WO2017124966A1

WO2017124966A1 - Vehicle control method and apparatus

Info

Publication number: WO2017124966A1
Application number: PCT/CN2017/071013
Authority: WO
Inventors: 骆磊
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2016-01-20
Filing date: 2017-01-12
Publication date: 2017-07-27
Also published as: CN105654754A; CN105654754B

Abstract

A vehicle control method and apparatus. The method comprises: determining a vehicle on a lane in a direction where the vehicle is to be allowed to pass through (101); sending a pre-set first passable vehicle parameter to the vehicle (102); determining a first passable vehicle parameter when the vehicle is waiting to pass through (201); determining, according to the first passable vehicle parameter, whether the vehicle itself can pass through a crossing in the present passing period; (202) and determining, according to a determination result, a running speed after passing is allowed (203). By adopting the method, a vehicle can determine, according to the first passable vehicle parameter, whether the vehicle itself can pass through a crossing in the present passing period, and determine, according to a determination result, a running speed after passing is allowed, thereby avoiding fuel waste and the occurrence of traffic accidents caused by the fact that the vehicle does not know whether the vehicle itself can pass through the crossing in the prior; and since various vehicles determine respective running speeds before the passing is allowed, the passing efficiency is improved to a certain degree.

Description

Vehicle control method and device

Technical field

The present application relates to the field of vehicle intelligent driving technology, and in particular, to a vehicle control method and apparatus.

Background technique

Currently, driving a vehicle usually relies on the driver. During the process of passing the artificially driven vehicle through the intersection, due to the reaction speed of the person, the driving skill and the performance of the car, after the intersection signal light is indicated as a green light, the waiting vehicles are sequentially activated, causing the spacing between the vehicles to be unnecessarily enlarged, thereby causing The number of vehicles passing during each green light is far from ideal.

In addition, each car does not determine whether it can pass the intersection during the period when the signal light changes. It may cause unnecessary fuel waste. For example, the acceleration sprint suddenly turns into a red light and is under the basket. Considering that at the intersection where there is no countdown to the lights, the sudden braking of the red light in the front car may lead to the rear car rear-end collision. For the intersection with the countdown of the lights, it may also be caused by the emergency stop of some drivers and the emergency stop of some drivers.

The disadvantages of the prior art are:

When the vehicle passes through the intersection, the traffic is low, which may cause unnecessary fuel waste and is prone to traffic accidents.

Summary of the invention

The embodiment of the present application provides a vehicle control method and device to solve the technical problem that the traffic efficiency of the vehicle passing through the intersection is low, the unnecessary fuel waste may be caused, and the traffic accident is easy to occur.

A first aspect of the embodiments of the present application provides a vehicle control method, including the following steps:

Determining the vehicle on the lane in which the direction of travel is to be permitted;

A predetermined first passable vehicle parameter is sent to the vehicle.

A second aspect of the embodiments of the present application provides a vehicle control apparatus, including:

a first determining module, configured to determine a vehicle on a lane that is about to allow a traffic direction;

The first sending module is configured to send the preset configurable vehicle parameters to the vehicle.

The benefits are as follows:

In the vehicle control method and apparatus provided by the embodiments of the present application, the vehicle management equipment side may first determine a vehicle on a lane that is about to allow a traffic direction, and then transmit a preset first passable vehicle parameter to the vehicle, because The application embodiment may pre-notify the first passable vehicle parameter to the vehicle on the lane that is about to allow the traffic direction before allowing the traffic, and may cause the vehicle that receives the first passable vehicle parameter to pass the first passable The vehicle parameters are driven to improve the traffic efficiency while reducing unnecessary fuel waste and the transmission rate of traffic accidents, so as to control the driving of the vehicle.

A third aspect of the embodiments of the present application provides a vehicle control method, including the following steps:

Determining the first passable vehicle parameter while waiting for the passage;

Determining, according to the first passable vehicle parameter, whether the road can pass through the intersection during the current transit period;

According to the judgment result, the traveling speed after the passage is allowed is determined.

A fourth aspect of the embodiments of the present application provides a vehicle control apparatus, including:

a second determining module, configured to determine a first passable vehicle parameter during the waiting period;

a determining module, configured to determine, according to the first passable vehicle parameter, whether the road can pass through the intersection during the current transit period;

And a third determining module, configured to determine, according to the determination result, a driving speed after allowing the traffic.

The benefits are as follows:

According to the vehicle control method and apparatus provided by the embodiments of the present application, the vehicle may determine the first passable vehicle parameter during the waiting for the passage, according to the first passable vehicle parameter. Whether it is possible to pass the intersection in the current passage period, and determine the driving speed after the passage is allowed according to the judgment result, thereby avoiding the fuel waste and the traffic accident caused by the vehicle in the prior art without knowing whether or not the vehicle can pass through the intersection, and Each vehicle determines its own driving speed before allowing traffic, which improves the traffic efficiency to some extent.

DRAWINGS

Specific embodiments of the present application will be described below with reference to the accompanying drawings, in which:

1 is a schematic flow chart showing an implementation of a vehicle control method in an embodiment of the present application;

2 is a schematic flow chart showing another implementation of a vehicle control method in an embodiment of the present application;

FIG. 3 is a schematic diagram of a vehicle control scenario in the embodiment of the present application;

4 is a schematic structural diagram of a vehicle control device in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of another vehicle control device in the embodiment of the present application.

detailed description

The exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings, in which the embodiments described are only a part of the embodiments of the present application, but not all embodiments. An exhaustive example. And in the case of no conflict, the features in the embodiments and the embodiments in the description can be combined with each other.

The inventor noticed during the invention:

Although there are some intelligent automatic driving schemes at present, the vehicles are basically intelligent, and can only intelligently accelerate, decelerate, stop, determine traffic lights, etc., for example, when the red light is encountered, the vehicle can automatically stop. Without the linkage between vehicles and even between vehicles and traffic management equipment, the overall traffic efficiency of the city has not improved.

In view of the deficiencies of the prior art, the embodiment of the present application provides a vehicle control method and apparatus, which will be described below.

FIG. 1 is a schematic flow chart showing an implementation of a vehicle control method in an embodiment of the present application. As shown in the figure, the vehicle control method may include the following steps:

Step 101: Determine a vehicle on a lane that is about to allow a traffic direction;

Step 102: Send a preset first passable vehicle parameter to the vehicle.

In a specific implementation, the vehicle control method described above may be adopted on the vehicle management device side, and the vehicle management device may include a traffic signal, a traffic management server, and the like.

The determining the vehicle on the lane in which the traffic direction is to be allowed may be specifically: determining a traffic direction to be allowed; detecting a vehicle on the lane in the direction in which the traffic is to be allowed; determining that the detected vehicle may be the The first car, the second car, etc. on the driveway that will be allowed to pass.

Wherein, the to-be allowed traffic direction may be the next allowed traffic direction determined according to a preset rule, for example, at the intersection, the current allowed traffic direction is from south to north and from north to south, then the traffic direction may be allowed. From west to east and from east to west; at the T-junction in the southeast and west, the current permitting direction is left-to-south, so the direction of passage is allowed to go straight to the east-west direction, which can be determined according to actual traffic needs.

In a specific implementation, a preset first passable vehicle parameter is sent to the vehicle, and the first passable vehicle parameter may be specifically transmitted to the vehicle by way of wireless transmission. The specific transmission time may be any time in the period of prohibiting the passage of the traffic to the permitted transit time, for example, at the intersection, the north-south prohibition passage time is 00:00, and the next north-south direction is allowed. The transit time is 00:60, then the preset first passable vehicle parameters can be sent to the vehicle at any time during the period from 00:00 to 00:60.

The vehicle control method provided by the embodiment of the present application determines a vehicle on a lane that is about to allow a traffic direction, and transmits a preset first passable vehicle parameter to the vehicle, so that the parameter can be notified in advance before allowing the traffic. a vehicle in the direction of the vehicle so that the vehicle can determine whether it can pass the intersection during the time allowed to pass and the speed at which the passage is allowed, thereby avoiding Unnecessary fuel waste and the occurrence of traffic accidents, and the vehicle that is about to allow the traffic direction can determine the respective travel speeds when the traffic is allowed according to the first passable vehicle parameters, thereby avoiding the prior art allowing access. When the distance between the vehicles is not necessarily widened, the problem of low traffic efficiency is lowered, and the traffic efficiency is improved to some extent.

In an implementation, the first passable vehicle parameter may specifically be a passable vehicle number or a passable distance.

In a specific implementation, the first passable vehicle parameter may be a parameter such as the number of vehicles that can pass, and the number of vehicles that can pass may be the number of vehicles that can pass in the current transit period, for example, it is generally assumed that a traffic pass period can be Through 8 vehicles, then the first passable vehicle parameter can be set to 8 vehicles, which means that 8 vehicles can pass through this passage period.

Considering that the lengths of the bodies of different vehicles are different, according to the number of vehicles that can pass through, there may be a case where one lane has stopped and the other lane is still in the allowable traffic direction, for example, from south to north. The vehicle has passed 8 vehicles and is no longer allowed to pass. The vehicles from north to south pass through 7 vehicles and continue to pass. Therefore, the first passable vehicle parameter in the embodiment of the present application may also be a passable distance, and the passable distance D may be a starting point of the intersection stop line and a preset passable distance as a length. The line segment indicates that the vehicle within the meter distance D (assuming the meter is in meters) can pass.

It is assumed that the number of vehicles allowed to pass at a junction is usually 20 vehicles at a time, or the allowable passing distance is about 200 meters. The embodiment of the present application can be set according to actual needs, and it is assumed that the first vehicle is sent to the first vehicle on the lane. The vehicle parameters may be passed, then the first vehicle may be sent by the number of vehicles 20 or the distance may be 200 meters; if the first passable vehicle parameter is sent to the second vehicle on the lane Assuming that the length of the first car is 5 meters and the distance c of the vehicle after the vehicle is stopped is 1 meter, then the number of vehicles that can be transmitted to the second vehicle is 19 or the distance from the vehicle is 194. Meter.

The embodiment of the present application uses the number of vehicles or the length of the queue to control the driving of the vehicle instead of time control. The system makes it possible to determine whether it is more clear and convenient to pass through the intersection, avoiding fuel waste, traffic accidents, etc. caused by uncertainty or lack of knowing whether it can pass through the intersection.

In an implementation, the method may further include:

The lane indicating the direction in which the traffic is to be allowed is allowed to pass.

In the embodiment of the present application, after the preset first passable vehicle parameter is sent to the first car, the lane permitting passage of the impending traffic direction may be indicated at a prescribed time according to actual traffic demand. .

FIG. 2 is a schematic flow chart showing another implementation of a vehicle control method in an embodiment of the present application. As shown, the vehicle control method may include the following steps:

Determining the first passable vehicle parameter while waiting for the passage;

During the specific implementation, during the waiting period of the vehicle on the lane, the time period from the lane prohibition to the lane permission behavior may be specifically changed, and may also be changed due to the inconsistent time of each vehicle reaching the intersection. short.

After determining the first passable vehicle parameter, the vehicle may determine, according to the first passable vehicle parameter, whether it is possible to pass the intersection in the current transit period, and determine, according to the determination result, the travel speed after the pass is allowed, thereby allowing the pass after the pass. The driving behavior is prepared to avoid fuel waste, traffic accidents, etc. in order to obtain speed through the intersection, to ensure that each vehicle is driven in an orderly manner according to the determined driving speed after allowing the passage, and the traffic efficiency is improved to some extent. .

In an implementation, the determining the first passable vehicle parameter may specifically detect detecting an identifier that is preset in the vicinity of the lane where the vehicle is located.

In the specific implementation, the passable sign (which may be a line or other indicative mark) may be set in advance on the road or next to the road, and the vehicle determines the first passable vehicle by detecting the signs. The parameters can be judged by the intersection. Each vehicle that exceeds this mark can be identified as a non-passengable vehicle. Vehicles that do not exceed this mark can be identified as the passable vehicle.

In the implementation, the determining the first passable vehicle parameter may specifically detect whether there is a vehicle within a preset distance in front of the vehicle, and according to the first passable vehicle parameter, determine whether it can pass the intersection in the current transit period, specifically It may be: if it is detected that there is no other vehicle within the preset distance in front of the vehicle, it is determined that it is passable during the current passage period.

During specific implementation, during the waiting period, the vehicle can detect whether there is a vehicle within the preset distance in front of the vehicle, and then determine whether it can pass the intersection in the current period. If it is detected that there is no vehicle within the preset distance in front of the vehicle, it can be considered that the vehicle is the first car in the waiting queue, and it is determined that it can pass the intersection in the current passage period.

In an implementation, the first passable vehicle parameter may specifically be a passable number of vehicles and a rank in the queue; the first passable vehicle parameter determines whether the pass can pass through the intersection during the current pass period. Specifically, it can be:

When the rank of the self in the queue is less than or equal to the number of passable vehicles, it is determined that it is traversable.

In a specific implementation, the first passable vehicle parameter may specifically be a rank that can pass through the number of vehicles and itself in the queue, and the first passable vehicle parameter may be sent by the traffic management device, or may be the previous one. The car was sent.

After receiving the number of the passable vehicles and the rank of the train in the queue, the vehicle may determine whether it can pass the intersection in the current transit period, and specifically, when the self is in the queue When it is less than or equal to the number of vehicles that can pass, it is determined that it is permeable. For example, if the number of vehicles that can pass the vehicle is 5 and the rank in the queue is 2, then it can be determined that the traffic can pass through the intersection in the current passage; if the rank in the queue is 6, it can be determined. It is impossible to pass the intersection itself during this transit period.

In an implementation, the method may further include:

The number of passable vehicles and the rank of the next car in the queue are sent to the next car.

In a specific implementation, after receiving the number of available vehicles and the ranking of the vehicle in the queue, the vehicle may further send the number of the passable vehicles and the next vehicle to the next vehicle. Rank in the queue. For example, suppose the number of available vehicles is 6 and the rank in the queue is 2. At this time, the number of vehicles that can pass the next vehicle can be 6 and the next one is informed. The car ranks 3 in the queue; if it ranks 7 in the queue, it can send the number of vehicles that can pass through to the next car to 6 and inform the next car in the queue. The ranking is 8.

Assuming that the traffic management equipment is a traffic light, before each red light turns green, the traffic management equipment can determine the number of vehicles that can pass in the direction of the next green light according to the traffic conditions in four directions (the number of vehicles that can pass through each lane) ) and wirelessly transmit the number of vehicles that can pass in each column of the first car in this direction, which informs the next car of this quantity and informs the next car of its row in this queue. Bit, until the ranking is equal to the number of vehicles that can pass the number of vehicles, as the last car that can pass the intersection. The last car that can be passed this time can further inform the car behind it that this is a vehicle that cannot pass the intersection.

In a specific implementation, the transmission limit threshold may be preset according to actual needs, and the limit threshold may be a delivery quantity limit. For example, after the first car is transported backwards and 12 cars are passed backwards, they are no longer passed backwards, or the last car at the intersection can be notified to the next four vehicles that cannot pass the intersection. After the vehicle, the number of available vehicles and the ranking of the next vehicle in the queue are no longer sent back.

In an implementation, the first passable vehicle parameter may specifically be a passable distance of the current vehicle; and according to the first passable vehicle parameter, whether the self can pass the intersection in the current pass period, specifically: when The length of the vehicle itself is less than or equal to the passable distance of the current vehicle When you are away, make sure you are passable.

In a specific implementation, the number of passing vehicles may also be controlled by a distance mode, and the first passable vehicle parameter may be a passable distance of the current vehicle, and after determining the passable distance of the current vehicle, it may be determined that the current vehicle is in this time. Whether it is possible to pass the intersection during the transit period, specifically:

If the own vehicle length L _{car i} <= received its own passable distance D _i , marked as passable through the intersection, assuming that its own speed is V _pass after the _pass , the maximum allowable acceleration from 0 to V _pass is a _{pass max} V- _pass can be set according to traffic regulations, such as speed limit at intersections; a- _max can be combined with comfort, fuel economy and intersection efficiency, based on empirical values or experimental data, so that the vehicle is suitable after allowing traffic. accelerate;

If the own vehicle length L _{car i} > received its own passable distance D _i , it is marked as unable to pass the intersection, assuming that its own speed is V _stop after the passage, the maximum allowable acceleration from 0 to V _stop is a _{stop max} , V _stop and a _{stop max} can be combined with comfort and fuel economy, according to empirical values or experimental data, so that the vehicle is properly accelerated and maintain a low speed.

For example, if the current vehicle has a distance of 200 meters and its own length is 4 meters, then it can be determined that it can pass the intersection during the current passage; if the current vehicle can pass the distance of 3 meters, its own length For 4 meters, you can be sure that you cannot pass the intersection during this passage.

The first passable vehicle parameter may be sent by the vehicle management device or may be sent by a previous vehicle. When the first available vehicle parameter is transmitted by the vehicle management device, the current vehicle may be the first vehicle, the current vehicle's reachable distance is a maximum value; when the first passable vehicle parameter is the front When a car is sent, the current vehicle may be a second car, a third car, etc., and the passable distance of the current vehicle is gradually reduced.

By controlling the number of passing vehicles by the length of the distance, it is possible to avoid a situation in which one lane in the passing direction is allowed to stop and the other lane is still passing due to the difference in the length of the vehicle body.

In an implementation, the method may further include:

The passing distance of the next car is sent to the next car.

After receiving the passable distance of the current vehicle, the vehicle may further transmit the passable distance of the next vehicle to the next vehicle, so that the next vehicle can determine whether it can be in the current passage period. Pass the intersection.

In a specific implementation, the transmission limit threshold may be preset according to actual needs, and the limit threshold may be a transmission distance limit. For example, after 200 meters from the first car, the passable distance of the subsequent vehicle is no longer sent backward.

In implementation, the passable distance of the next car is D _i+1 =D _i -L _{car i} -c, wherein i is the current vehicle number, and the i+1 is the next car number, The D _i is the passable distance of the current vehicle, the L _{car i is} the car length of the car, and the c is a preset static vehicle pitch.

In a specific implementation, the passable distance of the next vehicle may be the remaining distance value of the current vehicle's vehicle length and the vehicle distance minus the current vehicle's reachable distance, for example, if the current vehicle is the first vehicle, the distance can be passed. For 200 meters, the length of the first car is 5 meters. After the vehicle stops, the distance between the car and the car is assumed to be 1 meter, then the passing distance of the second car is 200-5- 1 = 194 meters; assuming that the length of the second car is 4 meters, then the passable distance of the second car to the third car is 194-4-1 = 189 meters, ..., in turn analogy.

In an implementation, the minimum safety distance Sn _min between the current vehicle and the next vehicle during driving may be:

Sn _min =v _n-1 ² /(2*a _n-1 )-v _n ² /(2*a _n )+c;

Wherein, the a _n-1 and the a _n are respectively the maximum braking capability of the n-1th car and the nth car, and the v _{n is} specifically the speed of the nth car, and the v _{n-1 is} specifically The speed of the n-1th car.

In specific implementation, it is assumed vehicle speed of the first n-1 (n-1 of the first preceding vehicle) is V _n-1, n-th vehicle (the vehicle in the n-th) speed of V _n The minimum safe distance traveled between vehicles is Sn _min , according to the minimum safe distance theory: Sn _min = v _n-1 ² / (2 * a _n-1 ) - v _n ² / (2 * a _n ) + c; The a _n-1 and an _n are the maximum braking capabilities of the vehicle n-1 and the vehicle n, respectively, and the embodiment of the present application assumes that there is no signal transmission delay.

In the implementation, the determining the driving speed after allowing the traffic according to the determination result may specifically be:

When it is judged that it can pass through the intersection, it is determined that the maximum speed of the passage after allowing the passage is the preset first speed V- _pass , and the self-acceleration is determined as:

Wherein a ₁ is the first vehicle through the maximum braking capacity, a maximum braking _I is their ability to _pass a _max is the first maximum predetermined acceleration;

When the intersection is determined not by itself determine their allowed maximum speed after the passage of a second preset _stop speed V, acceleration itself is determined as:

Wherein said a _'1 is the first vehicle maximum braking capacity can not be adopted, _J is a maximum braking capability of its own, a _{stop max} is the second maximum predetermined acceleration.

In specific implementation, Sn _min =v _n-1 ² /(2*a _i-1 )–v _n ² /(2*a _i )+c,

And v _n-1 = a _{pass i-1} *t, v _i = a _{pass i} * t,

Substituting for access:

Sn _min = a _{pass i-1} ² * t ² / (2 * a _i-1 ) - a _{pass i} ² * t ² / (2 * a _i ) + c;

The first car at the intersection will inevitably start to accelerate with the preset first acceleration a _{through max} . Assume that from the second car, the acceleration is a _{pass 2} , a _{pass 3} ... a _{pass n} , assuming the nth car and the nth - The distance traveled by 1 vehicle at time t is S _i and S _{i-1 respectively} , then it can be known that:

S _i-1 +c=S _i +Sn _min ;

S _i-1 = a _{pass i-1} * t ²

S _i = a _{pass i} * t ²

Combine the above three equations to get:

a _{pass i} = a _{pass i-1} - (Sn _{min -} c) / t ² ;

At the intersection, the first car a _{pass 1} = a _{pass max} , through the above equation iteration a _{pass 2} , a _{pass 3} ... a _{pass n} , can get:

a _{pass i} = a _{pass max} -a _{pass max} ² / (2 * a ₁ ) + a _{pass i} ² / (2 * a _i )

The transformation is available:

a _{pass i} ² /(2*a _i )-a _{pass i} +a _{pass max} -a _{pass max} ² /(2*a ₁ )=0

According to the root formula:

Among them, 1 can correspond to the car that the first one can pass, and i can correspond to the car that the i-th can not pass.

For the same reason, for vehicles that cannot pass the intersection:

Among them, 1 can correspond to the first car that cannot pass, and j can correspond to the car that the jth cannot pass.

In the embodiment of the present application, the vehicles waiting to pass are divided into a passable vehicle and a non-passable vehicle, respectively, which can set different accelerations and maximum speeds through the vehicle and through the vehicle, so as to avoid unnecessary fuel waste and traffic accidents. At the same time, it improves the efficiency of traffic.

In an implementation, the method may further include:

Receiving the permission to pass, and driving according to the determined travel speed after the passage is allowed.

Assume that the traffic management equipment is a traffic light. When the red light turns green, the i-th vehicle that can pass (i is 1, 2, 3...n-1, n) is accelerated according to the above _{, i} , the jth vehicle that cannot pass. If the car accelerates according to the above a _{stop j} , it can ensure that all vehicles can accelerate at the same time at the same time, without delay, so that one train moves at the same time like a train (the distance between the two workshops will increase with the increase of speed to ensure the minimum safe distance) The n vehicles passing through the intersection can accelerate relatively faster, and the n vehicles that cannot pass through the intersection can accelerate relatively slowly (guarantee fuel efficiency without affecting the traffic efficiency), and can automatically maintain the minimum safe distance through the vehicle. Vehicles also automatically maintain a minimum safe distance at all times, greatly improving the efficiency of intersections and reducing unnecessary energy consumption (eg, excessive braking, unable to pass the vehicle but accelerating).

After understanding the environment to be used, the terminal side and the traffic management equipment side can be implemented as described above. In the description process, the implementation from the terminal and the traffic management device side is explained separately, but this does not mean that the two must be implemented together. In fact, when the terminal is separately implemented from the traffic management device, it also solves the terminal side separately. The problem of the traffic management equipment side is that when the two are used together, better technical effects will be obtained.

In the embodiment of the present application, the vehicle waiting at the intersection is divided into a signal light, which can pass through the vehicle and the non-passable vehicle during the transit period, and when the signal light indicates that the traffic can pass, each of the vehicles can pass the vehicle and the non-passable vehicle can be simultaneously started with different accelerations to realize each. The vehicle passes the intersection with the minimum distance, improves the efficiency of the intersection, and other vehicles advance with the optimal acceleration to reduce unnecessary fuel consumption.

In order to facilitate the implementation of the present application, the following description will be made by way of example.

FIG. 3 is a schematic diagram of a vehicle control scenario in the embodiment of the present application. As shown in the figure, it is assumed that a signal light device is provided at an intersection including a north-south direction and an east-west direction, and the figure shows east-west traffic and north-south direction waiting for passage. The scenario shows that there are already 5 cars waiting in line from north to south.

Embodiment 1

The signal light device can first determine the number of vehicles that can pass through the north-south direction according to the traffic condition, and use the communication module installed by itself to inform the north-south first car that the number of vehicles can pass this time by wireless transmission, which is assumed to be three.

After the first vehicle in the queue receives the number of passable vehicles, the second vehicle can be notified of the number of available vehicles, and the second vehicle can also be informed of the rank in the queue. 2nd place;

After the second vehicle receives the number of vehicles that can pass through and the rank in the queue, it can be determined that it can pass the intersection in the current passage period (rank 2 < number of vehicles that can pass 3), and The third vehicle can be informed of the number of vehicles that can be passed, and the third vehicle can also be informed of the ranking in the queue, that is, the third position;

After the third vehicle receives the number of vehicles that can pass through and is in the queue, It can be determined that it can pass the intersection in the current passage period (rank 3 = number of vehicles that can pass through 3), and can inform the fourth vehicle of the number of vehicles that can pass, and can also inform the fourth vehicle that Rank in the queue, which is the 4th place;

After the fourth vehicle receives the number of vehicles that can pass through and the rank in the queue, it can be determined that it cannot pass the intersection in the current passage period (rank 4> the number of vehicles that can pass through 3), and The fifth vehicle can be notified by the number of vehicles, and the fifth vehicle can also be informed of the ranking in the queue, that is, the fifth position;

After the fifth vehicle receives the number of vehicles that can pass through and the rank in the queue, it can be determined that it cannot pass the intersection in the current passage period (rank 5> the number of vehicles that can pass through 3); When you pass the threshold based on the limit, you can no longer pass the information back.

It can be confirmed from the above that the first, second and third vehicles can pass the intersection smoothly after the passage of the passage, and the fourth and fifth vehicles cannot pass the intersection after the permission is allowed.

When the traffic light device indicates that the east-west direction is prohibited and the north-south direction is allowed to pass according to the actual traffic rules, the first, second, and third vehicles can start to travel according to the following acceleration:

The acceleration of the first car is: a _{pass 1} = a _{pass max} ;

The acceleration of the second car is:

The acceleration of the third car is:

Among them, a ₁ is the maximum braking capacity of the first car, a ₂ is the maximum braking capacity of the second car, a ₃ is the maximum braking capacity of the third car, and a _{pass max} is the preset maximum passable vehicle Acceleration.

The 4th and 5th cars can start driving at the following accelerations:

The acceleration of the fourth car is: a _{stop 4} = a _{stop max} ;

The acceleration of the fifth car is:

Among them, a' ₁ is the maximum braking capacity of the 4th car (the first car that cannot pass) (ie a' ₁ = a ₄ ), and a _{stop max} is the preset maximum acceleration of the unpassable vehicle.

In the above manner, the five vehicles waiting to pass can start and accelerate at the same time after turning green, and the first, second, and third vehicles are relatively faster to accelerate and maintain a minimum safety distance between each other. The five vehicles are relatively slower in acceleration and maintain a minimum safe distance between each other. They advance at a relatively energy-saving speed and acceleration, greatly improving the efficiency of intersections and avoiding unnecessary energy waste.

Embodiment 2

The signal light device may first determine the distance between the north and south upwards according to the traffic condition, and use the communication module installed by itself to inform the north and south that the first vehicle can pass the vehicle distance by wireless transmission, and the distance is assumed to be the distance Vehicles within 200 meters of the equipment can pass through the intersection during this transit period.

Receiving said first vehicle by the vehicle after _a distance D, it is determined whether the vehicle through the intersection can be assumed that the first _vehicle car vehicle length L ₁ of 4.5 meters, it can be determined by the intersection itself (4.5 <200 And further calculating the passable vehicle distance D _{2 of} the second vehicle and sending the second vehicle to the second vehicle, the calculating process may specifically be:

D ₂ =D ₁ -L _{car 1} -c, assuming that the vehicle spacing c is 0.8 meters, then the passable distance to the second vehicle is D ₂ =200-4.5-0.8=194.7 meters;

The second car may be received by the vehicle after a distance D _2, the vehicle can be determined whether the intersection is assumed that the second vehicle (bus) of _{the vehicle 2} vehicle length L of 12 meters, it can be determined may itself Through the intersection (12<194.7), the passable distance D ₃ of the third vehicle can be further calculated and sent to the third vehicle. The calculation process may specifically be:

D ₃ =D ₂ -L _{car 2} -c, then the passable distance to the second car is:

D ₃ =194.7-12-0.8=181.9 meters;

The third car received by the vehicle after a distance D _3, it is determined whether the vehicle through the intersection, assuming the third car (bus) of the vehicle length L of 12 meters _{vehicle 3,} it can be determined may itself Through the intersection (12<181.9), the vehicle passing distance D ₄ of the fourth vehicle can be further calculated and sent to the fourth vehicle. The calculation process may specifically be:

D ₄ =D ₃ -L _{car 3} -c, then the passable distance to the fourth car is:

D ₄ = 181.9-12-0.8 = 169.1 meters;

The fourth car received by the vehicle after a distance D _4, it is determined whether the vehicle through the intersection, the car is assumed that the fourth _car vehicle length L ₄ of 3.5 m, it can be determined for this access cycle itself The inside can pass through the intersection (3.5<169.1); the distance of the passing vehicle of the fifth vehicle can be further transmitted to the fifth vehicle;

And so on.

Assume that the first vehicle 24 receives the vehicle by a distance D ₂₄ (assumed to be D ₂₄ = 3) after determining whether the vehicle through the intersection, the vehicle 24 is assumed vehicle length L 3.5 m _{car 4,} it can be It is determined that it is unable to pass the intersection (3.5>3) during the current passage period; the vehicle distance of the 25th vehicle can be further transmitted to the 25th car, or the unreachable notice can be sent directly to the 25th car.

At this time, the threshold can be transmitted according to the preset limit. It is assumed that the vehicle transmits information sequentially within 220 meters from the intersection, and the transmission is not carried out more than 220 meters. At this time, the 25th vehicle can no longer transmit information backward.

When the signal light device indicates that the east-west direction is prohibited, and the north-south direction is allowed to pass,

The first, second, and third vehicles that can pass through the intersection can follow:

The formula gets the starting acceleration;

The 4th and 5th vehicles that cannot pass through the intersection can follow:

The formula gets the starting acceleration.

Embodiments of the present application establish communication between vehicles and traffic management equipment to ensure road traffic efficiency, and control the number of vehicles passing through the length of the queue, and divide the queued vehicles into vehicles that can pass through and non-pass vehicles, and control them separately. The acceleration starts, which in turn increases the efficiency of the traffic while reducing energy consumption.

Since the embodiment of the present application adopts the method of transmitting vehicles one by one in the queue, the short-distance wireless transmission can be realized, and only the communication module needs to be installed on the traffic management equipment and the vehicle, and the operation is simple and the cost is low.

Based on the same inventive concept, a vehicle control device and another vehicle control device are also provided in the embodiment of the present application. Since the principle of solving the problem of these devices is similar to one vehicle control method and another vehicle control method, these For the implementation of the device, refer to the implementation of the method, and the repeated description will not be repeated.

FIG. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. As shown, the vehicle control device may include:

a first determining module 401, configured to determine a vehicle on a lane that is about to allow a traffic direction;

The first sending module 402 is configured to send the preset first passable vehicle parameters to the vehicle.

In an implementation, the first sending module may be specifically configured to send a preset number of passable vehicles or a distance that can be transmitted to the vehicle.

In an implementation, the apparatus may further include:

The traffic indication module 403 is configured to indicate that the lane is allowed to pass in the direction of the traffic.

FIG. 5 is a schematic structural diagram of another vehicle control device according to an embodiment of the present application. As shown, the vehicle control device may include:

a second determining module 501, configured to determine a first passable vehicle parameter during the waiting period;

The determining module 502 is configured to determine, according to the first passable vehicle parameter, whether the road can pass through the intersection during the current transit period;

The third determining module 503 is configured to determine, according to the determination result, the traveling speed after the traffic is allowed to pass.

In an implementation, the second determining module may be specifically configured to detect an identifier that is preset in the vicinity of a lane where the vehicle is located.

In an implementation, the second determining module may be specifically configured to detect whether a vehicle exists in a preset distance in front of the vehicle, and the determining module may be specifically configured to determine that the vehicle is not present when the vehicle is detected within a preset distance in front of the vehicle. It is acceptable during this transit period.

In an implementation, the second determining module may be specifically configured to determine the number of available vehicles and the ranking of the self in the queue; the determining module may be specifically configured to: when the ranking of the self in the queue is less than or equal to the When passing the number of vehicles, it is determined that it is passable.

In an implementation, the apparatus may further include:

The second sending module 504 is configured to send the number of the passable vehicles and the ranking of the next car in the queue to the next vehicle.

In an implementation, the second determining module may be specifically configured to determine a passable distance of the current vehicle; the determining module may be specifically configured to determine, when the length of the vehicle is less than or equal to a passable distance of the current vehicle It is acceptable.

In an implementation, the apparatus may further include:

The third sending module 505 is configured to send the passable distance of the next car to the next car.

Sn _min =v _n-1 ² /(2*a _n-1 )-v _n ² /(2*a _n )+c; wherein the a _n-1 and an _n are the n-1th car respectively And the maximum braking capacity of the nth vehicle, the v _{n is} specifically the speed of the nth car, and the v _{n-1 is} specifically the speed of the n-1th car.

In an implementation, the third determining module may be specifically configured to determine, when it is determined that the user can pass the intersection, determine that the maximum speed of the user is allowed to pass the preset first speed V- _pass , and determine the self-acceleration as:

The a ₁ is the maximum braking capability of the first vehicle that can pass, a _i is its own maximum braking capability, and the a- _{pass max} is a preset first maximum acceleration;

In an implementation, the apparatus may further include:

The indication receiving module 506 is configured to receive the permission to pass indication, and travel according to the determined allowed driving speed after passing.

For convenience of description, the various parts of the above described devices are described in terms of functions divided into various modules or units. Of course, the functions of each module or unit may be implemented in the same software or hardware in the implementation of the present application.

The embodiment of the present application adopts a global linkage communication mechanism to interconnect and share information between vehicles and traffic management equipment, so as to maintain the minimum safe distance between the two vehicles in the process of crossing the intersection, and greatly improve the traffic efficiency of the intersection. In addition, each traffic cycle can be controlled by the number of vehicles rather than the time, so that the vehicle can predict in advance whether this time can pass through the intersection, thereby controlling its own speed and acceleration, reducing unnecessary fuel waste and reducing traffic accidents.

Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Therefore, the present application can employ an entirely hardware embodiment, an entirely software embodiment, Or in the form of an embodiment of the software and hardware aspects. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

While the preferred embodiment of the present application has been described, it will be apparent that those skilled in the art can make further changes and modifications to the embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

Claims

A vehicle control method includes the following steps:

Determining the vehicle on the lane in which the direction of travel is to be permitted;

A predetermined first passable vehicle parameter is sent to the vehicle.
The method of claim 1 wherein said first passable vehicle parameter is specifically a number of passable vehicles or a passable distance.
The method of claim 1 further comprising:

The lane indicating the direction in which the traffic is to be allowed is allowed to pass.
A vehicle control method includes the following steps:

Determining the first passable vehicle parameter while waiting for the passage;

Determining, according to the first passable vehicle parameter, whether the road can pass through the intersection during the current transit period;

According to the judgment result, the traveling speed after the passage is allowed is determined.
The method of claim 4 wherein said determining said first passable vehicle parameter is specifically detecting an indicia pre-set in the vicinity of a lane in which said vehicle is located.
The method according to claim 4, wherein the determining the first passable vehicle parameter is specifically detecting whether there is another vehicle within a preset distance in front of the vehicle, and determining that the first vehicle is in accordance with the first passable vehicle parameter Whether it is possible to pass the intersection during the secondary traffic cycle, specifically:

If it is detected that there is no other vehicle within the preset distance in front of the vehicle, it is determined that it is passable during the current passage period.
The method of claim 4 wherein said first passable vehicle parameter is specifically a number of available vehicles and a ranking in the queue; said determining said self in accordance with said first available vehicle parameter Whether the intersection can pass through the intersection during the current passage period, specifically: when the ranking in the queue is less than or equal to the number of vehicles that can pass, it is determined that it is traversable.
The method of claim 7 further comprising:

The number of passable vehicles and the rank of the next car in the queue are sent to the next car.
The method according to claim 4, wherein said first passable vehicle parameter is specifically a passable distance of a current vehicle; said determining whether said self is within said current pass period based on said first passable vehicle parameter Can pass the intersection, specifically:

When the own vehicle length is less than or equal to the passable distance of the current vehicle, it is determined that it is traversable.
The method of claim 9 further comprising:

The passing distance of the next car is sent to the next car.
The method according to claim 10, wherein said next vehicle has a passable distance D i+1 = D i - L car i - c, wherein said i is the current vehicle number, said i +1 is the next car number, the D i is the passable distance of the current vehicle, the L car i is the car length of the car, and the c is the preset static vehicle pitch.
The method as claimed in claim 11, characterized in that, with the current process Sn min minimum safety distance between the vehicle and the next car is:

Sn min =v n-1 2 /(2*a n-1 )-v n 2 /(2*a n )+c;

Where a n-1 and a n are the maximum braking capabilities of the n-1th car and the nth car, respectively, the v n is specifically the speed of the nth car, and the v n-1 is specifically the nth - 1 car speed.
The method according to claim 4, wherein the determining, based on the result of the determination, the driving speed after the passage is permitted, specifically:

When it is judged that it can pass through the intersection, it is determined that the maximum speed of the passage after allowing the passage is the preset first speed V- pass , and the self-acceleration is determined as:

Wherein a 1 is the maximum brake capacity of the vehicle by the first, I is a maximum braking capability of its own, through a max is the first maximum predetermined acceleration;

When the intersection is determined not by itself determine their allowed maximum speed after the passage of a second preset stop speed V, acceleration itself is determined as:

Wherein said a '1 is the first vehicle maximum braking capacity can not be adopted, J is a maximum braking capability of its own, a stop max is the second maximum predetermined acceleration.
The method of claim 4, further comprising:

Receiving the permission to pass, and driving according to the determined travel speed after the passage is allowed.
A vehicle control device, comprising:

a first determining module, configured to determine a vehicle on a lane that is about to allow a traffic direction;

The first sending module is configured to send the preset configurable vehicle parameters to the vehicle.
The apparatus according to claim 16, wherein said first transmitting module is specifically configured to transmit a predetermined number of passable vehicles or a distance that can be transmitted to said vehicle.
The device of claim 16 further comprising:

The traffic indication module is configured to indicate that the lane in the direction of the traffic is allowed to pass.
A vehicle control device, comprising:

a second determining module, configured to determine a first passable vehicle parameter during the waiting period;

a determining module, configured to determine, according to the first passable vehicle parameter, whether the road can pass through the intersection during the current transit period;

And a third determining module, configured to determine, according to the determination result, a driving speed after allowing the traffic.
The apparatus according to claim 18, wherein said second determining module is specifically configured to detect an identifier pre-set in the vicinity of a lane in which the vehicle is located.
The device according to claim 18, wherein the second determining module is specifically configured to detect whether a vehicle exists in a preset distance in front of the vehicle, and the determining module is specifically configured to detect a preset distance in front of the vehicle. When there is no vehicle inside, it is determined that it is passable during the current passage period.
The device according to claim 18, wherein the second determining module is specifically configured to determine the number of available vehicles and the ranking of the self in the queue; the determining module is specifically configured to: when the self is in the queue When the ranking is less than or equal to the number of vehicles that can pass, it is determined that it is traversable.
The device of claim 21, further comprising:

a second sending module, configured to send the number of passable vehicles and the next one to the next car The ranking of the car in the queue.
The device according to claim 18, wherein the second determining module is specifically configured to determine a passable distance of the current vehicle; the determining module is specifically configured to: when the own vehicle length is less than or equal to the current vehicle When passing the distance, it is determined that it is passable.
The device of claim 23, further comprising:

The third sending module is configured to send the passable distance of the next car to the next car.
The apparatus according to claim 24, wherein said next vehicle has a passable distance D i+1 = D i - L car i - c, wherein said i is a current vehicle number, said i +1 is the next car number, the D i is the passable distance of the current vehicle, the L car i is the car length of the car, and the c is the preset static vehicle pitch.
The apparatus according to claim 25, wherein a minimum safety distance Sn min between said current vehicle and said next vehicle during running is: Sn min = v n-1 2 / (2*a N-1 )-v n 2 /(2*a n )+c; wherein the a n-1 and an n are the maximum braking capacities of the n-1th car and the nth car, respectively, n is specifically the speed of the nth car, and the v n-1 is specifically the speed of the n-1th car.
The device according to claim 18, wherein the third determining module is specifically configured to determine, when it is determined that the user can pass the intersection, determine that the maximum speed of the user is allowed to pass the preset first speed V through , and determine the self acceleration. for:
Wherein a 1 is the maximum brake capacity of the vehicle by the first, I is a maximum braking capability of its own, through a max is the first maximum predetermined acceleration; when it is determined by the intersection itself can not be determined the maximum speed allowed itself after the passage of a preset speed V second stop, determine its own acceleration:
Wherein said a '1 is the first vehicle maximum braking capacity can not be adopted, J is a maximum braking capability of its own, a stop max is the second maximum predetermined acceleration.
The device of claim 18, further comprising:

The indication receiving module is configured to receive the permission to pass the driving, and drive according to the determined driving speed after the passing.