WO2018171464A1 - 一种根据导航路径规划车速的方法、装置及系统 - Google Patents
一种根据导航路径规划车速的方法、装置及系统 Download PDFInfo
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- WO2018171464A1 WO2018171464A1 PCT/CN2018/078790 CN2018078790W WO2018171464A1 WO 2018171464 A1 WO2018171464 A1 WO 2018171464A1 CN 2018078790 W CN2018078790 W CN 2018078790W WO 2018171464 A1 WO2018171464 A1 WO 2018171464A1
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Definitions
- the invention belongs to the field of intelligent navigation technology, and in particular relates to a method, device and system for planning a vehicle speed according to a navigation path.
- Fuel consumption when calculating the length of the road section where the driver's current position is located, only how many traffic lights are marked, regardless of the influence of the intersection traffic light waiting time on the path planning, and the prompting of controlling the speed of the vehicle can effectively reduce or avoid The way the traffic lights wait for navigation.
- the existing navigation method is to plan the navigation route according to the location location and the destination location, and only provides the user with a selectable route, and at the same time assists in displaying some traffic condition elements passing through the road: road congestion situation (marking color on the route according to the congestion level), red The number of green signal lights and charges.
- the traffic signal conversion cycle has a public timetable to provide specific data query in the traffic control department; with the continuous development of the Internet of Vehicles technology, more and more data acquisition methods are applied to the traffic signal, which introduces real-time calculation for navigation. Traffic light conversion time to optimize travel plans provides a reliable data foundation.
- one of the objects of the present invention is to provide a method for planning a vehicle speed according to a navigation path, which achieves an accurate estimation of the travel time and optimizes the driving experience.
- Another object of the present invention is to provide a device for planning a vehicle speed based on a navigation path that accurately estimates the travel time and optimizes the driving experience.
- a third object of the present invention is to provide a system for planning a vehicle speed based on a navigation path that accurately estimates the travel time and optimizes the driving experience.
- a method of planning a vehicle speed based on a navigation path comprising the following steps:
- S1 acquiring navigation road information between the starting point and the destination, where the navigation road information includes a navigation path, a traffic light signal, and road condition information;
- S2 acquiring a current driving state of the vehicle, where the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle;
- the step S1 specifically includes the following sub-steps:
- S12 Identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule;
- the navigation path is divided into a plurality of road segments according to the position of the traffic light to obtain a navigation road segment;
- S14 Obtain road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information.
- the step S4 specifically includes the following sub-steps:
- S42 Calculate the sum of the waiting time of each navigation section, the traffic light, and the traffic light in each speed of the floating speed group;
- the formula for calculating the tempered vehicle speed used in step S45 is:
- t vi represents the time required to advance at speed v, to reach the ith traffic light
- t wi represents the waiting time required at the ith traffic light
- t ci represents the time required to cross the ith traffic light intersection
- f(v ) represents a function that finds the speed v that minimizes the total accumulated time.
- a device for planning a vehicle speed based on a navigation path comprising the following modules:
- a navigation information acquiring module configured to acquire navigation road information between a starting point and a destination, where the navigation road information includes a navigation path, a traffic light signal, and road condition information;
- a vehicle state acquisition module configured to acquire a current driving state of the vehicle, where the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle;
- the floating vehicle speed calculation module is configured to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
- Tuning vehicle speed module used to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
- Reminder module used to determine whether the vehicle's driving speed and the tempered vehicle speed are suitable. If not, the vehicle owner is reminded to adjust the vehicle speed.
- the navigation information acquiring module specifically includes the following submodules:
- the navigation path obtaining module is configured to acquire a navigation path between the starting point and the destination;
- the traffic light recognition module is configured to identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule;
- the navigation segment segmentation module is configured to divide the navigation path into a plurality of segments according to the position of the traffic light to obtain a navigation segment;
- the road information acquiring module is configured to acquire road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information.
- the tuning vehicle speed module specifically includes the following submodules:
- the navigation section time module is configured to calculate the time required for each vehicle speed in the floating speed group to pass each navigation section according to the floating speed group, the current position of the vehicle, and the road condition information;
- Time calculation module used to calculate the sum of time waiting through each navigation section, traffic lights, and traffic lights in each speed of the floating speed group;
- Tuning speed calculation module used to calculate the corresponding minimum speed of the total time to reach the destination in the floating speed group by tuning calculation formula, which is to adjust the speed.
- the formula for calculating the tempered vehicle speed used in the tuning vehicle speed calculation module is:
- t vi represents the time required to advance at speed v, to reach the ith traffic light
- t wi represents the waiting time required at the ith traffic light
- t ci represents the time required to cross the ith traffic light intersection
- f(v ) represents a function that finds the speed v that minimizes the total accumulated time.
- a system for planning a vehicle speed based on a navigation path comprising an actuator for performing a method of planning a vehicle speed according to a navigation path as described in any of the above aspects.
- the method for planning the vehicle speed according to the navigation path of the invention can help the vehicle owner to fine-tune the vehicle speed while driving, avoiding the waiting time of the traffic light being too long, and achieving the purpose of optimizing the driving experience and green low-carbon travel.
- FIG. 1 is a flow chart of a method for planning a vehicle speed according to a navigation path according to the present invention
- FIG. 2 is a structural diagram of an apparatus for planning a vehicle speed according to a navigation path according to the present invention.
- the prior art path planning algorithm does not consider the processing of the intersection, lacks the traffic signal conversion cycle combined with the intersections, the waiting time through the intersection, the driving speed of the owner, the traffic flow, the comprehensive calculation planning route, the arrival time, and also There is no real-time prompting the owner to drive at the optimal speed to avoid waiting or reducing the waiting time to navigate through the intersection with the signal light.
- the present invention provides a method for planning a vehicle speed according to a navigation path, comprising the following steps:
- step S1 Acquire navigation road information between the starting point and the destination, the navigation road information includes a navigation path, a traffic light signal, and road condition information; the step S1 specifically includes the following sub-steps:
- S12 Identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule; the traffic light signal conversion cycle has a public timetable provided by the traffic control department to provide a specific data query.
- the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule; the traffic light signal conversion cycle has a public timetable provided by the traffic control department to provide a specific data query.
- the navigation path is divided into a plurality of road segments according to the position of the traffic light to obtain a navigation link, and information of the start and end positions of each road segment is saved;
- S14 Obtain road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information; according to the average vehicle speed and the speed limit information, the reference calculation information is used as the tuning vehicle speed, for example, the range of the tuned vehicle speed cannot be high.
- the speed limit of the road on the corresponding road section is used as the tuning vehicle speed, for example, the range of the tuned vehicle speed cannot be high.
- S2 acquiring a current driving state of the vehicle, the current driving state of the vehicle includes current position information of the vehicle and a traveling speed of the vehicle; positioning the current position of the vehicle by using GPS positioning and other auxiliary positioning functions, and detecting the vehicle in unit time The travel distance within the vehicle is used to measure the current travel speed of the vehicle.
- S3 obtaining a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information; the floating vehicle speed group floating up and down a range based on the current vehicle speed to obtain a set of floating vehicle speed; the floating vehicle speed group may be a continuous threshold range, It can be that all speed values form an arithmetic progression and then form a floating speed group.
- the floating vehicle speed group used in the method of the invention is set based on the actual vehicle speed of the user, instead of being determined by the system to make the user decide, making the implementation more humanized, more convenient, and easier to promote;
- the step S4 According to each vehicle speed in the floating speed group, the time required for the full driving time is obtained, and the vehicle speed corresponding to the shortest running time is used as the tuning speed; the floating vehicle speed group is used to calculate the total time to reach the destination, and the comparison result is obtained.
- the shortest overall arrival time, the driving speed corresponding to the shortest overall arrival time is the result data of the tuned vehicle speed; the overall arrival time is the sum of the driving time of each navigational section between the traffic lights and the waiting time of the traffic light switching of each intersection; the step S4 is specific Includes the following substeps:
- S41 Calculate a time required for each vehicle speed in the floating vehicle speed group to pass each navigation section according to the floating vehicle speed group, the current position of the vehicle, and the road condition information; and calculate the time required for each vehicle speed in the floating vehicle speed group to pass each navigation segment path. .
- the time consider the effect of the time required to stop the acceleration at each intersection because of the different speed of the vehicle, the average speed of the road vehicle, the speed limit data of the road, etc., on the overall transit time;
- S42 Calculate the sum of the waiting time of each navigation section, the traffic light, and the traffic light in each speed of the floating speed group;
- step S43 Calculate the corresponding vehicle speed with the shortest total time to reach the destination in the floating vehicle speed group by using the tuning calculation formula, that is, the tuned vehicle speed; the formula for calculating the tempered vehicle speed used in step S45 is:
- t vi represents the time required to advance at the speed v and reach the ith traffic light, calculated by dividing the distance by the speed, t wi indicating the waiting time required at the ith traffic light, and calculating the corresponding traffic light state when the traffic light arrives at the traffic light The waiting time is determined; t ci represents the time required to traverse the i-th traffic light intersection; f(v) represents a function of the speed v at which the cumulative total time is minimized.
- S5 judging whether the driving speed of the vehicle is adapted to the tuning speed, if not, reminding the owner to adjust the vehicle speed, and the driving speed and the tuning speed are adapted when the difference between the driving speed and the tuning speed is within a set range. At the time, no reminder will be given. If there is a difference of 1km/h, no reminder will be given. If it exceeds 1km/h, the corresponding reminder will be given, and the corresponding setting will be made according to the actual situation; the reminder can be by voice reminder or by car. Screen display and other different ways to adjust.
- the setting of the reminder rule a pre-established set of rules for judging whether the driver module is activated, the rule establishes some conditions for the reminder to be activated, such as when the vehicle arrives at a different intersection and waits for the parking, the speed of the vehicle changes greatly,
- the above process is a process of completing the tuning of the tuned vehicle speed of the present invention, and the monitoring and monitoring process is to obtain the vehicle position in real time, and perform the tuning speed calculation, and simultaneously compare and remind Conditions to make a reminder judgment.
- the user can select the navigation path according to the actual situation. When there is congestion on the navigation path or some roads are convenient and cannot be displayed through the map, the user can select the corresponding path to drive and re-plan the navigation path. .
- the method for planning the vehicle speed of the navigation path of the present invention can also be applied to the situation of the traffic light when the next intersection is reached, by calculating the distance from the current vehicle speed to the next intersection, and obtaining the tuning speed according to the state of the traffic signal, so that At the next intersection, the status of the traffic light is green, so that it can pass through the intersection.
- the driving path can also be anywhere before navigating to the traffic light intersection.
- information of other vehicles such as the traveling speed of the vehicle at each navigation section, can be used as reference information for the planned vehicle speed of the method of the present invention. Better estimate the passage time of each section.
- the road map and the GPS positioning and other auxiliary positioning functions of the existing navigation system are used to calculate the time required to wait for the signal light when passing each intersection according to the traffic signal conversion period data and the current driving speed. Integrate the traffic conditions of each section to calculate the travel time, plan the route navigation and prompt the optimal speed, to help the owner to more accurately estimate the travel time and select the navigation line when traveling. By fine-tuning the speed when driving, avoiding the waiting time of the traffic lights is too long, to achieve an optimized driving experience, the purpose of green low-carbon travel, and even the state of green light passing through various intersections from the starting point to the end point.
- the present invention provides an apparatus for planning a vehicle speed according to a navigation path, including the following modules:
- the navigation information acquisition module is configured to acquire navigation road information between the start point and the destination, the navigation road information includes a navigation path, a traffic light signal, and road condition information.
- the navigation information acquisition module specifically includes the following sub-modules:
- the navigation path obtaining module is configured to acquire a navigation path between the starting point and the destination;
- the traffic light recognition module is configured to identify all traffic light signals on the navigation path, where the traffic light signal includes a traffic light position, a traffic light state, and a traffic light conversion rule;
- the navigation segment segmentation module is configured to divide the navigation path into a plurality of segments according to the position of the traffic light to obtain a navigation segment;
- the road information acquiring module is configured to acquire road condition information of each navigation road segment, where the road condition information includes average vehicle speed and speed limit information;
- a vehicle state acquisition module configured to acquire a current driving state of the vehicle, where the current driving state of the vehicle includes current location information of the vehicle and a traveling speed of the vehicle;
- the floating vehicle speed calculation module is configured to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information;
- the tuned vehicle speed module is configured to obtain a floating vehicle speed group according to the current driving state of the vehicle and the navigation road information; the tuned vehicle speed module specifically includes the following sub-modules:
- the navigation section time module is configured to calculate the time required for each vehicle speed in the floating speed group to pass each navigation section according to the floating speed group, the current position of the vehicle, and the road condition information;
- Time calculation module used to calculate the sum of time waiting for each navigation section, traffic light and traffic light in each speed of the floating speed group;
- Tuning speed calculation module used to calculate the corresponding minimum speed of the total time to reach the destination in the floating speed group by the tuning calculation formula, which is the tuning speed; the formula of the tuning speed adopted in the tuning speed calculation module for:
- t vi represents the time required to advance at speed v, to reach the ith traffic light
- t wi represents the waiting time required at the ith traffic light
- t ci represents the time required to cross the ith traffic light intersection
- f(v ) a function that finds the velocity v that minimizes the total accumulated time
- Reminder module used to determine whether the driving speed of the vehicle is consistent with the tuning speed. If not, the owner is reminded to adjust the vehicle speed.
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Abstract
本发明公开了一种根据导航路径规划车速的方法、装置及系统，该方法包括以下步骤：S1：获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；S2：获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；S3：根据车辆的当前行驶状态和导航道路信息得到浮动车速组；S4：根据浮动车速组中的各车速得到行驶完全程所需时间，将行驶时间最短所对应的车速作为调优车速；S5：判断车辆的行驶速度与调优车速是否适应，如果否，则提醒车主调整车速。本发明的方法能帮助车主在行车时通过微调车速，避免红绿灯等待时间过长，达到优化驾驶体验，绿色低碳出行的目的。
Description
本发明属于智能导航技术领域，尤其涉及一种根据导航路径规划车速的方法、装置及系统。
随着我国城市规模扩大、道路交通快速发展和汽车的普及，人们驾车出行面临的交通路况越来越复杂，使用导航规划路线提高用车出行体验的综合需求越来越普遍；车主在驾车出行过程中，难免会遇到有信号灯的交叉口，在交叉口左转、右转、直行时的信号灯转换等待时间是有很大区别的。实际行车过程中车主经常遇到刚加油加速就遇到前方红灯不得不减速刹车的情况，在行驶中经常尝试避免遇到一路红灯或者减少刹车来减少油耗，且减少频繁刹车和起步加速的油耗、避免长时间停车来减少碳排放量，也可以减少能源消耗、达到节能减排的目的。现有技术中在计算驾驶者的当前位置所在路段的长度时，仅仅标记有多少个红绿灯，并不考虑交叉口红绿灯转换等待时间对路径规划的影响，更没有提示控制车速快慢可有效减少或避免红绿灯等候的时间的导航方式。
现有导航方式在根据定位位置和目的地位置规划导航路线，仅提供给用户可选择路线，同时辅助展示一些通过道路的交通状况要素：道路拥堵情况(按拥堵级别在路线上标注颜色)、红绿信号灯数量、 收费情况。
同时，红绿灯信号转换周期在交管部门都有公开时刻表提供具体数据查询；随着车联网技术的不断发展，应用在红绿灯信号变化数据获取方式也越来越多，这都为导航中引入实时计算红绿灯转换时间来优化出行方案提供可靠的数据基础。
发明内容
为了克服现有技术的不足，本发明的目的之一在于提供一种根据导航路径规划车速的方法，其达到精确估计行驶时间，优化驾驶体验。
本发明的目的之二在于提供一种根据导航路径规划车速的装置，其达到精确估计行驶时间，优化驾驶体验。
本发明的目的之三在于提供一种根据导航路径规划车速的系统，其达到精确估计行驶时间，优化驾驶体验。
本发明的目的之一采用以下技术方案实现：
一种根据导航路径规划车速的方法，包括以下步骤：
S1：获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；
S2：获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；
S3：根据车辆的当前行驶状态和导航道路信息得到浮动车速组；
S4：根据浮动车速组中的各车速得到行驶完全程所需时间，将行驶时间最短所对应的车速作为调优车速；
S5：判断车辆的行驶速度与调优车速是否适应，如果否，则提醒车主调整车速。
优选的，所述步骤S1具体包括以下子步骤：
S11：获取起点与目的地之间的导航路径；
S12：识别导航路径上所有的红绿灯信号，所述红绿灯信号包括红绿灯位置、红绿灯状态和红绿灯转换规则；
S13：根据红绿灯位置将导航路径切分成多个路段以得到导航路段；
S14：获取各个导航路段的道路状况信息，该道路状况信息包括平均车速和限速信息。
优选的，所述步骤S4具体包括以下子步骤：
S41：根据浮动车速组、车辆的当前位置和道路状况信息以计算浮动车速组中各车速通过各导航路段所需要的时间；
S42：以浮动车速组中各车速计算通过各导航路段、红绿灯以及红绿灯等待的时间之和；
S43：通过调优计算公式计算得到浮动车速组中到达目的地的总体时间最短的对应车速，即为调优车速。
优选的，在步骤S45中采用的调优车速计算公式为：
其中，t
vi表示以速度v前进，到达第i个红绿灯所需时间，t
wi表示在第i个红绿灯所需的等待时间，t
ci表示横穿第i个红绿灯路 口所需时间；f(v)表示求得使累计总时间最短的速度v的函数。
本发明的目的之二采用以下技术方案实现：
一种根据导航路径规划车速的装置，包括以下模块：
导航信息获取模块：用于获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；
车辆状态获取模块：用于获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；
浮动车速计算模块：用于根据车辆的当前行驶状态和导航道路信息得到浮动车速组；
调优车速模块：用于根据车辆的当前行驶状态和导航道路信息得到浮动车速组；
提醒模块：用于判断车辆的行驶速度与调优车速是否适应，如果否，则提醒车主调整车速。
优选的，所述导航信息获取模块具体包括以下子模块：
导航路径获取模块：用于获取起点与目的地之间的导航路径；
红绿灯识别模块：用于识别导航路径上所有的红绿灯信号，所述红绿灯信号包括红绿灯位置、红绿灯状态和红绿灯转换规则；
导航路段切分模块：用于根据红绿灯位置将导航路径切分成多个路段以得到导航路段；
道路信息获取模块：用于获取各个导航路段的道路状况信息，该道路状况信息包括平均车速和限速信息。
优选的，所述调优车速模块具体包括以下子模块：
导航路段时间模块：用于根据浮动车速组、车辆的当前位置和道路状况信息以计算浮动车速组中各车速通过各导航路段所需要的时间；
时间计算模块：用于以浮动车速组中各车速计算通过各导航路段、红绿灯以及红绿灯等待的时间之和；
调优车速计算模块：用于通过调优计算公式计算得到浮动车速组中到达目的地的总体时间最短的对应车速，即为调优车速。
优选的，在调优车速计算模块中采用的调优车速计算公式为：
其中，t
vi表示以速度v前进，到达第i个红绿灯所需时间，t
wi表示在第i个红绿灯所需的等待时间，t
ci表示横穿第i个红绿灯路口所需时间；f(v)表示求得使累计总时间最短的速度v的函数。
本发明的目的之三采用以下技术方案实现：
一种根据导航路径规划车速的系统，包括执行器，所述执行器用于执行如上述方案中任意一项所述的根据导航路径规划车速的方法。
相比现有技术，本发明的有益效果在于：
本发明的根据导航路径规划车速的方法，能够帮助车主在行车时通过微调车速，避免红绿灯等待时间过长，达到优化驾驶体验，绿色低碳出行的目的。
图1为本发明的根据导航路径规划车速的方法的流程图；
图2为本发明的根据导航路径规划车速的装置的结构图。
下面，结合附图以及具体实施方式，对本发明做进一步描述：
现有技术路径规划算法没有考虑交叉口的处理，缺乏结合各路口的交通信号灯转换周期、通过路口需要等候的时间、车主的驾驶速度、车流情况，综合计算规划路径、到达目的地时间，同时也没有实时提示车主以最优车速行驶避免等候或减少等候时间来通过有信号灯的交叉路口的导航方式。
如图1所示，本发明提供了一种根据导航路径规划车速的方法，包括以下步骤：
S1：获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；所述步骤S1具体包括以下子步骤：
S11：获取起点与目的地之间的导航路径；
S12：识别导航路径上所有的红绿灯信号，所述红绿灯信号包括红绿灯位置、红绿灯状态和红绿灯转换规则；红绿灯信号转换周期在交管部门都有公开的时刻表提供具体的数据查询，在本发明中，将相关的数据都存储于一数据服务器中来进行数据支持；
S13：根据红绿灯位置将导航路径切分成多个路段以得到导航路 段，并保存各路段的开始和结束位置的信息；
S14：获取各个导航路段的道路状况信息，该道路状况信息包括平均车速和限速信息；根据平均车速和限速信息都是作为调优车速的参考计算信息，比如调优车速的范围不能够高于相应路段的道路限速。
S2：获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；通过GPS定位以及其他辅助的定位功能来定位车辆的当前位置，并通过检测车辆在单位时间内的行驶距离来测量得到车辆的当前行驶速度。
S3：根据车辆的当前行驶状态和导航道路信息得到浮动车速组；该浮动车速组以当前车速为基础上下浮动一个范围，得到一组浮动车速；该浮动车速组可以是一个连续的阈值范围，也可以是所有的速度值形成一个等差数列，然后组成浮动车速组。本发明的方法中采用的浮动车速组是基于用户实际车速来进行设定的，而不是通过系统来帮用户决定，使得实现起来更人性化，更方便，也更易于推广；
S4：根据浮动车速组中的各车速得到行驶完全程所需时间，将行驶时间最短所对应的车速作为调优车速；用浮动车速组来分别计算到达目的地的总体时间，通过比较结果得出最短总体到达时间，对应最短总体到达时间的行驶车速则为调优车速的结果数据；总体到达时间为通过红绿灯之间各导航路段行驶时间和各路口红绿灯切换等待时间的总和；所述步骤S4具体包括以下子步骤：
S41：根据浮动车速组、车辆的当前位置和道路状况信息以计算浮动车速组中各车速通过各导航路段所需要的时间；分别计算浮动车 速组中各车速通过各个导航分段路径所需要的时间。在计算时间时，同时考虑在各个路口停车起步加速因为车速不同所需要的时间、道路车辆平均车速、道路限速数据等情况对整体通过时间的影响；
S42：以浮动车速组中各车速计算通过各导航路段、红绿灯以及红绿灯等待的时间之和；
S43：通过调优计算公式计算得到浮动车速组中到达目的地的总体时间最短的对应车速，即为调优车速；在步骤S45中采用的调优车速计算公式为：
其中，t
vi表示以速度v前进，到达第i个红绿灯所需时间，通过距离除以速度计算出来，t
wi表示在第i个红绿灯所需的等待时间，通过计算到达红绿灯时对应的红绿灯状态确定需等待时间；t
ci表示横穿第i个红绿灯路口所需时间；f(v)表示求得使累计总时间最短的速度v的函数。
S5：判断车辆的行驶速度与调优车速是否适应，如果否，则提醒车主调整车速，行驶速度与调优车速适应指的是当行驶速度与调优车速的差值处于一个设定的范围的时候，不会进行提醒，如果相差1km/h则不进行提醒，如果超过1km/h则进行相应的提醒，根据实际情况来对其进行相应的设定；提醒当时可以是通过语音提醒或者通过车载屏幕显示等不同的方式来进行调整。提醒规则的设置，预先建立的一套判断提醒驾驶员模块是否启动的规则，该规则设立了一些提醒启用的条件，如当定位到车辆到达不同的路口停车等待时、车速发生 变换较大时、车辆行驶进入不同的导航路径时和道路限速等条件，以上过程为完成一次本发明的调优车速测算提醒的过程，测算监控过程为实时获取车辆位置，并进行调优车速计算，同时对比提醒条件作出提醒判断。或者是用户可以根据实际情况来对导航路径进行选择，当导航路径上有拥堵的情况或者有些道路比较方便而没能通过地图显示的，用户可以自主选择相应路径来进行行车，并重新规划导航路径。
本发明的导航路径规划车速的方法还可以适用于到达下一个路口时，该交通灯的情况，通过计算当前车速到下一个路口的距离，并根据红绿灯信号的状态来得到调优速度，使得当到下一个路口的时候红绿灯的状态为绿灯，从而可以顺利通过路口，该行车路径还可以是导航至红绿灯路口前的任意位置。当更多的车辆采用基于本发明根据导航路径规划车速的方法的系统时，可以通过获取其他车辆的信息，如车辆在各导航路段的行驶速度来作为本发明方法的规划车速的参考信息，能够更优估计各个路段通过时间。
本发明的根据导航路径规划车速的方法，依托现有导航系统的道路地图和GPS定位及其他辅助定位功能，根据红绿灯信号转换周期数据、结合当前行车速度计算通过各个路口时需要等候信号灯的时间，综合各路段车流情况等因素进行计算行车时间、规划线路导航和提示最优车速，帮助车主在出行时更精确估计行驶时间、选择导航线路。并在行车时通过微调车速，避免红绿灯等待时间过长，达到优化驾驶体验，绿色低碳出行的目的，甚至可以达到从起点到终点通过各个路口一路绿灯的状态。
如图2所示，本发明提供了一种根据导航路径规划车速的装置，包括以下模块：
导航信息获取模块：用于获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；所述导航信息获取模块具体包括以下子模块：
导航路径获取模块：用于获取起点与目的地之间的导航路径；
红绿灯识别模块：用于识别导航路径上所有的红绿灯信号，所述红绿灯信号包括红绿灯位置、红绿灯状态和红绿灯转换规则；
导航路段切分模块：用于根据红绿灯位置将导航路径切分成多个路段以得到导航路段；
道路信息获取模块：用于获取各个导航路段的道路状况信息，该道路状况信息包括平均车速和限速信息；
车辆状态获取模块：用于获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；
浮动车速计算模块：用于根据车辆的当前行驶状态和导航道路信息得到浮动车速组；
调优车速模块：用于根据车辆的当前行驶状态和导航道路信息得到浮动车速组；所述调优车速模块具体包括以下子模块：
导航路段时间模块：用于根据浮动车速组、车辆的当前位置和道路状况信息以计算浮动车速组中各车速通过各导航路段所需要的时间；
时间计算模块：用于以浮动车速组中各车速计算通过各导航路段、 红绿灯以及红绿灯等待的时间之和；
调优车速计算模块：用于通过调优计算公式计算得到浮动车速组中到达目的地的总体时间最短的对应车速，即为调优车速；在调优车速计算模块中采用的调优车速计算公式为：
其中，t
vi表示以速度v前进，到达第i个红绿灯所需时间，t
wi表示在第i个红绿灯所需的等待时间，t
ci表示横穿第i个红绿灯路口所需时间；f(v)表示求得使累计总时间最短的速度v的函数；
提醒模块：用于判断车辆的行驶速度与调优车速是否一致，如果否，则提醒车主调整车速。
对本领域的技术人员来说，可根据以上描述的技术方案以及构思，做出其它各种相应的改变以及形变，而所有的这些改变以及形变都应该属于本发明权利要求的保护范围之内。
Claims (9)
- 一种根据导航路径规划车速的方法，其特征在于，包括以下步骤：S1：获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；S2：获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；S3：根据车辆的当前行驶状态和导航道路信息得到浮动车速组；S4：根据浮动车速组中的各车速得到行驶完全程所需时间，将行驶时间最短所对应的车速作为调优车速；S5：判断车辆的行驶速度与调优车速是否适应，如果否，则提醒车主调整车速。
- 如权利要求1所述的根据导航路径规划车速的方法，其特征在于，所述步骤S1具体包括以下子步骤：S11：获取起点与目的地之间的导航路径；S12：识别导航路径上所有的红绿灯信号，所述红绿灯信号包括红绿灯位置、红绿灯状态和红绿灯转换规则；S13：根据红绿灯位置将导航路径切分成多个路段以得到导航路段；S14：获取各个导航路段的道路状况信息，该道路状况信息包括平均车速和限速信息。
- 如权利要求1所述的根据导航路径规划车速的方法，其特征在于，所述步骤S4具体包括以下子步骤：S41：根据浮动车速组、车辆的当前位置和道路状况信息以计算浮动车速组中各车速通过各导航路段所需要的时间；S42：以浮动车速组中各车速计算通过各导航路段、红绿灯以及红绿灯等待的时间之和；S43：通过调优计算公式计算得到浮动车速组中到达目的地的总体时间最短的对应车速，即为调优车速。
- 如权利要求3所述的根据导航路径规划车速的方法，其特征在于，在步骤S45中采用的调优车速计算公式为：
其中，t vi表示以速度v前进，到达第i个红绿灯所需时间，t wi表示在第i个红绿灯所需的等待时间，t ci表示横穿第i个红绿灯路口所需时间；f(v)表示求得使累计总时间最短的速度v的函数。 - 一种根据导航路径规划车速的装置，其特征在于，包括以下模块：导航信息获取模块：用于获取起点至目的地之间的导航道路信息，该导航道路信息包括导航路径、红绿灯信号和道路状况信息；车辆状态获取模块：用于获取车辆当前的行驶状态，该车辆当前的行驶状态包括车辆的当前位置信息和车辆的行驶速度；浮动车速计算模块：用于根据车辆的当前行驶状态和导航道路信息得到浮动车速组；调优车速模块：用于根据车辆的当前行驶状态和导航道路信息得到浮动车速组；提醒模块：用于判断车辆的行驶速度与调优车速是否适应，如果否，则提醒车主调整车速。
- 如权利要求5所述的根据导航路径规划车速的装置，其特征在于，所述导航信息获取模块具体包括以下子模块：导航路径获取模块：用于获取起点与目的地之间的导航路径；红绿灯识别模块：用于识别导航路径上所有的红绿灯信号，所述红绿灯信号包括红绿灯位置、红绿灯状态和红绿灯转换规则；导航路段切分模块：用于根据红绿灯位置将导航路径切分成多个路段以得到导航路段；道路信息获取模块：用于获取各个导航路段的道路状况信息，该道路状况信息包括平均车速和限速信息。
- 如权利要求5所述的根据导航路径规划车速的装置，其特征在于，所述调优车速模块具体包括以下子模块：导航路段时间模块：用于根据浮动车速组、车辆的当前位置和道路状况信息以计算浮动车速组中各车速通过各导航路段所需要的时间；时间计算模块：用于以浮动车速组中各车速计算通过各导航路段、红绿灯以及红绿灯等待的时间之和；调优车速计算模块：用于通过调优计算公式计算得到浮动车速组中到达目的地的总体时间最短的对应车速，即为调优车速。
- 如权利要求7所述的根据导航路径规划车速的装置，其特征在于，在调优车速计算模块中采用的调优车速计算公式为：
其中，t vi表示以速度v前进，到达第i个红绿灯所需时间，t wi表示在第i个红绿灯所需的等待时间，t ci表示横穿第i个红绿灯路口所需时间；f(v)表示求得使累计总时间最短的速度v的函数。 - 一种根据导航路径规划车速的系统，其特征在于，包括执行器，所述执行器用于执行如权利要求1-4中任意一项所述的根据导航路径规划车速的方法。
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