CN116665464A

CN116665464A - Green wave vehicle speed guiding method and device, computer readable medium and electronic equipment

Info

Publication number: CN116665464A
Application number: CN202210148063.6A
Authority: CN
Inventors: 刘思杨; 崔精兵; 张云飞
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2022-02-17
Filing date: 2022-02-17
Publication date: 2023-08-29

Abstract

The application belongs to the field of intelligent transportation, and relates to a green wave vehicle speed guiding method, a device, a computer readable medium and electronic equipment. The method comprises the following steps: acquiring running information sent by a target vehicle, a signal lamp information set and road vehicle information sent by sensing equipment, determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information; acquiring target signal lamp information corresponding to a target vehicle according to the target position, the running direction and the signal lamp information set; judging whether to issue green wave vehicle speed guiding information to a target vehicle based on the target position, the target signal lamp information and the average vehicle speed; when it is determined that the green wave vehicle speed guiding information needs to be issued, a green wave vehicle speed section is determined according to the target position and the target signal lamp information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section. The application can realize accurate and efficient green wave vehicle speed guidance.

Description

Green wave vehicle speed guiding method and device, computer readable medium and electronic equipment

Technical Field

The application belongs to the technical field of intelligent transportation, and particularly relates to a green wave vehicle speed guiding method, a green wave vehicle speed guiding device, a computer readable medium and electronic equipment.

Background

In order to standardize road traffic, traffic lights are generally used for restraining the traffic of vehicles, but along with popularization of private vehicles, road traffic pressure is increased, vehicles can continuously encounter a plurality of red lights in the running process under some road conditions, waiting time is long, gasoline or electric quantity consumption is high, and driving experience of drivers is poor.

In order to improve the driving experience of a driver, improve the traffic efficiency, reduce the oil consumption or the electric quantity loss, the industry proposes green wave vehicle speed guidance, wherein the green wave vehicle speed refers to the speed maintenance which can improve the traffic capacity to the greatest extent, and the time for waiting for a red light of a vehicle at a level crossing is reduced. The current green wave vehicle speed guiding is realized by a green wave vehicle speed guiding system based On the internet of vehicles (V2X, vehicle to everything), but the system needs a Road side to be provided with a V2X RSU (Road side unit), and the vehicle is provided with a V2X OBU (On Board Unit), but the current V2X OBU is slowly permeated in front, and the vehicle running On the Road is basically not provided with the device, so that the warning of running red light based On V2X cannot be realized, and even if the V2X OBU is equipped in a large amount, a non-LTE-V2X vehicle still exists in a real Road environment.

Disclosure of Invention

The application aims to provide a green wave vehicle speed guiding method, a green wave vehicle speed guiding device, a computer readable medium and electronic equipment, which can improve the passing efficiency of vehicles.

In a first aspect, an embodiment of the present application provides a method for guiding a green wave vehicle speed, including: acquiring running information sent by a target vehicle, a signal lamp information set and road vehicle information sent by sensing equipment, determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information; acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set; judging whether to issue green wave vehicle speed guiding information to the target vehicle based on the target position, the target signal lamp information and the average vehicle speed; when the green wave vehicle speed guiding information is judged to be required to be issued, a green wave vehicle speed section is determined according to the target position and the target signal lamp information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section.

In a second aspect, an embodiment of the present application provides a green wave vehicle speed guiding device, including: the acquisition module is used for acquiring running information sent by a target vehicle, a signal lamp information set and road vehicle information sent by sensing equipment, determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information; the acquisition module is further used for acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set; the judging module is used for judging whether to issue green wave vehicle speed guiding information to the target vehicle or not based on the target position, the target signal lamp information and the average vehicle speed; and the generation module is used for determining a green wave vehicle speed section according to the target position and the target signal lamp information when the green wave vehicle speed guiding information is judged to be required to be issued, and generating the green wave vehicle speed guiding information according to the green wave vehicle speed section.

In a third aspect, an embodiment of the present application provides a green wave vehicle speed guiding system, including: a target vehicle; the sensing equipment is used for collecting a signal lamp information set at the intersection and road vehicle information in a sensing range; the vehicle networking server is used for acquiring the driving information sent by the target vehicle, the signal lamp information set sent by the sensing equipment and the road vehicle information; determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information; acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set; judging whether to issue green wave vehicle speed guiding information to the target vehicle based on the target position, the target signal lamp information and the average vehicle speed; when the green wave vehicle speed guiding information is judged to be required to be issued, a green wave vehicle speed section is determined according to the target position and the target signal lamp information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section.

In a fourth aspect, an embodiment of the present application provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a green wave vehicle speed guiding method as in the above technical aspects.

In a fifth aspect, an embodiment of the present application provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the green wave vehicle speed guidance method as in the above technical solution via execution of the executable instructions.

In a sixth aspect, embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable medium. The processor of the electronic device reads the computer instructions from the computer-readable medium, and the processor executes the computer instructions, so that the electronic device performs the green wave vehicle speed guiding method as in the above technical solution.

In the technical scheme provided by the embodiment of the application, after the vehicle networking server receives the running information uploaded by the target vehicle, the signal lamp information set uploaded by the sensing equipment and the road vehicle information, the target position and the running direction of the target vehicle in the road network and the average speed of the vehicle in front of the target vehicle or the average speed of other vehicles in front of the target vehicle in the same lane can be determined; and acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set, determining a green wave vehicle speed section according to the target position and the target signal lamp information when determining that green wave vehicle speed guiding information needs to be issued to the target vehicle, and generating the green wave vehicle speed guiding information according to the green wave vehicle speed section. According to the technical scheme provided by the application, on one hand, corresponding green wave vehicle speed intervals can be provided for each vehicle according to the real-time traffic flow, vehicle speed and other information in the road section, so that the traffic efficiency of each vehicle is improved, and the traffic pressure is further reduced; on the other hand, the vehicle-mounted unit can be avoided being mounted on the vehicle, and hardware equipment such as road side units and the like are arranged on the road side, so that the cost is reduced.

Drawings

Fig. 1 schematically shows a block diagram of a green wave vehicle speed guiding system to which the technical solution of the present application is applied.

Fig. 2 schematically shows an interface diagram of a green wave vehicle speed guidance by a V2X-based green wave vehicle speed guidance system in the related art.

Fig. 3 schematically shows a flow chart of the steps of the green wave vehicle speed guiding method of the present application.

Fig. 4 schematically shows a flow chart of the acquisition of the target signal lamp information in the present application.

Fig. 5 schematically shows a flowchart for determining whether to issue green wave vehicle speed guidance information in the present application.

Fig. 6 schematically shows a flow chart of determining whether to calculate the lowest green wave vehicle speed after the target vehicle reaches the control point in the present application.

Fig. 7 schematically shows a block diagram of a green wave vehicle speed guiding device in the present application.

Fig. 8 schematically shows a block diagram of a computer system suitable for use in implementing embodiments of the application.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.

As shown in fig. 1, a green wave vehicle speed guidance system 100 may include a target vehicle 101, a perception device 102, a vehicle networking server 103, and a network.

The target vehicle 101 may be any vehicle running on a road, on which a terminal device that communicates with the internet of vehicles server 103 is provided, and the terminal device may be connected to the internet of vehicles server 103 through a 3G/4G/5G network or other types of networks, specifically, the terminal device may be a vehicle-mounted terminal T-Box, a vehicle machine, an intelligent rearview mirror, a smart phone, or the like, and an application program that is specially used for guiding the speed of a green wave is installed in the terminal device, and the speed of the green wave of the target vehicle is guided by running the application program;

The sensing device 102 may be a terminal device including a sensing unit (e.g. a camera unit), where the sensing device 102 is disposed at an intersection, and on one hand, the sensing device may collect signal lamp configuration and real-time status data at the intersection to obtain a signal lamp information set, where the signal lamp information set includes static information, real-time status information, and a turn-phase relationship, the static information is a signal lamp period and phase, the real-time status information is a signal lamp current status and countdown, and the turn-phase relationship is a correspondence between a turn and a signal lamp phase at the intersection; on the other hand, vehicle information on the road in the shooting range can be acquired.

The internet of vehicles server 103 may be a cloud server or other types of servers, and is configured to receive driving information uploaded by the target vehicle 101 through a network, and signal lamp information sets and road vehicle information uploaded by the sensing device 102 through the network; then a preconfigured road network file is called, the target position and the running direction of a target vehicle in the road network are determined according to the running information, and the average speed of other vehicles in front of the target vehicle 101 is calculated according to the road vehicle information; the target signal light information corresponding to the target vehicle 101 can be determined according to the target position, the running direction and the signal light information set, whether to issue green wave vehicle speed guiding information to the target vehicle 101 is judged based on the target position, the target signal light information and the average vehicle speed, if the green wave vehicle speed guiding information is issued, a green wave vehicle speed section is determined according to the target position and the target signal light information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section.

The internet of vehicles server 103 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud computing service. The network may be a communication medium of various connection types capable of providing a communication link between the target vehicle 101 and the internet of vehicles server 103, the internet of vehicles server 103 and the sensing device 102, and may be a wired communication link or a wireless communication link, for example.

The system architecture in embodiments of the present application may have any number of target vehicles 101, sensing devices 102, and internet of vehicles servers 103, as desired for implementation. For example, the internet of vehicles server 103 may be a server group composed of a plurality of server devices.

In one embodiment of the present application, after the target vehicle 101 uploads the driving information to the internet of vehicles server 103 through the network, the internet of vehicles server 103 may send the related intersection geographic information, the real-time status set of signal lights and the average speed of other vehicles in front of the target vehicle 101 to the terminal device for guiding the green wave speed in the target vehicle 101 according to the location of the target vehicle 101, and the terminal device determines the target location and the driving direction of the target vehicle 101 in the road network according to the received intersection geographic information and the signal light information set and the location information of the target vehicle 101, and determines the target signal light information corresponding to the target vehicle according to the target location, the driving direction and the signal light information set, where the target signal light information is the current status and countdown of signal lights, and the phase and period of signal lights of the next period. The highest running speed and the lowest running speed required by the target vehicle 101 to pass through the intersection without stopping in the current or next green light period can be calculated according to the target position of the target vehicle 101 and the target signal lamp information, and green wave vehicle speed guiding information is generated according to the highest running speed and the lowest running speed so as to prompt.

The technical scheme of the application relates to the technical field of Internet of vehicles, in particular to an intelligent traffic system and an intelligent vehicle-road cooperation system.

The intelligent transportation system (Intelligent Traffic System, ITS), also called intelligent transportation system (Intelligent Transportation System), is a comprehensive transportation system which uses advanced scientific technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence, etc.) effectively and comprehensively for transportation, service control and vehicle manufacturing, and enhances the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.

The intelligent vehicle-road cooperative system (Intelligent Vehicle Infrastructure Cooperative Systems, IVICS), which is simply called a vehicle-road cooperative system, is one development direction of an Intelligent Transportation System (ITS). The vehicle-road cooperative system adopts advanced wireless communication, new generation internet and other technologies, carries out vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time idle dynamic traffic information acquisition and fusion, fully realizes effective cooperation of people and vehicles and roads, ensures traffic safety, improves traffic efficiency, and forms a safe, efficient and environment-friendly road traffic system.

Further, when the cloud server is adopted to process data in the green wave vehicle speed guiding system, the application further relates to cloud technology and cloud application, and particularly relates to the Internet of things and the cloud Internet of things in terms of cloud application.

Cloud technology (Cloud technology) refers to a hosting technology for integrating hardware, software, network and other series resources in a wide area network or a local area network to realize calculation, storage, processing and sharing of data.

Cloud technology (Cloud technology) is based on the general terms of network technology, information technology, integration technology, management platform technology, application technology and the like applied by Cloud computing business models, and can form a resource pool, so that the Cloud computing business model is flexible and convenient as required. Cloud computing technology will become an important support. Background services of technical networking systems require a large amount of computing, storage resources, such as video websites, picture-like websites, and more portals. Along with the high development and application of the internet industry, each article possibly has an own identification mark in the future, the identification mark needs to be transmitted to a background system for logic processing, data with different levels can be processed separately, and various industry data needs strong system rear shield support and can be realized only through cloud computing.

The internet of things (The Internet of Things, IOT for short) refers to collecting any object or process needing to be connected and interacted in real time through various devices and technologies such as various information sensors, radio frequency identification technologies, global positioning systems, infrared sensors, laser scanners, and the like, collecting various needed information such as sound, light, heat, electricity, mechanics, chemistry, biology, positions and the like, accessing through various possible networks, realizing ubiquitous connection of objects and people, and realizing intelligent perception, identification and management of objects and processes. The internet of things is an information carrier based on the internet, a traditional telecommunication network and the like, and enables all common physical objects which can be independently addressed to form an interconnection network.

The Cloud IOT aims to connect information perceived by sensing equipment in the traditional IOT and accepted instructions into the Internet, networking is truly realized, mass data storage and operation are realized through a Cloud computing technology, the current running states of all 'objects' are perceived in real time due to the fact that the things are connected with each other, a large amount of data information can be generated in the process, how to collect the information, how to screen useful information in the mass information and make decision support for subsequent development, and the Cloud is a key problem affecting the development of the IOT, and the Internet of things Cloud based on Cloud computing and Cloud storage technology is also a powerful support for the technology and application of the IOT.

In the related art of the present application, a V2X-based green wave vehicle speed guidance system is generally used to calculate a green wave vehicle speed section, and green wave vehicle speed guidance information is generated from the green wave vehicle speed section.

FIG. 2 shows an interface schematic diagram of a green wave vehicle speed guiding system based on V2X for guiding green wave vehicle speed, as shown in FIG. 2, a vehicle HV with an on-board unit OBU approaches a signal lamp control intersection from a distance, an RSU with V2X communication capability is connected with a signal machine, and intersection geographic information and signal lamp real-time state information are periodically sent to the HV; the HV judges the position and the running direction of the vehicle in the road network according to the geographic information of the intersection, the positioning and the running data of the vehicle, determines the real-time state of the phase corresponding to the signal lamp in front of the vehicle according to the position and the running direction of the vehicle in the road network and the real-time state information of the signal lamp, and displays the real-time state information of the phase corresponding to the signal lamp to a driver; meanwhile, the green wave vehicle speed guiding system based on V2X calculates the highest running speed and the lowest running speed required by the vehicle to pass through the intersection without stopping the green light device at the current time or next time according to the position of the vehicle in the road network and the real-time state of the corresponding phase of the signal lamp, and prompts the vehicle.

However, the related technology has corresponding disadvantages, the road side is required to be provided with the V2X RSU, the vehicle is provided with the V2X OBU, the front-loading of the V2X OBU is slow in penetration, and the vehicle running on the road basically does not have the equipment, so that the red light running early warning based on the V2X cannot be realized. Even though V2XOBU is already heavily equipped, in a real road environment, non-LTE-V2X vehicles still exist. In addition, the green wave speed proposal is mainly given according to the average traffic flow and the vehicle speed of the road section counted by history and the distance between the intersections (or the distance between the identification position and the intersections), is a static value or semi-static (such as according to time intervals, or peak/flat peak, etc.), and does not refer to real-time traffic flow and vehicle speed, and does not give for each HV.

In view of the problems in the related art, the following describes in detail, with reference to specific embodiments, the technical schemes such as the green wave vehicle speed guiding method, the green wave vehicle speed guiding device, the computer readable medium, and the electronic device provided by the application.

Fig. 3 schematically illustrates a flow diagram of a green wave vehicle speed guidance method in one embodiment of the application, which may be performed by a vehicle networking server, such as the vehicle networking server 103 in fig. 1. As shown in fig. 3, the green wave vehicle speed guiding method in the embodiment of the application may include:

S310: acquiring running information sent by a target vehicle, a signal lamp information set and road vehicle information sent by sensing equipment, determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information;

s320: acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set;

s330: judging whether to issue green wave vehicle speed guiding information to the target vehicle based on the target position, the target signal lamp information and the average vehicle speed;

s340: when the green wave vehicle speed guiding information is judged to be required to be issued, a green wave vehicle speed section is determined according to the target position and the target signal lamp information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section.

In the green wave vehicle speed guiding method provided by the embodiment of the application, after receiving the traveling information uploaded by the target vehicle, the signal lamp information set uploaded by the sensing equipment and the road vehicle information, the vehicle networking server can determine the target position and the traveling direction of the target vehicle in the road network and the average vehicle speed of the vehicle in front of the target vehicle or the average vehicle speed of other vehicles in front of the target vehicle in the same lane; and acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set, determining a green wave vehicle speed section according to the target position and the target signal lamp information when determining that green wave vehicle speed guiding information needs to be issued to the target vehicle, and generating the green wave vehicle speed guiding information according to the green wave vehicle speed section. According to the technical scheme provided by the application, on one hand, corresponding green wave vehicle speed intervals can be provided for each vehicle according to real-time traffic flow, vehicle speed and other information in the road, so that the traffic efficiency of the vehicles is improved, and the traffic pressure is further reduced; on the other hand, the vehicle-mounted unit can be avoided being mounted on the vehicle, and hardware equipment such as road side units and the like are arranged on the road side, so that the cost is reduced.

The specific implementation manner of each method step of the green wave vehicle speed guiding method will be described in detail based on the architecture diagram of the green wave vehicle speed guiding system shown in fig. 1, taking the internet of vehicles server as the internet of vehicles cloud platform as an example.

In S310, traveling information sent by a target vehicle, a signal lamp information set sent by a sensing device, and road vehicle information are acquired, a target position and a traveling direction of the target vehicle in a road network are determined according to the traveling information, and an average vehicle speed of a vehicle located in front of the target vehicle is determined according to the road vehicle information.

In one embodiment of the application, the target vehicle sends driving information to the internet of vehicles cloud platform in the driving process, the driving information specifically comprises position information and running information of the target vehicle, and the target position and running direction of the target vehicle in the internet of vehicles can be determined according to the position information and the running information of the target vehicle. In the embodiment of the application, the target vehicle may send the driving information in real time, or may send the driving information periodically at intervals of a preset time, where the preset time may be set according to actual needs, for example, intervals of 10s, 15s, and so on.

The position information of the target vehicle is the longitude and latitude of the target vehicle at a certain moment, and the target vehicle can be projected into the road network according to the longitude and latitude, so that the target position of the target vehicle in the road network is obtained. The vehicle networking cloud platform is pre-configured with a road data set, wherein the road data set comprises nodes, road sections, lanes and connection steering relations, the nodes are road junction nodes, the road sections are road sections among the road junctions, the lanes are lanes in the road sections, the connection steering relations are in-out connection relations of all road sections at the road junctions, the target vehicle can be positioned in a specific lane of a specific road section by matching the position information of the target vehicle with the position information of all nodes, all road sections and all lanes in the road data set, for example, the position information of the target vehicle is 60 degrees North latitude of east longitude 45 degrees, and the target position of the target vehicle can be obtained by projecting the position information into a road network: the Nth lane of the XX road section is 1 Km.

The running information of the target vehicle includes a head direction angle, a vehicle speed, and may further include information such as a vehicle body size, a triaxial acceleration, a yaw rate, a lane where the target vehicle is located, and the running direction of the target vehicle may be determined according to the running information of the target vehicle and the target position, specifically, when the head direction angle of the target vehicle is within a preset angle range with respect to a lane center line of the lane where the target vehicle is located, the running direction of the target vehicle is determined to be the same as a running direction specified by the lane, and when the head direction angle of the target vehicle is outside the preset angle range with respect to the lane center line of the lane where the target vehicle is located, the running direction of the target vehicle is determined to be different from the running direction specified by the lane. In urban traffic, the direction of travel of the vehicle is generally the same as the direction of travel specified by the lane.

In one embodiment of the present application, the average speed of the vehicle in front of the target vehicle can also be determined from the road-vehicle information uploaded by the sensing device. The sensing device may monitor the vehicles in the sensing range through the sensing unit, for example, the image capturing unit, obtain the vehicle data of each vehicle in each lane, determine all vehicles in front of the target vehicle in the road section after determining the target position of the target vehicle, and calculate the corresponding average vehicle speed according to the vehicle data of all vehicles in front of the target vehicle. Alternatively, after determining the target position of the target vehicle, all vehicles in front of the target vehicle in the lane may be determined, and the corresponding average vehicle speed may be calculated according to the vehicle data of all vehicles in front of the target vehicle in the lane. It is worth noting that the target vehicle is within the sensing range of the sensing device.

In S320, target signal light information corresponding to the target vehicle is acquired according to the target position, the running direction and the signal light information set.

In one embodiment of the present application, after determining the target position and the running direction, the target signal light information corresponding to the target vehicle may be obtained according to the target position, the running direction and the signal light information set. In the embodiment of the application, the signal lamp information set comprises signal lamp information corresponding to all intersections in the road network, the signal lamp information comprises static information, real-time state information and a steering-phase relation, wherein the static information is signal lamp period and phase information, the real-time state information is signal lamp current state and countdown, and the steering-phase relation is the corresponding relation between steering and signal lamp phases at the intersections.

Fig. 4 shows a flow chart of acquiring the target signal lamp information, as shown in fig. 4, in S401, intersection information corresponding to the current road section and the current lane where the target vehicle is located are determined according to the target position and the running direction; in S402, comparing the intersection information with intersection information in the signal lamp information set; in S403, when the signal lamp information sets exist the intersection information, acquiring a signal lamp information subset corresponding to the intersection information; in S404, the current road segment and the current lane are compared with the road segment and the lane in the traffic light information subset, respectively, to obtain the target traffic light information.

For example, the current road section where the target vehicle is located may be determined as a road section a, the current lane is a left turn lane, and the road section a is a road section located between the road section B and the road section C, further, the road section located in front of the target vehicle may be determined as a road section B according to the running direction of the target vehicle, then the road section B may be compared with the road section information in the set of signal lamp information, if the road section B exists in the set of signal lamp information, a subset of signal lamp information corresponding to the road section B may be extracted from the set of signal lamp information, and further, signal lamp information corresponding to a left turn lane in the road section a may be extracted from the subset of signal lamp information according to the road section a and the left turn lane. Accordingly, the target signal information includes a target signal real-time status, target static information, and target steering-phase relationship.

In S330, it is determined whether green wave vehicle speed guidance information is issued to the target vehicle based on the target position, the target signal lamp information, and the average vehicle speed.

In one embodiment of the present application, after the target position of the target vehicle, the corresponding target signal lamp information, and the average vehicle speed of other vehicles located in front of the target vehicle are acquired, it may be determined whether to issue green wave vehicle speed guidance information to the target vehicle.

Fig. 5 is a schematic flow chart of determining whether to issue green wave vehicle speed guiding information, as shown in fig. 5, in S501, determining a lowest green wave vehicle speed according to the target position and the target signal lamp information; in S502, comparing the lowest green wave vehicle speed with the average vehicle speed; in S503, when the lowest green wave vehicle speed is lower than or equal to the average vehicle speed, it is determined that the green wave vehicle speed guidance information needs to be issued to the target vehicle; in S504, when the lowest green wave vehicle speed is greater than the average vehicle speed, it is determined that the green wave vehicle speed guidance information does not need to be issued to the target vehicle.

Specifically, the minimum green wave speed of the target vehicle can be calculated to be V1 according to the target position of the target vehicle, the type of a lane where the target vehicle is located (straight, left turn, right turn and the like), and the real-time state of the target signal lamp, meanwhile, the average speed of other vehicles in front of the target vehicle is V2, if V1 is more than V2, green wave speed guiding information is not given at the moment, otherwise, traffic accidents are easy to occur, if V1 is less than or equal to V2, green wave speed guiding information is given, and the target vehicle is helped to pass through an intersection smoothly without stopping and waiting.

By judging whether to issue the green wave vehicle speed guiding information to the target vehicle, the condition that the green wave vehicle speed guiding information is not required to be issued can be eliminated, so that the data processing amount of the Internet of vehicles cloud platform can be reduced, the occupation of computing resources is reduced, and the data processing efficiency is improved.

In S340, when it is determined that the green wave vehicle speed guiding information needs to be issued, a green wave vehicle speed section is determined according to the target position and the target signal lamp information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section.

In one embodiment of the application, when it is determined that the green wave vehicle speed guiding information needs to be issued to the target vehicle, a green wave vehicle speed section can be determined according to the target position of the target vehicle in the road network and the target signal lamp information, and the green wave vehicle speed guiding information can be generated according to the green wave vehicle speed section.

In one embodiment of the present application, the current lane where the target vehicle is located may be determined according to the target position, where each lane has a preset type, such as a left-turn lane, a straight lane, a right-turn lane, etc., and for different types of lanes, the real-time status of the signal lamps is different, such as at some intersections, only the signal lamps corresponding to straight and left turns, the right turn is not constrained by the signal lamps, and at some intersections, the left turn, straight and right turn are all required to be constrained by the signal lamps. In the embodiment of the application, the target signal lamp information is signal lamp information of a current lane where a corresponding target vehicle is located, when determining the lowest green wave speed according to the target position and the target signal lamp information, a first distance between the target position and a stop line along the running direction in a current road section can be firstly obtained, then the green light duration and the minimum green light duration are determined according to the target signal lamp information, finally the lowest green wave speed is calculated according to the first distance and the maximum green light duration, the maximum green wave speed is calculated according to the first distance and the minimum green light duration, and a green wave speed interval is determined according to the minimum green wave speed and the maximum green wave speed.

The maximum green light duration and the minimum green light duration are related to target signal light information, the target signal light information comprises a target signal light real-time state, target static information and a target steering-phase corresponding relation, the target signal light real-time state comprises a current state and a countdown of a signal light, the target static information comprises a signal light phase and a period, when the target signal light real-time state is a green light, the time required by switching the green light into a red light can be used as the maximum green light duration, and 1s can be used as the minimum green light duration; when the real-time state of the target signal lamp is red light, the time required for switching the red light to the green light of the next period can be obtained according to the countdown of the signal lamp, the duration of the green light of the next period can be obtained according to the phase and the period of the signal lamp, and then the sum of the time required for switching the red light to the green light of the next period and the duration of the green light of the next period is taken as the maximum green light duration, and the time required for switching the red light to the green light of the next period is taken as the minimum green light duration.

For example, a first distance between a target position corresponding to a target vehicle and a stop line at a front intersection is S m, while the target vehicle is located on a left-turn lane, if a real-time state of a signal lamp corresponding to the left-turn lane is a red light at the moment, a time for switching the red light to a green light is t 1S, and a time for a green light duration of a next period is t 2S, it may be determined that a maximum green light duration is (t1+t2) S, a minimum green light duration is t 1S, and further, a maximum green light speed is S/t 1m/S, a minimum green light speed is S/(t1+t2) m/S, and a green light speed interval is [ S/(t1+t2), S/t1] may be determined according to the calculated minimum green light speed and the maximum green light speed, that is, the target vehicle may travel at any speed of the green light speed interval may pass through the next period without running smoothly at the intersection. If the real-time state of the signal lamp corresponding to the left-turn lane is green, the minimum green duration is 1S, the maximum green duration is the time required for switching the green lamp to the red lamp, and is recorded as t 3S, the minimum green wave speed is S/t3m/S, the maximum green wave speed is S/1m/S, and the green wave speed interval is [ S/t3, S/1] according to the minimum green wave speed and the maximum green wave speed, that is, the target vehicle can smoothly pass through the intersection during the green lamp of the period at any speed of the green wave speed interval without running the red lamp.

It is noted that the generation of the maximum green wave vehicle speed and the green wave vehicle speed interval in this example is limited only to the case that the maximum green wave vehicle speed does not exceed the maximum vehicle speed Vs specified by the lane, and when the maximum green wave vehicle speed is greater than the maximum vehicle speed Vs specified by the lane, the maximum vehicle speed Vs specified by the lane is taken as the maximum green wave vehicle speed, and correspondingly, when the target signal lamp real-time state is red light, the green wave vehicle speed interval is [ S/(t1+t2), vs ], and when the target signal lamp real-time state is green light, the green wave vehicle speed interval is [ S/t3, vs ].

In one embodiment of the present application, after the green wave vehicle speed section is acquired, green wave vehicle speed guiding information may be generated according to the green wave vehicle speed section and issued to a green wave vehicle speed guiding device provided in the target vehicle, the green wave vehicle speed guiding device having a man-machine interaction interface, and a driver may acquire the green wave vehicle speed guiding information from the man-machine interaction interface and control the panel vehicle to travel at any one of the green wave vehicle speeds in the green wave vehicle speed section. When the target vehicle is an automatic driving vehicle, after the green wave vehicle speed guiding information is received, a green wave vehicle speed section in the green wave vehicle speed guiding information can be sent to a vehicle running control center, so that the vehicle running control center sends an instruction to a vehicle speed control unit to adjust the vehicle speed to the green wave vehicle speed section.

In one embodiment of the application, the internet of vehicles cloud platform can set one or more control points in the road section according to the length of the road section so as to divide the road section into a plurality of control sections. For example, a control point may be set at intervals of 100m, and if a road section is long, for example, 1Km, a plurality of control points may be set at the road section, and if a road section is short, for example, 150m, a control point may be set at the road section, and of course, a control point may be set at the road section according to other distances, which is not particularly limited in the embodiment of the present application. Based on the above embodiment, before the target signal lamp information corresponding to the target vehicle is obtained according to the target position, the running direction and the signal lamp information set where the target vehicle is located in the road network, the target position of the target vehicle may be compared with the position information corresponding to the control point, and when the target position is the same as the position information corresponding to the control point, the target signal lamp information corresponding to the target vehicle is obtained according to the target position, the running direction and the signal lamp information set, and then whether the minimum green wave vehicle speed is calculated is determined according to the target position and the target signal lamp information.

In one embodiment of the present application, fig. 6 is a schematic flow chart showing a process of determining whether to calculate the lowest green wave vehicle speed after the target vehicle reaches the control point, as shown in fig. 6, in S601, a second distance between the control point and a stop line along the running direction on the current road section where the target vehicle is located is obtained; in S602, when the second distance meets the first condition, determining a minimum green wave vehicle speed according to the second distance and a time required for the real-time state of the target signal lamp to change; in S603, when the second distance satisfies a second condition, the minimum green wave vehicle speed does not need to be calculated.

In S602 and S603, the first condition and the second condition are different according to the real-time status of the target signal lamp.

When the real-time status of the target signal lamp is red light, it is expected that the target vehicle can pass through the intersection before the green light end time of the next period, then the second distance should be less than or equal to a distance determined according to the sum of the minimum green wave speed and the time required for the current red light to switch to green light and the green light duration of the next period, i.e., D is less than or equal to v× (t1+t2), where D is the second distance, V is the minimum green wave speed, T1 is the time required for the current red light to switch to green light, and T2 is the green light duration of the next period, that is, the first condition is: the second distance should be less than or equal to a distance determined from the sum of the lowest green wave vehicle speed and the time required for the current red light to switch to a green light and the green light duration of the next cycle, and the lowest green wave vehicle speed determined from the second distance and the time required for the target signal light to change in real-time state is: v=d/(t1+t2). The time required for switching the current red light to the green light and the green light duration of the next period can be determined according to the target signal light state information and the target static information.

However, when the target vehicle is closer to the intersection, even if the idle running (non-stationary state) cannot pass after the red light is switched to the green light, the minimum green wave vehicle speed does not need to be calculated, so that the second condition is that the second distance is smaller than the product of the idle running speed and the time required by the current red light to be switched to the green light.

When the real-time status of the target signal lamp is green, the target vehicle is expected to pass through the intersection before the green light end time of the current period, then the second distance should be less than or equal to the distance determined according to the lowest green wave speed and the green light duration of the current period, namely D '. Ltoreq.V×T3, where D' is the second distance, V is the lowest green wave speed, T3 is the green light duration of the current period, that is, the first condition is: the second distance should be less than or equal to a distance determined from the lowest green wave vehicle speed to the green light duration of the present cycle, the lowest green wave vehicle speed determined from the second distance and the time required for the real-time state of the target signal to change being: v=d/T3.

However, when the target vehicle is closer to the intersection, the target vehicle cannot pass before the green light ends in the period even if the target vehicle runs at the maximum speed specified by the lane, and therefore, the minimum green wave speed is not required to be calculated, and the second condition is that the second distance is larger than the product of the maximum speed of the lane and the duration of the green light in the period.

In the embodiment of the application, the calculated amount can be reduced by setting the control point, and the driver can be prevented from being disturbed too much, so that the normal driving of the driver is ensured.

In the above embodiment, the vehicle networking cloud platform is described as an execution body to perform green wave speed guidance, and of course, the vehicle end may also be used as the execution body to perform green wave speed guidance. In the embodiment of the application, whether the vehicle-to-vehicle cloud platform conducts green wave speed guidance or the vehicle end conducts green wave speed guidance can be adaptively determined according to the computing capability of the vehicle end.

In one embodiment of the application, a terminal device for guiding the speed of green wave vehicles is installed in the target vehicle, and is connected with the Internet of vehicles cloud platform through a 3G/4G/5G or similar network. The terminal equipment has various types, such as a vehicle-mounted terminal T-Box, a vehicle machine, an intelligent rearview mirror, a smart mobile phone and the like, and the green wave speed guiding program is installed in the terminal equipment so as to realize the green wave speed guiding of the vehicle end. The computing capacity of the software and hardware forms of the different types of terminal equipment are different, so that the green wave vehicle speed guiding mode expected by the Internet of vehicles cloud platform can be reported according to the computing capacity of the vehicle terminal equipment.

Specifically, when terminal equipment on a target vehicle is connected with a cloud platform of the internet of vehicles through a network, a connection request is sent to the cloud platform of the internet of vehicles, the cloud platform of the internet of vehicles responds to the connection request, communication connection with the target vehicle is established, then a decision mode sent by the target vehicle can be obtained, a confirmation request is sent to the terminal equipment, and after confirmation information fed back by the terminal equipment is received, target operation is executed according to the decision mode sent by the target vehicle, wherein the decision mode comprises a server decision mode and a vehicle end decision mode, the server decision mode is green wave speed guiding by the cloud platform of the internet of vehicles, and the vehicle end decision mode is green wave speed guiding by the terminal equipment of the vehicle end.

According to the computing capability of the terminal equipment, the server decision mode or the vehicle end decision mode is adaptively selected, so that the green wave vehicle speed can be accurately and effectively guided, and the target vehicle can economically and comfortably pass through the intersection.

When the decision mode is a vehicle end decision mode, the terminal equipment at the vehicle end can conduct green wave speed guidance.

In one embodiment of the application, the target vehicle reports running information to the internet of vehicles cloud platform in real time or periodically in the running process, after the internet of vehicles cloud platform receives the running information, intersection geographic information and signal lamp information set related to the target vehicle at the moment can be sent to the terminal equipment of the target vehicle, in addition, the sensing equipment at the intersection can upload road vehicle information in the acquired sensing range to the internet of vehicles cloud platform, the road vehicle information comprises running information of all vehicles on road sections in the sensing range of the sensing equipment, the running information comprises running speeds of the vehicles and information of lanes and the like, so that the internet of vehicles cloud platform can calculate average speeds according to the running speeds corresponding to all vehicles in front of the target vehicle or the running speeds corresponding to other vehicles in front of the target vehicle, and send the average speeds to the terminal equipment.

After receiving the intersection geographic information, the signal lamp information set and the average speed, the terminal equipment of the target vehicle can firstly determine the target position of the target vehicle in the road network according to the position information of the target vehicle and the intersection geographic information, and determine the running direction of the target vehicle according to the running information of the target vehicle; then determining whether a signal lamp exists at an intersection along the running direction on a road section where the target vehicle is currently located according to the target position, if so, acquiring target signal lamp information corresponding to the target vehicle from a signal lamp information set according to the information of the intersection and a current lane where the target vehicle is located, and displaying the target signal lamp information on a man-machine interaction display interface for a driver to check, wherein the real-time state of the signal lamp in the target signal lamp information can be displayed only; then, according to the target position, the target signal lamp information and the average speed, the highest green wave speed and the lowest green wave speed required by the vehicle to pass through the intersection without stopping in the green light period of the current period or the next period can be calculated; and finally, green wave vehicle speed guiding information can be formed according to a green wave vehicle speed section formed by the highest green wave vehicle speed and the lowest green wave vehicle speed, and a driver is prompted.

In one embodiment of the application, the internet of vehicles cloud platform can set one or more control points in the road section according to the length of the road section where the target vehicle is located, so as to divide the road section into a plurality of control ranges. When the target vehicle reaches the control point, the internet of vehicles cloud platform transmits the average speed of all vehicles in front of the target vehicle or the average speed of other vehicles in the same lane in front of the target vehicle, intersection geographic information and signal lamp information set corresponding to the target vehicle to the terminal device, so that the target vehicle calculates a green wave speed interval required by the vehicle to pass through the intersection without stopping in the current or next green light period according to the received average speed, the intersection geographic information and the signal lamp information set, and forms green wave speed guiding information according to the green wave speed interval, and further displays a human-computer interaction interface with the green wave speed guiding information to prompt.

The method for calculating the highest green wave speed and the lowest green wave speed required by the vehicle to pass through the intersection without stopping in the green light period of the present period or the next period according to the target position, the target signal lamp information and the average speed is the same as the method for calculating the highest green wave speed and the lowest green wave speed in the step S340, and is not repeated here.

The green wave vehicle speed guiding method is that after the vehicle networking server receives the running information uploaded by the target vehicle, the signal lamp information set uploaded by the sensing equipment and the road vehicle information, the target position and the running direction of the target vehicle in the road network can be determined, and the average speed of the vehicle in front of the target vehicle or the average speed of other vehicles in front of the target vehicle and on the same lane; and acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set, determining a green wave vehicle speed section according to the target position and the target signal lamp information when determining that green wave vehicle speed guiding information needs to be issued to the target vehicle, and generating the green wave vehicle speed guiding information according to the green wave vehicle speed section. According to the technical scheme provided by the application, on one hand, corresponding green wave vehicle speed intervals can be given to each vehicle according to real-time traffic flow, vehicle speed and other information in the road, so that the passing efficiency of each vehicle is improved, and the traffic pressure is further reduced; on the other hand, the vehicle-mounted unit can be avoided being mounted on the vehicle, and hardware equipment such as road side units and the like are arranged on the road side, so that the cost is reduced. Furthermore, the technical scheme provided by the application can also adaptively determine the expected decision mode through the terminal equipment in the target vehicle according to the calculation capability of the terminal equipment, and when the calculation capability of the terminal equipment is enough, the green wave vehicle speed guiding can be performed through the vehicle end decision mode, so that the green wave vehicle speed guiding efficiency and quality are improved.

It will be appreciated that in the specific embodiments of the present application, related data such as vehicle driving information, signal light information sets, road vehicle information, etc. are involved, and when the above embodiments of the present application are applied to specific products or technologies, user permission or consent needs to be obtained, and the collection, use and processing of related data needs to comply with related laws and regulations and standards of related countries and regions.

It should be noted that although the steps of the methods of the present application are depicted in the accompanying drawings in a particular order, this does not require or imply that the steps must be performed in that particular order, or that all illustrated steps be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

The following describes an embodiment of the apparatus of the present application that can be used to perform the green wave vehicle speed guiding method in the above-described embodiment of the present application. Fig. 7 schematically shows a block diagram of a green wave vehicle speed guiding device according to an embodiment of the present application. As shown in fig. 7, the green wave vehicle speed guiding device 700 includes: the obtaining module 710, the judging module 720 and the generating module 730 specifically:

An obtaining module 710, configured to obtain driving information sent by a target vehicle, and a signal light information set and road vehicle information sent by a sensing device, determine a target position and a driving direction of the target vehicle in a road network according to the driving information, and determine an average speed of a vehicle located in front of the target vehicle according to the road vehicle information; the obtaining module 710 is further configured to obtain target signal light information corresponding to the target vehicle according to the target position, the running direction, and the signal light information set; a judging module 720, configured to judge whether to issue green wave vehicle speed guiding information to the target vehicle based on the target position, the target signal lamp information and the average vehicle speed; and the generating module 730 is configured to determine a green wave vehicle speed section according to the target position and the target signal lamp information when it is determined that the green wave vehicle speed guiding information needs to be issued, and generate the green wave vehicle speed guiding information according to the green wave vehicle speed section.

In some embodiments of the application, the travel information includes location information and operation information; based on the above technical solution, the obtaining module 710 is configured to: determining the target position according to the position information and a pre-configured road data set; and determining the running direction according to the running information and the target position.

In some embodiments of the present application, the traffic light information set includes a plurality of intersections and traffic light information subsets corresponding to the intersections, and each traffic light information subset includes traffic light information corresponding to different lanes of different road segments; based on the above technical solution, the obtaining module 710 includes: the determining unit is used for determining intersection information corresponding to the current road section, the current road section where the target vehicle is located and the current lane according to the target position and the running direction; the first comparison unit is used for comparing the intersection information with the intersections in the signal lamp information set; the acquisition unit is used for acquiring a signal lamp information subset corresponding to the intersection information when the intersection information exists in the signal lamp information set; and the second comparison unit is used for comparing the current road section and the current lane with the road section and the lane in the signal lamp information subset respectively so as to acquire the target signal lamp information.

In some embodiments of the present application, based on the above technical solutions, the determining module 720 is configured to: determining the lowest green wave vehicle speed according to the target position and the target signal lamp information; comparing the lowest green wave vehicle speed with the average vehicle speed; when the lowest green wave vehicle speed is lower than or equal to the average vehicle speed, determining that the green wave vehicle speed guiding information needs to be issued to the target vehicle; and when the lowest green wave vehicle speed is larger than the average vehicle speed, judging that the green wave vehicle speed guiding information does not need to be issued to the target vehicle.

In some embodiments of the present application, based on the above technical solutions, the generating module 730 includes: a first distance acquiring unit configured to acquire a first distance between the target position and a stop line along the running direction in the current road section; the time determining unit is used for determining the maximum green light duration and the minimum green light duration according to the target signal lamp information; the calculating unit is used for calculating the minimum green wave speed according to the first distance and the maximum green wave duration, calculating the maximum green wave speed according to the first distance and the minimum green wave duration, and determining the green wave speed interval according to the minimum green wave speed and the maximum green wave speed.

In some embodiments of the application, the target signal information includes a target signal real-time status; based on the above technical solution, the time determining unit is configured to: when the real-time state of the target signal lamp is green, taking the time required by switching the green lamp to the red lamp as the maximum green lamp duration and taking 1s as the minimum green lamp duration; when the real-time state of the target signal lamp is red light, the sum of the time required for switching the red light to the green light of the next period and the duration of the green light of the next period is taken as the maximum green light duration, and the time required for switching the red light to the green light of the next period is taken as the minimum green light duration.

In some embodiments of the present application, based on the above technical solutions, the generating module 730 further includes: the vehicle speed comparison unit is used for comparing the maximum green wave vehicle speed with the maximum vehicle speed corresponding to the current lane; and the vehicle speed determining unit is used for taking the maximum vehicle speed as the maximum green wave vehicle speed when the maximum green wave vehicle speed is larger than the maximum vehicle speed.

In some embodiments of the present application, a control point is set on a current road section where the target vehicle is located; based on the above technical solutions, the green wave vehicle speed guiding device 700 further includes: the position comparison module is used for comparing the target position with the position information corresponding to the control point before acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set; and the judging module is used for acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set when the target position is the same as the position information corresponding to the control point, and judging whether to calculate the minimum green wave speed according to the target position and the target signal lamp information.

In some embodiments of the application, the target signal information includes a target signal real-time status; based on the above technical solution, the judging module is configured to: acquiring a second distance between the control point and a stop line along the running direction on a current road section where the target vehicle is located; when the second distance meets a first condition, determining the lowest green wave speed according to the second distance and the time required by the real-time state change of the target signal lamp; when the second distance meets a second condition, the minimum green wave vehicle speed does not need to be calculated.

In some embodiments of the present application, based on the above technical solution, the green wave vehicle speed guiding device 700 is further configured to: before acquiring the running information and road vehicle information of a target vehicle, responding to a connection request of the target vehicle, and establishing communication connection with the target vehicle; acquiring a decision mode sent by the target vehicle, and executing target operation according to the decision mode after receiving the confirmation information of the target vehicle; the decision mode comprises a server decision mode and a vehicle end decision mode, and the decision mode is determined according to the terminal computing capacity corresponding to the target vehicle.

In some embodiments of the present application, based on the above technical solution, the green wave vehicle speed guiding device 700 is further configured to: when the decision mode is the vehicle end decision mode, intersection geographic information, a signal lamp information set and the average vehicle speed corresponding to the target vehicle are sent to the target vehicle, so that the target vehicle determines a green wave vehicle speed interval according to the intersection geographic information and the signal lamp information set, and green wave vehicle speed guiding information is generated according to the green wave vehicle speed interval.

In some embodiments of the present application, based on the above technical solution, the green wave vehicle speed guiding device 700 is further configured to: when the decision mode is the vehicle end decision mode and a control point is arranged on a current road section where the target vehicle is located, when the target position corresponding to the current vehicle is the same as the position information corresponding to the control point, transmitting intersection geographic information corresponding to the target vehicle, a signal lamp information set and the average vehicle speed to the target vehicle, so that the target vehicle determines a green wave vehicle speed interval according to the intersection geographic information and the signal lamp information set, and generates green wave vehicle speed guiding information according to the green wave vehicle speed interval.

Specific details of the green wave vehicle speed guiding device provided in each embodiment of the present application have been described in the corresponding method embodiments, and are not described herein.

Fig. 8 schematically shows a block diagram of a computer system for implementing an electronic device, which may be a terminal device, a sensing device 102 or a car networking server 103 provided in a target vehicle 101 as shown in fig. 1, according to an embodiment of the present application.

It should be noted that, the computer system 800 of the electronic device shown in fig. 8 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 8, the computer system 800 includes a central processing unit 801 (Central Processing Unit, CPU) which can execute various appropriate actions and processes according to a program stored in a Read-Only Memory 802 (ROM) or a program loaded from a storage section 808 into a random access Memory 803 (Random Access Memory, RAM). In the random access memory 803, various programs and data required for system operation are also stored. The central processing unit 801, the read only memory 802, and the random access memory 803 are connected to each other through a bus 804. An Input/Output interface 805 (i.e., an I/O interface) is also connected to the bus 804.

In some embodiments, the following components are connected to the input/output interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a local area network card, modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the input/output interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage portion 808 as needed.

In particular, the processes described in the various method flowcharts may be implemented as computer software programs according to embodiments of the application. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. The computer programs, when executed by the central processor 801, perform the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable medium, or any combination of the two. The computer readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may be any computer readable medium that is not a computer readable medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts 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 application. 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 or flowchart illustration, and combinations of blocks in the block diagrams 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.

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, comprising several instructions for causing an electronic device to perform the method according to the embodiments of the present application.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited by the appended claims.

Claims

1. A green wave vehicle speed guidance method, the method being performed by an internet of vehicles server, comprising:

acquiring running information sent by a target vehicle, a signal lamp information set and road vehicle information sent by sensing equipment, determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information;

Acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set;

judging whether to issue green wave vehicle speed guiding information to the target vehicle based on the target position, the target signal lamp information and the average vehicle speed;

when the green wave vehicle speed guiding information is judged to be required to be issued, a green wave vehicle speed section is determined according to the target position and the target signal lamp information, and the green wave vehicle speed guiding information is generated according to the green wave vehicle speed section.

2. The method of claim 1, wherein the travel information includes location information and operation information;

the determining the target position and the running direction of the target vehicle in the road network according to the running information comprises the following steps:

determining the target position according to the position information and a pre-configured road data set;

and determining the running direction according to the running information and the target position.

3. The method of claim 1, wherein the set of traffic light information includes a plurality of intersections and a subset of traffic light information corresponding to each of the intersections, and each subset of traffic light information includes traffic light information corresponding to a different lane of a different road segment;

The obtaining target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set includes:

determining intersection information corresponding to the current road section, and the current road section and the current lane where the target vehicle is located according to the target position and the running direction;

comparing the intersection information with intersections in the signal lamp information set;

when the signal lamp information is concentrated, acquiring a signal lamp information subset corresponding to the intersection information;

and comparing the current road section and the current lane with the road section and the lane in the signal lamp information subset respectively so as to acquire the target signal lamp information.

4. The method of claim 1, wherein the determining whether to issue green wave vehicle speed guidance information to the target vehicle based on the target position, the target signal light information, and the average vehicle speed comprises:

determining the lowest green wave vehicle speed according to the target position and the target signal lamp information;

comparing the lowest green wave vehicle speed with the average vehicle speed;

when the lowest green wave vehicle speed is lower than or equal to the average vehicle speed, determining that the green wave vehicle speed guiding information needs to be issued to the target vehicle;

And when the lowest green wave vehicle speed is larger than the average vehicle speed, judging that the green wave vehicle speed guiding information does not need to be issued to the target vehicle.

5. The method of claim 3, wherein said determining a green wave vehicle speed interval from said target location and said target signal light information comprises:

acquiring a first distance between the target position and a stop line along the running direction in the current road section;

determining the maximum green light duration and the minimum green light duration according to the target signal lamp information;

calculating the minimum green wave speed according to the first distance and the maximum green wave duration, calculating the maximum green wave speed according to the first distance and the minimum green wave duration, and determining the green wave speed interval according to the minimum green wave speed and the maximum green wave speed.

6. The method of claim 5, wherein the target signal information comprises a target signal real-time status;

the determining the maximum green light duration and the minimum green light duration according to the target signal lamp information comprises the following steps:

when the real-time state of the target signal lamp is green, taking the time required by switching the green lamp to the red lamp as the maximum green lamp duration and taking 1s as the minimum green lamp duration;

When the real-time state of the target signal lamp is red light, the sum of the time required for switching the red light to the green light of the next period and the duration of the green light of the next period is taken as the maximum green light duration, and the time required for switching the red light to the green light of the next period is taken as the minimum green light duration.

7. The method of claim 1, wherein a control point is provided on a current road segment on which the target vehicle is located;

before acquiring the target signal light information corresponding to the target vehicle according to the target position, the running direction and the signal light information set, the method further comprises:

comparing the target position with the position information corresponding to the control point;

and when the target position is the same as the position information corresponding to the control point, acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set, and judging whether to calculate the minimum green wave vehicle speed according to the target position and the target signal lamp information.

8. The method of claim 7, wherein the target signal information comprises a target signal real-time status;

The determining whether to calculate the lowest green wave vehicle speed according to the target position and the target signal lamp information includes:

acquiring a second distance between the control point and a stop line along the running direction on a current road section where the target vehicle is located;

when the second distance meets a first condition, determining the lowest green wave speed according to the second distance and the time required by the real-time state change of the target signal lamp;

when the second distance meets a second condition, the minimum green wave vehicle speed does not need to be calculated.

9. The method according to claim 1, characterized in that before acquiring the travel information of the target vehicle and the road vehicle information, the method further comprises:

responding to the connection request of the target vehicle, and establishing communication connection with the target vehicle;

acquiring a decision mode sent by the target vehicle, and executing target operation according to the decision mode after receiving the confirmation information of the target vehicle;

the decision mode comprises a server decision mode and a vehicle end decision mode, and the decision mode is determined according to the terminal computing capacity corresponding to the target vehicle.

10. The method of claim 9, wherein when the decision mode is the vehicle end decision mode, the method further comprises:

and transmitting intersection geographic information, a signal lamp information set and the average vehicle speed corresponding to the target vehicle, so that the target vehicle determines a green wave vehicle speed interval according to the intersection geographic information and the signal lamp information set, and generates green wave vehicle speed guiding information according to the green wave vehicle speed interval.

11. The method of claim 9, wherein when the decision mode is the vehicle end decision mode and a control point is set on a current road segment on which the target vehicle is located, the method further comprises:

when the target position corresponding to the current vehicle is the same as the position information corresponding to the control point, transmitting intersection geographic information, a signal lamp information set and the average vehicle speed corresponding to the target vehicle, so that the target vehicle determines a green wave vehicle speed interval according to the intersection geographic information and the signal lamp information set, and generates green wave vehicle speed guiding information according to the green wave vehicle speed interval.

12. A green wave vehicle speed guiding device, the device being arranged in an internet of vehicles server, comprising:

the acquisition module is used for acquiring running information sent by a target vehicle, a signal lamp information set and road vehicle information sent by sensing equipment, determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information;

the acquisition module is further used for acquiring target signal lamp information corresponding to the target vehicle according to the target position, the running direction and the signal lamp information set;

the judging module is used for judging whether to issue green wave vehicle speed guiding information to the target vehicle or not based on the target position, the target signal lamp information and the average vehicle speed;

and the generation module is used for determining a green wave vehicle speed section according to the target position and the target signal lamp information when the green wave vehicle speed guiding information is judged to be required to be issued, and generating the green wave vehicle speed guiding information according to the green wave vehicle speed section.

13. A green wave vehicle speed guidance system, comprising:

A target vehicle;

the sensing equipment is used for collecting a signal lamp information set at the intersection and road vehicle information in a sensing range;

the vehicle networking server is used for acquiring the driving information sent by the target vehicle, the signal lamp information set sent by the sensing equipment and the road vehicle information;

determining a target position and a running direction of the target vehicle in a road network according to the running information, and determining an average speed of a vehicle positioned in front of the target vehicle according to the road vehicle information;

14. A computer readable medium having stored thereon a computer program which, when executed by a processor, implements the green wave vehicle speed guidance method of any one of claims 1 to 11.

15. An electronic device, comprising:

a processor; and

a memory for storing instructions;

wherein execution of the instructions stored by the memory by the processor is for implementing the green wave vehicle speed guidance method of any one of claims 1 to 11.