WO2017215497A1 - 车辆行驶预测方法、装置和车载智能系统 - Google Patents

车辆行驶预测方法、装置和车载智能系统 Download PDF

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Publication number
WO2017215497A1
WO2017215497A1 PCT/CN2017/087370 CN2017087370W WO2017215497A1 WO 2017215497 A1 WO2017215497 A1 WO 2017215497A1 CN 2017087370 W CN2017087370 W CN 2017087370W WO 2017215497 A1 WO2017215497 A1 WO 2017215497A1
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WIPO (PCT)
Prior art keywords
vehicle
speed
unit
distance
intersection
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PCT/CN2017/087370
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English (en)
French (fr)
Inventor
刘恺然
刘建涛
李文波
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京东方科技集团股份有限公司
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Priority to US15/745,020 priority Critical patent/US20190096248A1/en
Publication of WO2017215497A1 publication Critical patent/WO2017215497A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control

Definitions

  • the present disclosure relates to the field of vehicle travel prediction technologies, and in particular, to a vehicle travel prediction method, apparatus, and vehicle intelligent system.
  • the traffic pressure is getting bigger and bigger. Because the car is close to the car, the distance is not easy to grasp, and traffic accidents (such as rear-end collision) may occur, which seriously affects traffic. For example, when the signal light changes (such as from a green light to a red light), some accidents may occur due to the rush to drive past the green light. In particular, sometimes it is impossible to accurately judge whether the vehicle can pass in the green light according to the remaining time of the current green light. If the next green light is decelerated, it may waste time and cause the rear vehicle to be blocked. If the acceleration is passed, the red light may be caused by the judgment error.
  • the main objective of the embodiments of the present disclosure is to provide a vehicle travel prediction method, apparatus, and vehicle intelligent system, which can effectively improve traffic efficiency and reduce the possibility of traffic accidents.
  • an embodiment of the present disclosure provides a vehicle travel prediction method, including:
  • the state of the signal light becomes a first time t1 indicating that the vehicle is prohibited from passing the second state of the signal light;
  • the same lane vehicle detection result including a rear vehicle detection result and/or an obstacle vehicle detection result
  • the obtaining the first distance between the host vehicle and the intersection where the signal light is disposed in the traveling direction of the vehicle includes:
  • the acquiring the status of the signal light becomes the first time t1 indicating that the vehicle is prohibited from passing the second state of the signal light, and includes:
  • the detection of the state of the signal light becomes the first time t1 of the second state.
  • the method before the acquiring the vehicle detection result of the same lane, the method further includes:
  • the step of obtaining and outputting the first intersection pass prediction result according to the first time t1 and the rear vehicle detection result includes:
  • the rear vehicle can pass the prediction result of the intersection before the lamp is changed at a vehicle speed greater than or equal to the first predetermined speed to prompt the vehicle to perform the speed adjustment operation accordingly.
  • the method further includes: when the status of the signal light is a first state indicating that the vehicle is allowed to pass the signal light, calculating a second predicted transit time t02 according to the driving information of the vehicle and the first distance.
  • the method before the acquiring the vehicle detection result of the same lane, the method further includes:
  • intersection passing prediction result includes the second intersection passing prediction result.
  • the step of calculating the second predicted transit time t02 according to the driving information of the vehicle and the first distance comprises:
  • the second predicted transit time t02 is calculated according to the first distance and the second predetermined speed, the second predetermined transit time t02 being equal to the first distance divided by the second predetermined speed.
  • the step of obtaining and outputting the second intersection pass prediction result according to the first time t1, the second predicted transit time t02, and the obstacle vehicle detection result includes:
  • the output indicates that the vehicle can a predicted result of passing the intersection before the lamp is changed at a vehicle speed greater than or equal to the second predetermined speed
  • the fourth distance between the fourth distance and the speed of the obstacle vehicle is obtained and outputted according to the first time t1, the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle.
  • the output prompts The front of the car is unobstructed and can be accelerated to facilitate the passage of the rear vehicle through the intersection.
  • the step of outputting the second intersection pass prediction result according to the first time t1, the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle includes:
  • the output indicates that the vehicle can pass the predicted result of the intersection before the light is changed at a vehicle speed greater than or equal to the second predetermined speed
  • the output indicates that the vehicle can pass the predicted result of the intersection before changing the light
  • the prompt information indicating that there is an obstacle in front of the vehicle but the vehicle can be accelerated to facilitate the passing of the vehicle before the light is changed; and when t1 is less than t2+t3, The output indicates that there is an obstacle in front of the vehicle so that the vehicle cannot be accelerated to facilitate the prompt information of the rear vehicle passing the intersection before the light is changed.
  • the detecting the fourth distance between the host vehicle and the obstacle vehicle and the speed of the obstacle vehicle comprises: detecting a fourth distance between the host vehicle and the obstacle vehicle by using a frequency modulated continuous wave radar and The speed of the obstacle vehicle.
  • the method further includes: when the first time t1 is less than the second predicted transit time t02, outputting a prediction result indicating that the vehicle cannot pass the intersection before changing lights.
  • the method further includes: when the status of the identified signal light is indicating that the vehicle is prohibited from passing the second state of the signal light, detecting that the state of the signal light is changed to indicate that the vehicle is allowed to pass the signal light At a fourth time t4 of the first state, the fourth time t4 is output.
  • the method further comprises: detecting whether there is a specific type of vehicle within a second predetermined distance from the vehicle, detecting driving information of the specific type of vehicle when detecting the presence of the specific type of vehicle, and outputting corresponding Reminder information.
  • the detecting the driving information of the specific type of vehicle and outputting the corresponding reminding information includes:
  • the second predetermined speed is a maximum speed limit, a current speed of the vehicle, or an average speed of the vehicle.
  • the first predetermined speed is a highest speed limit, a current speed of the rear vehicle, or an average speed of the rear vehicle.
  • An embodiment of the present disclosure further provides a vehicle travel prediction apparatus, including:
  • a signal recognition unit for identifying a state of the signal light
  • An acquiring unit configured to acquire a first distance between the host vehicle and an intersection where the signal light is disposed in the traveling direction of the vehicle, when the signal recognition unit recognizes that the state of the signal light is to indicate that the vehicle is allowed to pass the signal light In the first state, the state of acquiring the traffic light becomes a first time t1 indicating that the vehicle is prohibited from passing the second state of the traffic light, and the same lane vehicle detection result is acquired, wherein the same lane vehicle detection result includes the rear vehicle Test results and/or obstacle vehicle test results;
  • an output unit configured to output a road passing prediction result according to the first time t1, the first distance, and the same lane vehicle detection result.
  • the device further includes a signal light detecting unit, wherein the acquiring unit includes a first ranging unit, wherein
  • the signal detecting unit is configured to detect whether the signal light exists within a first predetermined distance in a distance from the vehicle in the traveling direction of the host vehicle, and output a first control signal when detecting the presence of the signal light;
  • the signal recognition unit is connected to the signal detection unit, specifically for identifying a state of the signal when the first control signal is received, and when the status of the signal is indicating that the vehicle is allowed to pass the signal In the first state, detecting the distance from the signal light to the first time t1 indicating that the vehicle is prohibited from passing the second state of the signal light;
  • the first ranging unit is connected to the signal detecting unit, and configured to detect and detect the first distance between the host vehicle and an intersection where the signal light is disposed when the first control signal is received.
  • the acquiring unit includes a first detecting unit and a first computing unit, wherein the first detecting unit is configured to detect whether there is a rear vehicle behind the vehicle, and detect the presence when the rear vehicle is detected a vehicle speed of the rear vehicle, a second distance between the rear vehicle and the intersection, and a third distance between the vehicle and the rear vehicle to obtain a rear vehicle detection result;
  • the first operation unit is respectively connected to the signal recognition unit, the first ranging unit, and the first detecting unit, and configured to perform, according to the first time t1, the first distance and the rear
  • the vehicle detection result is obtained by the first intersection passing prediction result, wherein the intersection passing prediction result includes the first intersection passing prediction result;
  • the output unit is connected to the first computing unit and configured to output the first intersection pass prediction result.
  • the first computing unit specifically includes a first predetermined speed setting module, and the first predicted The time calculation module, the first comparison module and the first operation module, wherein:
  • a first predetermined speed setting module coupled to the first detecting unit, configured to set a first predetermined speed according to a vehicle speed of a rear vehicle included in the rear vehicle detection result
  • a first predicted transit time calculation module coupled to the first detecting unit and the first predetermined speed setting module, respectively, configured to calculate a second predicted transit time t02 according to the second distance and the first predetermined speed, The first predicted transit time t01 is equal to the second distance divided by the first predetermined speed;
  • a first comparison module which is respectively connected to the first predicted transit time calculation module and the signal recognition unit, for comparing the first time t1 and the first predicted transit time t01, and when the first time T1 is smaller than the first predicted transit time t01, and outputs a twelfth control signal, and when the first time t1 is greater than or equal to the first predicted transit time t01, the thirteenth control signal is output;
  • a first operation module which is respectively connected to the first comparison module, the signal recognition unit, the first ranging unit, and the first detection unit, for receiving the thirteenth control signal according to The first time t1, the first distance, the third distance, and the first predetermined speed calculate a threshold vehicle speed, and output a fourteenth control signal;
  • the output unit is further connected to the first comparison module and the first operation module, respectively, for outputting, when receiving the twelfth control signal, indicating that the rear vehicle cannot pass the a prediction result of the intersection, when the vehicle speed of the vehicle is greater than or equal to the threshold vehicle speed when the fourteenth control signal is received, the rear vehicle can pass before the light is changed at a vehicle speed greater than or equal to the first predetermined speed
  • the predicted result of the intersection is to prompt the vehicle to perform the speed adjustment operation accordingly.
  • the obtaining unit further includes a driving information detecting unit and a second estimated transit time calculating unit, where:
  • the driving information detecting unit is configured to detect driving information of the vehicle
  • the second predicted transit time calculation unit is configured to calculate a second predicted transit time t02 according to the driving information of the local vehicle and the first distance.
  • the obtaining unit further includes a second detecting unit and a second computing unit, where
  • the second detecting unit is configured to detect whether there is an obstacle vehicle between the vehicle and the intersection on the traveling path of the vehicle, and detect the vehicle speed of the obstacle vehicle and the vehicle and the vehicle when the obstacle vehicle is detected The fourth distance between the obstacle vehicles to obtain the obstacle vehicle detection result; and,
  • the second operation unit is respectively associated with the signal recognition unit and the second estimated transit time
  • the calculating unit is connected to the second detecting unit, configured to obtain a second intersection pass prediction result according to the first time t1, the second predicted transit time t02, and the obstacle vehicle detection result, wherein the intersection passes the prediction
  • the result includes the second intersection passing prediction result
  • the output unit is further connected to the second operation unit, and is configured to output the second intersection pass prediction result.
  • the driving information of the vehicle includes speed information
  • the vehicle travel prediction apparatus further includes: a second predetermined speed setting unit, coupled to the driving information detecting unit, configured to set a second predetermined speed according to the speed information;
  • the second predicted transit time calculating unit is further connected to the second predetermined speed setting unit, specifically configured to calculate the second predicted transit time t02 according to the first distance and the second predetermined speed, The second predicted transit time t02 is equal to the first distance divided by the second predetermined speed.
  • the second operation unit specifically includes a second comparison module and a second operation module
  • the second detection unit includes a first detection module and a second detection module
  • the second comparison module is respectively connected to the signal light recognition unit and the second predicted transit time calculation unit, for comparing the first time t1 and the second predicted transit time t02, and when the first Outputting a second control signal when a time t1 is greater than or equal to the second predicted transit time t02;
  • the first detecting module is connected to the second comparing module, and configured to detect whether there is an obstacle vehicle between the vehicle and the intersection on a traveling path of the vehicle when the second control signal is received, And outputting a third control signal when detecting that there is an obstacle vehicle, and outputting a fourth control signal when detecting that there is no obstacle vehicle;
  • the second detecting module is connected to the first detecting module, configured to detect a fourth distance between the host vehicle and the obstacle vehicle and a speed of the obstacle vehicle when receiving the third control signal;
  • the second computing module is respectively connected to the second detecting module and the signal identifying unit for using the first time t1, the second predetermined speed, the fourth distance, and the obstacle vehicle The speed is predicted accordingly;
  • the output unit is respectively connected to the second operation module and the first detection module, and is specifically configured to output, when the fourth control signal is received, an indication that the vehicle can be greater than or equal to the second predetermined speed
  • the output unit is further connected to the first detecting module, and is configured to output, when the fourth control signal is received, output prompt information indicating that the front of the vehicle is unobstructed to accelerate to facilitate the passing of the rear vehicle through the intersection. .
  • the second operation module specifically includes a first comparison submodule, a first calculation submodule, a second comparison submodule, a second calculation submodule, and a third comparison submodule, where:
  • the first comparison submodule is configured to compare the second predetermined speed with the speed of the obstacle vehicle, and output a fifth control signal when the second predetermined speed is less than or equal to the speed of the obstacle vehicle. Outputting a sixth control signal when the second predetermined speed is greater than the speed of the obstacle vehicle;
  • the first calculation sub-module is connected to the first comparison sub-module for, according to the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle when receiving the sixth control signal Calculating a second time t2 when the vehicle travels at the predetermined speed to maintain a predetermined safe distance from the obstacle vehicle;
  • the second comparison submodule is respectively connected to the first calculation submodule and the signal recognition unit for comparing the second time t2 and the first time t1, and outputting when t2 is greater than or equal to t1 a seventh control signal, outputting an eighth control signal when t2 is less than t1;
  • the second calculation sub-module is connected to the second comparison sub-module, and configured to calculate, when the eighth control signal is received, when the vehicle travels to maintain a predetermined safety distance with the obstacle vehicle, The third time t3 at which the speed of the obstacle vehicle passes through the intersection;
  • the third comparison submodule is respectively connected to the signal recognition unit, the first calculation submodule and the second calculation submodule for comparing t1 and t2+t3, when t1 is greater than or equal to t2+t3 Outputting a ninth control signal, and outputting a tenth control signal when t1 is less than t2+t3;
  • the output unit is respectively connected to the first comparison sub-module, the second comparison sub-module, and the third comparison sub-module, and is further configured to output, when receiving the fifth control signal, an indication that the vehicle can And outputting, by the vehicle speed greater than or equal to the second predetermined speed, the prediction result of the intersection before the light is changed, when the seventh control signal is received, outputting that the vehicle is capable of being greater than or equal to the second predetermined speed a prediction result of the vehicle speed passing through the intersection before the lamp is changed, and when the ninth control signal is received, outputting a prediction result indicating that the vehicle can pass the intersection before the lamp is changed, when the tenth control signal is received
  • the output indicates that the vehicle cannot pass the predicted result of the intersection before changing the light.
  • the output unit is further connected to the third comparison submodule, when receiving the When the nine control signals are output, the vehicle indicates that there is an obstacle in front of the vehicle, but the vehicle can accelerate to facilitate the rear vehicle to pass the intersection before the light is changed.
  • the output indicates that there is an obstacle in front of the vehicle, so that the vehicle cannot be accelerated. In order to facilitate the rear vehicle to pass the intersection information before the lights change.
  • the second detecting module detects a fourth distance between the host vehicle and the obstacle vehicle and a speed of the obstacle vehicle by using a frequency modulated continuous wave radar.
  • the second comparison module is further configured to output an eleventh control signal when the first time t1 is less than the second predicted transit time t02;
  • the output unit is further connected to the second comparison module, and is further configured to output, when the eleventh control signal is received, a prediction result indicating that the vehicle cannot pass the intersection before changing the light.
  • the signal recognition unit is further configured to: when the status of the identified signal light is a second state indicating that the vehicle is prohibited from passing the signal light, detecting that the state of the signal light is changed to indicate that the vehicle is allowed to pass the a fourth time t4 of the first state of the signal light;
  • the output unit is further connected to the signal recognition unit for outputting the fourth time t4.
  • the device further includes a third detecting unit,
  • the third detecting unit is configured to detect whether there is a specific type of vehicle within a second predetermined distance from the vehicle, and detect driving information of the specific type of vehicle when detecting the presence of a specific type of vehicle and output the fifteenth control signal;
  • the output unit is further connected to the third detecting unit, and is configured to output reminder information of a specific type of vehicle when the fifteenth control signal is received.
  • the device further includes a determining unit, a second ranging unit and a third computing unit, wherein:
  • the determining unit is connected to the third detecting unit, configured to determine whether the specific type of vehicle is in front of or behind the vehicle when receiving the fifteenth control signal, and determine that the specific type of vehicle is The sixteenth control signal is output when the vehicle is behind, and the seventeenth control signal is output when it is determined that the specific type of vehicle is in front of the vehicle;
  • the second ranging unit is connected to the determining unit, configured to detect a fifth distance between the host vehicle and the specific type of vehicle when receiving the seventeenth control signal;
  • the third operation unit is respectively connected to the third detecting unit, the first ranging unit, the determining unit, and the second ranging unit, for receiving the seventeenth control signal And according to the second predetermined speed, driving information of the specific type of vehicle, the first distance, and the fifth Calculating whether the vehicle can pass the intersection at a vehicle speed greater than or equal to the second predetermined speed, and outputting an eighteenth control signal;
  • the output unit is further connected to the determining unit and the third computing unit, and is configured to output a reminder that the vehicle can be redirected to avoid the reminding information of the specific type of vehicle when receiving the sixteenth control signal When the eighteenth control signal is received, the corresponding prediction result is output to prompt the vehicle to perform the speed adjustment operation accordingly.
  • the second predetermined speed is a maximum speed limit, a current speed of the vehicle, or an average speed of the vehicle.
  • the first predetermined speed is a highest speed limit, a current speed of the rear vehicle, or an average speed of the rear vehicle.
  • the output unit includes a display module and/or a sound reminding module; the display module is configured to display the intersection passing prediction result; and the sound reminding module is configured to prompt the intersection to pass the predicted result by sound.
  • the signal light detecting unit comprises an image capturing unit or a position detecting unit
  • the signal light detecting unit includes an image capturing unit
  • the image capturing unit detects whether there is a signal light by photographing a screen within a first predetermined distance from a distance of the vehicle in a traveling direction of the vehicle to be tested;
  • the position detecting unit detects position information of the own vehicle, and detects the position of the vehicle to be tested by comparing the position information with a pre-stored position where the signal lamp is disposed. A picture within a first predetermined distance from the distance of the vehicle detects whether or not there is a signal light.
  • the third detecting unit includes a voice recognition module and a light recognition module;
  • the voice recognition module is configured to identify whether a specific type of vehicle exists by detecting whether a predetermined type of sound exists within a second predetermined distance from a distance of the vehicle;
  • the ray discriminating module is configured to identify whether a specific type of vehicle exists by detecting whether there is a predetermined type of light flicker within a second predetermined distance within a distance from the host vehicle.
  • the embodiment of the present disclosure also provides an in-vehicle intelligent system including the above-described vehicle travel prediction device.
  • the in-vehicle intelligent system further includes an in-vehicle vehicle speed detecting unit, configured to detect the current speed of the vehicle in real time;
  • the vehicle speed detecting unit is further used for checking
  • the measured current speed of the vehicle to be tested is output to a second arithmetic unit included in the vehicle travel prediction apparatus.
  • the in-vehicle intelligent system further includes an in-vehicle positioning unit configured to detect the position of the vehicle in real time;
  • the position detecting unit is connected to the in-vehicle positioning unit for receiving a position of the host vehicle from the in-vehicle positioning unit.
  • the in-vehicle intelligent system further includes an in-vehicle display unit; when the output unit in the vehicle travel prediction device includes a display module, the display module is configured to output the prediction result to the The in-vehicle display unit is configured to control display of the predicted result by the in-vehicle display unit.
  • the vehicle travel prediction method, apparatus, and vehicle-mounted intelligent system can control the state of the signal light by detecting the signal light and controlling the state of the signal light to pass the signal light when the state of the signal light is to allow the vehicle to pass.
  • the state becomes the time when the vehicle is prohibited from passing, the first estimated transit time, and the vehicle detection result of the same lane to predict whether the vehicle can smoothly pass the intersection before the light is changed, so as to output the corresponding intersection to pass the prediction result, so as to facilitate the driver of the vehicle.
  • the corresponding driving mode can be selected with reference to the prediction result.
  • the rear vehicle when it is detected that there is a rear vehicle behind the vehicle to be tested, it can be changed according to the state of the signal light to the time when the vehicle is prohibited, the first distance between the vehicle and the intersection where the signal lamp is disposed, and the rear vehicle.
  • the detection result is instructed to assume that the vehicle speed of the vehicle is greater than or equal to the threshold vehicle speed
  • the rear vehicle can pass the prediction result through the first intersection of the intersection before the light is changed at a vehicle speed greater than or equal to the first predetermined speed, thereby facilitating the vehicle.
  • the driver chooses the appropriate driving speed to smoothly pass the front intersection before changing the light, and can provide the rear vehicle with the possibility of passing the front intersection smoothly before changing the light, so as to improve the traffic efficiency.
  • FIG. 1 is a flowchart of a vehicle travel prediction method according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart of a vehicle travel prediction method according to an embodiment of the present disclosure
  • FIG. 3 is a vehicle travel prediction method according to an embodiment of the present disclosure, according to the first time t1 And a flowchart of obtaining, by the rear vehicle detection result, a step of passing the prediction result by the first intersection;
  • FIG. 4 is a flowchart of a vehicle travel prediction method according to another embodiment of the present disclosure.
  • FIG. 5 is a vehicle travel prediction method according to an embodiment of the present disclosure, which is obtained according to the first time t1, the second predicted transit time t02, and the obstacle vehicle detection result, and outputs a second intersection pass prediction result step. flow chart;
  • FIG. 6 is a vehicle travel prediction method according to an embodiment of the present disclosure, which includes obtaining and outputting a corresponding prediction result according to the first time t1, the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle. Flow chart of the steps;
  • FIG. 7 is a structural block diagram of a vehicle travel prediction apparatus according to an embodiment of the present disclosure.
  • FIG. 8 is a block diagram showing the structure of a vehicle travel prediction apparatus according to an embodiment of the present disclosure.
  • FIG. 9 is a structural block diagram of a first arithmetic unit in a vehicle travel prediction apparatus according to an embodiment of the present disclosure.
  • FIG. 10 is a block diagram showing the structure of a vehicle travel prediction apparatus according to another embodiment of the present disclosure.
  • FIG. 11 is a block diagram showing the structure of a second arithmetic unit included in the vehicle travel prediction apparatus according to the embodiment of the present disclosure
  • FIG. 12 is a structural block diagram of a second operation module included in a second operation unit in the vehicle travel prediction apparatus according to the embodiment of the present disclosure
  • FIG. 13 is a block diagram showing the structure of a vehicle travel prediction apparatus according to another embodiment of the present disclosure.
  • FIG. 14 is a block diagram showing the structure of a vehicle travel prediction apparatus according to still another embodiment of the present disclosure.
  • 15 is a block diagram showing the structure of a vehicle travel prediction apparatus according to an embodiment of the present disclosure.
  • an embodiment of the present disclosure provides a vehicle travel prediction method, where the method includes the following steps:
  • S101 Acquire a first distance between the host vehicle and an intersection where the signal light is disposed in the traveling direction of the vehicle, and identify a state of the signal light;
  • S103 Acquire a same lane vehicle detection result, where the same lane vehicle detection result includes a rear vehicle detection result and/or an obstacle vehicle detection result;
  • S104 Output a road passing prediction result according to the first time t1, the first distance, and the same lane vehicle detection result.
  • the relevant parameters such as the first distance, the first time t1, the speed of the rear vehicle or the speed of the preceding vehicle may be detected by at least one sensor (such as a camera and radar, etc.) installed in the vehicle.
  • the first distance and the first time t1 may be received from other vehicles when the communication between the vehicles is possible, or the first distance and the first time t1 may be sent to the first time and the first time t1 is sent to the network through the network communication.
  • the car It should be understood that the present disclosure does not limit how to obtain these parameters.
  • the rear vehicle detection result represents information related to the rear vehicle, such as the vehicle speed of the rear vehicle, the second distance between the rear vehicle and the intersection, and/or the third distance between the vehicle and the rear vehicle, and the like.
  • the obstacle vehicle detection result indicates information related to the preceding vehicle, such as the speed of the obstacle vehicle, the fourth distance between the vehicle and the obstacle vehicle, and the like.
  • the present embodiment it is possible to make an effective prediction in combination with the driving information of the front and rear vehicles adjacent to the vehicle, so that the vehicle smoothly passes through the front intersection, thereby improving traffic efficiency and effectively preventing rear-end collision.
  • the vehicle travel prediction method includes:
  • S1 detecting whether there is a signal light within a first predetermined distance in the traveling direction of the vehicle in the traveling direction of the vehicle, detecting a first distance between the vehicle and the intersection provided with the signal light when detecting the presence of the signal light, and identifying the State the signal light;
  • S3 detecting whether there is a rear vehicle behind the vehicle, and detecting a vehicle speed of the rear vehicle, a second distance between the rear vehicle and the intersection, and the vehicle and the rear vehicle when detecting the presence of the rear vehicle a third distance between them to obtain a rear vehicle test result;
  • S4 Obtain and output a first intersection pass prediction result according to the first time t1, the first distance, and the rear vehicle detection result.
  • the vehicle travel prediction method can detect that the state of the signal light becomes the first time t1 prohibiting the passage of the vehicle when the state of the traffic light is allowed to pass by detecting the signal light and identifying the state of the traffic light.
  • the vehicle When it is detected that there is a rear vehicle behind the vehicle to be tested (ie, the vehicle), it can be changed according to the state of the signal light to a first time t1 during which the vehicle is prohibited to pass, and between the vehicle and the intersection where the signal light is disposed.
  • the first distance and the rear vehicle detection result are predicted by the first intersection, so that the driver of the vehicle can select the appropriate driving speed to smoothly pass the front intersection before the light is changed, and can provide the rear vehicle with the front passing smoothly before the light is changed.
  • the possibility of intersections can improve traffic efficiency and effectively prevent rear-end collisions.
  • the step of obtaining and outputting the first intersection pass prediction result according to the first time t1 and the rear vehicle detection result includes:
  • Step S40 setting a first predetermined speed according to a vehicle speed of the rear vehicle included in the rear vehicle detection result
  • Step S41 calculating a first predicted transit time t01 according to the second distance and the first predetermined speed, the first predicted transit time t01 being equal to the second distance divided by the first predetermined speed;
  • Step S42 comparing the first time t1 with the first predicted transit time t01, when the first time t1 is less than the first predicted transit time t01, the process goes to step S43, when the first time t1 is greater than Or equal to the first estimated transit time t01, then proceeds to step S44;
  • Step S43 outputting a prediction result indicating that the rear vehicle cannot pass the intersection before changing the light, and ending the current prediction result outputting process
  • Step S44 Calculate the threshold vehicle speed according to the first time t1, the first distance, the third distance, and the first predetermined speed, to output the rear when the vehicle speed of the vehicle is assumed to be greater than or equal to the threshold vehicle speed.
  • the vehicle can pass the predicted result of the intersection before the lamp is changed at a vehicle speed greater than or equal to the first predetermined speed to prompt the vehicle to perform a speed adjustment operation (eg, an acceleration operation).
  • a speed adjustment operation eg, an acceleration operation
  • the vehicle travel prediction method can detect the speed of the rear vehicle by using the rear camera and the radio frequency method, and calculate according to the speed and the distance from the intersection. If the rear vehicle is driven at the highest speed limit, the traffic light can be changed. Before the red passes through the intersection, the minimum speed of the passing lane of the vehicle is calculated by the two conditions of no intersection after the rear-end collision and the rear vehicle can pass the traffic light change (ie, Threshold speed) and send a reminder to the driver of the vehicle. If the driver of the vehicle chooses a driving speed equal to or higher than the minimum speed, the possibility of passing the intersection faster can be provided for the rear vehicle, which is convenient for improving traffic efficiency. It should be noted that embodiments of the present disclosure may be applied to smart vehicles, including automatic driving and assisted driving.
  • the vehicle travel prediction method according to the embodiment of the present disclosure further includes:
  • S6 detecting whether there is an obstacle vehicle between the vehicle and the intersection on the traveling path of the vehicle, and detecting a vehicle speed of the obstacle vehicle and a fourth between the vehicle and the obstacle vehicle when detecting the presence of the obstacle vehicle Distance to get obstacle vehicle test results;
  • S7 Obtain and output a second intersection pass prediction result according to the first time t1, the second predicted transit time t02, and the obstacle vehicle detection result.
  • the vehicle travel prediction method can control the state of the signal light to become a prohibited vehicle when the state of the traffic light is allowed to pass by detecting the signal light and identifying the state of the traffic light.
  • the elapsed time, the first estimated transit time, and the obstacle vehicle detection result are used to predict whether the vehicle can smoothly pass the intersection before the light is changed, so as to output the corresponding second intersection to pass the prediction result, so that the driver can refer to the prediction.
  • the corresponding driving mode is selected, and when it is detected that there is a rear vehicle behind the vehicle to be tested, it can be changed according to the state of the signal light to the time when the vehicle is prohibited, and the intersection between the vehicle and the intersection where the signal lamp is disposed.
  • the rear vehicle can pass the prediction of the first intersection through the intersection before the light is changed with the vehicle speed greater than or equal to the first predetermined speed.
  • the driver of the vehicle it is convenient for the driver of the vehicle to select a suitable driving speed to smoothly pass before the light is passed.
  • the rear vehicle At the intersection, it is also possible to provide the rear vehicle with the possibility of passing through the front intersection before changing the light, which is convenient for improving traffic efficiency.
  • the second predetermined speed may be the highest speed limit or the current speed of the vehicle.
  • the camera can be installed on the common on-board system currently on the market.
  • the user can set the distance to start the traffic light judgment in advance, for example, 300 meters, that is, when the signal light is 300 meters away, the time when the camera grabs the signal light is continuously
  • the input center processor combines the appropriate speed and current road conditions to calculate the total.
  • the camera captures the signal signal in real time, and then quickly recognizes the picture information of the signal light through the graphic recognition module, and can obtain the information of the number of seconds of the rapidly changing signal light.
  • the visible light communication technology can be applied to traffic signals, and the high-frequency flashing of the invisible signal light of the naked eye is used to form the code stream to represent the real-time information of the traffic signal.
  • the visible light stream can still be received by the camera, and then the information flow information is recorded.
  • the picture is decoded to obtain the instantaneous information of the signal.
  • the camera Since the change of the number of seconds of the signal light is regular, the camera does not need to perform the grasping of the signal light all the time, but in order to realize the purpose of the traffic light judgment, a slight time difference may cause the judgment of the driving state near the traffic light to be wrong, and the whole judgment is made.
  • the process also needs to fetch information multiple times, either once per second or otherwise. The time of the picture recognition or decoding process after the signal signal is captured needs to be taken into account in the subsequent comprehensive calculation process.
  • the green light is about to turn red, it is first calculated based on the signal information and the maximum speed allowed by the intersection (ie, the highest speed limit). It is preliminarily judged that there is no vehicle obstruction in front and no more than the maximum speed limit. If the distance to the intersection is driven at the highest speed, the time required for the green light is more than the remaining number of seconds of the green light, or the user arrives at the intersection. It must be a red light. At this time, the user is reminded to decelerate properly. It is not necessary to accelerate through this green light and calculate the most fuel-efficient driving speed.
  • the time required for the green light to be less than the number of seconds remaining in the green light indicates that the user may pass the intersection before the green light turns red, but the overall road condition needs to be continued for the next calculation.
  • the range method of continuous wave radar continuously acquires the speed and distance of vehicles in the same lane in real time, which are divided into several situations.
  • the vehicle in front also travels at the highest speed limit, at the same time as there is no vehicle obstruction in front.
  • the time t11 at which the vehicle ie, the vehicle to be tested
  • catches up with the preceding vehicle at the highest speed limit and maintains a safe distance is calculated.
  • this time is greater than the remaining time of the green light, it means that the car should pass the intersection at the highest speed limit and there will be no rear-end collision with the preceding vehicle. If this time is less than the remaining time of the green light, the maximum speed under the condition that the vehicle cannot be changed is affected. In order to avoid rear-end collision and pass through the intersection as soon as possible, it is necessary to continue driving at the same speed as the preceding vehicle.
  • the time t12 required for the vehicle to cross the intersection at this speed can be obtained by calculation, if t11+t12 is less than the remaining green light. Time, then calculate by time t11, t12 and the maximum speed limit, the front speed and tell the user that the highest speed can be passed at a certain speed. What is the shortest passing time?
  • the user may perform other actions such as drinking water while the car is parked.
  • the user can set the red light to green reminder time in advance. For example, 3 seconds before the green light is issued, a reminder is issued.
  • the central processor can also be calculated by the central processor, and the safety distance and the maximum distance are set in advance according to the reaction speed of the user.
  • the system gives the driver an effective reminder, for example, when the distance between the driving vehicle and the preceding vehicle is less than the preset setting.
  • the safety distance is reached, the driver is prompted to decelerate.
  • the driver is prompted to accelerate properly, which can effectively prevent the user from colliding with the preceding vehicle, and prevent the accident from being dispersed when the traffic jam is too long.
  • the vehicle travel prediction method can detect the speed of the rear vehicle by using the rear camera and the radio frequency method, and calculate according to the speed and the distance from the intersection, and if the rear vehicle is traveling at the highest speed limit, the traffic can be used in the traffic.
  • the light Before passing the light, the light passes through the intersection, and the minimum speed of the passing of the road is calculated by the two conditions of the intersection before the change of the traffic light, and the driver is sent a reminder to the driver of the vehicle. Or above this minimum speed, it can provide the possibility of faster passing through the intersection, which is convenient for improving traffic efficiency.
  • the step of calculating the second predicted transit time t02 according to the driving information of the vehicle and the first distance includes:
  • the second predicted transit time t02 is calculated according to the first distance and the second predetermined speed, the second predicted transit time t02 being equal to the first distance divided by the second predetermined speed.
  • the second predetermined speed may be the highest speed limit or the current speed of the vehicle.
  • the step of obtaining and outputting the second intersection pass prediction result according to the first time t1, the second predicted transit time t02, and the obstacle vehicle detection result includes:
  • the vehicle travel prediction method further includes: when the first time t1 is greater than or equal to the second predicted transit time t02, and when detecting the travel path of the vehicle, When there is no obstacle vehicle between the intersections, the output prompts that the front of the vehicle is unobstructed and can be accelerated to facilitate the passage of the rear vehicle through the intersection. That is to say, when there is no obstacle between the vehicle and the intersection and the vehicle can smoothly pass the intersection before the light is changed, the output prompts that the vehicle can be accelerated to facilitate the rear vehicle to smoothly pass the intersection information, so that the traffic is smooth.
  • the step of obtaining and outputting a corresponding prediction result according to the first time t1, the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle includes:
  • Step S31 comparing the second predetermined speed with the speed of the obstacle vehicle, when the second predetermined speed is less than or equal to the speed of the obstacle vehicle, proceeding to step S32, when the second predetermined speed is greater than the When the speed of the obstacle vehicle is changed to step S33;
  • Step S32 outputting a prediction result indicating that the vehicle can pass the intersection before the lamp is changed at a vehicle speed greater than or equal to the second predetermined speed, and ending the current prediction result outputting process;
  • Step S33 calculating, according to the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle, the second time that the vehicle travels at the second predetermined speed to maintain a predetermined safety distance with the obstacle vehicle. T2;
  • Step S34 comparing the second time t2 and the first time t1, when t2 is greater than or equal to t1, then proceeds to step S35, when t2 is less than t1, then proceeds to step S36;
  • Step S35 outputting a prediction result indicating that the vehicle can pass the intersection before the lamp is changed at a vehicle speed greater than or equal to the second predetermined speed, and ending the current prediction result outputting process;
  • Step S36 calculating that when the vehicle travels to maintain a predetermined safety distance with the obstacle vehicle, the vehicle The third time t3 of the speed of the obstacle vehicle passing through the intersection;
  • Step S37 comparing t1 and t2+t3, when t1 is greater than or equal to t2+t3, the process proceeds to step S38, and when t1 is less than t2+t3, the process proceeds to step S39;
  • Step S38 outputting a prediction result indicating that the vehicle can pass the intersection before changing the light, and ending the output of the current prediction result;
  • Step S39 The output of the prediction result output flow is ended by outputting a prediction result indicating that the vehicle cannot pass the intersection before the lamp is changed.
  • the flowchart shown in FIG. 6 details the calculation of the prediction result of the second intersection when the lamp changing time (ie, the first time t1 described above) is greater than or equal to the second expected passing time t02 and there is an obstacle vehicle in front of the vehicle to be tested.
  • the flow first needs to compare the speed of the obstacle vehicle with the second predetermined speed, and when the second predetermined speed is less than or equal to the speed of the obstacle vehicle, output a prediction result indicating that the vehicle to be tested can pass the intersection before the light is changed, when the second predetermined speed
  • the speed of the obstacle vehicle is greater than the speed of the obstacle vehicle
  • the fourth distance between the obstacle vehicle and the vehicle to be tested is calculated to be in the case of no rear-end collision (ie, the distance between the two vehicles is not less than the safety distance), and the vehicle to be tested catches up with the obstacle vehicle.
  • the second time t2 is required, and then t1 and t2 are compared.
  • t2 is greater than or equal to t1, it means that the vehicle to be tested can pass the front intersection before the lamp is changed at the second predetermined speed and does not chase the obstacle vehicle and output the corresponding prediction result. If t2 is less than t1, it is necessary to further calculate the third time t3 at which the vehicle to be tested further passes the speed of the obstacle vehicle through the front intersection, and then compare t1 and t2+t3, when t 1 greater than or equal to t2+t3 means that the vehicle to be tested can pass the front intersection smoothly before the lamp is changed and output the corresponding prediction result. When t1 is less than t2+t3, it indicates that the vehicle to be tested cannot pass the front intersection and output smoothly before changing the lamp. Corresponding prediction results.
  • the vehicle travel prediction method further includes: when t1 is greater than or equal to t2+t3, the utility further outputs a vehicle indicating that there is an obstacle ahead, but the vehicle can accelerate to facilitate the passing of the vehicle before passing the light.
  • the prompt information that is, if there is an obstacle on the current side, but the vehicle can smoothly pass the intersection before the light is changed, the vehicle may be prompted to accelerate the vehicle so that the rear vehicle can smoothly pass the front intersection.
  • t1 When t1 is less than t2+t3, it also outputs a prompt message indicating that there is an obstacle in front of the vehicle so that the vehicle cannot be accelerated to facilitate the passing of the vehicle before the light is changed, that is, the current vehicle has an obstacle and the vehicle cannot smoothly change before the light is turned on.
  • the speed step may include detecting, by the frequency modulated continuous wave radar, a fourth distance between the host vehicle and the obstacle vehicle and a speed of the obstacle vehicle.
  • the fourth distance between the vehicle to be tested and the obstacle vehicle and the speed of the obstacle vehicle may be detected by the ranging and speed measuring method of the frequency modulated continuous wave radar, and the ranging and speed measuring manner of the frequency modulated continuous wave radar
  • the basic principle is that when the transmitted continuous-frequency radar signal encounters the front target (that is, the obstacle vehicle), it will reflect back the echo with a certain delay of the transmitted signal, and analyze and process the echo signal according to the principle of Doppler. Thus, the relative speed of the two vehicles and the distance between the two vehicles are obtained.
  • the above-mentioned ranging and speed measuring method of the frequency modulated continuous wave radar can also be adopted.
  • the vehicle travel prediction method further includes: when the first time t1 is less than the second predicted transit time t02, outputting a prediction that the vehicle cannot pass the intersection before changing lights result. Obviously, if the time required for the vehicle to be tested to travel to the intersection at the first predicted speed (ie, the second estimated transit time t02) is greater than the variable lighting time (ie, the first time t1), the vehicle to be tested cannot be changed before the light is changed. (The green light turns red) through the intersection.
  • the vehicle travel prediction method further includes: detecting the distance when the state of the identified signal light is indicating that the vehicle is prohibited from passing the second state of the signal light (for example, the red light turns green) The state of the signal light is changed to a fourth time t4 indicating that the vehicle is allowed to pass the second state of the signal light, and the fourth time t4 is output, so that the driver can accurately grasp the light changing time without delaying the wasted time and obstructing the traffic. .
  • the vehicle travel prediction method further includes: detecting whether a specific type of vehicle exists within a second predetermined distance from a distance of the vehicle, and detecting the specific type of vehicle when detecting that a specific type of vehicle exists Driving information and output corresponding reminder information.
  • the in-vehicle system may include a voice recognition module and a light recognition module that may be captured when encountering a particular type of vehicle (which may be, for example, an ambulance, a police car, etc., requiring emergency travel) Light flashing and sound signals specific to a particular type of vehicle.
  • a voice recognition module and a light recognition module that may be captured when encountering a particular type of vehicle (which may be, for example, an ambulance, a police car, etc., requiring emergency travel)
  • Light flashing and sound signals specific to a particular type of vehicle which may be, for example, an ambulance, a police car, etc., requiring emergency travel.
  • the second predetermined speed is a maximum speed limit, a current speed of the vehicle, or an average speed of the vehicle
  • the first predetermined speed is a maximum speed limit, a current speed of the rear vehicle, or the rear vehicle. Average speed.
  • an embodiment of the present disclosure provides a vehicle travel prediction apparatus including a signal light recognition unit 52, an acquisition unit 702, and an output unit 56.
  • a signal recognition unit 52 configured to identify a state of the signal light
  • the obtaining unit 702 is configured to acquire a first distance between the host vehicle and an intersection where the signal light is disposed in the traveling direction of the host vehicle, and when the signal recognition unit recognizes that the state of the signal light is to indicate that the vehicle is allowed to pass the In the first state of the signal light, the state of acquiring the signal light becomes a first time t1 indicating that the vehicle is prohibited from passing through the second state of the signal light, and the vehicle detection result of the same lane is acquired, wherein the same lane vehicle detection result includes the rear Vehicle detection results and/or obstacle vehicle detection results;
  • the output unit 56 is configured to output a road passing prediction result according to the first time t1, the first distance, and the same lane vehicle detection result.
  • the device may further include a signal light detecting unit, and the acquiring unit may include a first ranging unit, a first detecting unit and a first computing unit.
  • the vehicle travel prediction apparatus according to the embodiment of the present disclosure includes:
  • the signal detecting unit 51 is configured to detect whether there is a signal light within a first predetermined distance between the distance of the vehicle in the traveling direction of the vehicle to be tested, and output a first control signal when detecting the presence of the signal light;
  • a signal recognition unit 52 coupled to the signal detection unit 51, for identifying a state of the signal when the first control signal is received, and when the state of the signal is indicating that the vehicle is allowed to pass the signal In a state, detecting a state of the signal light becomes a first time t1 indicating that the vehicle is prohibited from passing the second state of the signal light;
  • the first ranging unit 53 is connected to the signal detecting unit 51 for detecting a first distance between the vehicle and the intersection provided with the signal light when the first control signal is received;
  • the first detecting unit 54 is configured to detect whether there is a rear vehicle behind the vehicle, and detect the vehicle speed of the rear vehicle, the second distance between the rear vehicle and the intersection, and the present when detecting the presence of the rear vehicle a third distance between the vehicle and the rear vehicle to obtain a rear vehicle detection result;
  • the first operation unit 55 is connected to the signal recognition unit 52, the first ranging unit 53, and the first detection unit 54, respectively, for using the first time t1, the first distance, and the The rear vehicle detection result is obtained and the first intersection pass prediction result is output; and,
  • the output unit 56 is connected to the first operation unit 55 for outputting the first intersection pass prediction result.
  • the vehicle travel prediction apparatus can detect the signal light by the traffic light detecting unit 51 and recognize the state of the traffic light by the traffic light recognition unit 52, and control the state change of the traffic light when the state of the traffic light is to allow the vehicle to pass.
  • the vehicle and the signal lamp are provided.
  • the first distance between the intersections and the detection result of the rear vehicle are predicted by the first intersection, so that the driver of the vehicle can select the appropriate driving speed to smoothly pass the front intersection before the light is changed, and can provide the rear vehicle with the variable light. It is easy to improve traffic efficiency by passing the possibility of passing the road ahead.
  • the first operation unit 55 may include:
  • the first predetermined speed setting module 550 is connected to the first detecting unit 54 for setting a first predetermined speed according to a vehicle speed of the rear vehicle included in the rear vehicle detection result;
  • the first predicted transit time t01 is equal to the second distance divided by the first predetermined speed by time t02;
  • a first comparison module 552 coupled to the first predicted transit time calculation module 551 and the signal recognition unit 52, for comparing the first time t1 and the first predicted transit time t01, and when Outputting a twelfth control signal when the first time t1 is less than the first predicted transit time t01, and outputting a thirteenth control signal when the first time t1 is greater than or equal to the first predicted transit time t01;
  • the third control signal calculates a threshold vehicle speed according to the first time t1, the first distance, the third distance, and the first predetermined speed, and outputs a fourteenth control signal;
  • the output unit 56 is further connected to the first comparison module 552 and the first operation module 553, respectively, for outputting that the rear vehicle cannot be changed before the light is received when the twelfth control signal is received.
  • the rear vehicle can be at a vehicle speed greater than or equal to the first predetermined speed
  • the predicted result of passing through the intersection before the lamp is changed to prompt the vehicle to perform the speed adjustment operation (for example, the acceleration operation).
  • the vehicle travel prediction apparatus can detect the speed of the rear vehicle by using the rear camera and the radio frequency method, and calculate according to the speed and the distance from the intersection. If the rear vehicle is driven at the highest speed limit, the traffic light can be changed. Before the red passes the intersection, the minimum speed (ie the threshold speed) of the passing lane of the vehicle is calculated by the two conditions of the intersection before the change of the traffic light before the traffic light changes, and a reminder is sent to the driver of the vehicle if If the driver of the vehicle chooses a driving speed equal to or higher than the minimum speed, the possibility of passing the intersection faster can be provided for the rear vehicle, which is convenient for improving traffic efficiency.
  • the minimum speed ie the threshold speed
  • the vehicle travel prediction apparatus includes:
  • the driving information detecting unit 50 is configured to detect driving information of the vehicle
  • the second predicted transit time calculation unit 57 is respectively connected to the first ranging unit 53 and the driving information detecting unit 50 for calculating a second estimated transit time t02 according to the driving information of the vehicle and the first distance. ;
  • a second detecting unit 58 a vehicle speed of the obstacle vehicle and a fourth distance between the host vehicle and the obstacle vehicle, to obtain an obstacle vehicle detection for detecting the traveling path between the vehicle and the intersection between the vehicle and the intersection Whether there is an obstacle vehicle and detecting the result when an obstacle vehicle is detected;
  • a second operation unit 59 which is respectively connected to the signal recognition unit 52, the second predicted transit time calculation unit 57, and the second detection unit 58 for using the first time t1 and the second prediction according to the first time t1 Obtaining a second intersection pass prediction result by time t02 and the obstacle vehicle detection result;
  • the output unit 56 is further connected to the second operation unit 59 for outputting the second intersection pass prediction result.
  • the vehicle travel prediction apparatus is capable of controlling the state of the signal light to become a prohibited vehicle when the state of the signal light is to allow the vehicle to pass by detecting the signal light and identifying the state of the signal light.
  • the elapsed time, the first estimated transit time, and the obstacle vehicle detection result are used to predict whether the vehicle can smoothly pass the intersection before the light is changed, so as to output the corresponding second intersection to pass the prediction result, so that the driver can refer to the prediction.
  • the corresponding driving mode is selected, and when it is detected that there is a rear vehicle behind the vehicle to be tested, it can be changed according to the state of the signal light to the time when the vehicle is prohibited, and the intersection between the vehicle and the intersection where the signal lamp is disposed.
  • the rear vehicle can pass the prediction of the first intersection through the intersection before the light is changed with the vehicle speed greater than or equal to the first predetermined speed.
  • the driving information of the vehicle includes speed information;
  • the vehicle driving prediction apparatus according to the embodiment of the present disclosure further includes: a second predetermined speed setting unit, configured to set a second predetermined speed according to the speed information;
  • the second predicted transit time calculating unit is further connected to the second predetermined speed setting unit, specifically configured to calculate the second predicted transit time t02 according to the first distance and the second predetermined speed, The second predicted transit time t02 is equal to the first distance divided by the second predetermined speed.
  • the second operation unit 59 may specifically include a second comparison module 591 and a second operation module 592
  • the second detection unit 58 may include a first detection module 581 and a second Detection module 582;
  • the second comparison module 591 is respectively connected to the signal recognition unit 52 and the second predicted transit time calculation unit 57 for comparing the first time t1 and the second predicted passage time. Interval t02, and outputting a second control signal when the first time t1 is greater than or equal to the second predicted transit time t02;
  • the first detecting module 581 is connected to the second comparing module 591, and configured to detect whether there is an obstacle vehicle between the vehicle and the intersection on the traveling path of the vehicle when the second control signal is received. And outputting a third control signal when detecting that there is an obstacle vehicle, and outputting a fourth control signal when detecting that there is no obstacle vehicle;
  • a second detecting module 582 coupled to the first detecting module 581, configured to detect a fourth distance between the host vehicle and the obstacle vehicle and a speed of the obstacle vehicle when receiving the third control signal;
  • the second operation module 592 is respectively connected to the second detection module 582 and the signal recognition unit 52 for using the first time t1, the second predetermined speed, the fourth distance, and the The speed of the obstacle vehicle is predicted accordingly;
  • the output unit 56 is respectively connected to the second operation module 592 and the first detection module 581, and is specifically configured to output, when receiving the fourth control signal, that the vehicle can be greater than or equal to the first The predicted speed of the vehicle speed of the two predetermined speeds passing through the intersection before the lamp is changed, and the prediction result obtained by the second operation module 592 is output when the third control signal is received.
  • the vehicle travel prediction apparatus compares the first time t1 and the second estimated transit time t02 by the second comparison module 591, and when the second comparison module 591 compares and obtains the first time t1 is greater than or equal to
  • the control output unit 56 outputs that the vehicle can be greater than or a prediction result of the vehicle speed equal to the second predetermined speed passing through the intersection before the variable lamp (for example, the green light turns red); and when the second comparison module compares that t1 is greater than or equal to t02, and the first detecting module 581 detects In the case that there is no obstacle between the vehicle and the intersection, the control output unit 56 can successfully pass the intersection before the lamp is changed; when the second comparison module 591 compares and obtains t1 is greater than or equal to t02, and the first detection The module 581 detects that there is an obstacle
  • the output unit is further connected to the first detecting module, and is configured to output prompt information indicating that the front of the vehicle is unobstructed to facilitate the passage of the rear vehicle through the intersection when the fourth control signal is received. That is, when there is no obstacle between the vehicle and the intersection and the vehicle can smoothly pass the intersection before the light is changed, the output unit outputs a prompt message prompting the vehicle to accelerate to facilitate the passing of the vehicle through the intersection. Smooth traffic.
  • the second operation module 592 can include:
  • a first comparison sub-module 5921 for comparing the second predetermined speed with the speed of the obstacle vehicle, and outputting a fifth control signal when the second predetermined speed is less than or equal to the speed of the obstacle vehicle, when Outputting a sixth control signal when the second predetermined speed is greater than the speed of the obstacle vehicle;
  • a first calculation sub-module 5922 coupled to the first comparison sub-module 5921 for determining the second predetermined speed, the fourth distance, and the speed of the obstacle vehicle when the sixth control signal is received Calculating a second time t2 when the vehicle travels at the predetermined speed to maintain a predetermined safe distance from the obstacle vehicle;
  • the second comparison sub-module 5923 is connected to the first calculation sub-module 5922 and the signal recognition unit 52, respectively, for comparing the second time t2 with the first time t1, when t2 is greater than or equal to t1 Outputting a seventh control signal, and outputting an eighth control signal when t2 is less than t1;
  • a second calculation sub-module 5924 connected to the second comparison sub-module 5923, for calculating, when receiving the eighth control signal, that the vehicle is driven when the vehicle travels to maintain a predetermined safety distance with the obstacle vehicle
  • the third comparison sub-module 5925 is respectively connected to the signal recognition unit 52, the first calculation sub-module 5922 and the second calculation sub-module 5924 for comparing t1 and t2+t3, when t1 is greater than or equal to t2 Outputting a ninth control signal when +t3, and outputting a tenth control signal when t1 is less than t2+t3;
  • the output unit 56 is respectively connected to the first comparison sub-module 5921, the second comparison sub-module 5923 and the third comparison sub-module 5925, and is further configured to output when the fifth control signal is received. Demonstrating a predicted result that the vehicle can pass the intersection before the lamp is changed with a vehicle speed greater than or equal to the second predetermined speed, and outputting the indication that the vehicle can be greater than or equal to the first when receiving the seventh control signal a predicted speed of the vehicle speed of the second predetermined speed passing through the intersection before the light is changed, and when the ninth control signal is received, outputting a prediction result indicating that the vehicle can pass the intersection before the light is changed, when receiving the The output of the ten control signals indicates that the car cannot pass the intersection before the lights are changed. The predicted result.
  • the vehicle travel prediction apparatus shown in FIG. 12 shows that when the light-changing time (ie, the first time t1 described above) is greater than or equal to the second estimated transit time t02 and there is an obstacle vehicle in front of the vehicle to be tested, the second calculation is performed.
  • the intersection first needs to compare the speed of the obstacle vehicle with the second predetermined speed by the first comparison sub-module 5921.
  • the control output unit 56 outputs the indication to be tested. The vehicle can pass the predicted result of the intersection before the lamp is changed.
  • the first calculation sub-module 5922 needs to be controlled to calculate the fourth distance between the obstacle vehicle and the vehicle to be tested.
  • the vehicle to be tested catches up with the second time t2 required by the obstacle vehicle, and then compares t1 and t2 by the second comparison sub-module 5923, if t2 is greater than or equal to t1 , indicating that the vehicle to be tested can pass the front intersection before the lamp is changed at the second predetermined speed and does not catch up with the obstacle vehicle and control the output unit 56 to output the corresponding prediction.
  • the second calculation sub-module 5924 is further controlled to further calculate the third time t3 at which the vehicle to be tested further passes the speed of the obstacle vehicle through the front intersection, and then compares t1 and t2+ through the third comparison sub-module 5925.
  • T3 when t1 is greater than or equal to t2+t3, it indicates that the vehicle to be tested can successfully pass the front intersection before the lamp is changed and the output unit 56 outputs the corresponding prediction result.
  • t1 is less than t2+t3
  • the output unit is further connected to the third comparison submodule
  • the output unit is further configured to output, when the ninth control signal is received, a prompt message indicating that there is an obstacle in front of the vehicle but the vehicle can accelerate to facilitate the passing of the vehicle before the light is changed, that is, the current obstacle exists. However, if the car can smoothly pass the intersection before changing the light, it can be prompted that the acceleration of the vehicle allows the rear vehicle to pass through the front intersection smoothly;
  • the output unit is further configured to output, when the tenth control signal is received, a prompt message indicating that there is an obstacle vehicle ahead, so that the vehicle cannot be accelerated to facilitate the passing of the intersection of the vehicle before the light is changed, that is, the current vehicle has an obstacle and If the car cannot pass through the front intersection before changing the light, it can be prompted that the vehicle does not need to be shifted for the rear vehicle to drive.
  • the second detecting module may specifically detect a fourth distance between the host vehicle and the obstacle vehicle and a speed of the obstacle vehicle by using a frequency modulated continuous wave radar.
  • the second comparison module is further configured to: when the first time t1 is smaller than the second prediction The eleventh control signal is output when the time t02 is passed;
  • the output unit is further connected to the second comparison module, and is further configured to output, when the eleventh control signal is received, a prediction result indicating that the vehicle cannot pass the intersection before changing the light.
  • the signal recognition unit is further configured to: when the status of the identified signal light is a second state indicating that the vehicle is prohibited from passing the signal light, detecting that the distance from the signal light changes to indicating that the vehicle is allowed to pass the signal light The fourth time t4 of the first state;
  • the output unit is further connected to the signal recognition unit for outputting the fourth time t4.
  • the vehicle travel prediction apparatus further includes:
  • a third detecting unit 510 configured to detect whether a specific type of vehicle exists within a second predetermined distance from a distance of the vehicle, detect driving information of the specific type of vehicle when detecting the presence of a specific type of vehicle, and output a fifteenth control signal;
  • the output unit 56 is further connected to the third detecting unit 510, and is configured to output reminder information indicating that a specific type of vehicle exists when the fifteenth control signal is received.
  • the vehicle travel prediction apparatus further includes:
  • the determining unit 511 is connected to the third detecting unit 510, configured to determine whether the specific type of vehicle is in front of or behind the vehicle when receiving the fifteenth control signal, and determine that the specific type of vehicle is The sixteenth control signal is output when the vehicle is behind, and the seventeenth control signal is output when it is determined that the specific type of vehicle is in front of the vehicle;
  • a second ranging unit 512 connected to the determining unit 511, configured to detect a fifth distance between the host vehicle and the specific type of vehicle when receiving the seventeenth control signal;
  • the third operation unit 513 is connected to the third detecting unit 510, the first ranging unit 53, the determining unit 511, and the second ranging unit 512, respectively, for receiving the tenth And calculating, according to the second predetermined speed, the driving information of the specific type of vehicle, the first distance and the fifth distance, whether the vehicle can have a vehicle speed greater than or equal to the second predetermined speed. Pass the intersection and output the eighteenth control signal;
  • the output unit 56 is further connected to the determining unit 511 and the third computing unit 513, and is configured to output a reminder that the vehicle can be redirected to avoid the specific type of vehicle when receiving the sixteenth control signal.
  • the reminder information outputs a corresponding prediction result when the eighteenth control signal is received.
  • the vehicle travel prediction apparatus may include a determination unit 511 (the judging unit may include, for example, a voice recognition module and a light ray recognition module), when a specific type of vehicle is encountered (the specific type of vehicle may be, for example, an ambulance, a police car, or the like that requires emergency driving), Describes the specific lighting flashes and sound signals of a particular type of vehicle.
  • the judging unit may include, for example, a voice recognition module and a light ray recognition module
  • the second predetermined speed may be the highest speed limit or the current speed of the vehicle or the average speed of the vehicle.
  • the first predetermined speed may be the highest speed limit or the current speed of the rear vehicle or the average speed in the rear vehicle.
  • the output unit includes a display module and/or a sound reminding module
  • the display module is configured to display the prediction result
  • the sound reminding module is configured to prompt the predicted result by sound.
  • the display output unit may include not only a display module displayed through a display screen or a projection screen, but also a sound reminding module through a voice prompt, and the display output unit may also be a communication interface, which may The vehicle control system sends corresponding prompt information, which is prompted by the vehicle display system.
  • the signal light detecting unit includes an image capturing unit or a position detecting unit;
  • the signal light detecting unit includes an image capturing unit
  • the image capturing unit detects whether there is a signal light by photographing a screen within a first predetermined distance from a distance of the vehicle in a traveling direction of the vehicle to be tested;
  • the position detecting unit detects position information of the own vehicle, and detects the position of the vehicle to be tested by comparing the position information with a pre-stored position where the signal lamp is disposed. A picture within a first predetermined distance from the distance of the vehicle detects whether or not there is a signal light.
  • the position detecting unit may be a device having a GPS (Global Positioning System) or a Beidou positioning system, or may be a communication interface, which can receive positioning information of the in-vehicle control system or can receive the mobile device. Map location information in the terminal.
  • GPS Global Positioning System
  • Beidou positioning system or may be a communication interface, which can receive positioning information of the in-vehicle control system or can receive the mobile device. Map location information in the terminal.
  • the position detecting unit can determine whether there is a signal light in front; if the detection When there is a signal light to the front, the signal recognition unit is turned on, and the current state of the intersection signal light is recognized by the signal recognition unit, and the state of the current signal light and the time of switching to the next state are sent to the operation unit, wherein the signal is switched. It may be pre-stored in the position detecting unit. If the information is not in the position detecting unit, the predetermined threshold value is used, for example, 4s; the arithmetic unit simultaneously receives the vehicle speed information acquired by the vehicle speed detecting unit and the vehicle and the signal light acquired by the distance measuring unit. the distance between.
  • the arithmetic unit makes a judgment based on the above information, and transmits the result to the user through the display unit.
  • the judgment result of the arithmetic unit may be, but not limited to, the following types: prompting the vehicle to pass smoothly at the current vehicle speed, prompting the vehicle not to pass smoothly at the current vehicle speed, and prompting the vehicle to pass the vehicle speed smoothly. And further can determine whether there is a vehicle between the currently traveling vehicle and the signal light, if there is, the distance vehicle speed of the preceding vehicle needs to be identified and sent to the arithmetic unit, and then the arithmetic unit changes the time according to the current vehicle speed, the signal light, and the current vehicle. The distance between the signal light and the vehicle in front is comprehensively judged, and finally the vehicle is prompted by the display unit.
  • detecting the speed of the vehicle to be tested may be completed by the vehicle speed detecting unit, and the vehicle speed detecting unit may be a detecting device capable of real-time speed measuring, or may be a communication receiving port, which can communicate with the vehicle control system from the vehicle control.
  • the system measures the real-time speed of the vehicle directly or side by side.
  • the third detecting unit may include a voice recognition module and a light recognition module;
  • the voice recognition module is configured to identify whether a specific type of vehicle exists by detecting whether a predetermined type of sound exists within a second predetermined distance from a distance of the vehicle;
  • the ray discriminating module is configured to identify whether a specific type of vehicle exists by detecting whether there is a predetermined type of light flicker within a second predetermined distance within a distance from the host vehicle.
  • the in-vehicle intelligent system includes the above-described vehicle travel prediction device.
  • the in-vehicle intelligent system further includes an in-vehicle vehicle speed detecting unit, configured to detect the current speed of the vehicle in real time;
  • the vehicle-mounted vehicle speed detecting unit is further configured to output the detected current speed of the vehicle to be tested to the second arithmetic unit included in the vehicle travel prediction device. That is, the vehicle speed of the vehicle to be tested can be detected in real time by the vehicle speed detecting unit included in the in-vehicle intelligent system.
  • the in-vehicle intelligent system further includes an in-vehicle positioning unit, configured to detect the position of the vehicle in real time;
  • the position detecting unit is connected to the in-vehicle positioning unit for receiving a position of the host vehicle from the in-vehicle positioning unit. That is, when the traffic light detecting unit in the vehicle travel predicting device includes the position detecting unit, the position detecting unit may detect the position of the vehicle to be tested in real time by the in-vehicle positioning unit.
  • the in-vehicle intelligent system further includes an in-vehicle display unit; when the output unit in the vehicle travel prediction device includes a display module, the display module is configured to output the prediction result to the An in-vehicle display unit to control display of the predicted result by the in-vehicle display unit. That is, the output unit may display the prediction result using the in-vehicle display unit included in the in-vehicle intelligent system.
  • the method steps disclosed in the above embodiments may be implemented by using the vehicle travel prediction apparatus shown in FIG. 15, which includes a processor 1501, a memory 1502, and at least one sensor 1503 (including a radar and a camera, etc.).
  • Memory 1502 can include read only memory or random access memory and provides instructions and data to processor 1501.
  • a portion of the memory 1502 may also include an NVRAM (Non Volatile Random Access Memory).
  • the processor 1501, the memory 1502 and the sensor 1503 are coupled together by a bus system 1510, wherein the bus system 1510 includes a power bus, a control bus, and a status signal bus in addition to the data bus.
  • various buses are labeled as bus system 1510 in the figure.
  • the processor 1501 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 1501 or an instruction in a form of software.
  • the processor 1501 may be a general-purpose processor, including a CPU (Central Processing Unit), an NP (Network Processor), etc., or may be a DSP (Digital Signal Processing) or an ASIC (dedicated). Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • the methods, steps, and logic blocks disclosed in the embodiments of the present disclosure may be implemented or executed.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the processor 1501 performs the following steps by acquiring an instruction or data stored in the memory 1502: acquiring a first distance between the host vehicle and an intersection where the signal light is disposed in the traveling direction of the host vehicle, And identifying a state of the signal light; when the state of the signal light is a first state indicating that the vehicle is allowed to pass the light, the state of acquiring the signal light becomes the first state indicating that the vehicle is prohibited from passing the second state of the signal light Time t1; acquiring the same lane vehicle detection result, the same lane vehicle detection result including a rear vehicle detection result and/or an obstacle vehicle detection result; according to the first time t1, the first distance, and the same lane vehicle detection The resulting output intersection passes the predicted result.
  • relevant parameters may be detected by the sensor 1503, such as the distance between the vehicles, the first time t1, the distance between the vehicle and the intersection, the speed of the rear vehicle, or the speed of the vehicle ahead.
  • the present embodiment it is possible to make an effective prediction in combination with the driving information of the front and rear vehicles adjacent to the vehicle, so that the vehicle smoothly passes through the front intersection, thereby improving traffic efficiency and effectively preventing rear-end collision.

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Abstract

一种车辆行驶预测方法、装置和车载智能系统。车辆行驶预测方法包括：获取本车与在本车行进方向上设置有信号灯的路口之间的第一距离，并识别信号灯的状态（S101）；当信号灯的状态为指示允许车辆通过信号灯的第一状态时，获取信号灯的状态变为指示禁止车辆通过信号灯的第二状态的第一时间t1（S102）；获取同车道车辆检测结果，同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果（S103）；根据第一时间t1、第一距离和同车道车辆检测结果输出路口通过预测结果（S104）。

Description

车辆行驶预测方法、装置和车载智能系统
相关申请的交叉引用
本申请要求于2016年6月17日提交中国专利局、发明名称为“车辆行驶预测方法、装置和车载智能系统”，申请号为201610439274.X的优先权，其全部内容据此通过引用并入本申请。
技术领域
本公开涉及车辆行驶预测技术领域，尤其涉及一种车辆行驶预测方法、装置和车载智能系统。
背景技术
目前交通压力越来越大，由于车与车之间较近，距离不好把握，还可能会出现交通事故(如追尾)，严重影响交通。例如，在信号灯将发生变化(如从绿灯变成红灯)时，也会由于急于在绿灯变红之前驶过去而发生一些事故。特别是有时不能准确根据当前绿灯的剩余时间判断本车是否能在绿灯时通过，如果减速等下一个绿灯则可能浪费时间，且造成后面的车辆堵塞，如果加速通过则可能由于判断失误造成误闯红灯甚至与前方车辆发生追尾，或者需要到达停车线之前进行急刹车来避免闯红灯甚至导致被后方车辆追尾。在相关技术中也没有给出能够有效指示车辆顺利通过前方路口的技术方案。因此，交通效率低，甚至增加了交通事故发生的可能性。
发明内容
本公开实施例的主要目的在于提供一种车辆行驶预测方法、装置和车载智能系统，能够有效地提高交通效率，减少交通事故发生的可能性。
为了达到上述目的，本公开实施例提供了一种车辆行驶预测方法，包括：
获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，并识别所述信号灯的状态；
当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取 所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1；
获取同车道车辆检测结果，所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；
根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。
可选地，所述获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，包括：
检测在所述本车行进方向上与所述本车的距离在第一预定距离内是否存在所述信号灯，当检测到存在所述信号灯时检测本车与设置有所述信号灯的路口之间的所述第一距离；
所述获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1，包括：
检测距离所述信号灯的状态变为所述第二状态的所述第一时间t1。
可选地，在所述获取同车道车辆检测结果之前，所述方法还包括：
检测在所述本车后方是否存在后方车辆，并当检测到存在后方车辆时检测所述后方车辆的车速、所述后方车辆与所述路口之间的第二距离以及本车与所述后方车辆之间的第三距离，以得到所述后方车辆检测结果；
所述根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果，包括：
根据所述第一时间t1、所述第一距离和所述后方车辆检测结果得到并输出第一路口通过预测结果，其中所述路口通过预测结果包括所述第一路口通过预测结果。
可选地，所述根据所述第一时间t1和所述后方车辆检测结果得到并输出第一路口通过预测结果步骤包括：
根据所述后方车辆检测结果包括的后方车辆的车速设定第一预定速度；
根据所述第二距离和第一预定速度计算第一预计通过时间t01，所述第一预计通过时间t01等于所述第二距离除以所述第一预定速度；
比较所述第一时间t1和所述第一预计通过时间t01；
当所述第一时间t1小于所述第一预计通过时间t01时，输出指示所述后方车辆不能在变灯之前通过所述路口的预测结果；
当所述第一时间t1大于或等于所述第一预计通过时间t01时，根据所述第一时间t1、所述第一距离、所述第三距离和所述第一预定速度计算阈值车速，以输出本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的预测结果，以提示本车相应进行速度调节操作。
可选地，所述方法还包括：当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，根据本车的行车信息和所述第一距离计算第二预计通过时间t02。
可选地，在所述获取同车道车辆检测结果之前，所述方法还包括：
检测本车的行进路径上本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时检测所述障碍车辆的车速以及本车与所述障碍车辆之间的第四距离，以得到所述障碍车辆检测结果；
所述根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果，包括：
根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果输出第二路口通过预测结果，其中所述路口通过预测结果包括所述第二路口通过预测结果。
可选地，所述根据本车的行车信息和所述第一距离计算第二预计通过时间t02步骤包括：
根据本车的行车信息包括的速度信息设定第二预定速度；
根据所述第一距离和所述第二预定速度计算所述第二预计通过时间t02，所述第二预定通过时间t02等于所述第一距离除以第二预定速度。
可选地，所述根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到并输出第二路口通过预测结果步骤包括：
比较所述第一时间t1和所述第二预计通过时间t02；
当所述第一时间t1大于或等于所述第二预计通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，输出指示本车能够 以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果；
当所述第一时间t1大于或等于所述二预定通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间存在障碍车辆时，检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度，根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到并输出相应的预测结果。
可选地，当所述第一时间t1大于或等于所述第二预计通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，输出提示本车前方无障碍可加速以方便后方车辆通过路口的提示信息。
可选地，所述根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度输出所述第二路口通过预测结果步骤包括：
比较所述第二预定速度和所述障碍车辆的速度；
当所述第二预定速度小于或等于所述障碍车辆的速度时，输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果；
当所述第二预定速度大于所述障碍车辆的速度时，根据所述第二预定速度、所述第四距离和所述障碍车辆的速度，计算得到本车以所述第二预定速度行驶到与所述障碍车辆保持预定安全距离的第二时间t2，比较所述第二时间t2和所述第一时间t1；
当t2大于或等于t1时，输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果；
当t2小于t1时，计算当本车行驶至与所述障碍车辆保持预定安全距离时本车以所述障碍车辆的速度通过所述路口的第三时间t3；
比较t1和t2+t3；
当t1大于或等于t2+t3时，输出指示本车能够在变灯之前通过所述路口的预测结果；
当t1小于t2+t3时，输出指示本车不能在变灯之前通过所述路口的预测结果。
可选地，当t1大于或等于t2+t3时，还输出指示前方存在障碍车辆但本车能加速以方便后方车辆在变灯前通过路口的提示信息；当t1小于t2+t3时，还 输出指示前方存在障碍车辆从而本车不能加速以方便后方车辆在变灯前通过路口的提示信息。
可选地，所述检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度步骤包括：通过调频连续波雷达检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度。
可选地，所述方法还包括：当所述第一时间t1小于所述第二预计通过时间t02时，输出指示本车不能在变灯之前通过所述路口的预测结果。
可选地，所述方法还包括：当识别得到的所述信号灯的状态为指示禁止车辆通过所述信号灯的第二状态时，检测距离所述信号灯的状态变为指示允许车辆通过所述信号灯的第一状态的第四时间t4，输出所述第四时间t4。
可选地，所述方法还包括：检测在与本车的距离在第二预定距离内是否存在特定类型车辆，当检测到存在特定类型车辆时检测所述特定类型车辆的行车信息并输出相应的提醒信息。
可选地，所述检测所述特定类型车辆的行车信息并输出相应的提醒信息，包括：
当检测到存在特定类型车辆时，判断所述特定类型车辆在本车前方还是后方；
当判断到所述特定类型车辆在本车后方时，输出提醒本车能够改道以避开所述特定类型车辆的提醒信息；
当判断到所述特定类型车辆在本车前方时，检测本车与所述特定类型车辆之间的第五距离，根据所述第二预定速度、所述特定类型车辆的行车信息、所述第一距离和所述第五距离计算出本车能否以大于或等于所述第二预定速度的车速通过路口，并给出相应的预测结果。
可选地，所述第二预定速度为最高限制速度、本车的当前速度或本车的平均速度。
可选地，所述第一预定速度为最高限制速度、所述后方车辆的当前速度或所述后方车辆的平均速度。
本公开实施例还提供了一种车辆行驶预测装置，包括：
信号灯识别单元，用于识别所述信号灯的状态；
获取单元，用于获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，当所述信号灯识别单元识别到所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1，以及获取同车道车辆检测结果，其中所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；
输出单元，用于根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。
可选地，所述装置还包括信号灯检测单元，所述获取单元包括第一测距单元，其中
所述信号灯检测单元，用于检测在所述本车行进方向上与本车的距离在第一预定距离内是否存在所述信号灯，并当检测到存在信号灯时输出第一控制信号；
所述信号灯识别单元，与所述信号灯检测单元连接，具体用于当接收到所述第一控制信号时识别所述信号灯的状态，并当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，检测距离所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的所述第一时间t1；
所述第一测距单元，与所述信号灯检测单元连接，用于当接收到所述第一控制信号时检测检测本车与设置有所述信号灯的路口之间的所述第一距离。
可选地，所述获取单元包括第一检测单元和第一运算单元，其中所述第一检测单元，用于检测在本车后方是否存在后方车辆，并当检测到存在后方车辆时检测所述后方车辆的车速、所述后方车辆与所述路口之间的第二距离以及本车与所述后方车辆之间的第三距离，以得到后方车辆检测结果；
所述第一运算单元，分别与所述信号灯识别单元、所述第一测距单元和所述第一检测单元连接，用于根据所述第一时间t1、所述第一距离和所述后方车辆检测结果得到第一路口通过预测结果，其中所述路口通过预测结果包括所述第一路口通过预测结果；以及
所述输出单元，与所述第一运算单元连接，用于输出所述第一路口通过预测结果。
可选地，所述第一运算单元具体包括第一预定速度设定模块，第一预计通 过时间计算模块，第一比较模块和第一运算模块，其中：
第一预定速度设定模块，与所述第一检测单元连接，用于根据所述后方车辆检测结果包括的后方车辆的车速设定第一预定速度；
第一预计通过时间计算模块，分别与所述第一检测单元和所述第一预定速度设定模块连接，用于根据所述第二距离和第一预定速度计算第二预计通过时间t02，所述第一预计通过时间t01等于所述第二距离除以所述第一预定速度；
第一比较模块，分别与所述第一预计通过时间计算模块和所述信号灯识别单元连接，用于比较所述第一时间t1和所述第一预计通过时间t01，并当所述第一时间t1小于所述第一预计通过时间t01时输出第十二控制信号，当所述第一时间t1大于或等于所述第一预计通过时间t01时输出第十三控制信号；以及，
第一运算模块，分别与所述第一比较模块、所述信号灯识别单元、所述第一测距单元和所述第一检测单元连接，用于当接收到所述第十三控制信号时根据所述第一时间t1、所述第一距离、所述第三距离和所述第一预定速度计算阈值车速，并输出第十四控制信号；
所述输出单元，还分别与所述第一比较模块和所述第一运算模块连接，用于当接收到所述第十二控制信号时输出指示所述后方车辆不能在变灯之前通过所述路口的预测结果，当接收到所述第十四控制信号时输出本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的预测结果，以提示本车相应进行速度调节操作。
可选地，所述获取单元还包括行车信息检测单元和第二预计通过时间计算单元，其中：
所述行车信息检测单元，用于检测本车的行车信息；
所述第二预计通过时间计算单元，用于根据所述本车的行车信息和所述第一距离计算第二预计通过时间t02。
可选地，所述获取单元还包括第二检测单元和第二运算单元，其中
所述第二检测单元，用于检测本车的行进路径上本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时检测所述障碍车辆的车速以及本车与所述障碍车辆之间的第四距离，以得到障碍车辆检测结果；以及，
所述第二运算单元，分别与所述信号灯识别单元、所述第二预计通过时间 计算单元和所述第二检测单元连接，用于根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到第二路口通过预测结果，其中所述路口通过预测结果包括所述第二路口通过预测结果；
所述输出单元，还与所述第二运算单元连接，用于输出所述第二路口通过预测结果。
可选地，所述本车的行车信息包括速度信息；
所述车辆行驶预测装置还包括：第二预定速度设定单元，与所述行车信息检测单元连接，用于根据所述速度信息设定第二预定速度；
所述第二预计通过时间计算单元，还与所述第二预定速度设定单元连接，具体用于根据所述第一距离和所述第二预定速度计算所述第二预计通过时间t02，所述第二预计通过时间t02等于所述第一距离除以第二预定速度。
可选地，所述第二运算单元具体包括第二比较模块和第二运算模块；所述第二检测单元包括第一检测模块和第二检测模块；
所述第二比较模块，分别与所述信号灯识别单元和所述第二预计通过时间计算单元连接，用于比较所述第一时间t1和所述第二预计通过时间t02，并当所述第一时间t1大于或等于所述第二预计通过时间t02时输出第二控制信号；
所述第一检测模块，与所述第二比较模块连接，用于当接收到所述第二控制信号时检测在本车的行进路径上在本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时输出第三控制信号，当检测到不存在障碍车辆时输出第四控制信号；
所述第二检测模块，与所述第一检测模块连接，用于当接收到所述第三控制信号时检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度；
所述第二运算模块，分别与所述第二检测模块和所述信号灯识别单元连接，用于根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到相应的预测结果；
所述输出单元，分别与所述第二运算模块和所述第一检测模块连接，具体用于当接收到所述第四控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第三控制信号时输出所述第二运算模块得到的预测结果。
可选地，所述输出单元，还与所述第一检测模块连接，具体用于当接收到所述第四控制信号时输出提示本车前方无障碍可加速以方便后方车辆通过路口的提示信息。
可选地，所述第二运算模块具体包括第一比较子模块，第一计算子模块，第二比较子模块，第二计算子模块和第三比较子模块，其中：
所述第一比较子模块，用于比较所述第二预定速度和所述障碍车辆的速度，当所述第二预定速度小于或等于所述障碍车辆的速度时输出第五控制信号，当所述第二预定速度大于所述障碍车辆的速度时输出第六控制信号；
所述第一计算子模块，与所述第一比较子模块连接，用于当接收到所述第六控制信号时根据所述第二预定速度、所述第四距离和所述障碍车辆的速度，计算得到本车以所述预定速度行驶到与所述障碍车辆保持预定安全距离的第二时间t2；
所述第二比较子模块，分别与所述第一计算子模块和所述信号灯识别单元连接，用于比较所述第二时间t2和所述第一时间t1，当t2大于或等于t1时输出第七控制信号，当t2小于t1时输出第八控制信号；
所述第二计算子模块，与所述第二比较子模块连接，用于当接收到所述第八控制信号时计算当本车行驶至与所述障碍车辆保持预定安全距离时本车以所述障碍车辆的速度通过所述路口的第三时间t3；以及，
所述第三比较子模块，分别与所述信号灯识别单元、所述第一计算子模块和所述第二计算子模块连接，用于比较t1和t2+t3，当t1大于或等于t2+t3时输出第九控制信号，当t1小于t2+t3时输出第十控制信号；
所述输出单元，分别与所述第一比较子模块、所述第二比较子模块和所述第三比较子模块连接，还用于当接收到所述第五控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第七控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第九控制信号时输出指示本车能够在变灯之前通过所述路口的预测结果，当接收到所述第十控制信号时输出指示本车不能在变灯之前通过所述路口的预测结果。
可选地，所述输出单元还与所述第三比较子模块连接，用于当收到所述第 九控制信号时输出指示前方存在障碍车辆但本车能加速以方便后方车辆在变灯前通过路口的提示信息，当接收到所述第十控制信号时输出指示前方存在障碍车辆从而本车不能加速以方便后方车辆在变灯前通过路口的提示信息。
可选地，所述第二检测模块具体通过调频连续波雷达检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度。
可选地，所述第二比较模块还用于当所述第一时间t1小于所述第二预计通过时间t02时输出第十一控制信号；
所述输出单元，还与所述第二比较模块连接，还用于当接收到所述第十一控制信号时输出指示本车不能在变灯之前通过所述路口的预测结果。
可选地，所述信号灯识别单元还用于当识别得到的所述信号灯的状态为指示禁止车辆通过所述信号灯的第二状态时，检测距离所述信号灯的状态变为指示允许车辆通过所述信号灯的第一状态的第四时间t4；
所述输出单元，还与所述信号灯识别单元连接，用于输出所述第四时间t4。
可选地，所述装置还包括第三检测单元，
所述第三检测单元，用于检测在与本车的距离在第二预定距离内是否存在特定类型车辆，当检测到存在特定类型车辆时检测所述特定类型车辆的行车信息并输出第十五控制信号；
所述输出单元，还与所述第三检测单元连接，用于当接收到所述第十五控制信号时输出存在特定类型车辆的提醒信息。
可选地，所述装置还包括判断单元，第二测距单元和第三运算单元，其中：
所述判断单元，与所述第三检测单元连接，用于当接收到所述第十五控制信号时判断所述特定类型车辆在本车前方还是后方，并将判断到所述特定类型车辆在本车后方时输出第十六控制信号，当判断到所述特定类型车辆在本车前方时输出第十七控制信号；
所述第二测距单元，与所述判断单元连接，用于当接收到所述第十七控制信号时检测本车与所述特定类型车辆之间的第五距离；以及，
所述第三运算单元，分别与所述第三检测单元、所述第一测距单元、所述判断单元和所述第二测距单元连接，用于当接收到所述第十七控制信号时根据所述第二预定速度、所述特定类型车辆的行车信息、所述第一距离和所述第五 距离计算出本车能否以大于或等于所述第二预定速度的车速通过路口，并输出第十八控制信号；
所述输出单元，还与所述判断单元和所述第三运算单元连接，用于当接收到所述第十六控制信号时输出提醒本车能够改道以避开所述特定类型车辆的提醒信息，当接收到所述第十八控制信号时输出相应的预测结果，以提示本车相应进行速度调节操作。
可选地，所述第二预定速度为最高限制速度、本车的当前速度或者本车的平均速度。
可选地，所述第一预定速度为最高限制速度、所述后方车辆的当前速度或者所述后方车辆的平均速度。
可选地，所述输出单元包括显示模块和/或声音提醒模块；所述显示模块用于显示所述路口通过预测结果；所述声音提醒模块用于通过声音提示所述路口通过预测结果。
可选地，所述信号灯检测单元包括摄像单元或位置检测单元；
当所述信号灯检测单元包括摄像单元时，所述摄像单元通过拍摄在待测车辆行进方向上与本车的距离在第一预定距离内的画面检测是否存在信号灯；
当所述信号灯检测单元包括位置检测单元时，所述位置检测单元检测本车的位置信息，并通过比较所述位置信息和预先存储的设置有信号灯的位置，以检测在待测车辆行进方向上与本车的距离在第一预定距离内的画面检测是否存在信号灯。
可选地，所述第三检测单元包括声音识别模块和光线识别模块；
所述声音识别模块用于通过检测在与本车的距离在第二预定距离内是否存在预定类型的声音来识别是否存在特定类型车辆；
所述光线识别模块用于通过识别检测在与本车的距离在第二预定距离内是否存在预定类型的灯光闪烁来识别是否存在特定类型车辆。
本公开实施例还提供了一种车载智能系统，包括上述的车辆行驶预测装置。
可选地，本公开实施例所述的车载智能系统还包括车载车速检测单元，用于实时检测本车的当前速度；
当第二预定速度为本车的当前速度时，所述车载车速检测单元还用于将检 测得到的待测车辆的当前速度输出至所述车辆行驶预测装置包括的第二运算单元。
可选地，本公开实施例所述的车载智能系统还包括车载定位单元，用于实时检测本车的位置；
当所述车辆行驶预测装置中的信号灯检测单元包括位置检测单元时，所述位置检测单元与所述车载定位单元连接，用于接收来自所述车载定位单元的本车的位置。
可选地，本公开实施例所述的车载智能系统还包括车载显示单元；当所述车辆行驶预测装置中的输出单元包括显示模块时，所述显示模块用于将所述预测结果输出至所述车载显示单元，以控制由所述车载显示单元显示所述预测结果。
与相关技术相比，本公开实施例所述的车辆行驶预测方法、装置和车载智能系统能够通过检测信号灯并识别信号灯的状态，控制当所述信号灯的状态为允许车辆经过时，通过所述信号灯的状态变为禁止车辆经过的时间、第一预计通过时间、同车道车辆检测结果来预测本车能否在变灯之前顺利通过路口，以输出相应的路口通过预测结果，以方便本车驾驶员能够参考所述预测结果选择相应的驾驶方式。具体地，当检测到在待测车辆后方存在后方车辆时，能够根据所述信号灯的状态变为禁止车辆经过的时间、本车与设置有所述信号灯的路口之间的第一距离和后方车辆检测结果得到指示假设本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的第一路口通过预测结果，便于本车司机选择合适的行驶速度以既能顺利在变灯前通过前方路口，又能够为后方车辆提供在变灯前顺利通过前方路口的可能性，便于提高交通效率。
附图说明
图1是本公开实施例所述的车辆行驶预测方法的流程图；
图2是本公开实施例所述的车辆行驶预测方法的流程图；
图3是本公开实施例所述的车辆行驶预测方法包括的根据所述第一时间t1 和所述后方车辆检测结果得到并输出第一路口通过预测结果步骤的流程图；
图4是本公开另一实施例所述的车辆行驶预测方法的流程图；
图5是本公开实施例所述的车辆行驶预测方法包括的根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到并输出第二路口通过预测结果步骤的流程图；
图6是本公开实施例所述的车辆行驶预测方法包括的根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到并输出相应的预测结果步骤的流程图；
图7是本公开实施例所述的车辆行驶预测装置的结构框图；
图8是本公开实施例所述的车辆行驶预测装置的结构框图；
图9是本公开实施例所述的车辆行驶预测装置中第一运算单元的结构框图；
图10是本公开另一实施例所述的车辆行驶预测装置的结构框图；
图11是本公开实施例所述的车辆行驶预测装置包括的第二运算单元的结构框图；
图12是本公开实施例所述的车辆行驶预测装置中的第二运算单元包括的第二运算模块的结构框图；
图13是本公开另一实施例所述的车辆行驶预测装置的结构框图；
图14是本公开又一具体实施例所述的车辆行驶预测装置的结构框图；
图15是本公开实施例所述的车辆行驶预测装置的结构框图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
参见图1，本公开实施例提供了一种车辆行驶预测方法，该方法包括如下步骤：
S101：获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，并识别所述信号灯的状态；
S102：当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1；
S103：获取同车道车辆检测结果，所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；
S104：根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。
可选地，相关参数如第一距离、第一时间t1、后方车辆的速度或前方车辆的速度可以通过在本车安装的至少一个传感器(如摄像机和雷达等)检测得到。当然，也可以当车辆之间能够进行通信时可以从其他车辆接收到第一距离和第一时间t1，还可以是在路口设置的传感器检测到第一距离和第一时间t1通过网络通信发送到本车。应理解，本公开对于如何获取到这些参数不做限制。
可选地，后方车辆检测结果表示与后方车辆相关的信息，如后方车辆的车速，后方车辆与路口之间的第二距离和/或本车与后方车辆之间的第三距离等。障碍车辆检测结果表示与前方车辆相关的信息，如障碍车辆的车速，本车与障碍车辆之间的第四距离等。
通过本实施例，能够结合与本车相邻的前后方车辆的行车信息做出有效的预测，使得车辆顺利通过前方路口，提高交通效率，有效防止追尾事故。
下面结合附图更详细地描述本公开实施例。
如图2所示，本公开实施例所述的车辆行驶预测方法，包括：
S1：检测在本车行进方向上与本车的距离在第一预定距离内是否存在信号灯，当检测到存在信号灯时检测本车与设置有所述信号灯的路口之间的第一距离并识别所述信号灯的状态；
S2：当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，检测距离所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1；
S3：检测在本车后方是否存在后方车辆，并当检测到存在后方车辆时检测所述后方车辆的车速、所述后方车辆与所述路口之间的第二距离以及本车与所述后方车辆之间的第三距离，以得到后方车辆检测结果；
S4：根据所述第一时间t1、所述第一距离和所述后方车辆检测结果得到并输出第一路口通过预测结果。
本公开实施例所述的车辆行驶预测方法能够通过检测信号灯并识别信号灯的状态，控制当所述信号灯的状态为允许车辆经过时，检测所述信号灯的状态变为禁止车辆经过的第一时间t1，当检测到在待测车辆(即本车)后方存在后方车辆时，能够根据所述信号灯的状态变为禁止车辆经过的第一时间t1、本车与设置有所述信号灯的路口之间的第一距离和后方车辆检测结果得到第一路口通过预测结果，便于本车司机选择合适的行驶速度以既能顺利在变灯前通过前方路口，又能够为后方车辆提供在变灯前顺利通过前方路口的可能性，便于提高交通效率，还能有效防止追尾。
具体的，如图3所示，所述根据所述第一时间t1和所述后方车辆检测结果得到并输出第一路口通过预测结果步骤包括：
步骤S40：根据所述后方车辆检测结果包括的后方车辆的车速设定第一预定速度；
步骤S41：根据所述第二距离和第一预定速度计算第一预计通过时间t01，所述第一预计通过时间t01等于所述第二距离除以所述第一预定速度；
步骤S42：比较所述第一时间t1和所述第一预计通过时间t01，当所述第一时间t1小于所述第一预计通过时间t01时转至步骤S43，当所述第一时间t1大于或等于所述第一预计通过时间t01时转至步骤S44；
步骤S43：输出指示所述后方车辆不能在变灯之前通过所述路口的预测结果，结束本次预测结果输出流程；
步骤S44：根据所述第一时间t1、所述第一距离、所述第三距离和所述第一预定速度计算阈值车速，以输出假设本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的预测结果，以提示本车相应进行速度调节操作(例如加速操作)。
本公开实施例所述的车辆行驶预测方法可以利用车后摄像头以及射频方式，检测后方车辆的速度，根据其速度和离路口的距离进行计算，如果后车以最高限制速度行驶能在交通灯变红之前通过路口，则以不发生追尾以及后车能在交通灯变化之前通过路口两个条件来计算本车通过路口的最低时速(即所述 阈值车速)，并向本车司机发送提醒，如果本车司机选择等于或高于这一最低时速的行驶速度，则可以为后车提供更快通过路口的可能性，便于提高交通效率。需要说明的是本公开的实施例可以应用到智能车辆(包括自动驾驶和辅助驾驶)中。
如图4所示，本公开实施例所述的车辆行驶预测方法还包括：
S5：当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，根据本车的行车信息和所述第一距离计算第二预计通过时间t02；
S6：检测本车的行进路径上本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时检测所述障碍车辆的车速以及本车与所述障碍车辆之间的第四距离，以得到障碍车辆检测结果；
S7：根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到并输出第二路口通过预测结果。
如图4所示的本公开实施例所述的车辆行驶预测方法能够通过检测信号灯并识别信号灯的状态，控制当所述信号灯的状态为允许车辆经过时，通过所述信号灯的状态变为禁止车辆经过的时间、第一预计通过时间、障碍车辆检测结果来预测本车能否在变灯之前顺利通过路口，以输出相应的第二路口通过预测结果，以方便本车驾驶员能够参考所述预测结果选择相应的驾驶方式，并当检测到在待测车辆后方存在后方车辆时，能够根据所述信号灯的状态变为禁止车辆经过的时间、本车与设置有所述信号灯的路口之间的第一距离和后方车辆检测结果得到指示假设本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的第一路口通过预测结果，便于本车司机选择合适的行驶速度以既能顺利在变灯前通过前方路口，又能够为后方车辆提供在变灯前顺利通过前方路口的可能性，便于提高交通效率。
具体的，所述第二预定速度可以为最高限制速度或本车的当前速度。
在实际操作时，可以将目前市面上普通的车载系统安装摄像头，用户可提前设置开始进行交通灯判断的距离，比如300米，也即离信号灯300米时，摄像头抓取信号灯的时间，实时不断的输入中心处理器，结合适合的速度，以及目前的路况来综合计算。
通过摄像头实时抓取信号灯信号，再通过图形识别模块快速的识别信号灯的图片信息，可得到快速变化的信号灯秒数变化信息。未来可将可见光通信技术应用于交通信号灯，利用裸眼不可见的信号灯高频闪烁形成码流，来表示交通信号灯的实时信息，可见光的码流仍可以用摄像头来接收，再通过对记载码流信息的图片进行解码，则可以得到信号灯瞬时信息。由于信号灯的秒数变化是规律的，所以摄像头对于信号灯的抓取不需要一直进行，但为了实现进行交通灯判断的目的，微小的时间差异可能会导致交通灯附近行驶状态的判断失误，整个判断过程也需要多次抓取信息，频率可以是每秒一次或其他。抓取信号灯信号后的图片识别或者解码过程的时间在后续的综合计算过程中也需考虑在内。
举例来说，如果是绿灯即将变红灯的情况，首先根据信号灯信息和路口允许的最高速度(也即最高限制速度)来计算。初步判断在前方无车辆阻碍并在不超过最高限制速度的情况下，如果到路口的这段距离以最高速度来行驶需要的时间多于此时绿灯剩余秒数，或者通过计算给出用户到达路口时肯定是红灯，此时提醒用户适当减速，不必为了通过本次绿灯进行加速，并计算出最省油的行驶速度。如果到路口的这段距离以最高速度来行驶需要的时间少于此时绿灯剩余秒数，说明用户有可能在本次绿灯变红之前通过路口，但需继续综合路况来进行下一步计算，通过连续波雷达的测距方式不断实时获取前方同车道车辆的速度和距离，分为几种情况。前方车辆也以最高限制速度行驶，此时与前方无车辆阻碍情况相同。前方车辆以低于最高限制速度行驶，则计算本车(即待测车辆)以最高限制速度追上前面车辆并保持安全距离的时间t11。如果此时间大于绿灯剩余时间，则说明本车应以最高限制速度通过路口且不会与前车发生追尾，如果此时间小于绿灯剩余时间，在本车不能变道的情况的下的最高速度受到前车速度的限制，为避免追尾且尽快通过路口，必须以与前车相同的速度继续行驶，通过计算可得本车以此速度驶过路口还需要的时间t12，如果t11+t12小于绿灯剩余时间，则通过时间t11、t12以及最高限制速度、前车速度计算并告诉用户最高可以以某一速度通过路口，最短通过时间为多少，如果t11+t12大于绿灯剩余时间，则告诉用户本次绿灯无法通过。由于整个判断过程是随时变化的，所以以上过程在中央处理器中会反复的进行迅速计算，并不 断给与用户实时信息反馈。
如果是红灯即将变成绿灯的情况，则用户可能在车停的情况下进行喝水等其他动作，有时忘了关注信号灯变绿不能及时启动车辆，用户可以提前设置红灯变绿提醒时间，比如变为绿灯之前3秒发出提醒。
并且在堵车时，也可通过中央处理器计算，根据用户的反应速度提前设置安全距离和最大距离，系统给予驾驶员有效的提醒，比如当自己驾驶的车与前车的距离小于预设设置的安全距离时，提示驾驶员减速，当大于与前车的最大距离时，提示驾驶员适当加速，可以有效防止用户与前车发生追尾，防止堵车时间太长时注意力分散导致事故的发生。
并且，本公开实施例所述的车辆行驶预测方法可以利用车后摄像头以及射频方式，检测后方车辆的速度，根据其速度和离路口的距离进行计算，如果后车以最高限制速度行驶能在交通灯变红之前通过路口，则以不发生追尾以及后车能在交通灯变化之前通过路口两个条件来计算本车通过路口的最低时速，并向本车司机发送提醒，如果本车司机选择等于或高于这一最低时速的行驶速度，则可以为后车提供更快通过路口的可能性，便于提高交通效率。
具体的，所述根据本车的行车信息和所述第一距离计算第二预计通过时间t02步骤包括：
根据本车的行车信息包括的速度信息设定第二预定速度；
根据所述第一距离和所述第二预定速度计算所述第二预计通过时间t02，所述第二预计通过时间t02等于所述第一距离除以第二预定速度。
所述第二预定速度可以为最高限制速度或本车的当前速度。
具体的，如图5所示，所述根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到并输出第二路口通过预测结果步骤包括：
S21：比较所述第一时间t1和所述第二预计通过时间t02；
S22：当所述第一时间t1大于或等于所述第二预计通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，输出指示本车能够以大于或等于所述第二预定速度的车速在变灯(绿灯变红灯)之前通过所述路口的预测结果；也即，当t1大于或等于t02时，并本车和路口之间没有障碍车辆的情况下，本车能够在变灯前顺利通过路口；
S23：当所述第一时间t1大于或等于所述第二预计通过时间t021时，并当检测到本车的行进路径上在本车和所述路口之间存在障碍车辆时，检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度，根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到并输出相应的预测结果；也即，当t1大于或等于t02时，并本车和路口之间存在障碍车辆的情况下，需要根据变灯时间、第二预定速度、待测车辆和障碍车辆之间的第四距离和障碍车辆的速度来得到本车能否在变灯前顺利通过前方路口的预测结果，具体的预测结果得到的算法将在下面介绍。
具体的，本公开实施例所述的车辆行驶预测方法还包括：当所述第一时间t1大于或等于所述第二预计通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，输出提示本车前方无障碍可加速以方便后方车辆通过路口的提示信息。也即，当本车和路口之间没有障碍车辆并本车能够在变灯前顺利通过路口的情况下，输出提示本车能够加速以方便后方车辆也能顺利通过路口的提示信息，便于交通顺畅。
具体的，如图6所示，所述根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到并输出相应的预测结果步骤包括：
步骤S31：比较所述第二预定速度和所述障碍车辆的速度，当所述第二预定速度小于或等于所述障碍车辆的速度时转至步骤S32，当所述第二预定速度大于所述障碍车辆的速度时转至步骤S33；
步骤S32：输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，结束本次预测结果输出流程；
步骤S33：根据所述第二预定速度、所述第四距离和所述障碍车辆的速度，计算得到本车以所述第二预定速度行驶到与所述障碍车辆保持预定安全距离的第二时间t2；
步骤S34：比较所述第二时间t2和所述第一时间t1，当t2大于或等于t1时转至步骤S35，当t2小于t1时转至步骤S36；
步骤S35：输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，结束本次预测结果输出流程；
步骤S36：计算当本车行驶至与所述障碍车辆保持预定安全距离时本车以 所述障碍车辆的速度通过所述路口的第三时间t3；
步骤S37：比较t1和t2+t3，当t1大于或等于t2+t3时转至步骤S38，当t1小于t2+t3时转至步骤S39；
步骤S38：输出指示本车能够在变灯之前通过所述路口的预测结果，结束本次预测结果输出流程；
步骤S39：输出指示本车不能在变灯之前通过所述路口的预测结果，结束本次预测结果输出流程。
图6所示的流程图详细介绍了当变灯时间(即上述的第一时间t1)大于或等于第二预计通过时间t02并待测车辆前方存在障碍车辆时，第二路口通过预测结果的计算流程，首先需要比较障碍车辆的速度和第二预定速度，当第二预定速度小于或等于障碍车辆的速度时则输出指示待测车辆能够在变灯前通过路口的预测结果，当第二预定速度大于障碍车辆的速度时，则需结合障碍车辆与待测车辆之间的第四距离计算在不会追尾的情况下(即两车之间的距离不小于安全距离)待测车辆赶上障碍车辆需要的第二时间t2，然后比较t1和t2，若t2大于或等于t1，表示待测车辆能够以第二预定速度在变灯前通过前方路口而且不会与障碍车辆追尾并输出相应预测结果，若t2小于t1，则需进一步计算待测车辆进一步以障碍车辆的速度通过前方路口的第三时间t3，然后再比较t1和t2+t3，当t1大于或等于t2+t3时表示待测车辆能够在变灯之前顺利通过前方路口并输出相应的预测结果，当t1小于t2+t3时表示待测车辆不能在变灯之前顺利通过前方路口并输出相应的预测结果。
具体的，本公开实施例所述的车辆行驶预测方法还包括：当t1大于或等于t2+t3时，还输出指示前方存在障碍车辆但本车能加速以方便后方车辆在变灯前通过路口的提示信息；也即，当前方存在障碍物但是本车也能顺利在变灯之前顺利通过路口的情况下，可以提示本车通过加速有使得后方车辆有顺利通过前方路口的可能性。
当t1小于t2+t3时，还输出指示前方存在障碍车辆从而本车不能加速以方便后方车辆在变灯前通过路口的提示信息，也即当前方存在障碍车辆并本车不能顺利在变灯之前通过前方路口时，则可提示本车不需变速以便后方车辆行驶。
具体的，所述检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆 的速度步骤可以包括：通过调频连续波雷达检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度。
在实际操作时，可以通过调频连续波雷达的测距和测速方式是来检测待测车辆与障碍车辆之间的第四距离以及障碍车辆的速度，所述调频连续波雷达的测距和测速方式的基本原理是发射的连续调频雷达信号遇到前方目标(也即障碍车辆)时，会反射回与发射信号有一定延时的回波，根据多普勒等原理对回波信号进行分析处理，从而得出两车相对速度、两车相隔距离等信息。
具体的，当需要检测是否存在后方车辆并检测后方车辆与待测车辆之间的距离以及后方车辆的速度时也可以采用上面提到的调频连续波雷达的测距和测速方式。
具体的，本公开实施例所述的车辆行驶预测方法还包括：当所述第一时间t1小于所述第二预计通过时间t02时，输出指示本车不能在变灯之前通过所述路口的预测结果。很明显，如果待测车辆以第一预测速度行驶至路口需要的时间(也即第二预计通过时间t02)大于变灯时间(也即第一时间t1)则说明待测车辆不能在变灯前(绿灯变红灯)通过路口。
具体的，本公开实施例所述的车辆行驶预测方法还包括：当识别得到的所述信号灯的状态为指示禁止车辆通过所述信号灯的第二状态(例如红灯变绿灯)时，检测距离所述信号灯的状态变为指示允许车辆通过所述信号灯的第二状态的第四时间t4，输出所述第四时间t4，这样的话驾驶员可以准确掌握变灯时间，不会延误浪费时间而阻碍交通。
以上都是以信号灯的状态可以为红灯状态或绿灯状态举例说明，然而在实际操作时也可以存在黄灯状态。
具体的，本公开实施例所述的车辆行驶预测方法还包括：检测在与本车的距离在第二预定距离内是否存在特定类型车辆，当检测到存在特定类型车辆时检测所述特定类型车辆的行车信息并输出相应的提醒信息。
具体的，当检测到存在特定类型车辆时，判断所述特定类型车辆在本车前方还是后方；
当判断到所述特定类型车辆在本车后方时，输出提醒本车能够改道以避开所述特定类型车辆的提醒信息；
当判断到所述特定类型车辆在本车前方时，检测本车与所述特定类型车辆之间的第五距离，根据所述第二预定速度、所述特定类型车辆的行车信息、所述第一距离和所述第五距离计算出本车能否以大于或等于所述第二预定速度的车速通过路口，并给出相应的预测结果。
在实际操作时，车载系统可以包括声音识别模块和光线识别模块，当遇到特定类型车辆(所述特定类型车辆例如可以为救护车、警车等需要紧急行驶的车辆)时，可捕捉到所述特定类型车辆特有的灯光闪烁以及声音信号。由于救护车、警车等特定类型车辆不受一般交通规则所限制，当声音识别模块和光线识别模块识别到附近有此类车辆需紧急行驶时，向司机发出提醒，并启用特殊的运算方法：例如，当特定类型车辆在本车前方，按照最高限制时速或当前速度来预测本车是否能通过路口；如果特定类型车辆在本车后方，则可及时提醒本车做出改道或其他不影响此类车辆通过的动作，并及时规划合理路线。
具体的，所述第二预定速度为最高限制速度、本车的当前速度或本车的平均速度，所述第一预定速度为最高限制速度、所述后方车辆的当前速度或所述后方车辆的平均速度。
参见图7，本公开实施例提供了一种车辆行驶预测装置，该装置包括信号灯识别单元52，获取单元702以及输出单元56。
信号灯识别单元52，用于识别所述信号灯的状态；
获取单元702，用于获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，当所述信号灯识别单元识别到所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1，以及获取同车道车辆检测结果，其中所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；
输出单元56，用于根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。可选地，该装置还可以包括信号灯检测单元，获取单元可以包括第一测距单元，第一检测单元和第一运算单元。如图8所示，本公开实施例所述的车辆行驶预测装置包括：
信号灯检测单元51，用于检测在待测车辆行进方向上与本车的距离在第一预定距离内是否存在信号灯，并当检测到存在信号灯时输出第一控制信号；
信号灯识别单元52，与所述信号灯检测单元51连接，用于当接收到所述第一控制信号时识别所述信号灯的状态，并当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，检测距离所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1；
第一测距单元53，与所述信号灯检测单元51连接，用于当接收到所述第一控制信号时检测检测本车与设置有所述信号灯的路口之间的第一距离；
第一检测单元54，用于检测在本车后方是否存在后方车辆，并当检测到存在后方车辆时检测所述后方车辆的车速、所述后方车辆与所述路口之间的第二距离以及本车与所述后方车辆之间的第三距离，以得到后方车辆检测结果；
第一运算单元55，分别与所述信号灯识别单元52、所述第一测距单元53和所述第一检测单元54连接，用于根据所述第一时间t1、所述第一距离和所述后方车辆检测结果得到并输出第一路口通过预测结果；以及，
输出单元56，与所述第一运算单元55连接，用于输出所述第一路口通过预测结果。
本公开实施例所述的车辆行驶预测装置能够通过信号灯检测单元51检测信号灯并通过信号灯识别单元52识别信号灯的状态，控制当所述信号灯的状态为允许车辆经过时，检测所述信号灯的状态变为禁止车辆经过的第一时间t1，当检测到在待测车辆后方存在后方车辆时，能够根据所述信号灯的状态变为禁止车辆经过的第一时间t1、本车与设置有所述信号灯的路口之间的第一距离和后方车辆检测结果得到第一路口通过预测结果，便于本车司机选择合适的行驶速度以既能顺利在变灯前通过前方路口，又能够为后方车辆提供在变灯前顺利通过前方路口的可能性，便于提高交通效率。
如图9所示，所述第一运算单元55可以包括：
第一预定速度设定模块550，与所述第一检测单元54连接，用于根据所述后方车辆检测结果包括的后方车辆的车速设定第一预定速度；
第一预计通过时间计算模块551，分别与所述第一检测单元54和所述第一预定速度设定模块550连接，用于根据所述第二距离和所述第一预定速度计算第二预计通过时间t02，所述第一预计通过时间t01等于所述第二距离除以所述第一预定速度；
第一比较模块552，分别与所述第一预计通过时间计算模块551和所述信号灯识别单元52连接，用于比较所述第一时间t1和所述第一预计通过时间t01，并当所述第一时间t1小于所述第一预计通过时间t01时输出第十二控制信号，当所述第一时间t1大于或等于所述第一预计通过时间t01时输出第十三控制信号；以及，
第一运算模块553，分别与所述第一比较模块552、所述信号灯识别单元52、所述第一测距单元53和所述第一检测单元54连接，用于当接收到所述第十三控制信号时根据所述第一时间t1、所述第一距离、所述第三距离和所述第一预定速度计算阈值车速，并输出第十四控制信号；
所述输出单元56，还分别与所述第一比较模块552和所述第一运算模块553连接，用于当接收到所述第十二控制信号时输出指示所述后方车辆不能在变灯之前通过所述路口的预测结果，当接收到所述第十四控制信号时输出假设本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的预测结果，以提示本车相应进行速度调节操作(例如加速操作)。
本公开实施例所述的车辆行驶预测装置可以利用车后摄像头以及射频方式，检测后方车辆的速度，根据其速度和离路口的距离进行计算，如果后车以最高限制速度行驶能在交通灯变红之前通过路口，则以不发生追尾以及后车能在交通灯变化之前通过路口两个条件来计算本车通过路口的最低时速(即所述阈值车速)，并向本车司机发送提醒，如果本车司机选择等于或高于这一最低时速的行驶速度，则可以为后车提供更快通过路口的可能性，便于提高交通效率。
可选地，如图10所示，本公开实施例所述的车辆行驶预测装置包括：
行车信息检测单元50，用于检测本车的行车信息；
第二预计通过时间计算单元57，分别与所述第一测距单元53和所述行车信息检测单元50连接，用于根据本车的行车信息和所述第一距离计算第二预计通过时间t02；
第二检测单元58，障碍车辆的车速以及本车与所述障碍车辆之间的第四距离，以得到障碍车辆检测用于检测本车的行进路径上本车和所述路口之间是 否存在障碍车辆，并当检测到存在障碍车辆时检测所述结果；以及，
第二运算单元59，分别与所述信号灯识别单元52、所述第二预计通过时间计算单元57和所述第二检测单元58连接，用于根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到第二路口通过预测结果；
所述输出单元56，还与所述第二运算单元59连接，用于输出所述第二路口通过预测结果。
如图10所示的本公开实施例所述的车辆行驶预测装置能够通过检测信号灯并识别信号灯的状态，控制当所述信号灯的状态为允许车辆经过时，通过所述信号灯的状态变为禁止车辆经过的时间、第一预计通过时间、障碍车辆检测结果来预测本车能否在变灯之前顺利通过路口，以输出相应的第二路口通过预测结果，以方便本车驾驶员能够参考所述预测结果选择相应的驾驶方式，并当检测到在待测车辆后方存在后方车辆时，能够根据所述信号灯的状态变为禁止车辆经过的时间、本车与设置有所述信号灯的路口之间的第一距离和后方车辆检测结果得到指示假设本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的第一路口通过预测结果，便于本车司机选择合适的行驶速度以既能顺利在变灯前通过前方路口，又能够为后方车辆提供在变灯前顺利通过前方路口的可能性，便于提高交通效率。
具体的，本车的行车信息包括速度信息；本公开实施例所述的车辆行驶预测装置还包括：第二预定速度设定单元，用于根据所述速度信息设定第二预定速度；
所述第二预计通过时间计算单元，还与所述第二预定速度设定单元连接，具体用于根据所述第一距离和所述第二预定速度计算所述第二预计通过时间t02，所述第二预计通过时间t02等于所述第一距离除以第二预定速度。
在实际操作时，如图11所示，所述第二运算单元59可以具体包括第二比较模块591和第二运算模块592，所述第二检测单元58可以包括第一检测模块581和第二检测模块582；
所述第二比较模块591，分别与所述信号灯识别单元52和所述第二预计通过时间计算单元57连接，用于比较所述第一时间t1和所述第二预计通过时 间t02，并当所述第一时间t1大于或等于所述第二预计通过时间t02时输出第二控制信号；
所述第一检测模块581，与所述第二比较模块591连接，用于当接收到所述第二控制信号时检测本车的行进路径上本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时输出第三控制信号，当检测到不存在障碍车辆时输出第四控制信号；
第二检测模块582，与所述第一检测模块581连接，用于当接收到所述第三控制信号时检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度；
所述第二运算模块592，分别与所述第二检测模块582和所述信号灯识别单元52连接，用于根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到相应的预测结果；
所述输出单元56，分别与所述第二运算模块592和所述第一检测模块581连接，具体用于当接收到所述第四控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第三控制信号时输出所述第二运算模块592得到的预测结果。
本公开实施例所述的车辆行驶预测装置通过第二比较模块591比较所述第一时间t1和所述第二预计通过时间t02，当第二比较模块591比较得到第一时间t1大于或等于所述第二预计通过时间t02时，并当第一检测模块581检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，控制输出单元56输出指示本车能够以大于或等于所述第二预定速度的车速在变灯(例如绿灯变红灯)之前通过所述路口的预测结果；而当第二比较模块比较得到t1大于或等于t02时，并第一检测模块581检测到在本车和路口之间没有障碍车辆的情况下，控制输出单元56待测车辆能够在变灯前顺利通过路口；当第二比较模块591比较得到t1大于或等于t02时，并第一检测模块581检测到本车和路口之间存在障碍车辆的情况下，控制第二检测模块582检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度，然后控制第二运算模块592根据变灯时间、第二预定速度、待测车辆和障碍车辆之间的第四距离和障碍车辆的速度来得到待测车辆能否在变灯前顺利通过前方路口的预测结果。
具体的，所述输出单元，还与所述第一检测模块连接，用于当接收到所述第四控制信号时输出提示本车前方无障碍可加速以方便后方车辆通过路口的提示信息。也即，当本车和路口之间没有障碍车辆并本车能够在变灯前顺利通过路口的情况下，输出单元输出提示本车能够加速以方便后方车辆也能顺利通过路口的提示信息，便于交通顺畅。
具体的，如图12所示，所述第二运算模块592可以包括：
第一比较子模块5921，用于比较所述第二预定速度和所述障碍车辆的速度，当所述第二预定速度小于或等于所述障碍车辆的速度时输出第五控制信号，当所述第二预定速度大于所述障碍车辆的速度时输出第六控制信号；
第一计算子模块5922，与所述第一比较子模块5921连接，用于当接收到所述第六控制信号时根据所述第二预定速度、所述第四距离和所述障碍车辆的速度，计算得到本车以所述预定速度行驶到与所述障碍车辆保持预定安全距离的第二时间t2；
第二比较子模块5923，分别与所述第一计算子模块5922和所述信号灯识别单元52连接，用于比较所述第二时间t2和所述第一时间t1，当t2大于或等于t1时输出第七控制信号，当t2小于t1时输出第八控制信号；
第二计算子模块5924，与所述第二比较子模块5923连接，用于当接收到所述第八控制信号时计算当本车行驶至与所述障碍车辆保持预定安全距离时本车以所述障碍车辆的速度通过所述路口的第三时间t3；以及，
第三比较子模块5925，分别与所述信号灯识别单元52、所述第一计算子模块5922和所述第二计算子模块5924连接，用于比较t1和t2+t3，当t1大于或等于t2+t3时输出第九控制信号，当t1小于t2+t3时输出第十控制信号；
所述输出单元56，分别与所述第一比较子模块5921、所述第二比较子模块5923和所述第三比较子模块5925连接，还用于当接收到所述第五控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第七控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第九控制信号时输出指示本车能够在变灯之前通过所述路口的预测结果，当接收到所述第十控制信号时输出指示本车不能在变灯之前通过所述路口 的预测结果。
本公开如图12所示的车辆行驶预测装置示出了当变灯时间(即上述的第一时间t1)大于或等于第二预计通过时间t02并待测车辆前方存在障碍车辆时，计算第二路口通过预测结果的结构框图，首先需要通过第一比较子模块5921比较障碍车辆的速度和第二预定速度，当第二预定速度小于或等于障碍车辆的速度时则控制输出单元56输出指示待测车辆能够在变灯前通过路口的预测结果，当第二预定速度大于障碍车辆的速度时，则需控制第一计算子模块5922结合障碍车辆与待测车辆之间的第四距离计算在不会追尾的情况下(即两车之间的距离不小于安全距离)待测车辆赶上障碍车辆需要的第二时间t2，然后通过第二比较子模块5923比较t1和t2，若t2大于或等于t1，表示待测车辆能够以第二预定速度在变灯前通过前方路口而且不会与障碍车辆追尾并控制输出单元56输出相应预测结果，若t2小于t1，则需控制第二计算子模块5924进一步计算待测车辆进一步以障碍车辆的速度通过前方路口的第三时间t3，然后再通过第三比较子模块5925比较t1和t2+t3，当t1大于或等于t2+t3时表示待测车辆能够在变灯之前顺利通过前方路口并控制输出单元56输出相应的预测结果，当t1小于t2+t3时表示待测车辆不能在变灯之前顺利通过前方路口并控制输出单元56输出相应的预测结果。
具体的，所述输出单元还与所述第三比较子模块连接；
所述输出单元还用于当收到所述第九控制信号时输出指示前方存在障碍车辆但本车能加速以方便后方车辆在变灯前通过路口的提示信息，也即，当前方存在障碍物但是本车也能顺利在变灯之前顺利通过路口的情况下，可以提示本车通过加速有使得后方车辆有顺利通过前方路口的可能性；
所述输出单元还用于当接收到所述第十控制信号时输出指示前方存在障碍车辆从而本车不能加速以方便后方车辆在变灯前通过路口的提示信息，也即当前方存在障碍车辆并本车不能顺利在变灯之前通过前方路口时，则可提示本车不需变速以便后方车辆行驶。
在实际操作时，所述第二检测模块可以具体通过调频连续波雷达检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度。
具体的，所述第二比较模块还用于当所述第一时间t1小于所述第二预计 通过时间t02时输出第十一控制信号；
所述输出单元，还与所述第二比较模块连接，还用于当接收到所述第十一控制信号时输出指示本车不能在变灯之前通过所述路口的预测结果。
具体的，所述信号灯识别单元还用于当识别得到的所述信号灯的状态为指示禁止车辆通过所述信号灯的第二状态时，检测距离所述信号灯的状态变为指示允许车辆通过所述信号灯的第一状态的第四时间t4；
所述输出单元，还与所述信号灯识别单元连接，用于输出所述第四时间t4。
具体的，如图13所示，本公开实施例所述的车辆行驶预测装置还包括：
第三检测单元510，用于检测在与本车的距离在第二预定距离内是否存在特定类型车辆，当检测到存在特定类型车辆时检测所述特定类型车辆的行车信息并输出第十五控制信号；
所述输出单元56，还与所述第三检测单元510连接，用于当接收到所述第十五控制信号时输出提醒存在特定类型车辆的提醒信息。
具体的，如图14所示，本公开实施例所述的车辆行驶预测装置还包括：
判断单元511，与所述第三检测单元510连接，用于当接收到所述第十五控制信号时判断所述特定类型车辆在本车前方还是后方，并将判断到所述特定类型车辆在本车后方时输出第十六控制信号，当判断到所述特定类型车辆在本车前方时输出第十七控制信号；
第二测距单元512，与所述判断单元511连接，用于当接收到所述第十七控制信号时检测本车与所述特定类型车辆之间的第五距离；以及，
第三运算单元513，分别与所述第三检测单元510、所述第一测距单元53、所述判断单元511和所述第二测距单元512连接，用于当接收到所述第十七控制信号时根据所述第二预定速度、所述特定类型车辆的行车信息、所述第一距离和所述第五距离计算出本车能否以大于或等于所述第二预定速度的车速通过路口，并输出第十八控制信号；
所述输出单元56，还与所述判断单元511和所述第三运算单元513连接，用于当接收到所述第十六控制信号时输出提醒本车能够改道以避开所述特定类型车辆的提醒信息，当接收到所述第十八控制信号时输出相应的预测结果。
在实际操作时，本公开实施例所述的车辆行驶预测装置可以包括判断单元 511(所述判断单元例如可以包括声音识别模块和光线识别模块)，当遇到特定类型车辆(所述特定类型车辆例如可以为救护车、警车等需要紧急行驶的车辆)时，可捕捉到所述特定类型车辆特有的灯光闪烁以及声音信号。由于救护车、警车等特定类型车辆不受一般交通规则所限制，当声音识别模块和光线识别模块识别到附近有此类车辆需紧急行驶时，向司机发出提醒，并启用特殊的运算方法：例如，当特定类型车辆在本车前方，按照最高限制时速或当前速度来预测本车是否能通过路口；如果特定类型车辆在本车后方，则可及时提醒本车做出改道或其他不影响此类车辆通过的动作，并及时规划合理路线。
具体的，所述第二预定速度可以为最高限制速度或本车的当前速度或者本车的平均速度。所述第一预定速度可以为最高限制速度或所述后方车辆的当前速度或者后放车里的平均速度。
具体的，所述输出单元包括显示模块和/或声音提醒模块；
所述显示模块用于显示所述预测结果；
所述声音提醒模块用于通过声音提示所述预测结果。
在实际操作时，所述显示输出单元不仅可以包括通过显示屏幕或投影显示的显示模块，也可以包括通过语音提示的声音提醒模块，并且所述显示输出单元也可以是一个通讯接口，其可以向车载控制系统发送相应的提示信息，由车载显示系统进行提示。
具体的，所述信号灯检测单元包括摄像单元或位置检测单元；
当所述信号灯检测单元包括摄像单元时，所述摄像单元通过拍摄在待测车辆行进方向上与本车的距离在第一预定距离内的画面检测是否存在信号灯；
当所述信号灯检测单元包括位置检测单元时，所述位置检测单元检测本车的位置信息，并通过比较所述位置信息和预先存储的设置有信号灯的位置，以检测在待测车辆行进方向上与本车的距离在第一预定距离内的画面检测是否存在信号灯。
在实际操作时，所述位置检测单元可以是具有GPS(Global Positioning System，全球定位系统)或北斗定位系统的装置，也可以是一通讯接口，其可以接收车载控制系统的定位信息或者可以接收移动终端中的地图定位信息。
在具体实施时，可以通过位置检测单元判断前方是否有信号灯；如果检测 到前方有信号灯，则开启信号灯识别单元，由信号灯识别单元对路口信号灯的当前状态进行识别，其将当前信号灯的状态以及切换到下一状态的时间发送给运算单元，其中，信号等切换的时间可以预先存储在位置检测单元中，如果位置检测单元中没有所述信息，则以一预定的阈值例如4s为准；运算单元同时接收车速检测单元获取的车速信息和测距单元获取的车辆与信号灯之间的距离。运算单元基于以上信息进行判断，并将结果通过显示单元发送给用户。其中运算单元的判断结果可能有但不限于以下几种：提示本车在当前车速下可以顺利通过、提示本车在当前车速下不可以顺利通过、提示本车可以顺利通过的车速等。并可以进一步判断当前行驶车辆与信号灯之间是否有车辆存在，如果有，则需要对前方车的距离车速进行识别，并发送至运算单元，然后由运算单元根据当前车速、信号灯变换时间、当前车辆与信号灯以及前车的距离进行综合判断，最终由显示单元提示本车。
在实际操作时，检测待测车辆的速度可以由车速检测单元完成，所述车速检测单元可以为能够实时测速的检测装置，也可以是一个通讯接收端口，其可以与车载控制系统通讯从车载控制系统直接或侧待测车辆的实时速度。
具体的，所述第三检测单元可以包括声音识别模块和光线识别模块；
所述声音识别模块用于通过检测在与本车的距离在第二预定距离内是否存在预定类型的声音来识别是否存在特定类型车辆；
所述光线识别模块用于通过识别检测在与本车的距离在第二预定距离内是否存在预定类型的灯光闪烁来识别是否存在特定类型车辆。
本公开实施例所述的车载智能系统包括上述的车辆行驶预测装置。
具体的，本公开实施例所述的车载智能系统还包括车载车速检测单元，用于实时检测本车的当前速度；
当第二预定速度为本车的当前速度时，所述车载车速检测单元还用于将检测得到的待测车辆的当前速度输出至所述车辆行驶预测装置包括的第二运算单元。也即，待测车辆的车速可以由车载智能系统包括的车载车速检测单元来实时检测。
具体的，本公开实施例所述的车载智能系统还包括车载定位单元，用于实时检测本车的位置；
当所述车辆行驶预测装置中的信号灯检测单元包括位置检测单元时，所述位置检测单元与所述车载定位单元连接，用于接收来自所述车载定位单元的本车的位置。也即，当所述车辆行驶预测装置中的信号灯检测单元包括位置检测单元时，所述位置检测单元可以通过车载定位单元来实时检测待测车辆的位置。
具体的，本公开实施例所述的车载智能系统还包括车载显示单元；当所述车辆行驶预测装置中的输出单元包括显示模块时，所述显示模块用于将所述预测结果输出至所述车载显示单元，以控制由所述车载显示单元显示所述预测结果。也即，输出单元可以采用车载智能系统包括的车载显示单元来显示预测结果。
上述实施例揭示的方法步骤可以应用图15所示的车辆行驶预测装置来实现，该装置包括处理器1501，存储器1502和至少一个传感器1503(包括雷达和摄像机等)。存储器1502可以包括只读存储器或随机存取存储器，并向处理器1501提供指令和数据。存储器1502的一部分还可以包括NVRAM(非易失性随机存取存储器，Non Volatile Random Access Memory)。处理器1501，存储器1502和传感器1503通过总线系统1510耦合在一起，其中总线系统1510除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图中将各种总线都标为总线系统1510。
其中，处理器1501可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器1501中的硬件的集成逻辑电路或者软件形式的指令完成。处理器1501可以是通用处理器，包括CPU(中央处理器，Central Processing Unit)、NP(网络处理器，Network Processor)等；还可以是DSP(数字信号处理器，Digital Signal Processing)、ASIC(专用集成电路，Application Specific Integrated Circuit)、FPGA(现成可编程门阵列，Field Programmable Gate Array)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本公开实施例中公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
在本实施例中，处理器1501通过存储器1502存储的指令或数据执行如下步骤：获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离， 并识别所述信号灯的状态；当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1；获取同车道车辆检测结果，所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。可选地，可以通过传感器1503检测相关参数，如车辆之间的距离、第一时间t1、车辆与路口之间的距离、后方车辆的速度或前方车辆的速度等。
通过本实施例，能够结合与本车相邻的前后方车辆的行车信息做出有效的预测，使得车辆顺利通过前方路口，提高交通效率，有效防止追尾事故。
以上所述是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开所述原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (43)

  1. 一种车辆行驶预测方法，包括：
    获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，并识别所述信号灯的状态；
    当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1；
    获取同车道车辆检测结果，所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；
    根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。
  2. 如权利要求1所述的车辆行驶预测方法，所述获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，包括：
    检测在所述本车行进方向上与所述本车的距离在第一预定距离内是否存在所述信号灯，当检测到存在所述信号灯时检测本车与设置有所述信号灯的路口之间的所述第一距离；
    所述获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1，包括：
    检测距离所述信号灯的状态变为所述第二状态的所述第一时间t1。
  3. 如权利要求1或2所述的车辆行驶预测方法，在所述获取同车道车辆检测结果之前，所述方法还包括：
    检测在所述本车后方是否存在后方车辆，并当检测到存在后方车辆时检测所述后方车辆的车速、所述后方车辆与所述路口之间的第二距离以及本车与所述后方车辆之间的第三距离，以得到所述后方车辆检测结果；
    所述根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果，包括：
    根据所述第一时间t1、所述第一距离和所述后方车辆检测结果得到并输出第一路口通过预测结果，其中所述路口通过预测结果包括所述第一路口通过预 测结果。
  4. 如权利要求3所述的车辆行驶预测方法，其中，所述根据所述第一时间t1和所述后方车辆检测结果得到并输出第一路口通过预测结果步骤包括：
    根据所述后方车辆检测结果包括的后方车辆的车速设定第一预定速度；
    根据所述第二距离和第一预定速度计算第一预计通过时间t01，所述第一预计通过时间t01等于所述第二距离除以所述第一预定速度；
    比较所述第一时间t1和所述第一预计通过时间t01；
    当所述第一时间t1小于所述第一预计通过时间t01时，输出指示所述后方车辆不能在变灯之前通过所述路口的预测结果；
    当所述第一时间t1大于或等于所述第一预计通过时间t01时，根据所述第一时间t1、所述第一距离、所述第三距离和所述第一预定速度计算阈值车速，以输出本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的预测结果，以提示本车相应进行速度调节操作。
  5. 如权利要求1-4任一项所述的车辆行驶预测方法，所述方法还包括：
    当所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，根据本车的行车信息和所述第一距离计算第二预计通过时间t02。
  6. 如权利要求5所述的车辆行驶预测方法，在所述获取同车道车辆检测结果之前，所述方法还包括：
    检测本车的行进路径上本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时检测所述障碍车辆的车速以及本车与所述障碍车辆之间的第四距离，以得到所述障碍车辆检测结果；
    所述根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果，包括：
    根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果输出第二路口通过预测结果，其中所述路口通过预测结果包括所述第二路口通过预测结果。
  7. 如权利要求6所述的车辆行驶预测方法，所述根据本车的行车信息和所述第一距离计算第二预计通过时间t02步骤包括：
    根据本车的行车信息包括的速度信息设定第二预定速度；
    根据所述第一距离和所述第二预定速度计算所述第二预计通过时间t02，所述第二预定通过时间t02等于所述第一距离除以第二预定速度。
  8. 如权利要求7所述的车辆行驶预测方法，所述根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到并输出第二路口通过预测结果步骤包括：
    比较所述第一时间t1和所述第二预计通过时间t02；
    当所述第一时间t1大于或等于所述第二预计通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果；
    当所述第一时间t1大于或等于所述二预定通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间存在障碍车辆时，检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度，根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到并输出相应的预测结果。
  9. 如权利要求8所述的车辆行驶预测方法，其中，当所述第一时间t1大于或等于所述第二预计通过时间t02时，并当检测到本车的行进路径上本车和所述路口之间不存在障碍车辆时，输出提示本车前方无障碍可加速以方便后方车辆通过路口的提示信息。
  10. 如权利要求8或9所述的车辆行驶预测方法，所述根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度输出所述第二路口通过预测结果步骤包括：
    比较所述第二预定速度和所述障碍车辆的速度；
    当所述第二预定速度小于或等于所述障碍车辆的速度时，输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果；
    当所述第二预定速度大于所述障碍车辆的速度时，根据所述第二预定速度、所述第四距离和所述障碍车辆的速度，计算得到本车以所述第二预定速度行驶到与所述障碍车辆保持预定安全距离的第二时间t2，比较所述第二时间t2和所述第一时间t1；
    当t2大于或等于t1时，输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果；
    当t2小于t1时，计算当本车行驶至与所述障碍车辆保持预定安全距离时本车以所述障碍车辆的速度通过所述路口的第三时间t3；
    比较t1和t2+t3；
    当t1大于或等于t2+t3时，输出指示本车能够在变灯之前通过所述路口的预测结果；
    当t1小于t2+t3时，输出指示本车不能在变灯之前通过所述路口的预测结果。
  11. 如权利要求10所述的车辆行驶预测方法，其中，当t1大于或等于t2+t3时，还输出指示前方存在障碍车辆但本车能加速以方便后方车辆在变灯前通过路口的提示信息；
    当t1小于t2+t3时，还输出指示前方存在障碍车辆从而本车不能加速以方便后方车辆在变灯前通过路口的提示信息。
  12. 如权利要求8-11任一项所述的车辆行驶预测方法，其中，所述检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度步骤包括：通过调频连续波雷达检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度。
  13. 如权利要求5-12中任一所述的车辆行驶预测方法，其中，所述方法还包括：当所述第一时间t1小于所述第二预计通过时间t02时，输出指示本车不能在变灯之前通过所述路口的预测结果。
  14. 如权利要求1-13中任一所述的车辆行驶预测方法，所述方法还包括：当识别得到的所述信号灯的状态为指示禁止车辆通过所述信号灯的第二状态时，检测距离所述信号灯的状态变为指示允许车辆通过所述信号灯的第一状态的第四时间t4，输出所述第四时间t4。
  15. 如权利要求1-14中任一所述的车辆行驶预测方法，所述方法还包括：检测在与本车的距离在第二预定距离内是否存在特定类型车辆，当检测到存在特定类型车辆时检测所述特定类型车辆的行车信息并输出相应的提醒信息。
  16. 如权利要求15所述的车辆行驶预测方法，其中，所述检测所述特定 类型车辆的行车信息并输出相应的提醒信息，包括：
    当检测到存在特定类型车辆时，判断所述特定类型车辆在本车前方还是后方；
    当判断到所述特定类型车辆在本车后方时，输出提醒本车能够改道以避开所述特定类型车辆的提醒信息；
    当判断到所述特定类型车辆在本车前方时，检测本车与所述特定类型车辆之间的第五距离，根据所述第二预定速度、所述特定类型车辆的行车信息、所述第一距离和所述第五距离计算出本车能否以大于或等于所述第二预定速度的车速通过路口，并给出相应的预测结果。
  17. 如权利要求7-16中任一所述的车辆行驶预测方法，其中所述第二预定速度为最高限制速度、本车的当前速度或本车的平均速度。
  18. 如权利要求4-17中任一所述的车辆行驶预测方法，其中所述第一预定速度为最高限制速度、所述后方车辆的当前速度或所述后方车辆的平均速度。
  19. 一种车辆行驶预测装置，包括
    信号灯识别单元，用于识别所述信号灯的状态；
    获取单元，用于获取本车与在所述本车行进方向上设置有信号灯的路口之间的第一距离，当所述信号灯识别单元识别到所述信号灯的状态为指示允许车辆通过所述信号灯的第一状态时，获取所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的第一时间t1，以及获取同车道车辆检测结果，其中所述同车道车辆检测结果包括后方车辆检测结果和/或障碍车辆检测结果；
    输出单元，用于根据所述第一时间t1、所述第一距离和所述同车道车辆检测结果输出路口通过预测结果。
  20. 如权利要求19所述的车辆行驶预测装置，所述装置还包括信号灯检测单元，所述获取单元包括第一测距单元，其中
    所述信号灯检测单元，用于检测在所述本车行进方向上与本车的距离在第一预定距离内是否存在所述信号灯，并当检测到存在信号灯时输出第一控制信号；
    所述信号灯识别单元，与所述信号灯检测单元连接，具体用于当接收到所述第一控制信号时识别所述信号灯的状态，并当所述信号灯的状态为指示允许 车辆通过所述信号灯的第一状态时，检测距离所述信号灯的状态变为指示禁止车辆通过所述信号灯的第二状态的所述第一时间t1；
    所述第一测距单元，与所述信号灯检测单元连接，用于当接收到所述第一控制信号时检测检测本车与设置有所述信号灯的路口之间的所述第一距离。
  21. 如权利要求19或20所述的车辆行驶预测装置，所述获取单元包括第一检测单元和第一运算单元，其中所述第一检测单元，用于检测在本车后方是否存在后方车辆，并当检测到存在后方车辆时检测所述后方车辆的车速、所述后方车辆与所述路口之间的第二距离以及本车与所述后方车辆之间的第三距离，以得到后方车辆检测结果；
    所述第一运算单元，分别与所述信号灯识别单元、所述第一测距单元和所述第一检测单元连接，用于根据所述第一时间t1、所述第一距离和所述后方车辆检测结果得到第一路口通过预测结果，其中所述路口通过预测结果包括所述第一路口通过预测结果；以及
    所述输出单元，与所述第一运算单元连接，用于输出所述第一路口通过预测结果。
  22. 如权利要求21所述的车辆行驶预测装置，所述第一运算单元具体包括第一预定速度设定模块，第一预计通过时间计算模块，第一比较模块和第一运算模块，其中：
    第一预定速度设定模块，与所述第一检测单元连接，用于根据所述后方车辆检测结果包括的后方车辆的车速设定第一预定速度；
    第一预计通过时间计算模块，分别与所述第一检测单元和所述第一预定速度设定模块连接，用于根据所述第二距离和第一预定速度计算第二预计通过时间t02，所述第一预计通过时间t01等于所述第二距离除以所述第一预定速度；
    第一比较模块，分别与所述第一预计通过时间计算模块和所述信号灯识别单元连接，用于比较所述第一时间t1和所述第一预计通过时间t01，并当所述第一时间t1小于所述第一预计通过时间t01时输出第十二控制信号，当所述第一时间t1大于或等于所述第一预计通过时间t01时输出第十三控制信号；以及，
    第一运算模块，分别与所述第一比较模块、所述信号灯识别单元、所述第一测距单元和所述第一检测单元连接，用于当接收到所述第十三控制信号时根 据所述第一时间t1、所述第一距离、所述第三距离和所述第一预定速度计算阈值车速，并输出第十四控制信号；
    所述输出单元，还分别与所述第一比较模块和所述第一运算模块连接，用于当接收到所述第十二控制信号时输出指示所述后方车辆不能在变灯之前通过所述路口的预测结果，当接收到所述第十四控制信号时输出本车的车速大于或等于阈值车速时，所述后方车辆能够以大于或等于所述第一预定速度的车速在变灯之前通过路口的预测结果，以提示本车相应进行速度调节操作。
  23. 如权利要求19-22任一项所述的车辆行驶预测装置，所述获取单元还包括行车信息检测单元和第二预计通过时间计算单元，其中
    所述行车信息检测单元，用于检测本车的行车信息；
    所述第二预计通过时间计算单元，用于根据所述本车的行车信息和所述第一距离计算第二预计通过时间t02。
  24. 如权利要求23所述的车辆行驶预测装置，所述获取单元还包括第二检测单元和第二运算单元，其中
    所述第二检测单元，用于检测本车的行进路径上本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时检测所述障碍车辆的车速以及本车与所述障碍车辆之间的第四距离，以得到障碍车辆检测结果；以及，
    所述第二运算单元，分别与所述信号灯识别单元、所述第二预计通过时间计算单元和所述第二检测单元连接，用于根据所述第一时间t1、所述第二预计通过时间t02和所述障碍车辆检测结果得到第二路口通过预测结果，其中所述路口通过预测结果包括所述第二路口通过预测结果；
    所述输出单元，还与所述第二运算单元连接，用于输出所述第二路口通过预测结果。
  25. 如权利要求24所述的车辆行驶预测装置，所述本车的行车信息包括速度信息；
    所述车辆行驶预测装置还包括：第二预定速度设定单元，与所述行车信息检测单元连接，用于根据所述速度信息设定第二预定速度；
    所述第二预计通过时间计算单元，还与所述第二预定速度设定单元连接，具体用于根据所述第一距离和所述第二预定速度计算所述第二预计通过时间 t02，所述第二预计通过时间t02等于所述第一距离除以第二预定速度。
  26. 如权利要求25所述的车辆行驶预测装置，所述第二运算单元具体包括第二比较模块和第二运算模块；所述第二检测单元包括第一检测模块和第二检测模块；
    所述第二比较模块，分别与所述信号灯识别单元和所述第二预计通过时间计算单元连接，用于比较所述第一时间t1和所述第二预计通过时间t02，并当所述第一时间t1大于或等于所述第二预计通过时间t02时输出第二控制信号；
    所述第一检测模块，与所述第二比较模块连接，用于当接收到所述第二控制信号时检测在本车的行进路径上在本车和所述路口之间是否存在障碍车辆，并当检测到存在障碍车辆时输出第三控制信号，当检测到不存在障碍车辆时输出第四控制信号；
    所述第二检测模块，与所述第一检测模块连接，用于当接收到所述第三控制信号时检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度；
    所述第二运算模块，分别与所述第二检测模块和所述信号灯识别单元连接，用于根据所述第一时间t1、所述第二预定速度、所述第四距离和所述障碍车辆的速度得到相应的预测结果；
    所述输出单元，分别与所述第二运算模块和所述第一检测模块连接，具体用于当接收到所述第四控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第三控制信号时输出所述第二运算模块得到的预测结果。
  27. 如权利要求26所述的车辆行驶预测装置，其中，所述输出单元，还与所述第一检测模块连接，具体用于当接收到所述第四控制信号时输出提示本车前方无障碍可加速以方便后方车辆通过路口的提示信息。
  28. 如权利要求26或27所述的车辆行驶预测装置，所述第二运算模块具体包括第一比较子模块，第一计算子模块，第二比较子模块，第二计算子模块和第三比较子模块，其中：
    所述第一比较子模块，用于比较所述第二预定速度和所述障碍车辆的速度，当所述第二预定速度小于或等于所述障碍车辆的速度时输出第五控制信号，当所述第二预定速度大于所述障碍车辆的速度时输出第六控制信号；
    所述第一计算子模块，与所述第一比较子模块连接，用于当接收到所述第六控制信号时根据所述第二预定速度、所述第四距离和所述障碍车辆的速度，计算得到本车以所述预定速度行驶到与所述障碍车辆保持预定安全距离的第二时间t2；
    所述第二比较子模块，分别与所述第一计算子模块和所述信号灯识别单元连接，用于比较所述第二时间t2和所述第一时间t1，当t2大于或等于t1时输出第七控制信号，当t2小于t1时输出第八控制信号；
    所述第二计算子模块，与所述第二比较子模块连接，用于当接收到所述第八控制信号时计算当本车行驶至与所述障碍车辆保持预定安全距离时本车以所述障碍车辆的速度通过所述路口的第三时间t3；以及，
    所述第三比较子模块，分别与所述信号灯识别单元、所述第一计算子模块和所述第二计算子模块连接，用于比较t1和t2+t3，当t1大于或等于t2+t3时输出第九控制信号，当t1小于t2+t3时输出第十控制信号；
    所述输出单元，分别与所述第一比较子模块、所述第二比较子模块和所述第三比较子模块连接，还用于当接收到所述第五控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第七控制信号时输出指示本车能够以大于或等于所述第二预定速度的车速在变灯之前通过所述路口的预测结果，当接收到所述第九控制信号时输出指示本车能够在变灯之前通过所述路口的预测结果，当接收到所述第十控制信号时输出指示本车不能在变灯之前通过所述路口的预测结果。
  29. 如权利要求28所述的车辆行驶预测装置，其中，所述输出单元还与所述第三比较子模块连接，用于当收到所述第九控制信号时输出指示前方存在障碍车辆但本车能加速以方便后方车辆在变灯前通过路口的提示信息，当接收到所述第十控制信号时输出指示前方存在障碍车辆从而本车不能加速以方便后方车辆在变灯前通过路口的提示信息。
  30. 如权利要求26-29中任一项所述的车辆行驶预测装置，其中，所述第二检测模块具体通过调频连续波雷达检测本车和所述障碍车辆之间的第四距离以及所述障碍车辆的速度。
  31. 如权利要求22-29中任一所述的车辆行驶预测装置，其中，所述第二 比较模块还用于当所述第一时间t1小于所述第二预计通过时间t02时输出第十一控制信号；
    所述输出单元，还与所述第二比较模块连接，还用于当接收到所述第十一控制信号时输出指示本车不能在变灯之前通过所述路口的预测结果。
  32. 如权利要求19-31中任一所述的车辆行驶预测装置，其中，所述信号灯识别单元还用于当识别得到的所述信号灯的状态为指示禁止车辆通过所述信号灯的第二状态时，检测距离所述信号灯的状态变为指示允许车辆通过所述信号灯的第一状态的第四时间t4；
    所述输出单元，还与所述信号灯识别单元连接，用于输出所述第四时间t4。
  33. 如权利要求19-32中任一所述的车辆行驶预测装置，其中，所述装置还包括第三检测单元，
    所述第三检测单元，用于检测在与本车的距离在第二预定距离内是否存在特定类型车辆，当检测到存在特定类型车辆时检测所述特定类型车辆的行车信息并输出第十五控制信号；
    所述输出单元，还与所述第三检测单元连接，用于当接收到所述第十五控制信号时输出存在特定类型车辆的提醒信息。
  34. 如权利要求33所述的车辆行驶预测装置，其中，所述装置还包括判断单元，第二测距单元和第三运算单元，其中：
    所述判断单元，与所述第三检测单元连接，用于当接收到所述第十五控制信号时判断所述特定类型车辆在本车前方还是后方，并将判断到所述特定类型车辆在本车后方时输出第十六控制信号，当判断到所述特定类型车辆在本车前方时输出第十七控制信号；
    所述第二测距单元，与所述判断单元连接，用于当接收到所述第十七控制信号时检测本车与所述特定类型车辆之间的第五距离；以及，
    所述第三运算单元，分别与所述第三检测单元、所述第一测距单元、所述判断单元和所述第二测距单元连接，用于当接收到所述第十七控制信号时根据所述第二预定速度、所述特定类型车辆的行车信息、所述第一距离和所述第五距离计算出本车能否以大于或等于所述第二预定速度的车速通过路口，并输出第十八控制信号；
    所述输出单元，还与所述判断单元和所述第三运算单元连接，用于当接收到所述第十六控制信号时输出提醒本车能够改道以避开所述特定类型车辆的提醒信息，当接收到所述第十八控制信号时输出相应的预测结果，以提示本车相应进行速度调节操作。
  35. 如权利要求25-34中任一所述的车辆行驶预测装置，其中，所述第二预定速度为最高限制速度、本车的当前速度或者本车的平均速度。
  36. 如权利要求22-35中任一所述的车辆行驶预测装置，其中所述第一预定速度为最高限制速度、所述后方车辆的当前速度或者所述后方车辆的平均速度。
  37. 如权利要求19-36中任一所述的车辆行驶预测装置，其中，所述输出单元包括显示模块和/或声音提醒模块；
    所述显示模块用于显示所述路口通过预测结果；
    所述声音提醒模块用于通过声音提示所述路口通过预测结果。
  38. 如权利要求19-37中任一所述的车辆行驶预测装置，其中，所述信号灯检测单元包括摄像单元或位置检测单元；
    当所述信号灯检测单元包括摄像单元时，所述摄像单元通过拍摄在待测车辆行进方向上与本车的距离在第一预定距离内的画面检测是否存在信号灯；
    当所述信号灯检测单元包括位置检测单元时，所述位置检测单元检测本车的位置信息，并通过比较所述位置信息和预先存储的设置有信号灯的位置，以检测在待测车辆行进方向上与本车的距离在第一预定距离内的画面检测是否存在信号灯。
  39. 如权利要求33-38任一项所述的车辆行驶预测装置，其中，所述第三检测单元包括声音识别模块和光线识别模块；
    所述声音识别模块用于通过检测在与本车的距离在第二预定距离内是否存在预定类型的声音来识别是否存在特定类型车辆；
    所述光线识别模块用于通过识别检测在与本车的距离在第二预定距离内是否存在预定类型的灯光闪烁来识别是否存在特定类型车辆。
  40. 一种车载智能系统，其特征在于，包括如权利要求19-39中任一所述的车辆行驶预测装置。
  41. 如权利要求40所述的车载智能系统，其中，还包括车载车速检测单元，用于实时检测本车的当前速度；
    当第二预定速度为本车的当前速度时，所述车载车速检测单元还用于将检测得到的待测车辆的当前速度输出至所述车辆行驶预测装置包括的第二运算单元。
  42. 如权利要求40或41所述的车载智能系统，其中，还包括车载定位单元，用于实时检测本车的位置；
    当所述车辆行驶预测装置中的信号灯检测单元包括位置检测单元时，所述位置检测单元与所述车载定位单元连接，用于接收来自所述车载定位单元的本车的位置。
  43. 如权利要求42所述的车载智能系统，其中，还包括车载显示单元；当所述车辆行驶预测装置中的输出单元包括显示模块时，所述显示模块用于将所述预测结果输出至所述车载显示单元，以控制由所述车载显示单元显示所述预测结果。
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