WO2022127647A1 - 输出行驶提示信息的方法、系统及车辆 - Google Patents

输出行驶提示信息的方法、系统及车辆 Download PDF

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Publication number
WO2022127647A1
WO2022127647A1 PCT/CN2021/136128 CN2021136128W WO2022127647A1 WO 2022127647 A1 WO2022127647 A1 WO 2022127647A1 CN 2021136128 W CN2021136128 W CN 2021136128W WO 2022127647 A1 WO2022127647 A1 WO 2022127647A1
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WIPO (PCT)
Prior art keywords
vehicle
driving
travel
time
data
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PCT/CN2021/136128
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English (en)
French (fr)
Inventor
张峻
杨雪静
吴迪
刘寒
刘秀
韩松
王银磊
单红艳
李岩
李玉山
柳彦岗
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长城汽车股份有限公司
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Publication of WO2022127647A1 publication Critical patent/WO2022127647A1/zh

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    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling 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
    • 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
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

Definitions

  • the present disclosure relates to the technical field of vehicle engineering, and in particular, to a method, a system and a vehicle for outputting driving prompt information.
  • V2X Vehicle-to-X
  • V2I Vehicle-to-Infrastructure
  • the present disclosure aims to provide a method, system and vehicle for outputting driving prompt information, so as to avoid vehicle wear and fuel consumption caused by the vehicle encountering a red light during driving, and the vehicle frequently stops and starts.
  • a method for outputting driving prompt information comprising:
  • the traffic light data includes: the red light time period and the green light time period of each traffic light on the driving route of the vehicle, and the distance between each traffic light and the vehicle;
  • the driving data of the preceding vehicle includes: the speed of the preceding vehicle and the relative distance between the preceding vehicle and the own vehicle;
  • the predicted travel time-travel distance curve range of the own vehicle is obtained, and the predicted travel time-travel distance curve range of the host vehicle represents the predicted travel time of the host vehicle before reaching the destination.
  • the prompt information of the travel distance range is output.
  • obtaining the predicted travel time-travel distance curve range of the vehicle according to the traffic light data and the driving data of the preceding vehicle including:
  • the target is for the vehicle to pass within the green light time period of each traffic light on the driving route, and, according to the driving data of the preceding vehicle, the target is to maintain a preset distance between the vehicle and the preceding vehicle, Obtain the predicted travel time-drive distance curve range of the vehicle.
  • the method further includes:
  • the predicted travel time-travel distance curve range of the host vehicle determines the preferred travel time-travel distance of the host vehicle Distance curve range.
  • the method further includes:
  • the optimal travel time-driving distance curve of the own vehicle is determined from the range of the preferred travel time-driving distance curve of the own vehicle, and the desired travel information includes at least one of the following: reaching the destination The travel time is the shortest and the travel time-distance curve is the smoothest.
  • the method further includes:
  • the optimal driving time-driving distance curve of the own vehicle determine the optimal driving time-driving speed curve of the own vehicle, and the optimal driving time-driving speed curve of the own vehicle represents the predicted time when the vehicle reaches the destination The optimal speed of driving at each moment in the future;
  • obtaining the predicted travel time-travel distance curve range of the vehicle according to the traffic light data and the driving data of the preceding vehicle including:
  • the step is to obtain the predicted travel time-travel distance curve range of the vehicle according to the traffic light data and the preceding vehicle travel data.
  • the method further includes:
  • the execution step is stopped: obtaining the predicted travel time-driving distance curve range of the vehicle according to the traffic light data and the driving data of the preceding vehicle.
  • the method for outputting driving prompt information described in the present disclosure has the following advantages:
  • the method for outputting driving prompt information described in the present disclosure can obtain the predicted travel time-travel distance curve range of the own vehicle, and the predicted travel time-travel distance of the own vehicle according to the driving data of the preceding vehicle and the traffic light data.
  • the range of the distance curve represents the predicted suitable distance range that the vehicle should travel at each time in the future before reaching the destination.
  • the actual distance traveled by the vehicle at each moment is within the range of the indicated distance that the vehicle should travel at each moment in the future, that is, the actual driving time-driving distance curve of the vehicle, which is within the predicted driving time-driving distance of the vehicle.
  • the entire driving route When it is within the curve range, the entire driving route will pass in the green time period of each traffic light, without encountering red lights, and at the same time, it will maintain a set safe distance from the vehicle in front, so that the vehicle will no longer stop and start frequently. It reduces vehicle wear and fuel consumption, maintains a safe distance, and increases the safety factor of driving, thereby improving the driver's driving experience.
  • the predicted travel time-travel distance of the host vehicle is further optimized according to the speed limit data and the acceleration and deceleration capability range of the host vehicle itself.
  • Curve range obtain the vehicle's preferred driving time-driving distance curve range, the vehicle no longer stops and starts frequently, reduces vehicle wear and fuel consumption, maintains a safe distance, and increases the driving safety factor, thereby improving the driver's driving experience.
  • the speed in the driving process conforms to the traffic driving rules
  • the acceleration and deceleration of the vehicle conforms to the acceleration and deceleration capability range of the vehicle itself, which further reduces the loss of the vehicle.
  • the optimal driving time-driving distance curve of the vehicle is determined.
  • the speed during driving complies with traffic rules, and when the acceleration and deceleration of the vehicle is within the range of the vehicle's own acceleration and deceleration capability, it takes the least time to reach the destination, or the speed changes
  • Another object of the present disclosure is to propose a system for outputting driving prompt information, so as to avoid vehicle wear and fuel consumption caused by the vehicle encountering a red light during driving, and the vehicle frequently stops and starts.
  • a system for outputting driving prompt information comprising:
  • the data receiving module is used to obtain the traffic light data on the driving route of the vehicle, and the traffic light data includes: the red light time period and the green light time period of each traffic light on the driving route of the vehicle, the traffic light and the local traffic light. the distance of the car;
  • a data collection module for collecting the driving data of the preceding vehicle, the driving data of the preceding vehicle including: the speed of the preceding vehicle and the relative distance between the preceding vehicle and the own vehicle;
  • the vehicle control module is used to obtain the predicted travel time-travel distance curve range of the present vehicle according to the traffic light data and the preceding vehicle travel data, and the predicted travel time-travel distance curve range of the present vehicle represents the predicted travel time-travel distance curve range.
  • the function switch module is used to control the vehicle control module to predict the predicted travel time-travel distance curve range of the vehicle according to the user's opening operation of the preset switch, and, according to the user's closing operation of the preset switch, controlling the vehicle control module to stop predicting the predicted travel time-travel distance curve range of the vehicle;
  • the display module is used for outputting the prompt information of the range of driving distance according to the range of the predicted driving time-travel distance curve of the own vehicle.
  • the system has the same advantages as the above-mentioned method for outputting driving prompt information over the prior art, which will not be repeated here.
  • Another object of the present disclosure is to provide a vehicle to avoid vehicle wear and fuel consumption caused by frequent stop and start of the vehicle when the vehicle encounters a red light during driving.
  • a vehicle comprising:
  • the driving data collection device of the preceding vehicle is used for collecting the driving data of the preceding vehicle, wherein the driving data of the preceding vehicle includes: the speed of the preceding vehicle and the relative distance between the preceding vehicle and the own vehicle;
  • the V2I communication component is used to receive traffic light data on the driving route of the vehicle, the traffic light data including: the red light time period and the green light time period of each traffic light on the driving route of the vehicle, the traffic light and the local traffic light the distance of the car;
  • a controller configured to obtain a predicted travel time-travel distance curve range of the vehicle according to the traffic light data and the preceding vehicle travel data, where the travel time-travel distance curve represents the predicted travel time of the vehicle before reaching the destination The appropriate distance range that should be traveled at each moment in the future;
  • the output component is used for outputting the prompt information of the range of travel distance according to the travel time-travel distance curve.
  • the driving data collection device of the preceding vehicle includes:
  • the driving data collection device of the preceding vehicle is a camera or radar configured for the vehicle, or the driving data collection device of the preceding vehicle is a V2V communication component.
  • the vehicle has the same advantages as the above-mentioned method for outputting driving prompt information over the prior art, and details are not described herein again.
  • FIG. 1 is a flowchart of a method for outputting driving prompt information according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of traffic light data information on a driving route collected by a vehicle according to an example of the disclosure
  • FIG. 3 is a schematic diagram of a predicted travel time-travel distance curve of a preceding vehicle shown in an example of the present disclosure
  • FIG. 4 is a schematic diagram of a predicted travel time-travel distance curve range of a host vehicle according to an example of the present disclosure
  • FIG. 5 is a flowchart of a method for outputting driving prompt information according to another embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of a system for outputting driving prompt information according to an embodiment of the present disclosure
  • FIG. 7 shows a block diagram of a computing processing device for performing methods according to the present disclosure.
  • Figure 8 shows a storage unit for holding or carrying program code implementing the method according to the present disclosure.
  • the V2I mentioned in the embodiments of the present disclosure refers to Vehicle-to-Infrastructure, that is, the information interaction between the vehicle and the infrastructure.
  • the information interaction between the vehicle and the infrastructure can be Data related to infrastructure such as traffic lights.
  • the V2V mentioned in the embodiments of the present disclosure refers to Vehicle-to-Vehicle, that is, the information interaction between vehicles The terminal directly performs data exchange and sharing.
  • the vehicle in the prior art can perform vehicle detection according to the front red light condition detected by the camera.
  • the deceleration control is used to brake the vehicle, and it is impossible to recommend the driver's optimal driving speed according to the change of the time length of the traffic light, so as to ensure that the vehicle can pass the traffic light during the green time period of each traffic light on the driving route. Therefore, during the driving process, when the vehicle encounters a red traffic light, it needs to stop and start the vehicle frequently, which will cause wear and tear of the vehicle and a large amount of fuel consumption.
  • the present application provides a method for outputting driving prompt information in order to avoid the need to frequently stop and start the vehicle when encountering a red light during the running of the vehicle, which will cause the wear and tear of the vehicle and the large consumption of fuel.
  • the current optimal driving speed can be prompted for the driver.
  • the vehicle will pass through the green time period of each traffic light on the driving route, without frequent Stop and start the vehicle, reducing wear and tear on the vehicle and high fuel consumption.
  • FIG. 1 is a flowchart of a method for outputting driving prompt information according to an embodiment of the present disclosure. 1, the method for outputting driving prompt information provided by the present application includes the following steps:
  • Step S11 Obtain the traffic light data on the driving route of the vehicle, the traffic light data includes: the red light time period and the green light time period of each traffic light on the driving route of the vehicle, and the distance between each traffic light and the vehicle .
  • the traffic light data of all traffic lights on the driving route is acquired in real time, and the traffic light data includes the red light time period of each traffic light on the driving route of the vehicle, the The green time period of the light, the distance between each traffic light and the vehicle.
  • FIG. 2 is a schematic diagram of traffic light data information on a driving route collected by a vehicle according to an example of the application.
  • the traffic light data of all traffic lights on the driving route of the vehicle are obtained in real time.
  • the green light time period is Tg11, Tg12, Tg13 to Tg1n
  • the second traffic light is L2 distance from the vehicle
  • the red light time period is Tr21, Tr22, Tr23 to Tr2n
  • the green light time period is Tg21, Tg22, Tg23 to Tg2n
  • the third traffic light is L3 distance from the vehicle
  • the red light time period is Tr31, Tr32, Tr33 to Tr3n
  • the green light time period is Tg31, Tg32, Tg33 to Tg3n
  • the fourth traffic light is L4 away from the vehicle
  • the time periods are Tr41, Tr42, Tr43 to Tr4n
  • the green light time periods are Tg41, Tg42, Tg43 to Tg4n.
  • Step S12 Collect the driving data of the preceding vehicle, where the driving data of the preceding vehicle includes: the speed of the preceding vehicle and the relative distance between the preceding vehicle and the own vehicle.
  • the vehicle while obtaining the traffic light data of all traffic lights on the driving route of the vehicle in real time in step S11, the vehicle collects the driving data of the preceding vehicle in real time, and the preceding vehicle refers to the vehicle in the same lane of the vehicle.
  • the vehicle in front is the closest to the vehicle in front.
  • the driving data of the vehicle in front includes the driving speed of the vehicle in front and the relative distance between the vehicle and the vehicle in front. It is preset that the preceding vehicle drives at a constant speed at the speed of the preceding vehicle in the collected driving data of the preceding vehicle.
  • the preceding vehicle stops. At this time, the speed of the preceding vehicle is zero, and after the red light time period has passed.
  • the preceding vehicle continues to drive at a constant speed with the preceding vehicle speed in the preceding vehicle driving data.
  • the predicted driving time-driving distance curve of the preceding vehicle can be obtained.
  • FIG. 3 is a schematic diagram of a predicted travel time-travel distance curve of a preceding vehicle shown in an example of the application.
  • the speed of the preceding vehicle is Vf
  • the relative distance between the preceding vehicle and the own vehicle is Lf. It is preset that the vehicle in front drives at a constant speed with the vehicle speed Vf in the driving data of the vehicle ahead collected in real time. During the driving process, when encountering a red light, the vehicle in front stops. At this time, the speed of the vehicle in front is zero.
  • the vehicle in front continues to drive at a constant speed according to the speed Vf of the preceding vehicle in the driving data of the preceding vehicle in the green light time period immediately following the red light time period.
  • the obtained traffic light data on the driving route and the driving data of the preceding vehicle are used to obtain the predicted driving time-driving distance curve X1 of the preceding vehicle.
  • the starting point of the predicted travel time-travel distance curve X1 of the preceding vehicle is the relative distance Lf between the vehicle and the preceding vehicle.
  • the speed of the preceding vehicle is zero, the slope of the curve X in this time period is zero, and the curve X1 continues to use the preceding vehicle speed Vf in the real-time collected driving data of the preceding vehicle during the green light time period following the red light time period. Pass, the slope of the curve X1 in this time period is Vf.
  • Step S13 According to the traffic light data and the driving data of the preceding vehicle, obtain the predicted travel time-travel distance curve range of the vehicle, and the predicted travel time-travel distance curve range of the vehicle represents the predicted arrival time of the vehicle. The appropriate distance range that should be traveled at various future moments before the destination.
  • step S13 may specifically include: according to the traffic light data, taking the vehicle's passing within the green light time period of each traffic light on the driving route as the target; and, according to the preceding vehicle driving data, using this vehicle
  • the target is to maintain a preset distance between the vehicle and the vehicle in front, and the predicted travel time-travel distance curve range of the vehicle is obtained.
  • the predicted travel time-travel distance curve range of the host vehicle refers to the predicted suitable distance range that the host vehicle should travel at each time in the future before reaching the destination.
  • the vehicle can Under the condition of ensuring the preset safe distance from the vehicle in front, pass through the time period when each traffic light on the driving route is green, that is, when the actual driving time-driving distance curve of the vehicle is in the predicted driving time-driving distance curve of the vehicle.
  • the vehicle can pass in the time period when each traffic light on the driving route is green while ensuring the preset safe distance from the vehicle in front.
  • the predicted travel time-travel distance curve of the vehicle refers to the predicted suitable distance that the vehicle should travel at each time in the future before reaching the destination.
  • the vehicle can pass in the time period when each traffic light on the driving route is green while ensuring the preset safe distance from the vehicle in front.
  • the traffic light data on the driving route of the vehicle obtained by the vehicle in real time and the predicted driving time-travel distance curve of the vehicle in front obtain the green light time period that satisfies the driving of the vehicle in each traffic light at the same time, and the vehicle does not meet the vehicle in front.
  • a predicted travel time with the preceding vehicle will be obtained.
  • the safe predicted travel time of the vehicle that maintains the preset safe distance at the time of the travel distance curve - the travel distance curve, the safe predicted travel time of this vehicle - the travel distance curve and the lower limit predicted travel time of the vehicle -
  • the distance between the curve The range constitutes the predicted travel time-drive distance curve range of the vehicle.
  • FIG. 4 is a schematic diagram of the predicted travel time-travel distance curve range of the own vehicle shown in an example of the application.
  • the predicted driving time-driving distance curve X1 of the preceding vehicle in order to ensure that the vehicle maintains a preset safe distance with the preceding vehicle at all times on the driving route, a predicted driving time-driving distance with the preceding vehicle will be obtained.
  • the range between the two forms the predicted travel time-drive distance curve range of the vehicle.
  • the actual driving time-driving distance curve of the vehicle is within the range of the vehicle's predicted driving time-driving distance curve. Routes travel during the green hours of individual traffic lights.
  • the red light time period and the green light time period in the traffic light data will be modified according to the actual controller (such as: traffic police, etc.) according to different traffic conditions, and the traffic light data obtained by the vehicle will be updated accordingly.
  • the speed of the preceding vehicle and the relative distance between the vehicle and the preceding vehicle will continue to change.
  • the driving data of the preceding vehicle collected by the vehicle will be updated accordingly.
  • the predicted driving time-driving distance curve range of the own vehicle will also be updated accordingly.
  • the prompt information of the driving distance range is output, and the output prompt information includes: outputting the prompt information of the suitable distance range that the vehicle should travel at the current moment predicted , and output the prompt information of the distance actually traveled by the vehicle at the current moment.
  • the driver will be prompted for the appropriate range of the distance that the driver should travel at the current moment.
  • the distance curve will be within the range of the vehicle's predicted travel time-driving distance curve, and the vehicle will pass through the green time period of each traffic light on the entire driving route while maintaining a safe distance from the vehicle in front.
  • the driver will be reminded of the actual distance traveled at the current moment.
  • the driver will be prompted to increase the speed or Reduce the speed to ensure that the actual distance traveled by the vehicle in the subsequent time period is within the range of the distance that the vehicle should travel in the subsequent time period predicted by the vehicle.
  • the prompt information may be displayed on the instrument panel of the vehicle, may be displayed on the center console, or may be fed back to the driver by means of voice broadcast, etc., which is not limited herein.
  • FIG. 5 is a flowchart of a method for outputting driving prompt information according to another embodiment of the present disclosure. As shown in Figure 5, the method step S13 further includes the following steps:
  • Step S13-1 Obtain the speed limit data on the driving route of the vehicle, and/or obtain the acceleration and deceleration parameter values of the vehicle; according to the predicted travel time-travel distance curve range of the vehicle, and the vehicle travels At least one of the speed limit data on the route and the acceleration and deceleration parameter value of the vehicle determines the preferred travel time-distance curve range of the vehicle.
  • the vehicle can obtain these speed limit data, that is, speed limit data.
  • the speed limit data can be the maximum speed limit, or the minimum speed limit, or the maximum speed limit on the driving route.
  • the speed limit range consisting of the speed limit and the minimum speed limit. Due to the limitation of its own performance, the vehicle has a capability range consisting of maximum acceleration and minimum deceleration, and this capability range is the acceleration and deceleration parameter value of the vehicle.
  • the preferred travel time-travel distance curve range of the vehicle is determined.
  • the predicted travel time-travel distance curve of the host vehicle whose speed curve satisfies the speed limit is screened out.
  • a second derivation is performed on the predicted travel time-travel distance curve of the selected vehicle to obtain the selected acceleration curve of the vehicle's predicted travel time-travel distance curve.
  • all vehicles whose acceleration curve meets the acceleration and deceleration parameter value of the vehicle are selected.
  • the range composed of the predicted travel time-drive distance curve is the preferred travel time-drive distance curve range of the vehicle.
  • the vehicle will ensure that the vehicle is driving Keep a preset safe distance from the vehicle in front at all times on the route, and ensure that the vehicle travels on the route in the green time period of each traffic light, and ensure that the speed of the vehicle during the entire driving process on the route meets the limit. speed requirements, and ensure that the acceleration and deceleration of the vehicle during the entire driving process on the driving route meet the acceleration and deceleration parameter values of the vehicle.
  • the speed limit data on the driving route perform a derivation of the predicted driving time-driving distance curves of all vehicles within the range of the predicted driving time-driving distance curve of the vehicle to obtain the predicted driving time-driving distance curves of all vehicles. speed curve. Accordingly, according to the speed curve, the predicted travel time-travel distance curve of the vehicle whose speed curve satisfies the speed limit is screened out. At this time, the range composed of the predicted travel time-travel distance curve of all the vehicles whose speed curve meets the speed limit is It is the preferred travel time-drive distance curve range of the vehicle.
  • the vehicle will ensure that the vehicle is driving Keep a preset safe distance from the vehicle in front at all times on the route, and ensure that the vehicle travels on the route in the green time period of each traffic light, and ensure that the speed of the vehicle during the entire driving process on the route meets the limit. speed requirement.
  • the predicted travel time-travel distance curves of all vehicles within the range of the vehicle's predicted travel time-travel distance curve are secondarily derived to obtain the predicted travel time of all vehicles.
  • the acceleration curve of the distance curve Accordingly, according to the acceleration curve, screen out the predicted travel time-travel distance curve of the vehicle whose acceleration curve satisfies the acceleration and deceleration parameter value of the vehicle. At this time, all vehicles whose acceleration curve meets the acceleration and deceleration parameter value of the vehicle are selected.
  • the range formed by the predicted travel time-drive distance curve is the preferred travel time-drive distance curve range of the vehicle.
  • the vehicle will ensure that the vehicle is driving Keep a preset safe distance from the vehicle in front at all times on the route, and ensure that the vehicle travels on the route in the green time period of each traffic light to ensure the acceleration and deceleration of the vehicle during the entire driving process on the route. Satisfy the acceleration and deceleration parameter values of the vehicle.
  • the preferred travel time-travel distance curve range of the vehicle is determined according to the speed limit data on the vehicle's travel route and the acceleration and deceleration parameter values of the vehicle.
  • Step S13-2 According to the preset expected travel information, determine the optimal travel time-driving distance curve of the own vehicle from the preferred travel time-driving distance curve range of the own vehicle, and the expected travel information includes at least the following: One: the travel time to the destination is the shortest, and the travel time-travel distance curve is the smoothest.
  • the driving time-form distance curve of the vehicle in order to make the vehicle reach the destination the fastest, or to minimize the speed fluctuation during the entire driving process of the vehicle to the destination, that is, the driving time-form distance curve of the vehicle is the smoothest, or to make the vehicle travel the most smoothly. It can reach the destination faster and at the same time make the speed fluctuation smaller during the whole driving process of the vehicle to the destination, that is, the driving time-form distance curve of the vehicle is smoother, and the preferred driving time of the vehicle obtained from step S13-1 is obtained. - In the range of the driving distance curve, an optimal driving time-driving distance curve of the vehicle is screened out.
  • a travel time is selected from the range of the preferred travel time- travel distance curve of the vehicle obtained in step S13-1
  • the shortest preferred travel time-travel distance curve of the host vehicle, the preferred travel time-travel distance curve of the host vehicle with the shortest travel time is the optimum travel time-travel distance curve of the host vehicle.
  • the vehicle When the actual driving time-driving distance curve of the vehicle is the same as the optimal driving time-driving distance curve, the vehicle will keep the pre-set safety distance from the vehicle in front at all times on the driving route, and ensure that the vehicle Pass through the green time period of each traffic light on the driving route, ensure that the driving speed of the vehicle during the entire driving process on the driving route meets the speed limit requirements, and ensure that the driving process of the vehicle on the driving route increases and decreases during the entire driving process When the speed satisfies the acceleration and deceleration parameter value of the own vehicle, the destination is reached in the shortest travel time.
  • the preset expected travel information is only when the travel time- travel distance curve is the smoothest, according to the preset expected travel information, from the range of the preferred travel time- travel distance curve of the vehicle obtained in step S13-1, screen out a travel time
  • the optimal driving time-driving distance curve of the vehicle with the smoothest time-driving distance curve is the optimal driving time-driving distance curve of the vehicle with the smoothest driving time-driving distance curve. distance curve.
  • the vehicle will keep the pre-set safety distance from the vehicle in front at all times on the driving route, and ensure that the vehicle Pass through the green time period of each traffic light on the driving route, ensure that the driving speed of the vehicle during the entire driving process on the driving route meets the speed limit requirements, and ensure that the driving process of the vehicle on the driving route increases and decreases during the entire driving process
  • the travel time-travel distance curve is the smoothest in the entire travel process to reach the destination in the way with the smallest speed change. At this time, the speed of the vehicle changes the least, there is no sudden acceleration or sudden deceleration, and the vehicle wears less.
  • the preferred travel time- travel distance curve of the vehicle obtained from step S13-1 In the range, screen out a preferred travel time-driving distance curve of the vehicle that comprehensively refers to the shortest driving time to the destination and the smoothest driving time-driving distance curve.
  • the vehicle's preferred driving time-driving distance The curve is the optimal driving time-driving distance curve of the vehicle.
  • the vehicle When the actual driving time-driving distance curve of the vehicle is the same as the optimal driving time-driving distance curve, the vehicle will keep the pre-set safety distance from the vehicle in front at all times on the driving route, and ensure that the vehicle Pass through the green time period of each traffic light on the driving route, ensure that the driving speed of the vehicle during the entire driving process on the driving route meets the speed limit requirements, and ensure that the driving process of the vehicle on the driving route increases and decreases during the entire driving process
  • the speed satisfies the acceleration and deceleration parameter value of the own vehicle, the speed change is as small as possible, and the time to reach the destination is as short as possible to reach the destination.
  • the optimal travel time-travel distance curve of the vehicle is determined only according to the preset expected travel information for the shortest travel time to the destination.
  • Step S13-3 According to the optimal driving time-driving distance curve of the own vehicle, determine the optimal driving time-driving speed curve of the own vehicle, and the optimal driving time-driving speed curve of the own vehicle represents the predicted driving time. The optimal speed that the car should travel at each moment in the future before reaching the destination; according to the optimal travel time-driving speed curve, output travel speed prompt information.
  • a derivation is performed on the optimal travel time-driving distance curve of the own vehicle determined in step S13-3 to obtain the optimal travel time-driving speed curve of the own vehicle.
  • the optimal travel time-travel speed curve of the host vehicle refers to the predicted optimum speed of the host vehicle at each time in the future before reaching the destination.
  • output the driving speed prompt information includes: outputting the optimal driving speed prompt information of the current time predicted by the own vehicle, and outputting the actual current time of the own vehicle. Information about driving speed.
  • the driver is prompted with the optimal driving speed at the current moment.
  • the actual driving time-driving speed curve of the vehicle will be the same as that of the vehicle.
  • the optimal driving time-driving speed curve of the vehicle is the same, and the vehicle will keep a preset safe distance from the vehicle in front at all times on the driving route, and ensure that the vehicle is on the driving route at the green time of each traffic light.
  • the driver will be reminded of the actual driving speed at the current moment.
  • the driver will be prompted to increase or decrease the speed, so that the vehicle can speed up or reduce the speed.
  • the vehicle can always maintain a preset safe distance from the vehicle in front, and ensure that the vehicle can pass through the green time period of each traffic light on the driving route, and ensure that the vehicle is completely safe during the entire driving process on the driving route.
  • the driving speed meets the speed limit requirement, and the driving acceleration and deceleration of the vehicle in the entire driving process on the driving route are guaranteed to meet the acceleration and deceleration parameter value of the vehicle, the destination can be reached with the shortest driving time.
  • step S13 of the method for outputting driving prompt information described in the present disclosure it further includes the following steps:
  • Step S13-a When it is recognized for the first time that the front traffic light on the driving route of the vehicle is a red light, and the distance between the vehicle and the red light meets the preset distance, perform the step: according to the traffic light data and the front traffic light.
  • the vehicle driving data is used to obtain the predicted driving time-driving distance curve range of the vehicle; or when the user's turn-on operation of the preset switch is detected, perform the steps: according to the traffic light data and the driving data of the preceding vehicle, obtain the current vehicle The predicted travel time - travel distance curve range of the car.
  • step S13-a before performing the prediction operation in step S13 to obtain the predicted travel time-driving distance curve range of the vehicle, step S13-a needs to be performed to identify whether there is a traffic light within the preset distance in front of the vehicle, and the Whether the traffic light is a red light, and whether it is the first recognition action that satisfies the above two conditions at the same time.
  • the traffic light is a red light, and it is the first time that the recognition action satisfying the above two conditions is recognized for the first time, and then step S13 is executed; or it is detected that the user has turned on the control step S13
  • the switch is preset, and step S13 is started.
  • step S13 of the method for outputting driving prompt information described in the present disclosure the method further includes the following steps:
  • Step S13-b when it is recognized that there is no traffic light within the set distance ahead on the driving route of the vehicle, stop executing the step: obtain the predicted travel time of the vehicle according to the traffic light data and the driving data of the preceding vehicle- The range of the driving distance curve; or when the user's end navigation operation or the closing operation of the preset switch is detected, the execution step is stopped: obtaining the predicted driving time of the vehicle according to the traffic light data and the driving data of the preceding vehicle- Travel distance curve range.
  • step S13-b is performed to identify whether there is a traffic light within the set distance in front of the vehicle on the driving route.
  • step S13-b is performed to identify whether there is a traffic light within the set distance in front of the vehicle on the driving route.
  • the present application proposes a method for outputting driving prompt information, which can obtain the optimal driving time-driving speed curve of the vehicle according to the driving data of the preceding vehicle and the traffic light data, and according to the optimal driving time-driving speed curve of the vehicle, Prompt the driver of the optimal driving speed at each moment.
  • the driver drives the vehicle at the suggested optimal driving speed at various times, the actual driving time-driving speed curve of the vehicle is the same as the optimal driving time-driving distance curve of the vehicle, and the vehicle will always keep the same as before.
  • the vehicle maintains a preset safety distance or more, and the vehicle will pass during the green time period of each traffic light on the driving route, and the driving speed of the vehicle during the entire driving process on the driving route meets the speed limit requirements and/or the vehicle
  • the driving acceleration and deceleration of the entire driving process on the driving route satisfies the acceleration and deceleration parameter value of the vehicle, and the vehicle will reach the destination with the shortest driving time or the vehicle will arrive at the destination with the smallest speed change.
  • the vehicle will no longer stop and start frequently at traffic lights, and there will no longer be a sudden increase or decrease in vehicle speed, and the acceleration and deceleration of the vehicle will conform to the vehicle's own acceleration and deceleration capability range, reducing vehicle wear and tear.
  • Fuel consumption; keeping a safe distance and driving speed in line with traffic driving rules, increasing the safety factor of driving; at the same time, reaching the destination with the smallest driving time improves the driver's driving experience.
  • the present application further provides a system 600 for outputting driving prompt information, as shown in FIG. 6 , which is a schematic diagram of a system for outputting driving prompt information according to an embodiment of the present disclosure.
  • the system 600 for outputting driving prompt information of the present application includes:
  • the data receiving module 601 is used to obtain the traffic light data on the driving route of the vehicle, the traffic light data includes: the red light time period and the green light time period of each traffic light on the driving route of the vehicle, the traffic light and the the distance of the vehicle;
  • the data collection module 602 is used to collect the driving data of the preceding vehicle, the driving data of the preceding vehicle includes: the speed of the preceding vehicle and the relative distance between the preceding vehicle and the own vehicle;
  • the vehicle control module 603 is configured to obtain the predicted travel time-travel distance curve range of the vehicle according to the traffic light data and the preceding vehicle travel data, and the predicted travel time-travel distance curve range of the host vehicle represents the prediction The appropriate distance range that the vehicle should travel at each time in the future before reaching the destination;
  • the function switch module 604 is used to control the vehicle control module to predict the predicted travel time-travel distance curve range of the vehicle according to the user's turning on operation of the preset switch, and, according to the user's turning off operation of the preset switch , controlling the vehicle control module to stop predicting the predicted travel time-travel distance curve range of the vehicle;
  • the display module 605 is configured to output the prompt information of the driving distance range according to the predicted driving time-driving distance curve range of the own vehicle.
  • a vehicle including:
  • the driving data collection device of the preceding vehicle is used for collecting the driving data of the preceding vehicle, wherein the driving data of the preceding vehicle includes: the speed of the preceding vehicle and the relative distance between the preceding vehicle and the own vehicle;
  • the V2I communication component is used to receive traffic light data on the driving route of the vehicle, the traffic light data including: the red light time period and the green light time period of each traffic light on the driving route of the vehicle, the traffic light and the local traffic light the distance of the car;
  • a controller configured to obtain a predicted travel time-travel distance curve range of the vehicle according to the traffic light data and the preceding vehicle travel data, where the travel time-travel distance curve represents the predicted travel time of the vehicle before reaching the destination The appropriate distance range that should be traveled at each moment in the future;
  • the output component is used for outputting the prompt information of the range of travel distance according to the travel time-travel distance curve.
  • the device for collecting the driving data of the preceding vehicle includes: the device for collecting the driving data of the preceding vehicle is a camera or a radar configured for the vehicle, or the device for collecting the driving data of the preceding vehicle is a V2V communication component.
  • the vehicle obtains the traffic light data on the driving route through the V2I communication technology, and through the V2I communication technology, the vehicle exchanges data with the infrastructure, and obtains the traffic light data information shared by the traffic light infrastructure, including The red light time period and green light time period of each traffic light on the driving route of the vehicle, the distance between each traffic light and the vehicle, and the specific red light or green light of each traffic light on the driving route at the current moment. Traffic light data information such as how long each traffic light on the route will continue to switch to another color traffic light.
  • the vehicle obtains the driving data of the preceding vehicle through its own camera or radar, or through the V2V communication technology, the vehicle interacts with the preceding vehicle to obtain the preceding vehicle’s driving data shared by the preceding vehicle, including the speed of the preceding vehicle, the The relative distance of the vehicle, and the content of data information between vehicles that can be shared.
  • the vehicle can obtain the optimal driving time-driving speed curve of the vehicle. According to the optimal driving time-driving speed of the vehicle curve, the optimal driving speed prompt information can be output to remind the driver of the optimal driving speed at the current moment.
  • the vehicle When the driver drives the vehicle at the recommended optimal driving speed at the current moment, the vehicle will always maintain the same speed as the vehicle in front. Above the preset safety distance, and the vehicle will pass in the green time period of each traffic light on the driving route, and the driving speed of the vehicle during the entire driving process on the driving route meets the speed limit requirements and/or the vehicle is driving.
  • the driving acceleration and deceleration of the entire driving process on the route meet the acceleration and deceleration parameter values of the vehicle, and the vehicle will reach the destination with the shortest driving time or the vehicle will arrive at the destination with the minimum speed change.
  • the vehicle will no longer stop and start frequently at traffic lights, and there will no longer be a sudden increase and decrease in vehicle speed, and the acceleration and deceleration of the vehicle will conform to the vehicle's own acceleration and deceleration capability range, reducing vehicle wear and fuel consumption. Consumption; keeping a safe distance and driving speed in line with traffic driving rules, increasing the safety factor of driving; at the same time reaching the destination with the minimum driving time, improving the driving experience of the driver.
  • embodiments of the embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
  • Embodiments of the present disclosure are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present disclosure. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in the flow or flows of the flowcharts and/or the blocks or blocks of the block diagrams.
  • These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • Various component embodiments of the present disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a computing processing device according to embodiments of the present disclosure.
  • DSP digital signal processor
  • the present disclosure can also be implemented as apparatus or apparatus programs (eg, computer programs and computer program products) for performing some or all of the methods described herein.
  • Such a program implementing the present disclosure may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.
  • FIG. 7 illustrates a computing processing device that may implement methods in accordance with the present disclosure.
  • the computing processing device traditionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020 .
  • the memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has storage space 1030 for program code 1031 for performing any of the method steps in the above-described methods.
  • the storage space 1030 for program codes may include various program codes 1031 for implementing various steps in the above methods, respectively.
  • the program codes can be read from or written to one or more computer program products.
  • These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 8 .
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 7 .
  • the program code may, for example, be compressed in a suitable form.
  • the storage unit includes computer readable code 1031', ie code readable by a processor such as 1010 for example, which when executed by a computing processing device, causes the computing processing device to perform any of the methods described above. of the various steps.

Abstract

一种输出行驶提示信息的方法、系统及车辆，该方法包括：获得本车行驶路线上的交通灯数据，包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、各个交通灯与本车的距离；采集前车行驶数据，包括：前车车速、前车与本车的相对距离；根据交通灯数据和前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；根据本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。该方法可使车辆在行驶路线上的各个交通灯为绿灯的时间段通行，车辆无需频繁停止和启动，降低了车辆磨损和燃油的消耗。

Description

输出行驶提示信息的方法、系统及车辆
相关申请的交叉引用
本申请要求在2020年12月18日提交中国专利局、申请号为202011509332.4、名称为“输出行驶提示信息的方法、系统及车辆”的中国专利公开的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及车辆工程技术领域，特别涉及一种输出行驶提示信息的方法、系统及车辆。
背景技术
当今时代汽车智能化高速发展，通过先进的信息交互和通信技术可预估前方道路和交通状况，使得车辆的使用和车辆动力系统的能源利用更加有效。具体可包括通过导航系统、雷达和摄像头等收集到前方道路数据，从而预测对前方道路和交通状况，随着不断的发展，未来的车与外界信息交互(vehicle-to-X：V2X)、车与车信息交互(Vehicle-to-Vehicle：V2V)、车与基础设施信息交互(Vehicle-to-Infrastructure：V2I)等技术的应用，使得对前方道路和交通状况的预测更加准确。
而目前是预测前方道路和交通状况，为用户规划更优的行驶路线，以及，依据摄像头探测到的前方红灯状况进行车辆的减速控制进行车辆刹停，无法避免车辆到达交通灯遇到红灯时，车辆需要频繁停止和启动，从而造成车辆的磨损和燃油的消耗。
概述
有鉴于此，本公开旨在提出一种输出行驶提示信息的方法、系统及车辆，以避免车辆在行驶过程中遇到红灯，车辆频繁停止和启动，造成的车辆磨损和燃油的消耗。
为达到上述目的，本公开的技术方案是这样实现的：
一种输出行驶提示信息的方法，所述方法包括：
获得本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述本车的预测行驶时间-行驶距离曲线范围表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；
根据所述本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。
进一步地，所述根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，包括：
根据所述交通灯数据，以本车在行驶路线上的各个交通灯的绿灯时间段内通行为目标，以及，根据所述前车行驶数据，以本车与前车保持预设距离为目标，获得本车的预测行驶时间-行驶距离曲线范围。
进一步地，在根据所述本车的预测行驶时间-行驶距离曲线范围，确定本车的预测行驶时间-行驶速度曲线范围后，所述方法还包括：
获得本车行驶路线上的限速数据，和/或，获得本车的加减速度参数值；
根据所述本车的预测行驶时间-行驶距离曲线范围，以及，本车行驶路线上的限速数据和本车的加减速度参数值中的至少一者，确定本车的优选行驶时间-行驶距离曲线范围。
进一步地，在确定本车的优选行驶时间-行驶距离曲线范围后，所述方法还包括：
根据预设的期望行驶信息，从所述本车的优选行驶时间-行驶距离曲线范围中确定出本车的最优行驶时间-行驶距离曲线，所述期望行驶信息包括以下至少一者：到达目的地的行驶时长最短、行驶时间-行驶距离曲线最平滑。
进一步地，在根据预设的期望行驶信息，从所述本车的优选行驶时间-行驶距离曲线范围中确定出本车的最优行驶时间-行驶距离曲线后，所述方法还包括：
根据所述本车的最优行驶时间-行驶距离曲线，确定本车的最优行驶时间-行驶速度曲线，所述本车的最优行驶时间-行驶速度曲线表征预测的本车在到达 目的地之前的未来各个时刻行驶的最优速度；
根据所述最优行驶时间-行驶速度曲线，输出行驶速度提示信息。
进一步地，所述根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，包括：
在首次识别到本车行驶路线上的前方交通灯为红灯，且本车与该红灯的距离满足预设距离时，执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；或
在检测到用户对预设开关的开启操作时，执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围。
进一步地，在根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围后，所述方法还包括：
在识别到本车行驶路线上的前方设定距离内无交通灯时，停止执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；或
在检测到用户的结束导航操作或对预设开关的关闭操作时，停止执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围。
相对于现有技术，本公开所述的一种输出行驶提示信息的方法具有以下优势：
(1)本公开所述的输出行驶提示信息的方法可以根据所述前车行驶数据和所述交通灯数据，获得本车的预测行驶时间-行驶距离曲线范围，本车的预测行驶时间-行驶距离曲线范围表示预测的本车在到达目的地之前的未来各个时刻应该行驶到的适宜距离范围，将本车的预测行驶时间-行驶距离曲线范围通过提示信息显示给驾驶员，当驾驶员在实际行驶过程中，车辆各个时刻实际行驶到的距离，处于提示的未来各个时刻应该行驶到的距离范围内时，即本车的实际行驶时间-行驶距离曲线，处于本车的预测行驶时间-行驶距离曲线范围内时，在整个行驶路线上将在各个交通灯的绿灯时间段通行，不会遇到红灯，同时会与前车保持设定的安全距离，由此车辆不再频繁停止和启动，降低了车辆磨损和燃油的消耗，保持安全距离，增加了驾驶的安全系数，从而改善驾驶员的驾驶体验。
(2)本公开所述的预测到本车的预测行驶时间-行驶距离曲线范围后，根据限速数据和根据本车自身的加减速度能力范围，进一步优化本车的预测行驶时间-行驶距离曲线范围，获得本车优选行驶时间-行驶距离曲线范围，车辆不再频繁停止和启动，降低了车辆磨损和燃油的消耗，保持安全距离，增加了驾驶的安全系数，从而改善驾驶员的驾驶体验的同时，驾驶过程中的速度符合交通驾驶规则，以及，车辆的加减速度符合本车自身的加减速度能力范围，对车辆的损耗进一步降低。
(3)本公开所述的根据行驶时长最短和行驶时间-行驶距离曲线最平滑中的至少一者确定出本车的最优行驶时间-行驶距离曲线，在车辆不再频繁停止和启动，行驶过程中与前车保持安全距离，驾驶过程中的速度符合交通规则，以及，车辆的加减速度符合本车自身的加减速度能力范围的情况下，以最少的用时到达目的地，或速度变化最小的行驶过程到达目的地，或同时兼顾更早和速度变化更小的行驶过程到达目的地，节省时间的同时使车辆避免猛加速或猛减速，降低了车辆磨损和燃油的消耗。
本公开的另一目的在于提出一种输出行驶提示信息的系统，以避免车辆在行驶过程中遇到红灯，车辆频繁停止和启动，造成的车辆磨损和燃油的消耗。
为达到上述目的，本公开的技术方案是这样实现的：
一种输出行驶提示信息的系统，所述系统包括：
数据接收模块，用于获得本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
数据采集模块，用于采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
整车控制模块，用于根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述本车的预测行驶时间-行驶距离曲线范围表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；
功能开关模块，用于根据用户对预设开关的开启操作，控制所述整车控制模块预测本车的预测行驶时间-行驶距离曲线范围，以及，用于根据用户对预设开关的关闭操作，控制所述整车控制模块停止预测本车的预测行驶时间-行驶距 离曲线范围；
显示模块，用于根据所述本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。
所述系统与上述输出行驶提示信息的方法相对于现有技术所具有的优势相同，在此不再赘述。
本公开的另一目的在于提出一种车辆，以避免车辆在行驶过程中遇到红灯，车辆频繁停止和启动，造成的车辆磨损和燃油的消耗。
为达到上述目的，本公开的技术方案是这样实现的：
一种车辆，所述车辆包括：
前车行驶数据采集装置，用于采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
V2I通信组件，用于接收本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
控制器，用于根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述行驶时间-行驶距离曲线表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；
输出组件，用于根据所述行驶时间-行驶距离曲线，输出行驶距离范围提示信息。
进一步地，所述前车行驶数据采集装置，包括：
所述前车行驶数据采集装置为本车配置的摄像头或雷达，或，前车行驶数据采集装置为V2V通信组件。
所述车辆与上述输出行驶提示信息的方法相对于现有技术所具有的优势相同，在此不再赘述。
附图简述
构成本公开的一部分的附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施例所述的一种输出行驶提示信息的方法的流程图；
图2为本公开一示例示出的本车采集到的行驶路线上交通灯数据信息的示意图；
图3为本公开一示例示出的前车的预测行驶时间-行驶距离曲线的示意图；
图4为本公开一示例示出的本车的预测行驶时间-行驶距离曲线范围的示意图；
图5为本公开另一实施例所述的一种输出行驶提示信息的方法的流程图；
图6为本公开实施例所述的一种输出行驶提示信息的系统的示意图；
图7示出了用于执行根据本公开的方法的计算处理设备的框图；并且
图8示出了用于保持或者携带实现根据本公开的方法的程序代码的存储单元。
详细描述
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。
另外，在本公开的实施例中所提到的V2I，是指Vehicle-to-Infrastructure，即车与基础设施之间的信息交互，通过V2I技术可实现车辆与基础设施之间的信息交互，获取到交通灯等基础设施的相关数据。
在本公开的实施例中所提到的V2V，是指Vehicle-to-Vehicle，即车辆与车辆之间信息交互，可以获取到行驶路线上其他车辆的速度、位置等数据信息，车辆终端与车辆终端直接进行数据交互共享。
下面将参考附图并结合实施例来详细说明本公开。
在对本申请所提供的输出行驶提示信息的方法进行说明之前，下面首先对相关技术领域中的现有技术进行简单说明，现有技术中的车辆可依据摄像头探测到的前方红灯状况进行车辆的减速控制进行车辆的刹停，无法根据交通灯的时长变化规律推荐驾驶员最优的行驶速度，以保证车辆可以在行驶的路线上的各个交通灯的绿灯时间段通过交通灯。由此，在行驶过程中，车辆遇到交通灯为红灯时，需要频繁进行停车和启动车辆，将造成车辆的磨损以及燃油的大量消耗。
因此，本申请为避免车辆行驶过程中遇到红灯时，需要频繁进行停车和启动车辆，由此会造成车辆的磨损以及燃油的大量消耗的问题发生，提供一种输 出行驶提示信息的方法，通过该方法，可以为驾驶员提示当前的最佳行驶速度，当驾驶员以提示的当前的最佳行驶速度驾驶车辆时，车辆会在行驶路线上各个交通灯的绿灯时间段通行，无需频繁进行停车和启动车辆，降低了车辆的磨损以及燃油的大量消耗。
图1为本公开实施例所述的一种输出行驶提示信息的方法的流程图。参照图1，本申请提供的输出行驶提示信息的方法包括以下步骤：
步骤S11：获得本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离。
在本实施例中，车辆在行驶路线上行驶过程中，实时获取到行驶路线上所有交通灯的交通灯数据，该交通灯数据包括本车行驶路线上各个交通灯的红灯时间段，各个交通灯的绿灯时间段，各个交通灯距离本车之间的距离。
示例地，图2为本申请一示例示出的本车采集到的行驶路线上交通灯数据信息的示意图。参照图2，本车在行驶路线上行驶过程中，实时获取到本车行驶路线上所有交通灯的交通灯数据，第一个交通灯距离本车L1距离，红灯时间段为Tr11、Tr12、Tr13至Tr1n，绿灯时间段为Tg11、Tg12、Tg13至Tg1n，第二个交通灯距离本车L2距离，红灯时间段为Tr21、Tr22、Tr23至Tr2n，绿灯时间段为Tg21、Tg22、Tg23至Tg2n，第三个交通灯距离本车L3距离，红灯时间段为Tr31、Tr32、Tr33至Tr3n，绿灯时间段为Tg31、Tg32、Tg33至Tg3n，第四个交通灯距离本车L4，红灯时间段为Tr41、Tr42、Tr43至Tr4n，绿灯时间段为Tg41、Tg42、Tg43至Tg4n。
步骤S12：采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离。
在本实施例中，在步骤S11实时获得了本车行驶路线上的所有交通灯的交通灯数据的同时，本车实时采集到前车的前车行驶数据，该前车指本车同车道的前方与本车最近的一辆车，前车行驶数据中包括了前车的行驶速度和本车与前车的相对距离。预设前车以采集到的前车行驶数据中的前车车速进行匀速行驶，在行驶过程中，遇到红灯时，前车停车，此时前车车速为零，该红灯时间段过后，在紧接着该红灯时间段的绿灯时间段前车继续以前车行驶数据中的前车车速进行匀速行驶。在此预设的基础上，根据本车实时获取到的行驶路线上 的交通灯数据，以及，前车行驶数据，可以获得前车的预测行驶时间-行驶距离曲线。
沿用上述示例，图3为本申请一示例示出的前车的预测行驶时间-行驶距离曲线的示意图。参照图3，本车实时采集到的前车行驶数据中前车速度为Vf，前车与本车的相对距离为Lf。预设前车全程以实时采集到的前车行驶数据中的前车车速Vf进行匀速行驶，在行驶过程中，遇到红灯时，前车停车，此时前车车速为零，该红灯时间段过后，在紧接着该红灯时间段的绿灯时间段前车继续以前车行驶数据中的前车车速Vf匀速行驶，在此预设的基础上，根据如图2所示的本车实时获取到的行驶路线上的交通灯数据，以及，前车行驶数据，获得前车的预测行驶时间-行驶距离曲线X1。该前车的预测行驶时间-行驶距离曲线X1的起点位置为本车与前车的相对距离Lf，曲线X1在遇到红灯时，从遇到红灯时刻至红灯结束时刻的时间段内前车车速为零，该时间段内曲线X的斜率为零，曲线X1在紧接着该红灯时间段的绿灯时间段内前车继续以实时采集到的前车行驶数据中的前车车速Vf通行，此时间段内曲线X1斜率为Vf。
步骤S13：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述本车的预测行驶时间-行驶距离曲线范围表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围。
本实施例中，步骤S13可具体包括：根据所述交通灯数据，以本车在行驶路线上的各个交通灯的绿灯时间段内通行为目标，以及，根据所述前车行驶数据，以本车与前车保持预设距离为目标，获得本车的预测行驶时间-行驶距离曲线范围。
在本实施例中，本车的预测行驶时间-行驶距离曲线范围指的是预测的本车到达目的地之前的未来各个时刻应行驶到的适宜距离范围。当在实际行驶过程中，本车各个时刻所实际行驶到的距离，处于本车的预测行驶时间-行驶距离曲线范围所表示的未来各个时刻应行驶到的适宜距离范围内时，本车可以在保证与前车预设安全距离的情况下，在行驶路线上各个交通灯为绿灯的时间段通行，即当本车的实际行驶时间-行驶距离曲线，处于本车的预测行驶时间-行驶距离曲线范围内时，本车可以在保证与前车预设安全距离的情况下，在行驶路线上各个交通灯为绿灯的时间段通行。
而本车的预测行驶时间-行驶距离曲线指的是预测的本车到达目的地之前 的未来各个时刻应行驶到的适宜距离，当本车的实际行驶时间-行驶距离曲线，和本车的预测行驶时间-行驶距离曲线相同时，本车可以在保证与前车预设安全距离的情况下，在行驶路线上各个交通灯为绿灯的时间段通行。
根据本车实时获得的本车行驶路线上的交通灯数据和前车的预测行驶时间-行驶距离曲线，获得同时满足本车在各个交通灯的绿灯时间段通行，以及本车不与前车相撞，以及本车尽可能早地到达目的地三个条件的两条本车的极限预测行驶时间-行驶距离曲线，包括：本车刚好不与前车相撞，同时本车刚好在前车通行的各个交通灯的相同绿灯时间段的开始时刻和前车同时通过各个交通灯，此时获得一条本车的上极限预测行驶时间-行驶距离曲线；本车不与前车相撞，同时本车刚好在前车通行的各个交通灯的相同绿灯时间段的结束时刻通过各个交通灯，此时获得一条本车的下极限预测行驶时间-行驶距离曲线。
在此基础上，根据步骤S12的前车的预测行驶时间-行驶距离曲线，本车为保证在行驶路线上时刻与前车保持一个预设的安全距离，将获得一条与前车的预测行驶时间-行驶距离曲线时刻保持预设安全距离的本车的安全预测行驶时间-行驶距离曲线，该本车的安全预测行驶时间-行驶距离曲线和本车的下极限预测行驶时间-行驶距离曲线之间的范围组成本车的预测行驶时间-行驶距离曲线范围。
沿用上述示例，图4为本申请一示例示出的本车的预测行驶时间-行驶距离曲线范围的示意图。参见图4，根据本车实时获得的本车行驶路线上的交通灯数据，参见图2，和前车的预测行驶时间-行驶距离曲线，参见图3，获得同时满足本车在各个交通灯的绿灯时间段通行，以及本车不与前车相撞，以及本车尽可能早地到达目的地三个条件的两条本车的极限预测行驶时间-行驶距离曲线，包括：本车刚好不与前车相撞，同时本车刚好在前车通行的各个交通灯的相同绿灯时间段的开始时刻和前车同时通过各个交通灯，此时获得一条本车的上极限预测行驶时间-行驶距离曲线X21；本车不与前车相撞，同时本车刚好在前车通行的各个交通灯的相同绿灯时间段的结束时刻通过各个交通灯，此时获得一条本车的下极限预测行驶时间-行驶距离曲线X22。
在此基础上，根据前车的预测行驶时间-行驶距离曲线X1，本车为保证在行驶路线上时刻与前车保持一个预设的安全距离，将获得一条与前车的预测行驶时间-行驶距离曲线时刻保持预设安全距离的本车的安全预测行驶时间-行驶 距离曲线X3，该本车的安全预测行驶时间-行驶距离曲线X3和本车的下极限预测行驶时间-行驶距离曲线X22之间的范围组成本车的预测行驶时间-行驶距离曲线范围。
本车的实际行驶时间-行驶距离曲线，处于本车的预测行驶时间-行驶距离曲线范围内，可保证本车在行驶路线上时刻与前车保持安全距离Lf以上的同时，保证本车在行驶路线上在各个交通灯的绿灯时间段通行。
应当理解的是，交通灯数据中的红灯时间段和绿灯时间段会根据实际控制人员(如：交警等)根据交通情况不同进行修改，此时本车获取到的交通灯数据会随之更新，前车行驶数据中前车的车速和本车与前车的相对距离会不断变化，此时本车采集到的前车行驶数据会随之更新，基于此，根据所述交通灯数据和所述前车行驶数据，预测的本车行驶时间-行驶距离曲线范围也会随之更新。
S14：根据所述本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。
在本实施例中，根据本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息，该输出的提示信息包括：输出本车预测的当前时刻应该行驶到的适宜距离范围的提示信息，以及，输出本车当前时刻实际行驶到的距离的提示信息。
在实际行驶过程中，提示驾驶员当前时刻应该行驶到的距离的适宜范围，当驾驶员按提示信息提示的当前时刻应该行驶到的距离的适宜范围驾驶本车，本车的实际行驶时间-行驶距离曲线将处于本车的预测行驶时间-行驶距离曲线范围内，本车将在保持与前车的安全距离的情况下，在整个行驶路线上的各个交通灯的绿灯时间段通行。
在实际行驶过程中，提示驾驶员当前时刻实际行驶到的距离，本车当前时刻实际行驶到的距离超过或低于本车预测的当前时刻应该行驶到的距离范围时，再提示驾驶员提速或者降速，以保证后续时间段内本车实际行驶到的距离，处于本车预测的后续时间段内应该行驶到的距离范围。在本实施例中，提示信息可以是显示在车辆的仪表盘，可以是显示在中控台，也可以是通过语音播报等方式反馈给驾驶员，在此不作限制。
图5为本公开另一实施例所述的一种输出行驶提示信息的方法的流程图。 如图5所示，该方法步骤S13还包括以下步骤：
步骤S13-1：获得本车行驶路线上的限速数据，和/或，获得本车的加减速度参数值；根据所述本车的预测行驶时间-行驶距离曲线范围，以及，本车行驶路线上的限速数据和本车的加减速度参数值中的至少一者，确定本车的优选行驶时间-行驶距离曲线范围。
在本实施例中，本车的行驶路线上具有速度限制，本车可获取到这些速度限制数据即限速数据，限速数据可以是行驶路线上的最大限速，或最小限速，或最大限速和最小限速组成的限速范围。本车由于自身性能的限制，存在最大加速度和最小减速度组成的能力范围，该能力范围即为本车的加减速度参数值。
根据本车行驶路线上的限速数据和本车的加减速度参数值，确定本车的优选行驶时间-行驶距离曲线范围时。根据行驶路线上的限速数据，对本车的预测行驶时间-行驶距离曲线范围内的所有本车的预测行驶时间-行驶距离曲线进行一次求导，获得所有本车的预测行驶时间-行驶距离曲线的速度曲线。据此，根据速度曲线，筛选出速度曲线满足速度限制的本车的预测行驶时间-行驶距离曲线。同时，根据本车的加减速度参数值，对上述筛选出的本车的预测行驶时间-行驶距离曲线进行二次求导，获得筛选出的本车的预测行驶时间-行驶距离曲线的加速度曲线。据此，根据加速度曲线，筛选出加速度曲线满足本车的加减速度参数值的本车的预测行驶时间-行驶距离曲线，此时，加速度曲线满足本车的加减速度参数值的所有本车的预测行驶时间-行驶距离曲线组成的范围即为本车的优选行驶时间-行驶距离曲线范围。
当本车的实际行驶时间-行驶距离曲线与该本车的优选行驶时间-行驶距离曲线范围内的任一条本车的优选行驶时间-行驶距离曲线相同时，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行的情况下，保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求，以及保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值。
仅根据本车行驶路线上的限速数据，确定本车的优选行驶时间-行驶距离曲线范围时。
根据行驶路线上的限速数据，对本车的预测行驶时间-行驶距离曲线范围内的所有本车的预测行驶时间-行驶距离曲线进行一次求导，获得所有本车的预测 行驶时间-行驶距离曲线的速度曲线。据此，根据速度曲线，筛选出速度曲线满足速度限制的本车的预测行驶时间-行驶距离曲线，此时，速度曲线满足速度限制的所有本车的预测行驶时间-行驶距离曲线组成的范围即为本车的优选行驶时间-行驶距离曲线范围。
当本车的实际行驶时间-行驶距离曲线与该本车的优选行驶时间-行驶距离曲线范围内的任一条本车的优选行驶时间-行驶距离曲线相同时，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行的情况下，保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求。
仅根据本车的加减速度参数值，确定本车的优选行驶时间-行驶距离曲线范围时。
根据本车的加减速度参数值，对本车的预测行驶时间-行驶距离曲线范围内的所有本车的预测行驶时间-行驶距离曲线进行二次求导，获得所有本车的预测行驶时间-行驶距离曲线的加速度曲线。据此，根据加速度曲线，筛选出加速度曲线满足本车的加减速度参数值的本车的预测行驶时间-行驶距离曲线，此时，加速度曲线满足本车的加减速度参数值的所有本车的预测行驶时间-行驶距离曲线组成的范围即为本车的优选行驶时间-行驶距离曲线范围。
当本车的实际行驶时间-行驶距离曲线与该本车的优选行驶时间-行驶距离曲线范围内的任一条本车的优选行驶时间-行驶距离曲线相同时，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行的情况下，保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值。
为便于理解，后述本申请实施例中，本车的优选行驶时间-行驶距离曲线范围，根据本车行驶路线上的限速数据和本车的加减速度参数值确定。
步骤S13-2：根据预设的期望行驶信息，从所述本车的优选行驶时间-行驶距离曲线范围中确定出本车的最优行驶时间-行驶距离曲线，所述期望行驶信息包括以下至少一者：到达目的地的行驶时长最短、行驶时间-行驶距离曲线最平滑。
在本实施例中，为使本车最快到达目的地，或为使本车到达目的地的整个行驶过程中速度波动最小即本车的行驶时间-形式距离曲线最平滑，或为使本车 更快到达目的地得的同时使本车到达目的地的整个行驶过程中速度波动更小即本车的行驶时间-形式距离曲线更平滑，将从步骤S13-1获得的本车的优选行驶时间-行驶距离曲线范围中，筛选出一条本车的最优行驶时间-行驶距离曲线。
预设的期望行驶信息仅为到达目的地的行驶时长最短时，根据预设的期望行驶信息，从步骤S13-1获得的本车的优选行驶时间-行驶距离曲线范围中，筛选出一条行驶时长最短的本车的优选行驶时间-行驶距离曲线，该行驶时长最短的本车的优选行驶时间-行驶距离曲线即为本车的最优行驶时间-行驶距离曲线。
当本车的实际行驶时间-行驶距离曲线与该最优行驶时间-行驶距离曲线相同时，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行，以及保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求，以及保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值的情况下，以最短的行驶时间到达目的地。
预设的期望行驶信息仅为行驶时间-行驶距离曲线最平滑时，根据预设的期望行驶信息，从步骤S13-1获得的本车的优选行驶时间-行驶距离曲线范围中，筛选出一条行驶时间-行驶距离曲线最平滑的本车的优选行驶时间-行驶距离曲线，该行驶时间-行驶距离曲线最平滑的本车的优选行驶时间-行驶距离曲线即为本车的最优行驶时间-行驶距离曲线。当本车的实际行驶时间-行驶距离曲线与该最优行驶时间-行驶距离曲线相同时，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行，以及保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求，以及保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值的情况下，以速度变化最小的行驶方式到达目的地即整个行驶过程中的行驶时间-行驶距离曲线最平滑。此时本车速度变化最小，不会存在猛加速或猛减速的情况，本车磨损较小。
预设的期望行驶信息为到达目的地的行驶时长最短和行驶时间-行驶距离曲线最平滑时，根据预设的期望行驶信息，从步骤S13-1获得的本车的优选行驶时间-行驶距离曲线范围中，筛选出综合参考了到达目的地的行驶时长最短和行驶时间-行驶距离曲线最平滑两个因素的一条本车的优选行驶时间-行驶距离 曲线，该本车的优选行驶时间-行驶距离曲线即为本车的最优行驶时间-行驶距离曲线。当本车的实际行驶时间-行驶距离曲线与该最优行驶时间-行驶距离曲线相同时，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行，以及保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求，以及保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值的情况下，以速度变化尽可能小，到达目的地用时尽可能短的行驶方式到达目的地。
为便于理解，后续本申请实施例中，本车的最优行驶时间-行驶距离曲线，仅根据预设的期望行驶信息为到达目的地的行驶时长最短确定。
步骤S13-3：根据所述本车的最优行驶时间-行驶距离曲线，确定本车的最优行驶时间-行驶速度曲线，所述本车的最优行驶时间-行驶速度曲线表征预测的本车在到达目的地之前的未来各个时刻应行驶的最优速度；根据所述最优行驶时间-行驶速度曲线，输出行驶速度提示信息。
在本实施例中，对步骤S13-3确定的本车的最优行驶时间-行驶距离曲线进行一次求导，获得本车的最优行驶时间-行驶速度曲线。本车的最优行驶时间-行驶速度曲线指的是预测的本车在到达目的地之前的未来各个时刻行驶的最优速度。
根据本车的最优行驶时间-行驶速度曲线，输出行驶速度提示信息，该输出的提示信息包括：输出本车预测的当前时刻的最优行驶速度提示信息，以及，输出本车当前时刻的实际行驶速度提示信息。
在实际行驶过程中，提示驾驶员当前时刻的最优的行驶速度，当驾驶员按提示信息提示的当前时刻的最优行驶速度驾驶本车，本车的实际行驶时间-行驶速度曲线将与本车的最优行驶时间-行驶速度曲线相同，本车将在保证本车在行驶路线上时刻与前车保持预设安全距离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行，以及保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求，以及保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值的情况下，以最短的行驶时间到达目的地。
在实际行驶过程中，提示驾驶员当前时刻实际行驶速度，本车当前时刻实际行驶速度超过或低于本车预测的当前时刻最优行驶速度时，再提示驾驶员提速或者降速，以使本车在整个实际行驶过程中可以时刻与前车保持预设安全距 离以上，以及保证本车在行驶路线上在各个交通灯的绿灯时间段通行，以及保证本车在行驶路线上的整个行驶过程的行驶速度满足限速要求，以及保证本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值的情况下，以最短的行驶时间到达目的地。
在本公开中，本公开所述的一种输出行驶提示信息的方法的步骤S13之前，还包括以下步骤：
步骤S13-a：在首次识别到本车行驶路线上的前方交通灯为红灯，且本车与该红灯的距离满足预设距离时，执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；或在检测到用户对预设开关的开启操作时，执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围。
在本实施例中，在步骤S13执行预测操作，获得本车的预测行驶时间-行驶距离曲线范围前，需要先执行步骤S13-a，识别本车前方预设距离内是否有交通灯，同时该交通灯是否为红灯，且是否为首次识别到同时满足上述两个条件的识别动作。当本车前方预设距离内存在交通灯，该交通灯为红灯，且是首次识别到同时满足上述两个条件的识别动作，开始执行步骤S13；或检测到用户打开了控制步骤S13执行的预设开关，开始执行步骤S13。
在本公开中，本公开所述的一种输出行驶提示信息的方法的步骤S13之后，还包括以下步骤：
步骤S13-b：在识别到本车行驶路线上的前方设定距离内无交通灯时，停止执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；或在检测到用户的结束导航操作或对预设开关的关闭操作时，停止执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围。
在本实施例中，在步骤S13执行预测操作，获得本车的预测行驶时间-行驶距离曲线范围后，执行步骤S13-b，识别行驶路线上本车前方设定距离内是否有交通灯，当本车前方设定距离内没有交通灯时，停止步骤S13的执行；或检测到用户关闭了控制步骤S13执行的预设开关，停止步骤S13的执行。
本申请提出了一种输出行驶提示信息的方法，可以根据前车行驶数据和交通灯数据，获得本车的最优行驶时间-行驶速度曲线，根据本车的最优行驶时间 -行驶速度曲线，提示驾驶员各个时刻的最优行驶速度。当驾驶员在各个时刻以所提示的最优行驶速度驾驶本车时，本车的实际行驶时间-行驶速度曲线和本车的最优行驶时间-行驶距离曲线相同，本车将时刻保持与前车保持预设安全距离以上，以及本车将在行驶路线上在各个交通灯的绿灯时间段通行，以及本车在行驶路线上的整个行驶过程中的行驶速度满足限速要求和/或本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值，以及本车将以最短的行驶时间到达目的地或本车将以最小的速度变化到达目的地。车辆将不会再在交通灯处频繁停止和启动，也不会再出现车速猛增，和车速猛减，以及车辆的加减速度符合本车自身的加减速度能力范围，降低了车辆磨损和燃油的消耗；保持安全距离和行驶速度符合交通驾驶规则，增加了驾驶的安全系数；同时以最小的行驶时间到达目的地，改善了驾驶员的驾驶体验。
基于同一公开构思，本申请还提供了一种输出行驶提示信息的系统600，如图6所示，图6为本公开实施例所述的一种输出行驶提示信息的系统的示意图。参照图6，本申请的输出行驶提示信息的系统600包括：
数据接收模块601，用于获得本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
数据采集模块602，用于采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
整车控制模块603，用于根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述本车的预测行驶时间-行驶距离曲线范围表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；
功能开关模块604，用于根据用户对预设开关的开启操作，控制所述整车控制模块预测本车的预测行驶时间-行驶距离曲线范围，以及，用于根据用户对预设开关的关闭操作，控制所述整车控制模块停止预测本车的预测行驶时间-行驶距离曲线范围；
显示模块605，用于根据所述本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。
对于系统实施例而言，由于其与方法实施例基本相似，相关之处参见方法 实施例的部分说明即可。
基于同一公开构思，本申请另一实施例提供一种车辆，包括：
前车行驶数据采集装置，用于采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
V2I通信组件，用于接收本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
控制器，用于根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述行驶时间-行驶距离曲线表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；
输出组件，用于根据所述行驶时间-行驶距离曲线，输出行驶距离范围提示信息。
可选地，所述前车行驶数据采集装置，包括：所述前车行驶数据采集装置为本车配置的摄像头或雷达，或，前车行驶数据采集装置为V2V通信组件。
在本实施例中，本车通过V2I通信技术获取到行驶路线上的交通灯数据，通过V2I通信技术，本车与基础设施进行数据交互，获取到交通灯基础设施共享的交通灯数据信息，包括本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离，还包括当前时刻行驶路线上各个交通灯具体是红灯还是绿灯，当前时刻行驶路线上各个交通灯还会持续多久切换为另一种颜色的交通灯等交通灯数据信息。本车通过自身配置的摄像头或雷达获取到前车行驶数据，或通过V2V通信技术，本车与前车进行数据交互，获取到前车共享的前车行驶数据，包括前车车速、前车与本车的相对距离，以及可进行共享的车辆与车辆之间的数据信息内容。当车辆配置前车行驶数据采集装置、V2I通信组件、控制器、输出组件后，该车辆即可实现获得本车的最优行驶时间-行驶速度曲线，根据本车的最优行驶时间-行驶速度曲线，即可输出最优行驶速度提示信息，提示驾驶员当前时刻的最优行驶速度，当驾驶员以推荐的当前时刻的最优行驶速度驾驶本车时，本车将时刻保持与前车保持预设安全距离以上，以及本车将在行驶路线上在各个交通灯的绿灯时间段通行，以及本车在行驶路线上的整个行驶过程中的行驶速度满足限速要求和/或本车在行驶路线上的整个行驶过程的行驶加减速度满足本车的加减速度参数值，以及本车将以 最短的行驶时间到达目的地或本车将以最小的速度变化到达目的地。车辆将不会再在交通灯处频繁停止和启动，也不会再出现车速猛增和猛减，以及车辆的加减速度符合本车自身的加减速度能力范围，降低了车辆磨损和燃油的消耗；保持安全距离和行驶速度符合交通驾驶规则，增加了驾驶的安全系数；同时以最小的行驶时间到达目的地，改善了驾驶员的驾驶体验。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
以上所述仅为本公开的较佳实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
本领域内的技术人员应明白，本公开实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本公开实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开实施例是参照根据本公开实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机 实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所描述的装置实施例仅仅是示意性的，其中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或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本公开的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本公开实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本公开还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本公开的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图7示出了可以实现根据本公开的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图8所述的便携式或者固定存储单元。该存储单元可以具有与图7的计算处理设备中的存储器1020类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所描述的方法中的各个步骤。
以上所述仅为本公开的较佳实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
尽管已描述了本公开实施例的可选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括可选实施例以及落入本公开实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体与另一个实体区分开来，而不一定要求或者暗示这些实体之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的物品或者终端设备中还存在另外的相同要素。

Claims (14)

  1. 一种输出行驶提示信息的方法，其特征在于，所述方法包括：
    获得本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
    采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
    根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述本车的预测行驶时间-行驶距离曲线范围表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；以及
    根据所述本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。
  2. 根据权利要求1所述的输出行驶提示信息的方法，其特征在于，所述根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，包括：
    根据所述交通灯数据，以本车在行驶路线上的各个交通灯的绿灯时间段内通行为目标，以及，根据所述前车行驶数据，以本车与前车保持预设距离为目标，获得本车的预测行驶时间-行驶距离曲线范围。
  3. 根据权利要求2所述的输出行驶提示信息的方法，其特征在于，在根据所述本车的预测行驶时间-行驶距离曲线范围，确定本车的预测行驶时间-行驶速度曲线范围后，所述方法还包括：
    获得本车行驶路线上的限速数据，和/或，获得本车的加减速度参数值；
    根据所述本车的预测行驶时间-行驶距离曲线范围，以及，本车行驶路线上的限速数据和本车的加减速度参数值中的至少一者，确定本车的优选行驶时间-行驶距离曲线范围。
  4. 根据权利要求3所述的输出行驶提示信息的方法，其特征在于，在确定本车的优选行驶时间-行驶距离曲线范围后，所述方法还包括：
    根据预设的期望行驶信息，从所述本车的优选行驶时间-行驶距离曲线范围中确定出本车的最优行驶时间-行驶距离曲线，所述期望行驶信息包括以下至少一者：到达目的地的行驶时长最短、行驶时间-行驶距离曲线最平滑。
  5. 根据权利要求4所述的输出行驶提示信息的方法，其特征在于，在根据预设的期望行驶信息，从所述本车的优选行驶时间-行驶距离曲线范围中确定出本车的最优行驶时间-行驶距离曲线后，所述方法还包括：
    根据所述本车的最优行驶时间-行驶距离曲线，确定本车的最优行驶时间-行驶速度曲线，所述本车的最优行驶时间-行驶速度曲线表征预测的本车在到达目的地之前的未来各个时刻行驶的最优速度；以及
    根据所述最优行驶时间-行驶速度曲线，输出行驶速度提示信息。
  6. 根据权利要求1-5任一项所述的输出行驶提示信息的方法，其特征在于，所述根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，包括：
    在首次识别到本车行驶路线上的前方交通灯为红灯，且本车与该红灯的距离满足预设距离时，执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；或
    在检测到用户对预设开关的开启操作时，执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围。
  7. 根据权利要求6所述的输出行驶提示信息的方法，其特征在于，在根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围后，所述方法还包括：
    在识别到本车行驶路线上的前方设定距离内无交通灯时，停止执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围；或
    在检测到用户的结束导航操作或对预设开关的关闭操作时，停止执行步骤：根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围。
  8. 根据权利要求7所述的输出行驶提示信息的方法，其特征在于，在获得本车的预测行驶时间-行驶距离曲线范围后，输出行驶距离范围提示信息；所述输出行驶距离范围提示信息的方式包括至少以下一种：显示在车辆的仪表盘，显示在中控台，通过语音播报反馈。
  9. 一种输出行驶提示信息的系统，其特征在于，所述系统包括：
    数据接收模块，用于获得本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
    数据采集模块，用于采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
    整车控制模块，用于根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述本车的预测行驶时间-行驶距离曲线范围表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；
    功能开关模块，用于根据用户对预设开关的开启操作，控制所述整车控制模块预测本车的预测行驶时间-行驶距离曲线范围，以及，用于根据用户对预设开关的关闭操作，控制所述整车控制模块停止预测本车的预测行驶时间-行驶距离曲线范围；以及
    显示模块，用于根据所述本车的预测行驶时间-行驶距离曲线范围，输出行驶距离范围提示信息。
  10. 一种车辆，其特征在于，所述车辆包括：
    前车行驶数据采集装置，用于采集前车行驶数据，所述前车行驶数据包括：前车车速、前车与本车的相对距离；
    V2I通信组件，用于接收本车行驶路线上的交通灯数据，所述交通灯数据包括：本车行驶路线上的各个交通灯的红灯时间段和绿灯时间段、所述各个交通灯与本车的距离；
    控制器，用于根据所述交通灯数据和所述前车行驶数据，获得本车的预测行驶时间-行驶距离曲线范围，所述行驶时间-行驶距离曲线表征预测的本车在到达目的地之前的未来各个时刻应行驶到的适宜距离范围；以及
    输出组件，用于根据所述行驶时间-行驶距离曲线，输出行驶距离范围提示信息。
  11. 根据权利要求10所述的车辆，其特征在于，所述前车行驶数据采集装置，包括：
    所述前车行驶数据采集装置为本车配置的摄像头或雷达，或，前车行驶数 据采集装置为V2V通信组件。
  12. 一种计算处理设备，其特征在于，包括：
    存储器，其中存储有计算机可读代码；以及
    一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行如权利要求1-8任一项所述的输出行驶提示信息的方法。
  13. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要求1-8任一项所述的输出行驶提示信息的方法。
  14. 一种计算机可读介质，其中存储了如权利要求13所述的计算机程序。
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