WO2020134805A1 - 一种闯红灯预警方法及装置 - Google Patents

一种闯红灯预警方法及装置 Download PDF

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Publication number
WO2020134805A1
WO2020134805A1 PCT/CN2019/121131 CN2019121131W WO2020134805A1 WO 2020134805 A1 WO2020134805 A1 WO 2020134805A1 CN 2019121131 W CN2019121131 W CN 2019121131W WO 2020134805 A1 WO2020134805 A1 WO 2020134805A1
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WIPO (PCT)
Prior art keywords
vehicle
red light
time
green light
speed
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Application number
PCT/CN2019/121131
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English (en)
French (fr)
Inventor
陈晓光
杨建�
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华为技术有限公司
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Publication of WO2020134805A1 publication Critical patent/WO2020134805A1/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
    • G08G1/0967—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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • 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
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • 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

Definitions

  • the embodiments of the present application relate to the technical field of traffic control, and in particular to a warning method and device for running a red light.
  • traffic lights are installed at road intersections, and the movement of motor vehicles is controlled by changes in the colors of traffic lights. For example, when traffic lights are red, motor vehicle communication is prohibited, and when traffic lights are green, motor vehicles are allowed to pass through.
  • traffic lights are used to control the passage of motor vehicles. For example, when a driver approaches a road intersection and the green light has little time left or the traffic light is yellow, does the driver "go" or "stop” "There is no fixed and unified standard, and the driver can only choose to "go" or "stop” based on his own experience.
  • Embodiments of the present application provide a warning method and device for running a red light, to determine that the vehicle needs to accelerate through when the vehicle is running a red light, and notify the driver of the determination result to improve the user experience.
  • a red light warning method determines that the vehicle has a red light risk, and the red light warning device calculates the guide speed; where the guide speed is the speed required for the vehicle to safely pass through the intersection; If the vehicle speed v 0 is less than the guide vehicle speed, it is determined that the vehicle needs to accelerate, and the first prompt message is sent to the driver of the vehicle; the first prompt message is used to remind the driver of the risk of running through a red light, please speed through.
  • the vehicle speed required for the vehicle to safely pass through the intersection can be calculated, and when the calculated vehicle speed is greater than the vehicle's current vehicle, it can be determined that the vehicle needs to accelerate.
  • the above-mentioned guide vehicle speed is a vehicle speed section [first vehicle speed, second vehicle speed], where the first vehicle speed is the minimum vehicle speed required for the vehicle to safely pass through the intersection; the second vehicle speed is the vehicle The maximum speed required to pass the intersection.
  • the vehicle speed range required for the vehicle to safely pass the intersection can be calculated, and the vehicle speed required for the vehicle to safely pass the intersection can be expanded.
  • the red light warning device calculates the leading vehicle speed, including: determining the safe passage time of the vehicle; wherein, the safe passage time is the time when the vehicle passes the intersection safely ; Based on the safe passage time, the distance d 0 between the current vehicle and the stop line, and the maximum speed limit v lim of the road, the guide vehicle speed is calculated. Based on this possible design, the guide vehicle speed can be calculated based on the safe passage time and the distance between the vehicle and the stop line, and the calculation is simple.
  • determining the safe passage time of the vehicle includes: if the ratio of d 0 to v 0 Less than the remaining time of the green light, the safe passage time is determined to be the current green light time; or, if the ratio of d 0 to v 0 is greater than or equal to the remaining time of the green light, the safe passage time is determined to be the next green light time.
  • the current green light time can be used as the time for the vehicle to safely pass the intersection based on the current speed of the vehicle, or the next green light time can be used as the time for the vehicle to safely pass through the intersection.
  • determining the safe passage time includes: if the vehicle is within the remaining time of the green light, The maximum acceleration of the vehicle a max accelerates to v max , and v max is less than the maximum speed limit v lim of the road, then it is determined whether the vehicle travels at a max acceleration for more than d 0 during the remaining time of the green light; if the vehicle is at the green light During the remaining time, the distance traveled with a max acceleration is greater than d 0 , the safe passage time is determined as the current green light time; if the vehicle travels with a max acceleration within the remaining time of the green light is less than or equal to d 0 , the safety is determined The transit time is the time of the next green light. Based on this possible design, the current green light time can be used as the time for the vehicle to safely pass the intersection according to the maximum acceleration of the vehicle, or the next green light time can be used as
  • determining the safe passage time includes: if the vehicle is within the remaining time of the green light, maximum acceleration a max of the vehicle acceleration to v max, and v xma than or equal to the maximum road speed v lim, it is determined that the vehicle acceleration to a max v max to the distance traveled and a vehicle traveling at constant speed v lim and the distance Whether it is greater than d 0 ; if the sum of distances is greater than d 0 , the safe passage time is determined to be the current green light time; if the sum of distances is less than or equal to d 0 , the safe passage time is determined to be the next green light time.
  • the current green light time can be used as the time for the vehicle to safely pass through the intersection, or the next green light time can be used as the time for the vehicle to safely pass through the intersection.
  • the method further includes: determining whether the vehicle is at risk of running a red light at the next moment ; If the vehicle has the risk of running a red light at the next moment, determine whether the vehicle needs to decelerate at the next moment; if the vehicle needs to decelerate, then send a second reminder to the driver; where the second reminder is used to remind the driver to have a red light Risk, please slow down.
  • the method can be calculated in real time whether the vehicle is at risk of running through a red light, and promptly prompt the driver when the determination result changes to improve the user experience.
  • the method further includes: if the current vehicle speed v 0 is greater than the guide vehicle speed, sending a third to the driver of the vehicle Prompt information; among them, the third prompt information is used to remind the driver of the risk of running through the red light, please slow down. Based on this possible design, the driver may be prompted to slow down when the current speed of the vehicle is greater than the guidance speed.
  • the red light warning device determines that the vehicle is at risk of red light, including: the red light warning device obtains traffic signal information from the roadside unit RSU and stops The position information of the line; the red light warning device determines the distance d 0 between the vehicle and the stop line according to the position information of the stop line and the current vehicle; the red light warning device based on the current vehicle speed v 0 , the traffic signal information and the vehicle and The distance d 0 between the stop lines determines that the vehicle is at risk of running a red light. Based on this possible design, the red light warning device can interact with the information of the RSU to determine whether the vehicle has the risk of red light.
  • the present application provides a red light warning device, which can be a vehicle-mounted terminal on a vehicle or a chip or system-on-chip in a vehicle-mounted terminal; it can also be a server that provides business services to a vehicle or a chip in the server Or system on chip.
  • the red light warning device can realize the functions performed by the red light warning device in the above aspects or possible designs, and the function can be implemented by hardware, or can also be implemented by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions.
  • the red light warning device may include: a determination unit, a calculation unit, and a sending unit;
  • the determination unit is used to determine that the vehicle has a risk of running through a red light
  • a calculation unit for calculating a guide vehicle speed wherein, the guide vehicle speed is a vehicle speed required for the vehicle to safely pass through an intersection;
  • a sending unit configured to send first prompt information to the driver of the vehicle if the current vehicle speed v 0 is less than the guide speed; wherein, the first prompt information is used to remind the driver of Risk of running a red light, please speed through.
  • the specific implementation of the red light warning device can refer to the behavior function of the vehicle-mounted terminal in the red light warning method provided in the first aspect or any possible design of the first aspect, which will not be repeated here. Therefore, the provided red light warning device can achieve the same beneficial effects as the first aspect or any possible design of the first aspect.
  • a red light warning device including: a processor and a memory; the memory is used to store a computer execution instruction, and when the red light warning device is running, the processor executes the computer execution instruction stored in the memory, to The red light early warning device is caused to execute the red light early warning method as described in the first aspect or any possible design of the first aspect.
  • a computer-readable storage medium in which instructions are stored in the computer-readable storage medium, which when run on a computer, enables the computer to execute the first aspect or any of the above aspects Design the red light warning method described above.
  • a computer program product containing instructions, which when run on a computer, enables the computer to execute the red light warning method described in the first aspect or any possible design of the above aspect.
  • a chip system in a sixth aspect, includes a processor and a communication interface for supporting a red light warning device to implement the functions described in the above aspects.
  • the processor determines that the vehicle is at risk of red light, and calculates the speed of the vehicle.
  • a first prompt message is sent to the driver of the vehicle; wherein, the first prompt message is used to remind the driver that there is a risk of running through a red light, please speed through .
  • the chip system further includes a memory, which is used to store necessary program instructions and data of the red light warning device.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • FIG. 1 is a simplified schematic diagram of a vehicle-road cooperative warning system provided by an embodiment of the present application
  • FIG. 2 is a flowchart of a red light warning method provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of calculating a guide vehicle speed provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of the composition of a red light warning device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another red light warning device provided by an embodiment of the present application.
  • the method provided by the embodiment of the present application can be applied to a vehicle-road cooperative warning system with a warning sign for running red lights.
  • the vehicle-road cooperative warning system can include: a warning device for running red lights, multiple vehicles, and a roadside unit (roadside unit) unit, RSU) and traffic lights.
  • RSU roadside unit
  • Red light warning device can communicate with RSU through wireless link, such as: can receive traffic signal information and other information from RSU, and according to the information received from RSU and the current driving status of the vehicle (such as: the current driving of the vehicle Speed, driving position of the vehicle, etc.) execute the red light warning method provided by the embodiment of the present application.
  • the red light warning device may be a vehicle or a chip or system on chip in the vehicle, for example, it may be an on-vehicle equipment (on-vechile equipment) on the vehicle.
  • the red light warning device can be deployed on a server that provides business services to the vehicle, such as a module or chip that can execute the method described in the embodiments of the present application on the server.
  • RSU can be deployed at intersections near traffic lights.
  • RSU is mainly used to collect the information of traffic lights in the direction of the vehicle and the position information of the stop line, and send the collected information to the red light warning device.
  • Traffic lights are mainly used to guide vehicle communication.
  • Traffic lights can include three light states: red light, green light, and yellow light. These three light states can work alternately. Among them, the red light is used to prohibit the driver from passing, the green light is used to allow the driver to pass, and the yellow light is used to prompt the driver that the traffic signal light turns into a red light immediately, and the yellow light works for a short time, usually 3 seconds. In the embodiment of the present application, for the convenience of description, the working time of the yellow light is ignored, and the traffic signal light includes a red light and a green light as an example to describe the method provided by the embodiment of the present application.
  • the system shown in FIG. 1 is only an exemplary system diagram, and the embodiment of the present application does not limit the number of devices included in the system shown in FIG. 1.
  • the system shown in FIG. 1 may also include other devices and the like.
  • the naming of each device in the system shown in FIG. 1 is only an example. In specific implementation, the naming of each device and the communication link between the devices may also be other names, which are not specifically limited in the embodiments of the present application.
  • FIG. 2 is a red light warning method provided by an embodiment of the present application.
  • the method may be executed by a red light warning device. As shown in FIG. 2, the method may include:
  • Step 201 The red light warning device determines that the vehicle has a risk of red light.
  • the red light warning device determining that the vehicle has a risk of red light may include:
  • the position information of the stop line and the current vehicle position information determine the distance d 0 between the vehicle and the stop line;
  • the traffic signal information According to the current vehicle speed v 0 , the traffic signal information and the distance d 0 between the vehicle and the stop line, it is determined that the vehicle has a risk of running through a red light.
  • the information of the traffic lights includes the status of the traffic lights and the remaining time of the status; the status of the traffic lights includes the green or red lights; the red light warning device is based on the current vehicle speed v 0 , the information of the traffic lights, and the vehicle and the stop line
  • the distance d 0 between them which determines that the vehicle is at risk of running through red lights, may include:
  • the vehicle is determined to be at risk of red light; or, if the traffic signal light status is red and the ratio of d 0 to v 0 Less than the remaining time of the red light, it is determined that the vehicle has a risk of running through the red light.
  • the vehicle speed v 0 is 70 km/h
  • the distance d 0 between the vehicle and the stop line is 1 km
  • Step 202 The red light warning device calculates the guidance vehicle speed.
  • the guide vehicle speed may be the vehicle speed required for the vehicle to safely pass through the intersection.
  • the guide vehicle speed may be a vehicle speed range [first vehicle speed, second vehicle speed], the first vehicle speed may be the minimum vehicle speed required for the vehicle to safely pass the intersection; the second vehicle speed may be the maximum vehicle speed required for the vehicle to pass the intersection .
  • first vehicle speed may be the minimum vehicle speed required for the vehicle to safely pass the intersection
  • second vehicle speed may be the maximum vehicle speed required for the vehicle to pass the intersection .
  • the calculation of the guiding vehicle speed by the red light warning device may include:
  • the vehicle Determine the safe passage time of the vehicle, and calculate the guide speed according to the safe passage time and the distance d 0 between the current vehicle and the stop line. For example, the distance d 0 between the current vehicle and the stop line and the safe passage time can be calculated by division to obtain the guide vehicle speed.
  • the safe passage time is the time when the vehicle passes the intersection safely.
  • the safe passage time may be the current green light time or the next green light time.
  • the current green light time can be [1, the remaining time of the green light], that is, the safe passage time can be the working time of the current green light;
  • the next green light time can be [the remaining time of the green light + the preset time of the red light, the remaining time of the green light + The preset time of red light + the preset time of green light], that is, the safe passage time is the end of this green light, and the green light time after the red light is separated by one.
  • the safe passage time can be [the remaining time of the red light, the remaining time of the red light + the preset time of the green light], that is, the safe passage time is the time of the first green light after the red light ends .
  • the preset time of the red light is a preset working time of the red light
  • the preset time of the green light is the preset working time of the green light.
  • the red light warning device may determine the safe passage time of the vehicle in any of the following three ways:
  • Method 1 If the ratio of d 0 and v 0 is less than the remaining time of the green light, the safe passage time is determined as the current green light time; otherwise, if the ratio of d 0 and v 0 is greater than or equal to the remaining time of the green light, the safe passage time is determined It is the time for the next green light.
  • Method 2 If the vehicle accelerates to v max with the maximum acceleration of the vehicle a max during the remaining time of the green light, and v max is less than the maximum speed limit v lim of the road, it is determined that the vehicle accelerates with a max during the remaining time of the green light Whether the distance traveled is greater than d 0 ;
  • the safe passage time is determined to be the current green light time; otherwise, if the vehicle travels at a max acceleration time during the remaining time of the green light, the distance traveled by a max is less than or When it is equal to d 0 , the safe passage time is determined as the next green light time.
  • Method 3 If the vehicle accelerates at the maximum acceleration of the vehicle a max to v max within the remaining time of the green light, and v max is greater than or equal to the maximum speed limit v lim of the road, the vehicle is judged to accelerate at a max to v max Whether the sum of the distance and the distance traveled by the vehicle at a constant speed of v lim is greater than d 0 ;
  • the safe passage time is determined to be the current green light time; otherwise, if the sum of the distances is less than or equal to d 0 , the safe passage time is determined to be the next green light time.
  • the maximum speed limit v lim of the road may be preset according to the type of road, and the maximum speed limit of different types of roads may be different.
  • the maximum speed limit for rural roads may be 120 km/h
  • the maximum speed limit for roads in urban areas may be 70 km/h, etc., without limitation.
  • the traffic signal light is a green light
  • the remaining time of the green light is t r
  • the start time of the red light is t r
  • the end time of the red light is t g
  • the next green light The start time is t g
  • the end time of the next green light is t r1
  • the safe passage time of the vehicle is t p
  • the leading vehicle speed is v p
  • the time for the driver to adjust the acceleration of the vehicle to v max is t d as an example
  • the process may include:
  • Step 301 Determine that the traffic signal light is a green light.
  • Step 302 determining a constant speed v 0 End vehicle running distance d 0 is smaller than elapsed time t r, if yes, step 303 is performed, otherwise, step 304 is performed. Alternatively, it is determined whether the vehicle accelerates at tr with v max and the distance t r is greater than d 0. If so, step 303 is executed, and if not, step 304 is executed.
  • step 303 determines that the vehicle first accelerates to the maximum speed limit of the road v lim at v max + the distance traveled by the vehicle at a constant speed of v lim (t r -t d -(v lim -v 0 )/a max ) + vehicle Whether the distance of traveling t d at a constant speed of v 0 is greater than d 0 , if yes, step 303 is executed, and if not, step 304 is executed.
  • step 303 is executed, and if not, step 304 is executed.
  • Step 303 Determine that the safe passage time t p is [1, t r ].
  • Step 304 Determine that the safe passage time t p is [t g , t r1 ].
  • Step 305 According to the safe passage time t p , the distance d 0 between the vehicle and the stop line, and the maximum speed limit of the road, obtain the guide vehicle speed v p .
  • v p can be calculated using the following formula:
  • v l is the minimum vehicle speed required for the vehicle to safely pass the intersection
  • v h is the maximum vehicle speed required for the vehicle to safely pass the intersection.
  • Step 203 If the current vehicle speed v 0 is less than the guide vehicle speed, it is determined that the vehicle needs to accelerate, and the first prompt message is sent to the driver.
  • the first prompt message can be used to remind the driver of the risk of running through a red light, please speed up.
  • the first prompt information may be information in the form of voice
  • the red light warning device may send the first prompt information to the driver through a voice player, which may be a horn or the like installed on the vehicle.
  • the red light warning device sends a third prompt message to the driver of the vehicle. If the current vehicle speed v 0 is equal to the leading vehicle speed, the red light warning device may not give any reminder.
  • the third prompt message is used to remind the driver of the risk of running through the red light, please slow down.
  • the third prompt information may be information in the form of voice.
  • the red light warning device may send the third prompt information to the driver through a voice player.
  • the vehicle speed required to safely pass through the intersection can be calculated, and when the calculated vehicle speed is greater than the vehicle's current vehicle, the vehicle needs to be accelerated to the driver
  • the method may further include: determining whether the vehicle has a risk of red light at the next moment;
  • the vehicle If the vehicle needs to decelerate, it will send a second prompt message to the driver; where the second prompt message is used to remind the driver of the risk of running through a red light, please slow down.
  • the red light warning device can obtain in real time the information of the traffic signal at the next moment, the distance between the vehicle and the stop line and the speed of the vehicle, according to the acquired information of the traffic signal at the next moment, the vehicle The distance from the stop line and the speed of the vehicle determine whether the vehicle is at risk of running a red light at the next moment. Specifically, for the determination method, refer to step 201.
  • determining whether the vehicle needs to decelerate at the next moment may include calculating the guide vehicle speed at the next moment, and if the vehicle speed at the next moment is greater than the guide vehicle speed at the next moment, it is determined that the vehicle needs to decelerate to travel.
  • FIG. 4 is another warning method for running a red light provided by an embodiment of the present application. As shown in FIG. 4, the method may include:
  • Step 401 The RSU obtains the information of the traffic lights and the position information of the stop line.
  • the RSU can obtain traffic signal information from the traffic signal controller.
  • the traffic signal controller is used to control the traffic signal.
  • the RSU can obtain the position information of the stop line according to the map information it includes.
  • the map information may be stored on the RSU in advance.
  • Step 402 The RSU sends the traffic signal light information and the position information of the stop line to the red light warning device.
  • the RSU can periodically send traffic signal information and stop line position information to the red light warning device through its wireless link with the red light warning device; or, the RSU can carry the traffic signal information and stop line position information on the broadcast The message is broadcast in real time; or, the RSU receives the request message for requesting the information of the traffic light and the position information of the stop line sent by the red light warning device, and the RSU sends the traffic signal information and the stop line to the red light warning device according to the request message Location information.
  • Step 403 The red light warning device receives the information of the traffic lights and the position information of the stop line, and determines the distance d 0 between the vehicle and the stop line according to the position information of the stop line and the current position information of the vehicle.
  • step 403 reference may be made to that described in step 201, which will not be repeated here.
  • Step 404 The red light warning device determines whether the vehicle has a risk of red light according to the current vehicle speed v 0 , the traffic signal information, and the distance d 0 between the vehicle and the stop line. If the vehicle has a risk of running through a red light, step 405 is executed; otherwise, the process is ended.
  • step 404 reference may be made to that described in step 201, and details are not described again.
  • Step 405 The red light warning device calculates the guidance vehicle speed.
  • step 405 reference may be made to step 202, and details are not described again.
  • Step 406 Compare the guide vehicle speed is greater than the current vehicle speed; if the current vehicle speed is less than the guide vehicle speed, perform step 407; if the current vehicle speed is greater than the guide vehicle speed, perform step 408; if the current vehicle speed is equal to the guide vehicle speed, end the Process.
  • Step 407 The red light warning device prompts the driver that there is a risk of running a red light. Please accelerate.
  • Step 408 The red light warning device prompts the driver that there is a risk of running a red light. Please slow down.
  • some information can be obtained from the RSU, and based on the obtained information, it can be calculated whether the vehicle has a risk of running a red light.
  • the calculated speed is greater than the vehicle's current vehicle, the driver is prompted to run the red light. Please drive faster.
  • the calculated speed is less than the current vehicle speed, the driver is prompted to run through the red light, so please slow down.
  • the calculated vehicle speed is equal to the current vehicle of the vehicle, the driver is only prompted to run the red light. In this way, not only can the driver be reminded of the risk of running a red light and to reduce traffic accidents, but at the same time, the driver can be prompted to accelerate or decelerate to provide a driving basis for the driver and improve the user experience.
  • the red light warning device includes a hardware structure and/or a software module corresponding to each function.
  • the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driven hardware depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
  • the embodiment of the present application may divide the function module of the red light warning device according to the above method example, for example, each function module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
  • the above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of the modules in the embodiments of the present application is schematic, and is only a division of logical functions. In actual implementation, there may be another division manner.
  • FIG. 5 is a schematic diagram of a red light warning device 50 provided by an embodiment of the present application.
  • the red light warning device 50 may be a vehicle or a chip or a system-on-chip in the vehicle; it may also provide services for the vehicle Service server or chip or system on chip in server.
  • the red light warning device 50 may include: a determination unit 501, a calculation unit 502, and a sending unit 503;
  • the determination unit is used to determine that the vehicle has a risk of running a red light; for example, the determination unit 501 is used to support the red light warning device to perform step 201.
  • the calculation unit is used to calculate the guide vehicle speed; wherein, the guide vehicle speed is the vehicle speed required for the vehicle to safely pass through the intersection; for example, the calculation unit 502 is used to support the red light warning device to perform step 202.
  • the sending unit is used to determine that the vehicle needs to accelerate when the current vehicle speed v 0 is less than the guide speed, and send the first prompt message to the driver of the vehicle; where the first prompt message is used to remind the driver of the risk of running a red light, please Speed up.
  • the sending unit 503 is used to support the red light warning device to perform step 203.
  • the red light warning device 50 provided in the embodiment of the present application is used to perform the function of the red light warning device in the red light warning method shown in FIG. 3 to FIG. 5, so the same effect as the red light warning method described above can be achieved.
  • the red light warning device that executes the method of the embodiment of the present application may be implemented by the hardware shown in FIG. 6 or a combination of hardware and computer software.
  • FIG. 6 it is a schematic diagram of the composition of a red light warning device 600 provided by an embodiment of the present application.
  • the red light warning device may include the red light warning device 600 including at least one processor 601 and a communication line 602 , And at least one communication interface 603; further, a memory 604 may also be included.
  • the processor 601, the memory 604 and the communication interface 603 can be connected via a communication line 602.
  • at least one may be one, two, three, or more, and is not limited.
  • the processor 601 may be a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, or a micro-controller Device, programmable logic device (programmable logic device, PLD), or any combination thereof.
  • the processor may also be any other device with processing functions, such as a circuit, a device, or a software module.
  • the communication line 602 may include a passage for transmitting information between components included in the red light warning device.
  • the communication interface 603 can be used to communicate with other devices (such as RSU) or communication networks (such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.).
  • the communication interface 603 may be a module, a circuit, a transceiver, or any device capable of implementing communication.
  • the memory 604 may include the database shown in FIG. 6, may be a read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and/or instructions, or may be a random access memory ( Random access memory (RAM) or other types of dynamic storage devices that can store information and/or instructions, and can also be electrically erasable programmable read-only memory (electrically erasable programmable-read-only memory (EEPROM), read-only compact disc (compact disc-read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), disk storage media or other magnetic storage devices, or can be used for carrying Or any other medium that stores the desired program code in the form of instructions or data structures and can be accessed by the computer, is not limited thereto.
  • ROM read-only memory
  • RAM random access memory
  • EEPROM electrically erasable programmable read-only memory
  • the memory 604 may exist independently of the processor 601, that is, the memory 604 may be a memory external to the processor 601. In this case, the memory 604 may be connected to the processor 601 through a communication line 602 to store instructions Or program code. When the processor 601 calls and executes the instructions or program codes stored in the memory 604, it can implement the red light warning method provided by the following embodiments of the present application.
  • the memory 604 may also be integrated with the processor 601, that is, the memory 604 may be an internal memory of the processor 601, for example, the memory 604 is a cache, and may be used to temporarily store some data and/or Or instruction information, etc.
  • the processor 601 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 6.
  • the red light warning device 600 may include multiple processors, such as the processor 601 and the processor 607 in FIG. 6.
  • the red light warning device 600 may further include an output device 605 and an input device 606.
  • the input device 606 may be a device such as a microphone
  • the output device 605 may be a device such as a speaker or a speaker.
  • the processor 601 shown in FIG. 6 may integrate the functions of the determination unit 501 and the calculation unit 502 in FIG. 5.
  • the communication interface 603 in FIG. 6 may integrate the function of the sending unit 503 in FIG. 5 and will not be described in detail.
  • the device structure shown in FIG. 6 does not constitute a limitation on the red light warning device.
  • the red light warning device may include more or less components than shown, or a combination of Components, or different component arrangements.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the modules or units is only a division of logical functions.
  • there may be other divisions for example, multiple units or components may be The combination can either be integrated into another device, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may be one physical unit or multiple physical units, that is, may be located in one place, or may be distributed in multiple different places . Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a readable storage medium.
  • the technical solutions of the embodiments of the present application are essentially or part of the contribution to the existing technology or all or part of the technical solutions can be embodied in the form of software products, which are stored in a storage medium , Including several instructions to enable a device (which may be a single-chip microcomputer, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of the present application.
  • the foregoing storage media include various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

Abstract

一种闯红灯预警方法及装置（50），涉及交通控制技术领域，以在车辆闯红灯的情况下，确定车辆需加速通过，并将确定结果通知给驾驶员，提高用户体验。方法包括：闯红灯预警装置确定车辆有闯红灯风险（201）；计算引导车速（202），其中，引导车速为车辆安全通过路口所需的车速；若当前车辆的车速小于引导车速，则确定车辆需加速行驶，向车辆的驾驶员发送第一提示信息（203）；其中第一提示信息用于提示驾驶员有闯红灯风险，请加速通过。

Description

一种闯红灯预警方法及装置
本申请要求于2018年12月26日提交中国国家知识产权局、申请号为201811603175.6、申请名称为“一种闯红灯预警方法及装置”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
本申请实施例涉及交通控制技术领域，尤其涉及一种闯红灯预警方法及装置。
背景技术
目前，在道路交叉口处设置有交通信号灯，通过交通信号灯颜色的变化控制机动车的通行。如：当交通信号灯为红灯时，禁止机动车通信，当交通信号灯为绿灯时，允许机动车通行。但是，通过交通信号灯控制机动车通行的方式存在一定的局限性，如：当驾驶员接近道路交叉口且绿灯剩余时间不多或者交通信号灯为黄灯时，驾驶员到底是“走”还是“停”没有固定统一的标准，驾驶员只能根据自己经验来选择“走”或者“停”。如：驾驶员遇到黄灯时，若车辆距离道路交叉口比较远，大部分驾驶员会选择停车；若距离道路交叉口比较近，则会选择通过。由于驾驶员驾驶经验、判断能力有限，当驾驶员遇到黄灯、且黄灯的剩余时间已不能满足驾驶员通过道路交叉口时，一些驾驶员由于判断失误而选择通过，导致闯红灯现象的发生，继而引发交通事故。
发明内容
本申请实施例提供一种闯红灯预警方法及装置，以在车辆闯红灯的情况下，确定车辆需加速通过，并将确定结果通知给驾驶员，提高用户体验。
为达到上述目的，本申请实施例采用如下技术方案：
本申请实施例的第一方面，提供一种闯红灯预警方法，闯红灯预警装置确定车辆有闯红灯风险，闯红灯预警装置计算引导车速；其中，引导车速为车辆安全通过路口所需的车速；若当前车辆的车速v 0小于引导车速，则确定车辆需加速行驶，向车辆的驾驶员发送第一提示信息；其中，第一提示信息用于提示驾驶员有闯红灯风险，请加速通过。
基于第一方面所述的方法方法，可以在车辆具有闯红灯风险的情况下，计算车辆安全通过路口所需的车速，并在计算出的车速大于车辆当前的车辆的时，确定车辆需要加速行驶，向驾驶员发送加速制动的辅助决策信息，以提示驾驶员有闯红灯风险，请加速驾驶。如此，不仅提示驾驶员有闯红灯风险，降低交通事故，同时，提示驾驶员加速行驶，提高用户体验。
在一种可能的设计中，结合第一方面，上述引导车速为车速区间[第一车速，第二车速]，其中，第一车速为车辆安全通过路口所需的最小车速；第二车速为车辆通过路口所需的最大车速。如此，基于该可能的设计，可以计算出车辆安全通过路口所需的车速范围，扩大车辆安全通过路口所需的车速。
在又一种可能的设计中，结合第一方面或者第一方面的可能的设计，闯红灯预警装置计算引导车速，包括：确定车辆的安全通行时间；其中，安全通行时间为车辆安全通过路口的时间；根据安全通行时间、当前车辆与停止线的距离d 0以及道路的最大限速v lim，计算得到引导车速。基于该可能的设计，可以基于安全通行时间与车辆与停止线的距离计算出引导车速，计算简单。
在又一种可能的设计中，结合第一方面或者第一方面的任一可能的设计，在交通信号灯为绿灯的情况下，确定车辆的安全通行时间，包括：若d 0与v 0的比值小于绿灯的剩余时间，则确定安全通行时间为当前绿灯时间；或者，若d 0与v 0的比值大于或等于绿灯的剩余时间，则确定安全通行时间为下一次绿灯时间。基于该可能的设计，可以基于车辆当前的车速，将本次绿灯时间作为车辆安全通过路口的时间，也可以将下一次绿灯时间作为车辆安全通过路口的时间。
在又一种可能的设计中，结合第一方面或者第一方面的任一可能的设计，在交通信号灯为绿灯的情况下，确定安全通行时间，包括：若车辆在绿灯的剩余时间内，以车辆的最大加速度a max加速到v max，且v max小于道路的最大限速v lim，则判断车辆在绿灯的剩余时间内，以a max加速行驶的距离是否大于d 0；若车辆在绿灯的剩余时间内，以a max加速行驶的距离大于d 0，则确定安全通行时间为当前绿灯时间；若车辆在绿灯的剩余时间内，以a max加速行驶的距离小于或等于d 0，则确定安全通行时间为下一次绿灯时间。基于该可能的设计，可以根据车辆的最大加速度，将本次绿灯时间作为车辆安全通过路口的时间，也可以将下一次绿灯时间作为车辆安全通过路口的时间。
在又一种可能的设计中，结合第一方面或者第一方面的任一可能的设计，在交通信号灯为绿灯的情况下，确定安全通行时间，包括：若车辆在绿灯的剩余时间内，以车辆的最大加速度a max加速到v max，且v xma大于或等于道路的最大限速v lim，则判断车辆以a max加速到v max所行驶的距离以及车辆以v lim匀速行驶的距离之和是否大于d 0；若距离之和大于d 0，则确定安全通行时间为当前绿灯时间；若距离之和小于或等于d 0，则确定安全通行时间为下一次绿灯时间。基于该可能的设计，可以根据车辆的最大加速度以及道路的最大限速，将本次绿灯时间作为车辆安全通过路口的时间，也可以将下一次绿灯时间作为车辆安全通过路口的时间。
在又一种可能的设计中，结合第一方面或者第一方面的任一可能的设计，在向车辆的驾驶员发送第一提示信息之后，方法还包括：确定下一时刻车辆是否有闯红灯风险；若下一时刻车辆有闯红灯风险，则确定下一时刻车辆是否需要减速行驶；若车辆需要减速行驶，则向驾驶员发送第二提示信息；其中，第二提示信息用于提示驾驶员有闯红灯风险，请减速通过。基于该可能的设计，基于该可能的场景，可以实时计算车辆是否具有闯红灯风险，并在确定结果改变时及时向驾驶员发出提示，提高用户体验。
在再一种可能的设计中，结合第一方面或者第一方面的任一可能的设计，所述方法还包括：若当前车辆的车速v 0大于引导车速，则向车辆的驾驶员发送第三提示信息；其中，第三提示信息用于提示驾驶员有闯红灯风险，请减速通过。基于该可能的设计，可以车辆当前的车速大于引导车速的情况下，提示驾驶员减速行驶。
在再一种可能的设计中，结合第一方面或者第一方面的任一可能的设计，闯红灯预警装置确定车辆有闯红灯风险，包括：闯红灯预警装置从路边单元RSU获取交通信号灯 的信息以及停止线的位置信息；闯红灯预警装置根据停止线的位置信息以及当前车辆的位置信息，确定车辆与停止线间的距离d 0；闯红灯预警装置根据当前车辆的车速v 0、交通信号灯的信息以及车辆与停止线间的距离d 0，确定车辆具有闯红灯风险。基于该可能的设计，可以通过闯红灯预警装置与RSU的信息交互，确定车辆是否具有闯红灯风险。
第二方面，本申请提供一种闯红灯预警装置，该闯红灯预警装置可以为车辆上的车载终端或者车载终端中的芯片或者片上系统；还可以为为车辆提供业务服务的服务器或者该服务器中的芯片或者片上系统。该闯红灯预警装置可以实现上述各方面或者各可能的设计中闯红灯预警装置所执行的功能，所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个上述功能相应的模块。如：该闯红灯预警装置可以包括：确定单元、计算单元、发送单元；
确定单元，用于确定车辆有闯红灯风险；
计算单元，用于计算引导车速；其中，所述引导车速为所述车辆安全通过路口所需的车速；
发送单元，用于若当前所述车辆的车速v 0小于所述引导车速，则向所述车辆的驾驶员发送第一提示信息；其中，所述第一提示信息用于提示所述驾驶员有闯红灯风险，请加速通过。
其中，该闯红灯预警装置的具体实现方式可以参考第一方面或第一方面的任一种可能的设计提供的闯红灯预警方法中车载终端的行为功能，在此不再重复赘述。因此，该提供的闯红灯预警装置可以达到与第一方面或者第一方面的任一种可能的设计相同的有益效果。
第三方面，提供了一种闯红灯预警装置，包括：处理器和存储器；该存储器用于存储计算机执行指令，当该闯红灯预警装置运行时，该处理器执行该存储器存储的该计算机执行指令，以使该闯红灯预警装置执行如上述第一方面或者第一方面的任一种可能的设计所述的闯红灯预警方法。
第四方面，提供了一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机可以执行上述第一方面或者上述方面的任一种可能的设计所述的闯红灯预警方法。
第五方面，提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机可以执行上述第一方面或者上述方面的任一种可能的设计所述的闯红灯预警方法。
第六方面，提供了一种芯片系统，该芯片系统包括处理器、通信接口，用于支持闯红灯预警装置实现上述方面中所涉及的功能，例如处理器确定车辆有闯红灯风险，计算引导车速，若当前所述车辆的车速v 0小于所述引导车速，则向所述车辆的驾驶员发送第一提示信息；其中，所述第一提示信息用于提示所述驾驶员有闯红灯风险，请加速通过。在一种可能的设计中，所述芯片系统还包括存储器，所述存储器，用于保存闯红灯预警装置必要的程序指令和数据。该芯片系统，可以由芯片构成，也可以包含芯片和其他分立器件。
其中，第三方面至第六方面中任一种设计方式所带来的技术效果可参见上述第一方面或者第一方面的任一种可能的设计所带来的技术效果，不再赘述。
附图说明
图1为本申请实施例提供的一种车路协同预警系统的简化示意图；
图2为本申请实施例提供的一种闯红灯预警方法的流程图；
图3为本申请实施例提供的一种计算引导车速的流程图；
图4为本申请实施例提供的又一种闯红灯预警方法的流程图；
图5为本申请实施例提供的一种闯红灯预警装置的组成示意图；
图6为本申请实施例提供的又一种闯红灯预警装置的组成示意图。
具体实施方式
下面将结合说明书附图，对本申请实施例的实施方式进行详细描述。
本申请实施例提供的方法可以应用于具有闯红灯预警提示功能的车路协同预警系统，如图1所示，该车路协同预警系统可以包括：闯红灯预警装置、多个车辆、路边单元(roadside unit，RSU)以及交通信号灯。
闯红灯预警装置，可以与RSU通过无线链路相互通信，如：可以从RSU接收交通信号灯的信息以及其他信息等，并根据从RSU接收到的信息以及车辆当前的行驶状态(如：车辆当前的行驶速度、车辆的行驶位置等)执行本申请实施例提供的闯红灯预警方法。在一种示例中，闯红灯预警装置可以为车辆或者车辆中的芯片或者片上系统等，如：可以是车辆上的车载终端(on-vechile equipment)等。在又一种示例中，闯红灯预警装置可以部署在为车辆提供业务服务的服务器上，如：可以为该服务器上能够执行本申请实施例所述方法的模块或者芯片等。
RSU，可以部署在路口靠近交通信号灯的位置上。RSU主要用于采集车辆行驶方向上交通信号灯的信息以及停止线的位置信息，并将采集到的信息发送给闯红灯预警装置。
交通信号灯，主要用于指导车辆通信，交通信号灯可以包括红灯、绿灯以及黄灯这三种灯态，这三种灯态可以交替工作。其中，红灯用于禁止驾驶员通过，绿灯用于允许驾驶员通过，黄灯用于提示驾驶员交通信号灯马上变为红灯，且黄灯工作的时间较短，通常为3秒。本申请实施例中，为了便于描述，忽略黄灯的工作时间，以交通信号灯包括红灯、绿灯两种灯态为例，对本申请实施例提供的方法进行描述。
需要说明的是，图1所示系统仅为示例性系统图，本申请实施例不限定图1所示系统包括的设备的数量。虽然未示出，但除图1所示设备外，图1所示系统还可以包括其他设备等。此外，上述图1所示系统中各设备的命名只是一个示例，具体实现中，各个设备以及设备之间的通信链路的命名还可以为其他名字，本申请实施例对此不作具体限定。
下面结合图1所示系统，对本申请实施例提供的闯红灯预警方法进行描述。
图2为本申请实施例提供的一种闯红灯预警方法，该方法可以由闯红灯预警装置执行，如图2所示，所述方法可以包括：
步骤201：闯红灯预警装置确定车辆具有闯红灯风险。
示例性的，闯红灯预警装置确定车辆具有闯红灯风险可以包括：
从RSU获取交通信号灯的信息以及停止线的位置信息；
根据停止线的位置信息以及当前车辆的位置信息，确定车辆与停止线间的距离d 0；
根据当前车辆的车速v 0、交通信号灯的信息以及车辆与停止线间的距离d 0，确定车辆具有闯红灯风险。
其中，交通信号灯的信息包括交通信号灯的灯态以及灯态的剩余时间；交通信号灯的灯态包括绿灯或者红灯；闯红灯预警装置根据当前车辆的车速v 0、交通信号灯的信息以及 车辆与停止线间的距离d 0，确定车辆具有闯红灯风险，可以包括：
若交通信号灯的灯态为绿灯，且d 0与v 0的比值大于绿灯的剩余时间，则确定车辆具有闯红灯风险；或者，若交通信号灯的灯态为红灯，且d 0与v 0的比值小于红灯的剩余时间，则确定车辆具有闯红灯风险。
例如，假设当前交通信号灯为绿灯，且绿灯剩余时间为10秒(s)，车辆的车速v 0为70公里/时，车辆与停止线的距离d 0为1公里，则d 0与v 0的比值大于10s，则确定车辆有闯红灯风险。
步骤202：闯红灯预警装置计算引导车速。
其中，引导车速可以为车辆安全通过路口所需的车速。本申请实施例中，引导车速可以为车速区间[第一车速，第二车速]，第一车速可以为车辆安全通过路口所需的最小车速；第二车速可以为车辆通过路口所需的最大车速。当车辆采用该车速区间内的车速行驶时，车辆可以安全通过路口。
示例性的，闯红灯预警装置计算引导车速可以包括：
确定车辆的安全通行时间，根据安全通行时间以及当前车辆与停止线的距离d 0，计算得到引导车速。比如：可以将当前车辆与停止线的距离d 0与安全通行时间进行除法计算，得到引导车速。
其中，安全通行时间为车辆安全通过路口的时间。在交通信号灯为绿灯的情况下，安全通行时间可以为当前绿灯时间或者下一次绿灯时间。当前绿灯时间可以为[1，绿灯的剩余时间]，即安全通行时间可以为当前绿灯的工作时间；下一次绿灯时间可以为[绿灯的剩余时间+红灯的预设时间，绿灯的剩余时间+红灯的预设时间+绿灯的预设时间]，即安全通行时间为本次绿灯结束，间隔一次红灯后的绿灯时间。在交通信号灯为红灯的情况下，安全通行时间可以为[红灯的剩余时间，红灯的剩余时间+绿灯的预设时间]，即安全通行时间为红灯结束后，第一次绿灯时间。
其中，红灯的预设时间为预先设置的、红灯的工作时长，绿灯的预设时间为预先设置的、绿灯的工作时长。例如，设置红灯、绿灯的工作时长均为60s，若交通信号灯当前为绿灯，且绿灯剩余时间为20s，则安全通过时间可以为[1，20s]，或者，还可以为下一次绿灯时间[20s+60s，20s+60s+60s]＝[80s，140s]。
示例性的，在当前交通信号灯为绿灯的情况下，闯红灯预警装置可以通过下述三种方式中的任一方式确定车辆的安全通行时间：
方式一、若d 0与v 0的比值小于绿灯的剩余时间，则确定安全通行时间为当前绿灯时间；反之，若d 0与v 0的比值大于或等于绿灯的剩余时间，则确定安全通行时间为下一次绿灯时间。
方式二、若车辆在绿灯的剩余时间内，以车辆的最大加速度a max加速到v max，且v max小于道路的最大限速v lim，则判断车辆在绿灯的剩余时间内，以a max加速行驶的距离是否大于d 0；
若车辆在绿灯的剩余时间内，以a max加速行驶的距离大于d 0，则确定安全通行时间为当前绿灯时间；反之，若车辆在绿灯的剩余时间内，以a max加速行驶的距离小于或等于d 0，则确定安全通行时间为下一次绿灯时间。
方式三、若车辆在绿灯的剩余时间内，以车辆的最大加速度a max加速到v max，且v max 大于或等于道路的最大限速v lim，则判断车辆以a max加速到v max所行驶的距离以及车辆以v lim匀速行驶的距离之和是否大于d 0；
若距离之和大于d 0，则确定安全通行时间为当前绿灯时间；反之，若距离之和小于或等于d 0，则确定安全通行时间为下一次绿灯时间。
其中，道路的最大限速v lim可以根据道路的类型预先设置，不同类型的道路的最大限速可以是不同的。例如，乡村道路的最大限速可以为120km/时，而市区内道路的最大限速可以为70km/时等，不予限制。
下面结合图3，以交通信号灯为绿灯，绿灯的剩余时间为t r，绿灯结束后，红灯的起始时间为t r，红灯的结束时间为t g，红灯结束后，下一次绿灯的起始时间为t g，下一次绿灯的结束时间为t r1，车辆的安全通行时间为t p，引导车速为v p，驾驶员将车辆的加速度调整到v max的时间为t d为例，对上述引导车速的计算过程进行说明。如图3所示，该过程可以包括：
步骤301：确定交通信号灯为绿灯。
步骤302：判断车辆以v 0匀速行驶完距离d 0所用的时间是否小于t r，若是，则执行步骤303，若否，则执行步骤304。或者，判断车辆以v max加速行驶t r的路程是否大于d 0，若是，则执行步骤303，若否，则执行步骤304。或者，判断车辆先以v max加速到道路的最大限速v lim所行驶的路程+车辆以v lim匀速行驶(t r-t d-(v lim-v 0)/a max)的路程+车辆以v 0匀速行驶t d的路程是否大于d 0，若是，则执行步骤303，若否，则执行步骤304。
即如图3所示，可以判断下述三种情况中的任一种情况，若是，则执行步骤303，若否，则执行步骤304。
d 0/v 0＜t r；或者，
v 0+a max×(t r-t d)≤v lim,0.5×a max×(t r-t d) 2+v 0×t r＞d 0；或者，
Figure PCTCN2019121131-appb-000001
步骤303：确定安全通行时间t p为[1，t r]。
步骤304：确定安全通行时间t p为[t g，t r1]。
步骤305：根据安全通行时间t p、车辆到停止线的距离d 0以及道路的最大限速，得到引导车速v p。例如，可以采用下述公式计算得到v p：
v p＝d 0/t p∩[0,v lim]＝[v l,v h]
其中，v l为车辆安全通过路口所需的最小车速，v h为车辆安全通过路口所需的最大车速。
步骤203：若当前车辆的车速v 0小于引导车速，则确定车辆需加速行驶，向驾驶员发送第一提示信息。
其中，第一提示信息可以用于提示驾驶员有闯红灯风险，请加速行驶。示例性的，第一提示信息可以为语音形式的信息，闯红灯预警装置可以通过语音播放器向驾驶员发送第一提示信息，该语音播放器可以为车辆上安装的喇叭等。
可选的，若当前车辆的车速v 0大于引导车速，则闯红灯预警装置向车辆的驾驶员发送第三提示信息。若当前车辆的车速v 0等于引导车速，则闯红灯预警装置可以不做出任何提醒。
其中，第三提示信息用于提示驾驶员有闯红灯风险，请减速通过。示例性的，第三提示信息可以为语音形式的信息，同样的，闯红灯预警装置可以通过语音播放器向驾驶员 发送第三提示信息。
基于图2所示方法，可以在车辆具有闯红灯风险的情况下，计算车辆安全通过路口所需的车速，并在计算出的车速大于车辆当前的车辆的时，确定车辆需要加速行驶，向驾驶员发送加速制动的辅助决策信息，以提示驾驶员有闯红灯风险，请加速驾驶。如此，不仅提示驾驶员有闯红灯风险，降低交通事故，同时，提示驾驶员加速行驶，提高用户体验。
进一步的，在上述实施例的又一种场景中，在闯红灯预警装置向车辆的驾驶员发送第一提示信息之后，所述方法还可以包括：确定下一时刻车辆是否有闯红灯风险；
若下一时刻车辆有闯红灯风险，且确定下一时刻车辆是否需要减速行驶；
若车辆需要减速行驶，则向驾驶员发送第二提示信息；其中，第二提示信息用于提示驾驶员有闯红灯风险，请减速通过。
其中，闯红灯预警装置可以实时获取下一时刻所述交通信号灯的信息、所述车辆与停止线的距离以及所述车辆的速度，根据获取到的下一时刻所述交通信号灯的信息、所述车辆与停止线的距离以及所述车辆的速度，确定下一时刻车辆是否有闯红灯风险。具体的，其确定方式可参照步骤201所述。
其中，确定下一时刻车辆是否需要减速行驶可以包括：计算下一时刻的引导车速，若下一时刻车辆的车速大于下一时刻的引导车速，则确定车辆需要减速行驶。
基于该可能的场景，可以实时计算车辆是否具有闯红灯风险，并在确定结果改变时及时向驾驶员发出提示，如：若当前向驾驶员发出的提示是“闯红灯风险，请加速通过”，但是，驾驶员没有加速，一段时间后确定结果变成了“闯红灯风险，需减速”，则这时需要及时提示驾驶员“闯红灯风险，请减速通过”。如此，可以提高用户体验。
下面结合图4对上述方法进行详细介绍：
图4为本申请实施例提供的又一种闯红灯预警方法，如图4所示，所述方法可以包括：
步骤401：RSU获取交通信号灯的信息以及停止线的位置信息。
其中，RSU可以从交通信号灯控制器获取交通信号灯的信息。交通信号灯控制器用于控制交通信号灯工作。RSU可以根据其包括的地图信息，获取停止线的位置信息。其中，地图信息可以预先存储在RSU上。
步骤402：RSU向闯红灯预警装置发送交通信号灯的信息以及停止线的位置信息。
其中，RSU可以定期通过其与闯红灯预警装置间的无线链路，向闯红灯预警装置发送交通信号灯的信息以及停止线的位置信息；或者，RSU将交通信号灯的信息以及停止线的位置信息携带在广播消息中，实时广播出去；或者，RSU接收闯红灯预警装置发送的用于请求交通信号灯的信息以及停止线的位置信息的请求消息，RSU根据该请求消息向闯红灯预警装置发送交通信号灯的信息以及停止线的位置信息。
步骤403：闯红灯预警装置接收交通信号灯的信息以及停止线的位置信息，根据停止线的位置信息以及当前车辆的位置信息，确定车辆与停止线间的距离d 0。
其中，步骤403可参照步骤201中所述，不再赘述。
步骤404：闯红灯预警装置根据当前车辆的车速v 0、交通信号灯的信息以及车辆与停止线间的距离d 0，确定车辆是否具有闯红灯风险。若车辆具有闯红灯风险，则执行步骤405；反之，则结束该流程。
其中，步骤404可参照步骤201中所述，不再赘述。
步骤405：闯红灯预警装置计算引导车速。
其中，步骤405可参照步骤202所述，不再赘述。
步骤406：比较引导车速大于当前车辆的车速；若当前车辆的车速小于引导车速，执行步骤407；若当前车辆的车速大于引导车速，执行步骤408；若当前车辆的车速等于引导车速，则结束该流程。
步骤407：闯红灯预警装置提示驾驶员有闯红灯风险，请加速行驶。
步骤408：闯红灯预警装置提示驾驶员有闯红灯风险，请减速行驶。
基于图4所示方法，可以从RSU获取一些信息，根据获取的信息计算车辆是否具有闯红灯风险。在车辆具有闯红灯风险的情况下，计算车辆安全通过路口所需的车速，并在计算出的车速大于车辆当前的车辆的时，提示驾驶员有闯红灯风险，请加速驾驶。在计算出的车速小于车辆当前的车辆的时，提示驾驶员有闯红灯风险，请减速驾驶。在计算出的车速等于车辆当前的车辆的时，仅提示驾驶员有闯红灯风险。如此，不仅可以提示驾驶员有闯红灯风险，降低交通事故，同时，可以提示驾驶员加速行驶或者减速行驶，给驾驶员提供行驶依据，提高用户体验。
上述主要以闯红灯预警装置与RSU交互的角度对本申请实施例提供的方案进行了介绍。可以理解的是，闯红灯预警装置为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对闯红灯预警装置进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
在一种示例中，图5为本申请实施例提供的一种闯红灯预警装置50的组成示意图，该闯红灯预警装置50可以为车辆或者车辆中的芯片或者片上系统；还可以为能够为车辆提供业务服务的服务器或者服务器中的芯片或者片上系统等。一种可能的设计中，如图5所示，该闯红灯预警装置50可以包括：确定单元501、计算单元502、发送单元503；
其中，确定单元，用于确定车辆有闯红灯风险；例如，确定单元501用于支持闯红灯预警装置执行步骤201。
计算单元，用于计算引导车速；其中，引导车速为车辆安全通过路口所需的车速；例如，计算单元502用于支持闯红灯预警装置执行步骤202。
发送单元，用于若当前车辆的车速v 0小于引导车速，则确定车辆需加速行驶，向车辆的驾驶员发送第一提示信息；其中，第一提示信息用于提示驾驶员有闯红灯风险，请加速通过。例如，发送单元503用于支持闯红灯预警装置执行步骤203。
需要说明的是，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。本申请实施例提供的闯红灯预警装置50用于执行图3～ 图5所示闯红灯预警方法中闯红灯预警装置的功能，因此可以达到与上述闯红灯预警方法相同的效果。
在一种示例中，执行本申请实施例的方法的闯红灯预警装置可以由图6所示硬件或者硬件和计算机软件的结合形式来实现。如图6所示，为本申请实施例提供的一种闯红灯预警装置600的组成示意图，如图6所示，该闯红灯预警装置可以包括该闯红灯预警装置600包括至少一个处理器601，通信线路602，以及至少一个通信接口603；进一步的，还可以包括存储器604。其中，处理器601，存储器604以及通信接口603三者之间可以通过通信线路602连接。在本申请实施例中，至少一个可以是一个、两个、三个或者更多个，不予限制。
其中，处理器601，可以是中央处理器(central processing unit，CPU)，通用处理器网络处理器(network processor，NP)、数字信号处理器(digital signal processing，DSP)、微处理器、微控制器、可编程逻辑器件(programmable logic device，PLD)或它们的任意组合。处理器还可以是其它任意具有处理功能的装置，例如电路、器件或软件模块。
通信线路602，可包括通路，用于在闯红灯预警装置包括的部件之间传送信息。
通信接口603，可以用于与其他设备(如：RSU)或通信网络通信(如以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等)。通信接口603可以是模块、电路、收发器或者任何能够实现通信的装置。
存储器604，可以包括图6所示的数据库，可以是只读存储器(read-only memory，ROM)或可存储静态信息和/或指令的其他类型的静态存储设备，也可以是随机存取存储器(random access memory，RAM)或者可存储信息和/或指令的其他类型的动态存储设备，还可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，不限于此。一种可能的设计中，存储器604可以独立于处理器601存在，即存储器604可以为处理器601外部的存储器，此时，存储器604可以通过通信线路602与处理器601相连接，用于存储指令或者程序代码。处理器601调用并执行存储器604中存储的指令或程序代码时，能够实现本申请下述实施例提供的闯红灯预警方法。又一种可能的设计中，存储器604也可以和处理器601集成在一起，即存储器604可以为处理器601的内部存储器，例如，该存储器604为高速缓存，可以用于暂存一些数据和/或指令信息等。
在一种示例中，处理器601可以包括一个或多个CPU，例如图6中的CPU0和CPU1。作为另一种可实现方式，闯红灯预警装置600可以包括多个处理器，例如图6中的处理器601和处理器607。作为再一种可实现方式，闯红灯预警装置600还可以包括输出设备605和输入设备606。示例性地，输入设备606可以是麦克风等设备，输出设备605可以是扬声器(speaker)、喇叭等设备。
需要说明的是，图6所示处理器601可以集成图5中确定单元501的功能以及计算单元502的功能。图6中的通信接口603可以集成有图5中发送单元503的功能，不再赘述。此外，图6中示出的设备结构并不构成对该闯红灯预警装置的限定，除图6所示部件之外，该闯红灯预警装置可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部 件布置。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个装置，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是一个物理单元或多个物理单元，即可以位于一个地方，或者也可以分布到多个不同地方。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以软件产品的形式体现出来，该软件产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何在本申请揭露的技术范围内的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (18)

  1. 一种闯红灯预警方法，其特征在于，所述方法包括：
    闯红灯预警装置确定车辆有闯红灯风险；
    所述闯红灯预警装置计算引导车速；其中，所述引导车速为所述车辆安全通过路口所需的车速；
    若当前所述车辆的车速v 0小于所述引导车速，则确定所述车辆需加速行驶，向所述车辆的驾驶员发送第一提示信息；其中，所述第一提示信息用于提示所述驾驶员有闯红灯风险，请加速通过。
  2. 根据权利要求1所述的方法，其特征在于，
    所述引导车速为车速区间[第一车速，第二车速]；
    其中，所述第一车速为所述车辆安全通过路口所需的最小车速；所述第二车速为所述车辆通过路口所需的最大车速。
  3. 根据权利要求2所述的方法，其特征在于，所述计算引导车速，包括：
    确定所述车辆的安全通行时间；其中，所述安全通行时间为所述车辆安全通过路口的时间；
    根据所述安全通行时间、当前所述车辆与停止线的距离d 0以及道路的最大限速v lim，计算得到所述引导车速。
  4. 根据权利要求2或3所述的方法，其特征在于，在交通信号灯为绿灯的情况下，所述确定所述车辆的安全通行时间，包括：
    若所述d 0与所述v 0的比值小于所述绿灯的剩余时间，则确定所述安全通行时间为当前绿灯时间；或者，
    若所述d 0与所述v 0的比值大于或等于所述绿灯的剩余时间，则确定所述安全通行时间为下一次绿灯时间。
  5. 根据权利要求2或3所述的方法，其特征在于，在交通信号灯为绿灯的情况下，所述确定安全通行时间，包括：
    若所述车辆在所述绿灯的剩余时间内，以所述车辆的最大加速度a max加速到v max，且所述v max小于道路的最大限速v lim，则判断所述车辆在所述绿灯的剩余时间内，以所述a max加速行驶的距离是否大于所述d 0；
    若所述车辆在所述绿灯的剩余时间内，以所述a max加速行驶的距离大于所述d 0，则确定所述安全通行时间为当前绿灯时间；
    若所述车辆在所述绿灯的剩余时间内，以所述a max加速行驶的距离小于或等于所述d 0，则确定所述安全通行时间为下一次绿灯时间。
  6. 根据权利要求2或3所述的方法，其特征在于，在交通信号灯为绿灯的情况下，所述确定安全通行时间，包括：
    若所述车辆在所述绿灯的剩余时间内，以所述车辆的最大加速度a max加速到v max，且所述v max大于或等于道路的最大限速v lim，则判断所述车辆以所述a max加速到所述v max所行驶的距离以及所述车辆以所述v lim匀速行驶的距离之和是否大于所述d 0；
    若所述距离之和大于所述d 0，则确定所述安全通行时间为当前绿灯时间；
    若所述距离之和小于或等于所述d 0，则确定所述安全通行时间为下一次绿灯时间。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，在向所述车辆的驾驶员发送第一提示信息之后，所述方法还包括：
    确定下一时刻所述车辆是否有闯红灯风险；
    若下一时刻所述车辆有闯红灯风险，则确定下一时刻所述车辆是否需要减速行驶；
    若所述车辆需要减速行驶，则向所述驾驶员发送第二提示信息；其中，所述第二提示信息用于提示所述驾驶员有闯红灯风险，请减速通过。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：
    若当前所述车辆的车速v 0大于所述引导车速，则向所述车辆的驾驶员发送第三提示信息；其中，所述第三提示信息用于提示所述驾驶员有闯红灯风险，请减速通过。
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述闯红灯预警装置确定车辆有闯红灯风险，包括：
    所述闯红灯预警装置从路边单元RSU获取交通信号灯的信息以及停止线的位置信息；
    所述闯红灯预警装置根据所述停止线的位置信息以及当前所述车辆的位置信息，确定所述车辆与所述停止线间的距离d 0；
    所述闯红灯预警装置根据当前所述车辆的车速v 0、所述交通信号灯的信息以及所述车辆与所述停止线间的距离d 0，确定车辆具有闯红灯风险。
  10. 一种闯红灯预警装置，其特征在于，所述装置包括：
    确定单元，用于确定车辆有闯红灯风险；
    计算单元，用于计算引导车速；其中，所述引导车速为所述车辆安全通过路口所需的车速；
    发送单元，用于若当前所述车辆的车速v 0小于所述引导车速，则向所述车辆的驾驶员发送第一提示信息；其中，所述第一提示信息用于提示所述驾驶员有闯红灯风险，请加速通过。
  11. 根据权利要求10所述的装置，其特征在于，
    所述引导车速为车速区间[第一车速，第二车速]；
    其中，所述第一车速为所述车辆安全通过路口所需的最小车速；所述第二车速为所述车辆通过路口所需的最大车速。
  12. 根据权利要求11所述的装置，其特征在于，所述计算单元，具体用于：
    确定所述车辆的安全通行时间；其中，所述安全通行时间为所述车辆安全通过路口的时间；
    根据所述安全通行时间、当前所述车辆与停止线的距离d 0以及道路的最大限速v lim，计算得到所述引导车速。
  13. 根据权利要求11或12所述的装置，其特征在于，在交通信号灯为绿灯的情况下，所述计算单元确定所述车辆的安全通行时间，具体包括：
    若所述d 0与所述v 0的比值小于所述绿灯的剩余时间，则确定所述安全通行时间为当前绿灯时间；或者，
    若所述d 0与所述v 0的比值大于或等于所述绿灯的剩余时间，则确定所述安全通行时间为下一次绿灯时间。
  14. 根据权利要求11或12所述的装置，其特征在于，在交通信号灯为绿灯的情况 下，所述计算单元确定所述车辆的安全通行时间，具体包括：
    若所述车辆在所述绿灯的剩余时间内，以所述车辆的最大加速度a max加速到v max，且所述v max小于道路的最大限速v lim，则判断所述车辆在所述绿灯的剩余时间内，以所述a max加速行驶的距离是否大于所述d 0；
    若所述车辆在所述绿灯的剩余时间内，以所述a max加速行驶的距离大于所述d 0，则确定所述安全通行时间为当前绿灯时间；
    若所述车辆在所述绿灯的剩余时间内，以所述a max加速行驶的距离小于或等于所述d 0，则确定所述安全通行时间为下一次绿灯时间。
  15. 根据权利要求11或12所述的装置，其特征在于，在交通信号灯为绿灯的情况下，所述计算单元确定所述车辆的安全通行时间，具体包括：
    若所述车辆在所述绿灯的剩余时间内，以所述车辆的最大加速度a max加速到v max，且所述v max大于或等于道路的最大限速v lim，则判断所述车辆以所述a max加速到所述v max所行驶的距离以及所述车辆以所述v lim匀速行驶的距离之和是否大于所述d 0；
    若所述距离之和大于所述d 0，则确定所述安全通行时间为当前绿灯时间；
    若所述距离之和小于或等于所述d 0，则确定所述安全通行时间为下一次绿灯时间。
  16. 根据权利要求10-15任一项所述的装置，其特征在于，
    所述确定单元，还用于确定下一时刻所述车辆是否有闯红灯风险，若下一时刻所述车辆有闯红灯风险，则确定下一时刻所述车辆是否需要减速行驶；
    所述发送单元，还用于若所述车辆需要减速行驶，则向所述驾驶员发送第二提示信息；其中，所述第二提示信息用于提示所述驾驶员有闯红灯风险，请减速通过。
  17. 根据权利要求10-16任一项所述的装置，其特征在于，
    所述发送单元，还用于若当前所述车辆的车速v 0大于所述引导车速，则向所述车辆的驾驶员发送第三提示信息；其中，所述第三提示信息用于提示所述驾驶员有闯红灯风险，请减速通过。
  18. 根据权利要求10-17任一项所述的装置，其特征在于，所述确定单元，具体用于：
    从路边单元RSU获取交通信号灯的信息以及停止线的位置信息；
    根据所述停止线的位置信息以及当前所述车辆的位置信息，确定所述车辆与所述停止线间的距离d 0；
    根据当前所述车辆的车速v 0、所述交通信号灯的信息以及所述车辆与所述停止线间的距离d 0，确定车辆具有闯红灯风险。
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