WO2018196252A1 - 一种基于红绿灯的车速诱导方法、系统及车辆 - Google Patents

一种基于红绿灯的车速诱导方法、系统及车辆 Download PDF

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WO2018196252A1
WO2018196252A1 PCT/CN2017/100752 CN2017100752W WO2018196252A1 WO 2018196252 A1 WO2018196252 A1 WO 2018196252A1 CN 2017100752 W CN2017100752 W CN 2017100752W WO 2018196252 A1 WO2018196252 A1 WO 2018196252A1
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time
vehicle
traffic light
period
light
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PCT/CN2017/100752
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English (en)
French (fr)
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李春明
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爱易成技术(天津)有限公司
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Priority to EP17907023.0A priority Critical patent/EP3509050B1/en
Publication of WO2018196252A1 publication Critical patent/WO2018196252A1/zh
Priority to US16/441,117 priority patent/US11361659B2/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • 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
    • G08G1/095—Traffic lights
    • 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

Definitions

  • the present invention relates to the field of traffic technology, and in particular, to a traffic speed induction method, system and vehicle based on traffic lights.
  • the current vehicle speed is displayed on the dashboard of the vehicle in real time.
  • the driver of the vehicle can only adjust the speed according to the current road conditions (such as the vehicle in the current section, whether there is an accident, etc.) and rely on personal driving experience to avoid the red light as much as possible.
  • the unclear display of traffic lights at the intersection of traffic lights at the front adjustments can only be made very close to the traffic lights ahead.
  • the adjustment time is short and the adjustment conditions are limited, which may cause parking and congestion of traffic lights at intersections.
  • due to the re-acceleration after parking the speed of passing through the traffic light intersection is slow, the dredging time is long, and the energy consumption is high.
  • the object of the present invention is to provide a vehicle speed induction method based on a traffic light, which can be adjusted in time
  • the present invention provides the following solutions:
  • a vehicle speed inducing method based on a traffic light comprising:
  • the induced speed interval of the vehicle travel is determined based on the distance and the effective time interval, and the driver can pass the traffic light intersection during the green light period when traveling at the speed within the induced speed interval.
  • the time parameter includes a time period of the traffic light, a start time of the time period, and a green light period, a yellow light period, and a red light period in the time period.
  • determining, according to the time parameter of the traffic light and the current time of the vehicle running, determining an effective time interval for the vehicle to continue driving specifically:
  • Time remainder (current time - starting time) % time period, where % represents the remainder operation
  • the initial value of the starting time of the vehicle to continue driving is determined according to the green light period, the yellow light period, the red light period and the time remainder in the time period:
  • Initial value of termination time initial value of start time + green light cycle
  • T 1 represents the start time in an effective time interval in which the vehicle continues to travel
  • T 2 represents the end time in an effective time interval in which the vehicle travels
  • T represents a time period of the traffic light
  • n is greater than or equal to An integer of 0.
  • the determining the driving speed of the vehicle according to the distance and the effective time interval Interval including:
  • the obtaining the location of the traffic light intersection in front is specifically: determining the location of the traffic light intersection according to the GPS coordinates of the traffic light intersection.
  • the vehicle speed induction method further includes:
  • the induced velocity interval is displayed through the dashboard.
  • the induced velocity interval is displayed in a green form.
  • the present invention discloses the following technical effects:
  • the vehicle speed induction method based on the traffic light determines the distance between the vehicle and the traffic light intersection according to the position of the traffic light intersection at the front and the current position of the vehicle, and determines the effective time interval of the vehicle to continue driving according to the time parameter of the traffic light and the current time of the vehicle travel. And determining an induced speed interval of the vehicle travel according to the distance and the effective time interval, so that the driver can pass the traffic light intersection during the green light period when traveling at the speed within the induced speed interval, thereby avoiding the traffic light intersection in front Stop and cause congestion.
  • the object of the present invention is to provide a vehicle speed induction system based on a traffic light, which can adjust the vehicle speed in time to avoid parking at a traffic light intersection.
  • the present invention provides the following solutions:
  • a traffic light induction system based on a traffic light comprising:
  • An obtaining unit configured to acquire a position of a traffic light intersection in front, a current position of the vehicle, a current time, and a time parameter of the traffic light;
  • a distance determining unit configured to determine a distance between the vehicle and a traffic light intersection according to the location of the traffic light intersection and the current position of the vehicle traveling;
  • a time determining unit configured to determine an effective time interval for the vehicle to continue driving according to the time parameter of the traffic light and the current time of the vehicle traveling;
  • the speed determining unit is configured to determine an induced speed interval of the vehicle travel according to the distance and the effective time interval, and the driver can pass the traffic light intersection during the green light period when traveling at the speed within the induced speed interval.
  • the present invention provides the following solutions:
  • a vehicle on which the above-described traffic light guidance system based on a traffic light is disposed.
  • the vehicle is further provided with an instrument panel connected to the traffic light induction system based on the traffic light for displaying an induced speed interval of the vehicle speed induction system.
  • the present invention is based on the beneficial effects of the traffic speed induction system of the traffic light, the vehicle and the above-described traffic speed induction method based on the traffic light, and details are not described herein again.
  • FIG. 1 is a flow chart of a method for inducing a vehicle speed based on a traffic light according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a vehicle speed induction system based on a traffic light according to an embodiment of the present invention.
  • the acquisition unit-1 the distance determination unit-2, the time determination unit-3, and the speed determination unit-4.
  • Traffic lights are divided into red, yellow and green.
  • the red light is stopped.
  • the green light is the rule that the vehicle must follow when it arrives at the traffic light intersection.
  • the invention will be traffic.
  • the concept of the light junction is extended to the road section, and the traffic light information is transformed into different speed intervals to be prompted by the instrument panel, etc., and the vehicle passes through the speed change during the green light to reach the traffic light intersection to avoid parking at the traffic light intersection.
  • the object of the present invention is to provide a vehicle speed induction method based on a traffic light, which determines the distance between the vehicle and the traffic light intersection according to the position of the traffic light intersection at the front and the current position of the vehicle, and determines according to the time parameter of the traffic light and the current time of the vehicle travel.
  • the vehicle speed induction method based on the traffic light of the present invention includes:
  • Step 100 Obtain a position of a traffic light intersection in front, a current position of the vehicle, a current time, and a time parameter of the traffic light;
  • Step 200 Determine a distance between the vehicle and a traffic light intersection according to the location of the traffic light intersection and the current position of the vehicle traveling;
  • Step 300 Determine an effective time interval in which the vehicle continues to travel according to the time parameter of the traffic light and the current time of the vehicle traveling;
  • Step 400 Determine an induced speed interval of the vehicle travel according to the distance and the effective time interval, and the driver can pass the traffic light intersection during the green light period when traveling at the speed within the induced speed interval;
  • Step 500 Display the induced speed interval through the dashboard.
  • the induced velocity interval is displayed in green form.
  • the location of the traffic light intersection in front is obtained as follows: the location of the traffic light intersection is determined according to the GPS coordinates of the traffic light intersection.
  • step 200 determining according to the location of the traffic light intersection and the current position of the vehicle traveling
  • the distance between the vehicle and the traffic light intersection is specifically calculated by the GPS coordinates of the front traffic light intersection and the current position coordinates of the vehicle, and the distance between the vehicle and the traffic light intersection is calculated.
  • the time parameter includes a time period of the traffic light, a start time of the time period, a green light period, a yellow light period, and a red light period during the time period.
  • step 300 the effective time interval of the vehicle to continue driving is determined according to the time parameter of the traffic light and the current time of the vehicle running, which specifically includes:
  • Time remainder (current time - starting time) % time period, where % represents the remainder operation
  • the initial value of the starting time of the vehicle to continue driving is determined according to the green light period, the yellow light period, the red light period and the time remainder in the time period:
  • Initial value of termination time initial value of start time + green light cycle
  • T 1 represents the start time in an effective time interval in which the vehicle continues to travel
  • T 2 represents the end time in an effective time interval in which the vehicle travels
  • T represents a time period of the traffic light
  • n is greater than or equal to An integer of 0.
  • the yellow light and the red light are not considered in the traffic light intersection at the front of the vehicle.
  • the traffic light at the current traffic light intersection is red or yellow, you need to find the green light head time and the green light tail at the next time period. Time, the initial value of the start time and the initial value of the end time.
  • step 400 the determining an interval of the driving speed of the vehicle according to the distance and the effective time interval includes:
  • the maximum speed limit value of the vehicle is 90 km/h and the minimum speed limit value is 15 km/h).
  • T 1 represents the start time in an effective time interval in which the vehicle continues to travel
  • T 2 represents the end time in an effective time interval in which the vehicle travels
  • T represents a time period of the traffic light
  • n is greater than or equal to An integer of 0.
  • the two sets of induced velocity intervals are [17, 24] (km/h) and [55, 90], respectively. Km/h).
  • the driver of the vehicle can drive at any speed within the two sets of induced speed intervals, and can pass when the traffic light at the front traffic light intersection is green, thereby avoiding parking congestion caused by the parking.
  • the invention also provides a vehicle speed induction system based on traffic lights, the driver adjusts the vehicle speed at any time according to the actual situation of the road, and controls the vehicle speed in the induced speed interval before approaching the traffic light intersection to pass the traffic light intersection during the green light.
  • the vehicle speed induction system based on the traffic light of the present invention includes an acquisition unit 1, a distance determination unit 2, a time determination unit 3, and a speed determination unit 4.
  • the obtaining unit 1 acquires the position of the traffic light intersection in front, the current position of the vehicle, the current time, and the time parameter of the traffic light; the distance determining unit 2 determines the location of the traffic light intersection and the current position of the vehicle traveling. a distance between the vehicle and a traffic light intersection; the time determining unit 3 determines an effective time interval in which the vehicle continues to travel according to the time parameter of the traffic light and the current time of the vehicle traveling; the speed determining unit 4 is based on the distance and The effective time interval determines an induced speed interval of the vehicle travel, and the driver can pass the traffic light intersection during the green light cycle when traveling at the speed within the induced speed interval.
  • the vehicle speed induction system based on the traffic light of the invention can be set on the vehicle to provide reference for the driver of the vehicle in real time; and is also set as an intersection sign, which is set at a fixed position near the intersection of the traffic light to provide reference for the passing vehicles.
  • the passing vehicle can travel at a constant speed to the traffic light intersection at the speed of the induced speed range when passing through the display screen, and it can also ensure that it passes during the green light.
  • the present invention also provides a vehicle on which the above-described traffic light guidance system based on a traffic light is disposed.
  • the vehicle of the present invention is further provided with an instrument panel connected to the traffic light induction system based on the traffic light for displaying an induced speed interval of the vehicle speed induction system.
  • the present invention is based on the beneficial effects of the traffic speed induction system of the traffic light, the vehicle and the above-described traffic speed induction method based on the traffic light, and details are not described herein again.

Abstract

一种基于红绿灯的车速诱导方法、系统及车辆，车速诱导方法包括：获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数（100）；根据交通灯路口位置、车辆行驶的当前位置确定车辆与交通灯路口的距离（200）；根据交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间（300）；根据距离与有效时间区间确定车辆行驶的诱导速度区间（400），驾驶员以诱导速度区间内的速度行驶时能够在绿灯周期内通过交通灯路口，从而避免在前方交通灯路口停车、造成拥堵情况。

Description

一种基于红绿灯的车速诱导方法、系统及车辆
本申请要求于2017年04月27日提交中国专利局、申请号为201710285524.3、发明名称为“一种基于红绿灯的车速诱导方法、系统及车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及交通技术领域，特别是涉及一种基于红绿灯的车速诱导方法、系统及车辆。
背景技术
目前，车辆仪表盘上实时显示的是当前车速，车辆驾驶人员只能根据当前路况(例如当前路段中的车辆、有无意外事故等)以及凭借个人驾驶经验调整车速，以尽量规避红灯。但是由于不清楚前方交通灯路口红绿灯的显示情况，只能在距离前方红绿灯很近的地方才能进行调整，调整时间短、调整条件受限制，从而容易造成交通灯路口车辆停车、拥堵等。此外，由于停车后重新加速，导致通过交通灯路口时速度慢、疏通时间长，且能耗高。
发明内容
本发明的目的是提供一种基于红绿灯的车速诱导方法，能够及时调整
车速，避免在交通灯路口停车。
为实现上述目的，本发明提供了如下方案：
一种基于红绿灯的车速诱导方法，所述车速诱导方法包括：
获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数；
根据所述交通灯路口位置、车辆行驶的当前位置确定所述车辆与交通灯路口的距离；
根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；
根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口。
可选的，所述时间参数包括交通灯的一个时间周期、时间周期的起始时刻，在所述时间周期内绿灯周期、黄灯周期及红灯周期。
可选的，根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间，具体包括：
根据以下公式确定时间余数：
时间余数＝(当前时刻-起始时刻)％时间周期，其中，％表示取余运算；
根据所述时间周期内绿灯周期、黄灯周期及红灯周期与时间余数确定车辆继续行驶的起始时间初值：
如果所述时间余数小于绿灯周期，则所述交通灯路口的当前交通灯为绿灯，起始时间初值＝绿灯周期-时间余数；
如果所述时间余数大于绿灯周期且小于绿灯周期与黄灯周期之和，则交通灯路口的当前交通灯为黄灯，起始时间初值＝绿灯周期+黄灯周期-时间余数；
如果所述时间余数大于绿灯周期与黄灯周期之和，则所述交通灯路口的当前交通灯为红灯，起始时间时间＝时间周期-时间余数；
根据以下公式确定车辆继续行驶的终止时间初值：
终止时间初值＝起始时间初值+绿灯周期；
根据以下公式确定多组有效时间区间[T1,T2]:
Figure PCTCN2017100752-appb-000001
其中，T1表示在车辆继续行驶的一个有效时间区间内的起始时间，T2表示在车辆行驶的一个有效时间区间内的终止时间，T表示交通灯的一个时间周期，n为大于或等于0的整数。
可选的，所述根据所述距离与有效时间区间确定车辆行驶的诱导速度 区间，具体包括：
根据以下公式确定多对极速值vi：
Figure PCTCN2017100752-appb-000002
其中，S表示所述车辆与交通灯路口的距离，i＝1,2；
根据以下公式确定多组诱导速度区间[V2,V1]:
Figure PCTCN2017100752-appb-000003
可选的，所述获取前方的交通灯路口位置具体为：根据所述交通灯路口的GPS坐标，确定所述交通灯路口的位置。
可选的，所述车速诱导方法还包括：
通过仪表盘显示所述诱导速度区间。
可选的，所述诱导速度区间以绿色形式显示。
根据本发明提供的具体实施例，本发明公开了以下技术效果：
本发明基于红绿灯的车速诱导方法根据前方的交通灯路口位置、车辆行驶的当前位置确定车辆与交通灯路口的距离，根据交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；进而根据距离与有效时间区间确定车辆行驶的诱导速度区间，使得驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口，从而避免在前方的交通灯路口停车、造成拥堵情况。
本发明的目的是提供一种基于红绿灯的车速诱导系统，能够及时调整车速，避免在交通灯路口停车。
为实现上述目的，本发明提供了如下方案：
一种基于红绿灯的车速诱导系统，所述车速诱导系统包括：
获取单元，用于获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数；
距离确定单元，用于根据所述交通灯路口位置、车辆行驶的当前位置确定所述车辆与交通灯路口的距离；
时间确定单元，用于根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；
速度确定单元，用于根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口。
本发明的目的是提供一种车辆，能够及时调整车速，避免在交通灯路口停车。
为实现上述目的，本发明提供了如下方案：
一种车辆，所述车辆上设置有上述基于红绿灯的车速诱导系统。
可选的，所述车辆上还设置有仪表盘，与所述基于红绿灯的车速诱导系统连接，用于显示所述车速诱导系统的诱导速度区间。
相对于现有技术，本发明基于红绿灯的车速诱导系统、车辆与上述基于红绿灯的车速诱导方法的有益效果相同，在此不再赘述。
说明书附图
下面结合附图对本发明作进一步说明：
图1为本发明实施例基于红绿灯的车速诱导方法的流程图；
图2为仪表盘显示实施例；
图3为本发明实施例基于红绿灯的车速诱导系统的结构示意图。
符号说明：
获取单元—1，距离确定单元—2，时间确定单元—3，速度确定单元—4。
具体实施方式
下面结合本发明实施例中的附图，对本发明实施例中技术方案进行详细的描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例；基于本发明中的实施例，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发明保护的范围。
交通灯分为红、黄、绿，其中红灯停，绿灯行是车辆在到达红绿灯交通灯路口必须遵守的规则，车辆在到达交通灯路口时只有两种状态，走或停；本发明将交通灯路口的概念扩大到路段上，将红绿灯的信息变换成不同的速度区间以仪表盘等方式提示，车辆在行进中通过速度的变化在绿灯期间到达交通灯路口，避免在交通灯路口停车。
本发明的目的是提供一种基于红绿灯的车速诱导方法，根据前方的交通灯路口位置、车辆行驶的当前位置确定车辆与交通灯路口的距离，根据交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；进而根据距离与有效时间区间确定车辆行驶的诱导速度区间，使得驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口，从而避免在前方交通灯路口停车、造成拥堵情况；同时由于避免停车，降低了车辆的能耗。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
如图1所示，本发明基于红绿灯的车速诱导方法包括：
步骤100：获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数；
步骤200：根据所述交通灯路口位置、车辆行驶的当前位置确定所述车辆与交通灯路口的距离；
步骤300：根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；
步骤400：根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口；
步骤500：通过仪表盘显示所述诱导速度区间。优选地，所述诱导速度区间以绿色形式显示。
其中，获取前方的交通灯路口位置具体为：根据所述交通灯路口的GPS坐标，确定所述交通灯路口的位置。
在步骤200中，根据所述交通灯路口位置、车辆行驶的当前位置确定 所述车辆与交通灯路口的距离具体为通过前方交通灯路口的GPS坐标、车辆当前位置坐标，计算车辆与交通灯路口的距离。
所述时间参数包括交通灯的一个时间周期、时间周期的起始时刻，在所述时间周期内绿灯周期、黄灯周期及红灯周期。
在步骤300中，根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间，具体包括：
根据以下公式确定时间余数：
时间余数＝(当前时刻-起始时刻)％时间周期，其中，％表示取余运算；
根据所述时间周期内绿灯周期、黄灯周期及红灯周期与时间余数确定车辆继续行驶的起始时间初值：
如果所述时间余数小于绿灯周期，则所述交通灯路口的当前交通灯为绿灯，起始时间初值＝绿灯周期-时间余数；
如果所述时间余数大于绿灯周期且小于绿灯周期与黄灯周期之和，则交通灯路口的当前交通灯为黄灯，起始时间初值＝绿灯周期+黄灯周期-时间余数；
如果所述时间余数大于绿灯周期与黄灯周期之和，则所述交通灯路口的当前交通灯为红灯，起始时间时间＝时间周期-时间余数；
根据以下公式确定车辆继续行驶的终止时间初值：
终止时间初值＝起始时间初值+绿灯周期；
根据以下公式确定多组有效时间区间[T1,T2]:
Figure PCTCN2017100752-appb-000004
其中，T1表示在车辆继续行驶的一个有效时间区间内的起始时间，T2表示在车辆行驶的一个有效时间区间内的终止时间，T表示交通灯的一个时间周期，n为大于或等于0的整数。
黄灯和红灯都不在车辆通过前方的交通灯路口的考虑范围内，当前方的交通灯路口的交通灯为红灯或者黄灯时，需要找下一个时间周期的绿灯灯头时间和绿灯灯尾时间，即起始时间初值和终止时间初值。
在步骤400中，所述根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，具体包括：
根据以下公式确定多对极速值vi：
Figure PCTCN2017100752-appb-000005
其中，S表示所述车辆与交通灯路口的距离，i＝1,2；
根据以下公式确定多组诱导速度区间[V2,V1]:
Figure PCTCN2017100752-appb-000006
下面以一具体实施例详细介绍(车辆的最高限速值为90km/h、最低限速值为15km/h)。
例如，根据前方交通灯路口位置、车辆行驶的当前位置，确定车辆与交通灯路口的距离为500m；交通灯的时间周期的起始时刻为t1＝2017-04-7,15:00:34，绿灯周期为g＝30s、黄灯周期为y＝6s、红灯周期r＝36s，时间周期为T＝72s，当前时刻为：t2＝2017-04-07,15:09:20。
时间余数d＝(t2-t1)％T＝69。
由于d>g+y，则前方交通灯为红灯，此时计划下一时间周期的起始时间初值T1初和终止时间初值T2初：
T1初＝T-d＝3s，T2初＝T1初+g＝33s，
多组有效时间区间[T1,T2]:
Figure PCTCN2017100752-appb-000007
其中，T1表示在车辆继续行驶的一个有效时间区间内的起始时间，T2表示在车辆行驶的一个有效时间区间内的终止时间，T表示交通灯的一个时间周期，n为大于或等于0的整数。
当n＝0时，[T1,T2]＝[3,33]，
Figure PCTCN2017100752-appb-000008
由于v1＞90km/h，则V1＝90km/h；
Figure PCTCN2017100752-appb-000009
v2＞15km/h，则V2＝55km/h，因此，此时的诱导速度区间为[55,90](km/h)。
当n＝1时，[T1,T2]＝[75,105]，
Figure PCTCN2017100752-appb-000010
v1＜90km/h，则V1＝24km/h；
Figure PCTCN2017100752-appb-000011
v2＞15km/h，则V2＝17km/h，因此，此时的诱导速度区间为[17,24](km/h)。
继续计算其他时间周期内的起始时间和终止时间，及其对应的极速值vi，直到极速值vi不满足限速条件(v1＜90km/h，v2＞15km/h)。
在本实施例中，共有两组诱导速度区间[V2,V1]，如图2所示，两组诱导速度区间分别为[17,24](km/h)和[55,90](km/h)。
该车辆的驾驶员可以在两组诱导速度区间内的任一速度行驶，均可在前方的交通灯路口的交通灯为绿灯时通过，从而避免停车造成交通路口拥堵。
本发明还提供一种基于红绿灯的车速诱导系统，驾驶员根据道路的实际情况随时调整车速，在接近交通灯路口前将车速控制在诱导速度区间即可在绿灯期间通过交通灯路口。如图3所示，本发明基于红绿灯的车速诱导系统包括获取单元1、距离确定单元2、时间确定单元3及速度确定单元4。
其中，所述获取单元1获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数；所述距离确定单元2根据所述交通灯路口位置、车辆行驶的当前位置确定所述车辆与交通灯路口的距离；所述时间确定单元3根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；所述速度确定单元4根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口。
本发明基于红绿灯的车速诱导系统可设置在车辆上，实时为车辆驾驶人员提供参考；也是设置为路口指示牌，设置在交通灯路口附近固定位置处，为过往车辆提供参考。
例如，将车辆仪表盘所显示的内容复制到安装于道旁或车道上方的 LED显示屏上，提示过往车辆在经过显示屏时以诱导速度区间的速度匀速行驶至交通灯路口，也可以确保在绿灯期间通过。
进一步地，本发明还提供一种车辆，所述车辆上设置有上述基于红绿灯的车速诱导系统。可选的，本发明车辆上还设置有仪表盘，与所述基于红绿灯的车速诱导系统连接，用于显示所述车速诱导系统的诱导速度区间。
相对于现有技术，本发明基于红绿灯的车速诱导系统、车辆与上述基于红绿灯的车速诱导方法的有益效果相同，在此不再赘述。
上面结合附图对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式，在所属技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下做出各种变化。

Claims (10)

  1. 一种基于红绿灯的车速诱导方法，其特征在于，所述车速诱导方法包括：
    获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数；
    根据所述交通灯路口位置、车辆行驶的当前位置确定所述车辆与交通灯路口的距离；
    根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；
    根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口。
  2. 根据权利要求1所述的基于红绿灯的车速诱导方法，其特征在于，所述时间参数包括交通灯的一个时间周期、时间周期的起始时刻，在所述时间周期内绿灯周期、黄灯周期及红灯周期。
  3. 根据权利要求2所述的基于红绿灯的车速诱导方法，其特征在于，根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间，具体包括：
    根据以下公式确定时间余数：
    时间余数＝(当前时刻-起始时刻)％时间周期，其中，％表示取余运算；
    根据所述时间周期内绿灯周期、黄灯周期及红灯周期与时间余数确定车辆继续行驶的起始时间初值：
    如果所述时间余数小于绿灯周期，则所述交通灯路口的当前交通灯为绿灯，起始时间初值＝绿灯周期-时间余数；
    如果所述时间余数大于绿灯周期且小于绿灯周期与黄灯周期之和，则交通灯路口的当前交通灯为黄灯，起始时间初值＝绿灯周期+黄灯周期-时间余数；
    如果所述时间余数大于绿灯周期与黄灯周期之和，则所述交通灯路口的当前交通灯为红灯，起始时间时间＝时间周期-时间余数；
    根据以下公式确定车辆继续行驶的终止时间初值：
    终止时间初值＝起始时间初值+绿灯周期；
    根据以下公式确定多组有效时间区间[T1,T2]:
    Figure PCTCN2017100752-appb-100001
    其中，T1表示在车辆继续行驶的一个有效时间区间内的起始时间，T2表示在车辆行驶的一个有效时间区间内的终止时间，T表示交通灯的一个时间周期，n为大于或等于0的整数。
  4. 根据权利要求3所述的基于红绿灯的车速诱导方法，其特征在于，所述根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，具体包括：
    根据以下公式确定多对极速值vi：
    Figure PCTCN2017100752-appb-100002
    其中，S表示所述车辆与交通灯路口的距离，i＝1,2；
    根据以下公式确定多组诱导速度区间[V2,V1]:
    Figure PCTCN2017100752-appb-100003
  5. 根据权利要求1-4中任一项所述的基于红绿灯的车速诱导方法，其特征在于，所述获取前方的交通灯路口位置具体为：根据所述交通灯路口的GPS坐标，确定所述交通灯路口的位置。
  6. 根据权利要求1所述的基于红绿灯的车速诱导方法，其特征在于，所述车速诱导方法还包括：
    通过仪表盘显示所述诱导速度区间。
  7. 根据权利要求6所述的基于红绿灯的车速诱导方法，其特征在于，所述诱导速度区间以绿色形式显示。
  8. 一种基于红绿灯的车速诱导系统，其特征在于，所述车速诱导系统包括：
    获取单元，用于获取前方的交通灯路口位置、车辆行驶的当前位置、当前时刻以及交通灯的时间参数；
    距离确定单元，用于根据所述交通灯路口位置、车辆行驶的当前位置确定所述车辆与交通灯路口的距离；
    时间确定单元，用于根据所述交通灯的时间参数及车辆行驶的当前时刻确定车辆继续行驶的有效时间区间；
    速度确定单元，用于根据所述距离与有效时间区间确定车辆行驶的诱导速度区间，驾驶员以所述诱导速度区间内的速度行驶时能够在绿灯周期内通过所述交通灯路口。
  9. 一种车辆，其特征在于，所述车辆上设置有权利要求8所述的基于红绿灯的车速诱导系统。
  10. 根据权利要求9所述的车辆，其特征在于，所述车辆上还设置有仪表盘，与所述基于红绿灯的车速诱导系统连接，用于显示所述车速诱导系统的诱导速度区间。
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