the green light passing time interval from the first traffic light to the third traffic light is:

geen1∩green2∩green3。

by analogy, if n traffic lights exist on the target road, the theoretical time of the n green waves can be calculated.

In an optional implementation manner of this embodiment, the method further includes the following steps:

In this alternative implementation, a corresponding green light passing time interval may be determined for each traffic light on the target road, for example, in the manner shown in fig. 2B. After the green light passing time interval of each traffic light is determined, the intersection of the green light passing time intervals corresponding to a plurality of traffic lights can be obtained, and the maximum number of the plurality of traffic lights with the intersection not empty can be determined as the number of the traffic lights which can be continuously passed by the driving object from the target position in the green light state.

acquiring the current position of the driving object;

In this alternative implementation manner, when the service end determines that the driving object is at each target position within the preset distance range, the green light passing time interval corresponding to one and/or a plurality of continuous traffic lights may be determined. And in the online application, for example, during online navigation, after it is detected that the driving object enters the preset distance range, the green light passing time interval corresponding to the target position matched with the current position may be acquired. That is, the green light passing time intervals corresponding to the respective target positions are predetermined, and after the current position is acquired, the green light passing time interval corresponding to the target position (for example, the target position equal to the current position) matching the current position is determined as the green light passing time interval corresponding to the current position. And determining recommendation information of the traffic lights which can be passed by the driving object in the green light state at the current position based on the green light passing time interval, wherein the recommendation information can include but is not limited to the maximum number of the traffic lights which can be passed by the driving object in the non-stop state, traffic light identification, recommended driving speed and the like. The recommended travel speed may be determined based on a road travel speed.

In some embodiments, when it is determined that the driving object is at each target position within the preset distance range, the green light passing time interval corresponding to the traffic light may be executed on the client, and the client outputs the green light passing time interval at the current position, the recommended driving speed, and the like for the driving object based on the determined green light passing time interval after detecting that the driving object enters the preset distance range. The object traveling at the recommended travel speed can pass through the recommended one or more traffic lights without stopping the vehicle.

In some embodiments, the recommended travel speed may be equal to the road travel speed.

It should be further noted that, in other embodiments, the client may also determine the green light passing time interval corresponding to one and/or more continuous traffic lights when the driving object is at a partial position within the preset distance range. And after detecting that the driving object reaches a part of the position of the preset distance range, the client outputs the recommendation information to the driving object.

In this optional implementation manner, when it is determined that the driving object is at each target position within the preset distance range, the green light passing time interval corresponding to the traffic light may be executed at the server, and the server pushes information such as the preset distance range, the green light passing time interval corresponding to each target position, and the road traffic speed to the client of the driving object. And after the client of the driving object detects that the driving object enters the preset distance range, the client can acquire the green light passing time interval corresponding to the target position matched with the current position. And determining recommendation information of the traffic lights which can be passed by the driving object in the green light state at the current position based on the green light passing time interval, wherein the recommendation information can include but is not limited to the maximum number of the traffic lights which can be passed by the driving object in the non-stop state, traffic light identification, recommended driving speed and the like. The recommended travel speed may be determined based on a road travel speed. It should be noted that the recommendation information, that is, the green light passing time interval corresponding to any target location, and the form object located at the target location in the green light passing time interval may be determined at the server by the maximum number of traffic lights, the traffic light identifier that can pass, the recommended driving speed, and the like, and the client only needs to push the matched recommendation information to the form object after matching based on the current location is successful.

It should be further noted that, in other embodiments, the server may also determine the green light passing time interval corresponding to one and/or more continuous traffic lights when the driving object is at a partial position within the preset distance range. And after detecting that the driving object reaches a part of the position of the preset distance range, the client outputs the recommendation information to the driving object.

acquiring the current position of the driving object;

In this alternative implementation, for a scene passing through a single traffic light in the green light state, a manner different from the above-described manner of determining the green light passing time interval may be adopted. For a single traffic light, a recommended travel speed through a single traffic light ahead in the last one green light state may be output for the traveling object. The recommended travel speed may include, but is not limited to, a maximum travel speed and a minimum travel speed.

The method includes the steps that whether a driving object can catch up to the nearest green light state or the next green light state of a front traffic light can be determined based on a green light duration interval, the current distance between the driving object and the traffic light, the current time, the road driving speed and the front queue dissipation characteristic, and then the recommended driving speed of the driving object is determined based on the green light duration interval of the corresponding green light state, the current distance between the driving object and the front traffic light and the road driving speed, the recommended driving speed can comprise a maximum driving speed and a minimum driving speed, the maximum driving speed represents the speed capable of passing the light when the green light state is started, and the minimum driving speed is the speed capable of ensuring that the front traffic light can be smoothly passed before the green light state is ended.

In an optional implementation manner of this embodiment, the step of determining the recommended traveling speed of the traveling object through a single traffic light ahead in the green light state based on the current distance, the current time, the pre-light queuing dissipation characteristic, and the green light duration interval further includes the following steps:

when the current moment is in the non-green light duration time interval of the traffic light, determining an upper limit value of the recommended driving speed based on a second passing speed, and setting a lower limit value of the recommended driving speed as a second preset fixed value; the first lamp passing speed is less than a second lamp passing speed, and is determined based on the current distance, the current time, a pre-lamp queue dissipation characteristic, and the green light duration interval.

In this alternative implementation, if the current time is in the green light duration interval of the front traffic light, that is, the front traffic light is currently in the green light state, the lower limit value of the recommended traveling speed may be determined based on the first passing speed, the lower limit value may be understood as the minimum recommended traveling speed of the recommended traveling speed, and the upper limit value of the recommended traveling speed may be directly set to a first preset fixed value, for example, 60. The reason why the lower limit value of the recommended travel speed is determined in this scene is that the traffic light ahead is already in the green state, and if the traffic light is to be passed through in the green state, the vehicle needs to travel to the position before the traffic light is ended before the green state is ended, so the travel speed cannot be too low, and if the travel speed is too low, the green state may be ended when the traffic light is reached.

The first passing-light speed is determined based on a current distance of the traveling object from the front traffic light, a current time, a pre-light queue dissipation characteristic corresponding to the front traffic light, and a green light duration interval of a current green light state of the front traffic light.

In some embodiments, the first passing light speed may be determined based on a current distance between the traveling object and the front traffic light divided by a time that the traveling object travels from the current location to the front traffic light, which may then be based on a difference between the current time and an end time of the current green light state of the front traffic light.

If the current time is in the non-green duration interval of the traffic light ahead, i.e., if the traffic light ahead is currently in the red light state (assuming that only the red light state and the green light state of the traffic light ahead are considered), the upper limit value of the recommended travel speed, which may be understood as the maximum recommended travel speed of the recommended travel speed, may be determined based on the second passing speed, and the lower limit value of the recommended travel speed may be directly set to a second preset fixed value, such as 25. The reason why the upper limit value of the recommended driving speed is determined in the scene is that the traffic light in front is in a non-green light state currently, and if the driving speed is too high, the next green light state is not started yet when the traffic light arrives, and a parking wait is needed, so that the driving speed cannot be too high.

The second passing speed is determined based on a current distance of the traveling object from the traffic light in front, a current time, a pre-light queue dissipation characteristic corresponding to the traffic light in front, and a green light duration interval of a current green light state of the traffic light in front.

In some embodiments, the second passing light speed may be determined based on a current distance between the traveling object and the front traffic light divided by a time that the traveling object travels from the current location to the front traffic light, which may then be based on a difference between the current time and a next green light state start time of the front traffic light.

In some embodiments, the first preset fixed value and the second preset fixed value are an upper speed limit value and a lower speed limit value that can be used by the traveling object on the target road, and the first preset fixed value is greater than the second preset fixed value, which may be predetermined. The main reason for setting these two values is that different roads have speed limit characteristics based on which the two preset fixed values need to be set.

One implementation of a single traffic light passing speed recommendation procedure is illustrated below:

fig. 3 shows a schematic diagram of a single lamp-passing effect according to an embodiment of the present disclosure. As shown in fig. 3, t0-t1 are red light duration time intervals of the traffic light ahead, t1-t3 are next green light duration time intervals, and it is assumed that the current time of the traveling object is between t0-t1, that is, the traffic light ahead of the current time is in a non-green light duration time interval, and time t2 is the time when all vehicles ahead of the traveling object pass through the traffic light ahead in the next green light state.

Assuming that the current time is within the green duration interval [ t1, t3], suggesting a recommended travel speed interval of the travel subject: [ max (first passing speed, 25), 60], that is, the lower limit value of the recommended travel speed is the maximum value of the first passing speed and 25, and the upper limit value is a fixed value 60.

Assuming that the current time is within the red light duration interval [ t0, t1], suggesting a recommended travel speed interval of the travel subject: [ max (first passing speed, 30), min (second passing speed, 50) ], that is, the upper limit value of the recommended travel speed is the minimum value of the second passing speeds and 50, and the lower limit value is a fixed value 30.

The first passing speed = the distance of the driving object from the front of the lamp/(| user time-upper limit of passing time |);

maximum passable lamp speed = distance of user from lamp/(| user time-passable lamp time lower limit |);

energy over-lamp time = [ queue dissipation time (t 2), green light red time (t 3) ];

to make the user understand the recommended speed more, the recommended speed may be taken as a multiple of 5:

first passing speed: taking a multiple of 5 upwards, and if 42 is calculated, taking 45;

second passing speed: the number of 5 is taken down, and if 42 is calculated, 40 is taken.

FIG. 4 illustrates a flow chart of a navigation method according to an embodiment of the present disclosure. As shown in fig. 4, the navigation method includes the following steps:

in step S401, a planned path from a navigation origin to a navigation destination is acquired;

in step S402, determining a green light passing time interval corresponding to the target road on the planned path by using the traffic light passing time determination method;

in step S403, the relevant information of passing the traffic light ahead is output for the navigated object based on the current position of the navigated object and the green light passing time interval.

In this embodiment, the navigation method may be executed on the server and/or the client. The planned path from the navigation origin to the navigation destination may be planned by the navigation system. After the planned path is obtained from the navigation system, the related roads on the planned path can be used as target roads, and the corresponding green light passing time intervals are respectively determined by using the traffic light passing time determination method. The target road may be a road to be dug in the "green band". In some embodiments, the target road may be a straight road, and one or more traffic lights may be disposed on the target road.

The traffic light data on the target road may include road speed of travel, pre-light queue dissipation characteristics, traffic light spatial topology characteristics, and traffic light signal time characteristics, among others.

In some embodiments, the road traffic speed may be the speed of the navigated object traveling on the target road, and the road traffic speed may be different in front of different traffic lights on different roads. In some embodiments, the navigated object may be a vehicle, a smart driving object, or the like. In some embodiments, the road traffic speed may be aggregated based on historical traffic speeds of historical vehicles on the target road, and the road traffic speed may reflect traffic capacity on the target road. In addition, after the speed is obtained by using the aggregation of the historical traffic speeds of the historical vehicles running on the target road, the speed can be corrected by using the speed limit characteristic of the target road, so that the corrected road traffic speed is not higher than the speed limit of the target road. In addition, the corrected road running speed can be multiplied by 5 from top to bottom, so that the road running speed is integral multiple of 5. And the road passing speed is multiplied by 5, so that when the road passing speed is recommended to a user, the user can more intuitively understand the speed value.

In some embodiments, the pre-light queue dissipation characteristic may be a correspondence between a queue length of a navigated object that passes a green light, such as a traffic pre-light queue on a target road, and a time taken to pass the green light. For example, if the time from when a vehicle in a queue 100 meters ahead of a traffic light turns green to when the vehicle passes the green light is 10 seconds, the queue length is 100 meters, and the corresponding queue waiting time is 10 seconds. In some embodiments, the queue-waiting time corresponding to the range of the queue length before the traffic light with any value can be counted in advance to form the front-of-light queue dissipation characteristic.

In some embodiments, the front-of-light queue dissipation feature can be constructed by capturing floating vehicle track data within the influence range of the traffic light, and deducing the parking position of the floating vehicle at the intersection and the time used by the floating vehicle to pass through the intersection. In the construction process, abnormal samples can be filtered, the parking position of a single vehicle and the time for the single vehicle to pass through an intersection are calculated, then all vehicles within a certain time range are counted, the features of the vehicles at the intersection are aggregated, and finally the dissipation feature of the front queue of the vehicle with the minute dimension is calculated, namely the corresponding relation between the length of the tail of the front queue of the corresponding traffic light and the time taken by the vehicle at the tail of the queue to pass through the traffic light in each minute in the day is obtained, namely the dissipation feature of the front queue of the vehicle comprises the corresponding relation between the length of the front queue of the vehicle and the dissipation time of the queue. In some embodiments, in order to improve the real-time performance of the data, the functional relationship between the queue length before the lamp and the queue dissipation time is captured, so that the client calculates the queue dissipation time of the navigated object based on the functional relationship in the real-time guidance process of the navigated object. In some embodiments, the pre-lamp queuing dissipation characteristics may be different for different traffic lamps.

After the traffic light data is obtained, after the navigated object reaches a certain target position in front of the traffic light on the target road based on the traffic light data, the green light passing time interval of the traffic light can be passed in the green light state. In some embodiments, considering that in an online application, a recommended traveling speed capable of passing through a front traffic light in a green light state needs to be provided to a navigated object in advance, a preset distance range may be set, and after the navigated object enters the preset distance range, it may be predicted whether the navigated object can pass through the front traffic light in the green light state, and the recommended traveling speed in the case of passing.

In order to achieve the above purpose, it may be determined that a plurality of positions are selected within the preset distance range, and a corresponding green light passing time interval is determined for each selected position, and the target position may be one of the selected positions. The green light passing time interval may be a green light passing time interval for a single traffic light, or may be a green light passing time interval for a plurality of traffic lights which are consecutive in front of and behind. The green light passing time interval for a single traffic light indicates that the target time for the navigated object to travel to the target location is in the green light passing time interval, the navigated object may pass through the single traffic light ahead in the green light state if traveling at the recommended travel speed. When the target time for the navigation target to travel to the target position is in the green light passing time interval, the navigation target can pass through a plurality of traffic lights in front in a green light state. The green light passing time interval corresponding to a plurality of continuous target positions in a distance range is equivalent to the bandwidth of the above mentioned "green band", and the time interval corresponding to the "green band" is driven from the target position at a certain speed, namely, the front single or a plurality of traffic lights can pass through in the green state.

In some embodiments, the preset distance range may be predefined based on the requirements of the actual application, and the preset distance range may be a preset distance range before any traffic light on the target road, for example, a distance range of 200-250 meters before the traffic light. In some embodiments, in the case where a plurality of traffic lights are provided in succession on the target road, the preset distance range may be a distance range before the first traffic light. Of course, in other embodiments, in the case that a plurality of traffic lights are continuously arranged on the target road, the preset distance range may be arranged for one or more of the traffic lights, a plurality of preset distance ranges may be arranged, and the green light passing time interval of the traffic light is determined for each position in each preset distance range.

In some embodiments, the green light passing time interval of the traffic light may be the green light passing time interval of one of the traffic lights on the target road. In other embodiments, the green light passing time interval of the traffic light may also be a green light passing time interval of a plurality of continuous traffic lights on the target road, and the navigated object may be capable of continuously passing through the plurality of traffic lights in a green light state when traveling at a certain speed at the target position corresponding to the green light passing time interval. In other embodiments, the green light passing time interval may also be a green light passing time interval of a part of the continuous multiple traffic lights on the target road, for example, if three traffic lights are disposed on the target road, a green light passing time interval corresponding to any one of the three traffic lights, a green light passing time interval corresponding to two consecutive traffic lights, and/or a green light passing time interval corresponding to three consecutive traffic lights, etc. may be determined respectively. It is understood that the green light passing time interval is associated with the traffic light and the position before the traffic light, and means that the navigated object can travel through the one or more consecutive traffic lights in the green light state at a speed when traveling to the position before the one or more consecutive traffic lights associated with the green light passing time interval at any time within the green light passing time interval.

In some embodiments, the green light passing time interval may be predetermined at the server, and the server issues the green light passing time interval and other related data to the client. In other embodiments, the green light passing time interval may also be determined in real time directly at the client.

Through the method, the green light passing time intervals corresponding to all the positions in the preset distance range in front of the traffic light can be excavated aiming at the target road, so that the bandwidth of the 'green wave band' is formed.

The green light passing time interval can be applied to position-based online service, for example, in an online navigation process, a navigation system can determine whether a navigated object can pass through a front traffic light, the number of the traffic lights which can pass through the object at most and the like based on the current position and the current moment of the navigated object, and further can determine the recommended driving speed of the navigated object passing through the front traffic light and output the information to the navigated object.

In some embodiments, before the navigated object reaches the target road on the planned path, the server may determine in advance a green light passing time interval corresponding to all or part of positions within a preset distance range before the first traffic light encountered on the target road, and push the green light passing time interval to the client of the navigated object. The client of the navigated object can acquire the current position of the navigated object in real time, and after the current position is within the preset distance range, determine a green light passing time interval corresponding to the current position, and determine whether the current time is within the green light passing time interval, if the current time is within the green light passing time interval, it can be considered that the navigated object can pass through the front traffic light in a green light state according to a certain driving speed, so that the related information passing through the front traffic light can be output to the navigated object, and the related information can include, but is not limited to, information capable of passing through the front traffic light without stopping, the maximum number of the passing traffic lights, and the corresponding recommended driving speed, and the like. The recommended traveling speed may be a road traveling speed corresponding to the front traffic light, and the road traveling speeds may be different when the front traffic light is different. If the current time is not within the green light passing time interval, the navigated object can be considered to directly pass through the front traffic light under the condition of no stop, at the moment, the related information passing through the front traffic light can not be output to the driving object, and the prompt information which cannot directly pass through the front traffic light can also be output.

When the navigated object is a common vehicle, the recommended traveling speed can be displayed to the driver of the navigated object by the client in the form of voice or pictures to guide the driver to select the recommended traveling speed for traveling, so that the driver can sequentially pass through the front traffic lights in a green light state. When the navigated object is the intelligent driving object, the recommended driving speed can be pushed to a control system of the intelligent driving object, so that the control system can control the intelligent driving object to drive at the recommended driving speed.

According to the embodiment of the disclosure, the planned route from the navigation starting place to the navigation destination is obtained, the green light passing time interval corresponding to the target road related to the planned route is determined based on the traffic light passing time determination method, and then the navigation service is provided for the navigated object based on the current position of the navigated object and the green light passing time interval. According to the embodiment of the disclosure, the green light passing time interval of the traffic light which can pass through the target road is mined in real time, and the related information of the navigated object which is recommended to pass through the front traffic light, such as the driving speed, is recommended in advance, so that the navigated object is guided to safely pass through the front traffic light, the probability of red lights of the navigated object is reduced, and the traffic efficiency of the intersection is integrally improved.

The following are embodiments of the disclosed apparatus that may be used to implement embodiments of the disclosed apparatus.

Fig. 5 shows a block diagram of a time interval determination apparatus according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 5, the time interval determination apparatus includes:

a first obtaining module 501 configured to obtain traffic light data on a target road; the traffic light data comprises road traffic speed, front-of-light queue dissipation characteristics, traffic light spatial topology characteristics and traffic light signal time characteristics;

a first determining module 502, configured to determine, based on the traffic light data, a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road; wherein the green light passing time interval indicates that when the target time for the traveling object to reach the target position is within the green light passing time interval, the traveling object can pass through the traffic light in a green light state.

In this embodiment, the time interval determination apparatus may be executed on the server and/or the client. The target road may be a road to be dug in a "green band". In some embodiments, the target road may be a straight road, and one or more traffic lights may be disposed on the target road.

In some embodiments, the road traffic speed may be the speed of travel of the moving object on the target road, and the road traffic speed may be different before different traffic lights on different roads. In some embodiments, the driving object may be a vehicle, a smart driving object, or the like. In some embodiments, the road traffic speed may be aggregated based on historical traffic speeds of historical vehicles on the target road, and the road traffic speed may reflect traffic capacity on the target road. In addition, after the speed is obtained by using the aggregation of the historical traffic speeds of the historical vehicles running on the target road, the speed can be corrected by using the speed limit characteristic of the target road, so that the corrected road traffic speed is not higher than the speed limit of the target road. In addition, the corrected road running speed can be multiplied by 5 from top to bottom, so that the road running speed is integral multiple of 5. And the road passing speed is multiplied by 5, so that when the road passing speed is recommended to a user, the user can more intuitively understand the speed value.

In some embodiments, the traffic light signal time characteristic may include, but is not limited to, a sequence of time durations of three signal states of red, yellow, and green for the traffic light, the time durations including a start time and an end time for the respective signal state. For example, the sequence of the duration intervals of the green light state of a certain traffic light a on the target road can be expressed as: [ t0, t1] [ t2, t3] … … [ tn-1, tn ]; where [ t0, t1] assumes the green duration interval of the first green state, and [ t2, t3] assumes the green duration interval of the second green signal, and so on.

After the traffic light data is acquired, the green light passing time interval of the traffic light can be passed in the green light state after the traveling object is determined to reach a certain target position on the target road before the traffic light based on the traffic light data. In some embodiments, in consideration of the fact that in an online application, it is necessary to provide a recommended travel speed capable of passing through a front traffic light in a green light state to a traveling object in advance, a preset distance range may be set, and after the traveling object enters the preset distance range, it is predicted whether the traveling object can pass through the front traffic light in the green light state and the recommended travel speed in the case of passing.

In order to achieve the above purpose, it may be determined that a plurality of positions are selected within the preset distance range, and a corresponding green light passing time interval is determined for each selected position, and the target position may be one of the selected positions. The green light passing time interval may be a green light passing time interval for a single traffic light, or may be a green light passing time interval for a plurality of traffic lights which are consecutive in front of and behind. The green light passing time interval for a single traffic light indicates that the travel object may pass through a single traffic light ahead in a green light state if the travel object travels at the recommended travel speed when the target time for the travel object to travel to the target position is in the green light passing time interval. When the target time for the traveling object to travel to the target position is in the green light passing time period, the traveling object may pass through the plurality of traffic lights in front in the green light state. The green light passing time interval corresponding to a plurality of continuous target positions in a distance range is equivalent to the bandwidth of the above mentioned "green band", and the time interval corresponding to the "green band" is driven from the target position at a certain speed, namely, the front single or a plurality of traffic lights can pass through in the green state.

In some embodiments, the green light passing time interval of the traffic light may be the green light passing time interval of one of the traffic lights on the target road. In other embodiments, the green light passing time interval of the traffic light may also be a green light passing time interval of a plurality of continuous traffic lights on the target road, and when the driving object can drive at a target position corresponding to the green light passing time interval at a certain speed, the driving object can continuously pass through the plurality of traffic lights in a green light state. In other embodiments, the green light passing time interval may also be a green light passing time interval of a part of the continuous multiple traffic lights on the target road, for example, if three traffic lights are disposed on the target road, a green light passing time interval corresponding to any one of the three traffic lights, a green light passing time interval corresponding to two consecutive traffic lights, and/or a green light passing time interval corresponding to three consecutive traffic lights, etc. may be determined respectively. It is understood that the green light passing time interval is associated with the traffic light and the position before the traffic light, and means that when the vehicle travels to the position before the one or the plurality of traffic lights and associated with the green light passing time interval at any time within the green light passing time interval, the traveling object can travel through the one or the plurality of traffic lights in the green light state at a certain speed.

In some embodiments, the target position may be any position within a preset distance range, and the corresponding green light passing time interval may be calculated in advance for each position within the preset distance range.

The traffic light data on the target road is obtained, and the traffic light data comprises road traffic speed, in-front queue dissipation characteristics, traffic light space topological characteristics and traffic light signal time characteristics on the target road; after a driving object is mined to reach a target position in front of any traffic light on a target road based on traffic data, a green light passing time interval which can directly pass through the traffic light in front in a green light state from the target position is determined. After the green light passing time interval is mined out, the green light passing time interval can be used for recommending the driving speed for the driving object in applications such as online navigation, and the driving object is guided to pass through the front traffic light smoothly under the condition of driving based on the recommended driving speed. According to the traffic light passing time interval mining method and device, the green light passing time interval capable of passing the traffic light on the target road is mined in real time, the running speed of the traffic light is recommended for the running object in advance, the running object is guided to safely pass through the traffic light in front, the probability of red lights of the running object and the like is reduced, and the passing efficiency of the intersection is integrally improved.

In an optional implementation manner of this embodiment, the traffic light spatial topological feature includes a spatial position relationship of a plurality of traffic lights that are consecutively arranged in front of and behind the target road; the first determining module includes:

the first determination sub-module is configured to determine a green light passing time interval corresponding to a target position before a first one of the traffic lights and/or passing through one and/or a plurality of continuous traffic lights based on the traffic light data.

In an optional implementation manner of this embodiment, the front queue dissipation feature includes a queue length-to-time length correspondence between the front queue length of the traffic light and a time length of the tail queue passing through the traffic light in a green light state; the traffic light signal time characteristic comprises a green light duration interval of the traffic light; the first determining module includes:

a second determination sub-module configured to determine an offset time at which the traveling object travels from the target position to the traffic light at the road passing speed;

a third determination submodule configured to determine a queue waiting time before the traveling object passes through the traffic light based on the corresponding relationship between the queue length and time;

a fourth determination submodule configured to determine a green light passing time interval during which the traveling object arriving at the target position passes through the traffic light in a green light state, based on the green light duration interval, the offset time, and the in-line waiting time.

In an optional implementation manner of this embodiment, the green light duration time interval includes time intervals corresponding to a plurality of continuous green light states of the same traffic light; the fourth determination submodule includes:

a fifth determination submodule configured to determine a passing start time of each of the green light passing time intervals based on the green light start time, the offset time, and the queue waiting time of each of the green light duration intervals corresponding to successive green light states;

a sixth determination submodule configured to determine a passage end time of each of the green light passing time intervals based on the green light end time and the offset time of each of the green light duration intervals corresponding to a plurality of consecutive green light states.

In an optional implementation manner of this embodiment, the apparatus further includes:

a second determination module configured to determine the number of traffic lights that the traveling object can continuously pass through in a green light state from a target position based on the green light passing time intervals corresponding to a plurality of the traffic lights in succession.

a second acquisition module configured to acquire a current position of the travel object;

a third determining module configured to determine the green light passing time interval corresponding to the target position matched with the current position when the current position is within the preset distance range;

a first output module configured to output, to the travel object, recommendation information that can pass through a traffic light in a green light state based on the green light passing time interval.

a pushing module configured to push the preset distance range, a green light passing time interval corresponding to at least one target position within the preset distance range, and the road traffic speed to a client of the driving object, so that recommendation information that can pass through a traffic light in a green light state is output to the driving object by the client based on a current position of the driving object.

a third acquisition module configured to acquire a current position of the travel object;

a fourth determination module configured to determine a current distance of the traveling object to a front traffic light based on the current position;

a fifth determination module configured to determine a recommended travel speed of the traveling object through a single traffic light ahead in a green light state based on the current distance, a current time of day, the pre-light queue dissipation feature, and the green light duration interval.

In an optional implementation manner of this embodiment, the fifth determining module includes:

a seventh determination sub-module configured to determine a lower limit value of the recommended travel speed based on a first passing light speed and set an upper limit value of the recommended travel speed to a first preset fixed value when the current time is in a green light duration interval of the traffic light;

an eighth determination submodule configured to determine an upper limit value of the recommended travel speed based on a second passing light speed when the current time is in a non-green light duration interval of the traffic light, and to set the lower limit value of the recommended travel speed to a second preset fixed value; the first passing light speed is less than a second passing light speed and is determined based on the current distance, the current time, a pre-light queue dissipation characteristic, and the green light duration interval.

The time interval determining apparatus in this embodiment corresponds to the time interval determining method described above, and specific details may refer to the description of the time interval determining method described above, which is not described herein again.

Fig. 6 shows a block diagram of a navigation device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 6, the navigation device includes:

a third obtaining module 601 configured to obtain a planned path from a navigation start location to a navigation destination;

a sixth determining module 602, configured to determine, by using the time interval determining apparatus, a green light passing time interval corresponding to a target road on the planned path;

a second output module 603 configured to output relevant information of passing the front traffic light for the navigated object based on the current location of the navigated object and the green light passing time interval.

The navigation device in this embodiment corresponds to the navigation method described above, and specific details can be referred to the description of the navigation method described above, which are not described herein again.

As shown in fig. 7, electronic device 700 includes a processing unit 701, which may be implemented as a CPU, GPU, FPGA, NPU, or other processing unit. The processing unit 701 may execute various processes in the embodiment of any one of the methods described above of the present disclosure according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for the operation of the electronic apparatus 700 are also stored. The processing unit 701, the ROM702, and the RAM703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.

In particular, according to embodiments of the present disclosure, any of the methods described above with reference to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing any of the methods of the embodiments of the present disclosure. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation on the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the above-described embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. A method for time interval determination, comprising:

2. The method according to claim 1, wherein the traffic light spatial topological feature comprises a spatial position relationship of a plurality of traffic lights arranged in series one behind the other on the target road; determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data, wherein the green light passing time interval comprises the following steps:

3. The method of claim 1 or 2, wherein the pre-light queue dissipation characteristic comprises a queue length to time length correspondence between the pre-traffic light queue length and a time length for a tail of a queue to pass the traffic light in a green light state; the traffic light signal time characteristic comprises a green light duration interval of the traffic light; determining a green light passing time interval corresponding to a target position within a preset distance range in front of a traffic light on the target road based on the traffic light data, wherein the green light passing time interval comprises the following steps:

4. The method of claim 3, wherein the green light duration intervals comprise time intervals corresponding to successive green light states of the same traffic light; determining a green light passing time interval during which a traveling object arriving at the target position passes through the traffic light in a green light state based on the green light duration interval, the offset time, and the queue waiting time, including:

5. The method of claim 4, wherein the method further comprises:

6. The method of any of claims 1-2, 4-5, wherein the method further comprises:

acquiring the current position of the driving object;

7. The method of any of claims 1-2, 4-5, wherein the method further comprises:

8. The method of any of claims 1-2, 4-5, wherein the method further comprises:

acquiring the current position of the driving object;

9. The method of claim 8, wherein determining the recommended travel speed of the traveling object through a single preceding traffic light in a green light state based on the current distance, a current time, the pre-light queue dissipation feature, and the green light duration interval comprises:

when the current moment is in the green light duration time interval of the traffic light, determining a lower limit value of the recommended driving speed based on a first passing speed, and setting an upper limit value of the recommended driving speed as a first preset fixed value;

10. A navigation method, comprising:

determining a green light passing time interval corresponding to a target road on the planned path by using the method of any one of claims 1 to 9;

11. A time interval determination apparatus, comprising:

a first acquisition module configured to acquire traffic light data on a target road; the traffic light data comprises road traffic speed, front-of-light queuing dissipation characteristics, traffic light spatial topology characteristics and traffic light signal time characteristics;

12. A navigation device, comprising:

a sixth determining module configured to determine a green light passing time interval corresponding to a target road on the planned path by using the apparatus of claim 10;

13. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of claims 1-10.

14. A computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the method of any one of claims 1-10.