CN117711196B - Green wave traffic control method, device and equipment - Google Patents
Green wave traffic control method, device and equipment Download PDFInfo
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- CN117711196B CN117711196B CN202311725914.XA CN202311725914A CN117711196B CN 117711196 B CN117711196 B CN 117711196B CN 202311725914 A CN202311725914 A CN 202311725914A CN 117711196 B CN117711196 B CN 117711196B
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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
- G08G1/095—Traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The application provides a green wave passing control method, a device and equipment, wherein the method comprises the steps of determining a target vehicle speed according to the first longitudinal distance, the state of a target traffic light and a road speed limit periodically after the first longitudinal distance between a vehicle and the nearest target traffic light on a navigation route is smaller than the preset distance, wherein the target vehicle speed is used for controlling the vehicle to reach the target traffic light in a green light period, the target vehicle speed is smaller than or equal to the road speed limit, detecting whether a target lane exists or not if the vehicle speed is smaller than the target vehicle speed and a vehicle which hinders the vehicle from accelerating exists on a current lane, wherein the target lane is a safe lane changing lane and the vehicle which does not hinder the vehicle from accelerating exists on the target lane, and controlling the vehicle from changing to the target lane and controlling the vehicle from accelerating if the target lane exists. According to the application, the vehicle speed of the vehicle is gradually increased until the vehicle speed reaches the target vehicle speed, so that the success rate of green wave passing through the traffic light is increased.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a green wave passing control method, a green wave passing control device and green wave passing control equipment.
Background
Green wave roads refer to road sections, and if vehicles pass through the road sections at a specified speed, the vehicles can just meet green lights at the next road junction to continue to pass through, so that the number of times of starting and braking the vehicles is reduced, and the energy conservation and emission reduction are realized. The green wave speed refers to the optimal speed of the vehicle starting from the current intersection and ensuring that the vehicle reaches the next traffic light intersection just being a green light.
For vehicles, the traffic lights on the navigation route are fixed, and the change period of the traffic lights is also fixed, so that in order to improve the traffic efficiency and reduce the waiting time, green wave traffic needs to be realized by reaching the traffic lights as much as possible in the green light period. However, the current green wave passing control method mainly considers that the vehicle acceleration and deceleration is controlled according to the green wave speed in the current lane, lacks a perfect lane change control strategy, and has low success rate of green wave passing through traffic lights.
Disclosure of Invention
The application provides a green wave passing control method, a device and equipment, which can solve the technical problem of low success rate of the green wave passing control method in the prior art.
In a first aspect, an embodiment of the present application provides a green wave traffic control method, where the green wave traffic control method includes:
after the first longitudinal distance between the self-vehicle and the nearest target traffic light on the navigation route is smaller than a preset distance, determining a target vehicle speed at regular intervals according to the first longitudinal distance, the state of the target traffic light and the road speed limit, wherein the target vehicle speed is used for controlling the self-vehicle to reach the target traffic light in the green light period, and the target vehicle speed is smaller than or equal to the road speed limit;
if the vehicle speed of the vehicle is smaller than the target vehicle speed and the vehicle which hinders the acceleration of the vehicle exists on the current lane, detecting whether the target lane exists, wherein the target lane is a safe lane change lane and the vehicle which hinders the acceleration of the vehicle does not exist on the target lane;
and if the target lane exists, controlling the vehicle to change the lane to the target lane and controlling the vehicle to accelerate.
Further, in an embodiment, the step of detecting whether the target lane exists includes:
if vehicles exist between the self vehicle and the target traffic light on all the safety lane changing lanes, acquiring a first speed of the nearest vehicle in front of each safety lane changing lane and a second longitudinal distance between the self vehicle and the vehicle;
if the first vehicle speed is greater than the sum of the vehicle speed of the own vehicle and the lane change speed difference and the second longitudinal distance is greater than the lane change distance, determining the corresponding safe lane change lane as a selectable lane;
if only one selectable lane exists, the selectable lane is determined to be a target lane, otherwise, the target lane is determined from a plurality of selectable lanes according to a preset selection strategy.
Further, in an embodiment, the preset selection policy is configured as one of the first selection policy, the second selection policy and the third selection policy;
the first selection strategy is to determine the selectable lane with the largest second longitudinal distance as a target lane;
the second selection strategy is to determine the selectable lane with the maximum first vehicle speed as a target lane;
The third selection strategy is to normalize and weight the second longitudinal distance and the first vehicle speed to obtain a quantized value for each selectable lane, and determine the selectable lane with the largest quantized value as the target lane.
Further, in an embodiment, when a plurality of selectable preset selection strategies are preset, the green wave passing control method further includes:
the total accumulated value is increased by one every time the own vehicle reaches the target traffic light, and the successful accumulated value is increased by one every time the own vehicle reaches the target traffic light in the green light period;
If the total accumulated value reaches the preset number, calculating to obtain a green wave success rate according to the total accumulated value and the successful accumulated value, and resetting the total accumulated value and the successful accumulated value to zero;
if the green wave success rate is smaller than the preset success rate, switching the preset selection strategy.
Further, in an embodiment, the green wave passing control method further includes:
the total accumulated value is increased by one every time the own vehicle reaches the target traffic light, and the successful accumulated value is increased by one every time the own vehicle reaches the target traffic light in the green light period;
If the total accumulated value reaches the preset number, calculating to obtain a green wave success rate according to the total accumulated value and the successful accumulated value, and resetting the total accumulated value and the successful accumulated value to zero;
and if the green wave success rate is smaller than the preset success rate, regulating down the lane change speed difference and/or the lane change distance.
Further, in an embodiment, the step of detecting whether the target lane exists includes:
if no vehicle exists between the own vehicle and the target traffic light on any safety lane change, determining the corresponding safety lane change as the target lane.
Further, in an embodiment, after determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit, the method further includes:
if the vehicle speed of the vehicle is smaller than the target vehicle speed and a vehicle exists between the vehicle and the target traffic light on the current lane, acquiring a second vehicle speed of the nearest vehicle in front of the vehicle on the current lane and a third longitudinal distance between the vehicle and the vehicle;
If the second vehicle speed is less than or equal to the speed of the own vehicle and the third longitudinal distance is less than or equal to the accelerating vehicle distance, determining that the vehicle which prevents the own vehicle from accelerating exists on the current lane.
Further, in an embodiment, the step of determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit includes:
calculating to obtain a first green wave duration according to the latest green light end time and the current time of the target traffic light;
calculating a first green wave speed according to the first longitudinal distance and the first green wave duration;
And if the first green wave speed is smaller than or equal to the road speed limit, determining the target speed as the first green wave speed, otherwise, calculating to obtain a second green wave speed corresponding to the ending moment of the next green light, and determining the target speed as the second green wave speed, wherein the second green wave speed is smaller than or equal to the road speed limit.
In a second aspect, an embodiment of the present application further provides a green wave passing control device, including:
The target vehicle speed determining module is used for determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit periodically after the first longitudinal distance between the self vehicle and the nearest target traffic light on the navigation route is smaller than the preset distance, wherein the target vehicle speed is used for controlling the self vehicle to reach the target traffic light in the green light period, and the target vehicle speed is smaller than or equal to the road speed limit;
The target lane detection module is used for detecting whether a target lane exists or not if the vehicle speed of the vehicle is smaller than the target vehicle speed and the vehicle which hinders the acceleration of the vehicle exists on the current lane, wherein the target lane is a safe lane change lane and the vehicle which hinders the acceleration of the vehicle does not exist on the target lane;
and the control module is used for controlling the vehicle to change the road to the target lane and controlling the vehicle to accelerate if the target lane exists.
In a third aspect, an embodiment of the present application further provides a green wave traffic control apparatus, where the green wave traffic control apparatus includes a processor, a memory, and a green wave traffic control program stored on the memory and executable by the processor, where the green wave traffic control program, when executed by the processor, implements the steps of the green wave traffic control method described above.
According to the application, after the own vehicle enters a certain range in front of a target traffic light, the target vehicle speed is calculated regularly, under the condition that the own vehicle speed is smaller than the target vehicle speed, whether the vehicle which hinders the acceleration of the own vehicle exists on a current lane or not is detected, if so, a target lane is determined in a lane which can safely change the own vehicle, the vehicle which hinders the acceleration of the own vehicle does not exist on the target lane, the own vehicle is controlled to change the lane to the target lane, and the acceleration of the own vehicle is controlled, and the own vehicle speed can be gradually increased until the own vehicle speed reaches the target vehicle speed by executing the steps regularly, so that the success rate of green wave passing through the traffic light is improved.
Drawings
FIG. 1 is a flow chart of a green wave traffic control method according to an embodiment of the application;
Fig. 2 is a schematic diagram of a refinement flow of step S11 in fig. 1
FIG. 3 is a schematic diagram of the refinement flow of step S12 in FIG. 1;
FIG. 4 is a schematic diagram illustrating a functional module of a green wave traffic control device according to an embodiment of the present application;
fig. 5 is a schematic hardware structure of a green wave traffic control device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
In a first aspect, an embodiment of the present application provides a green wave traffic control method.
Fig. 1 is a schematic flow chart of a green wave traffic control method according to an embodiment of the application.
Referring to fig. 1, in one embodiment, the green wave traffic control method includes the following steps:
And S11, after the first longitudinal distance between the self vehicle and the nearest target traffic light on the navigation route is smaller than a preset distance, determining a target vehicle speed periodically according to the first longitudinal distance, the state of the target traffic light and the road speed limit, wherein the target vehicle speed is used for controlling the self vehicle to reach the target traffic light in the green light period, and the target vehicle speed is smaller than or equal to the road speed limit.
In this embodiment, after the own vehicle enters a range of a preset distance in front of a target traffic light, the target vehicle speed is calculated periodically according to a certain period, and in each period, the control of the acceleration of the own vehicle is tried until the own vehicle speed reaches the target vehicle speed, so that the own vehicle reaches the target traffic light in a green light period, and green wave passing is realized.
Specifically, the longitudinal direction is the running direction of the vehicle, the state of the target traffic light, such as the current light color, the remaining duration, the traffic light change period and the like, is obtained through communication of the V2I (Vehicle to Infrastructure, the vehicle and the infrastructure), and the longitudinal distance between the vehicle and the target traffic light and the road speed limit are obtained through the navigation module.
Fig. 2 shows a schematic diagram of the refinement procedure of step S11 in fig. 1.
Referring to fig. 2, in one embodiment, the step of determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light, and the road speed limit includes:
s111, calculating to obtain a first green wave duration according to the latest green light end time and the current time of the target traffic light;
s112, calculating a first green wave speed according to the first longitudinal distance and the first green wave duration;
and S113, if the first green wave speed is smaller than or equal to the road speed limit, determining the target speed as the first green wave speed, otherwise, calculating to obtain a second green wave speed corresponding to the end time of the subsequent green light, and determining the target speed as the second green wave speed, wherein the second green wave speed is smaller than or equal to the road speed limit.
In this embodiment, a first green wave vehicle speed corresponding to the latest green light end time is calculated first, then the first green wave vehicle speed is compared with the road speed limit, when the first green wave vehicle speed is smaller than or equal to the road speed limit, the first green wave vehicle speed is directly used as a target vehicle speed, otherwise, a second green wave vehicle speed corresponding to the next green light end time is continuously calculated, and the second green wave vehicle speed is used as the target vehicle speed.
It can be understood that when the target traffic light is currently a green light and the green light is about to end, the first green wave duration is very short, and the situation that the first green wave speed is greater than the road speed limit easily occurs, at this time, the first green wave speed is obviously unsuitable as the target speed for controlling the vehicle acceleration, so that the second green wave speed corresponding to the end time of the next green light needs to be calculated. Because the last green light end time and the current time are separated by at least one complete traffic light change period, and the first longitudinal distance is smaller than the preset distance, the second green wave speed is necessarily smaller than or equal to the road speed limit under the condition that the preset distance is reasonably set.
It should be noted that, the ratio of the first longitudinal distance and the time difference between the corresponding green light end time and the current time is the lowest speed of the green wave passing, and in order to ensure that the vehicle can reach the target traffic light in the green light period when traveling at the target speed, the target speed may be set to a value larger than the ratio.
And S12, if the vehicle speed of the vehicle is smaller than the target vehicle speed and the vehicle which hinders the acceleration of the vehicle exists on the current lane, detecting whether the target lane exists, wherein the target lane is a safe lane change lane and the vehicle which hinders the acceleration of the vehicle does not exist on the target lane.
In this embodiment, the vehicle speed is smaller than the target vehicle speed, and it is necessary to control the acceleration of the vehicle in order to achieve green wave traffic, and the presence of a vehicle in the current lane prevents the acceleration of the vehicle, which means that the vehicle does not have acceleration conditions in the current lane, and therefore it is necessary to change the lane to the target lane having acceleration conditions. The target lane needs to meet two conditions, one is that the vehicle can safely change the lane to the target lane, namely the target lane is a safe lane change lane, and the other is that the vehicle has an acceleration condition, namely the target lane is not provided with a vehicle which hinders the acceleration of the vehicle. The selection manner of the safe lane change and the lane change control operation are not important in the present application, and reference may be made to related technologies, which will not be described in detail herein.
It should be noted that whether or not there is a vehicle that hinders acceleration of the own vehicle is considered to be a case where it is difficult to predict the situation of other vehicles between the own vehicle and the target traffic light in a short time (for example, in a plurality of cycles), and it is only possible to predict whether or not there is a vehicle that hinders acceleration of the own vehicle in a short time based on the current situation, and further determine whether or not lane change is required and to which lane the lane can be changed.
Specifically, if the own vehicle speed is greater than or equal to the target vehicle speed, the current lane and the vehicle speed are maintained. If the vehicle speed of the vehicle is smaller than the target vehicle speed, detecting whether the vehicle which blocks the acceleration of the vehicle exists on the current lane, and if the vehicle exists, further detecting whether the target lane exists. The detection schemes of the current lane and the target lane are explained in the following embodiments.
And S13, if the target lane exists, controlling the vehicle to change to the target lane and controlling the vehicle to accelerate.
In this embodiment, on the premise of ensuring safe driving, the upper speed to which the vehicle can accelerate after changing from the lane to the target lane needs to be determined according to the actual situation of the target lane. In some cases, the host vehicle may accelerate directly to the target vehicle speed without continuing acceleration thereafter, while in other cases, the host vehicle may accelerate to only a certain vehicle speed less than the target vehicle speed at most, and continue to attempt acceleration in the next cycle until the target vehicle speed is reached.
Therefore, in this embodiment, after the host vehicle enters a certain range in front of the target traffic light, the target vehicle speed is calculated periodically, and if the host vehicle speed is smaller than the target vehicle speed, whether a vehicle obstructing the acceleration of the host vehicle exists on the current lane is detected, if so, the target lane is determined in the lane where the host vehicle can safely change lanes, and if not, the vehicle obstructing the acceleration of the host vehicle does not exist on the target lane, the host vehicle is controlled to change lanes to the target lane and the host vehicle is controlled to accelerate, and the host vehicle speed can be gradually increased until the host vehicle speed reaches the target vehicle speed by periodically executing the steps, so that the success rate of the green wave passing through the traffic light is improved.
Fig. 3 shows a schematic diagram of the refinement procedure of step S12 in fig. 1.
Referring to fig. 3, in one embodiment, the step of detecting whether the target lane exists includes:
s121, if vehicles exist between the own vehicle and the target traffic light on all the safety lane change lanes, acquiring a first speed of the nearest vehicle in front of the own vehicle on each safety lane change lane and a second longitudinal distance between the own vehicle and the vehicle;
s122, if the first vehicle speed is greater than the sum of the vehicle speed of the own vehicle and the lane change speed difference, and the second longitudinal distance is greater than the lane change distance, determining the corresponding safe lane change lane as the selectable lane;
s123, if only one selectable lane exists, determining the selectable lane as a target lane, otherwise, determining the target lane from a plurality of selectable lanes according to a preset selection strategy;
and S124, if no vehicle exists between the own vehicle and the target traffic light on any safe lane change, determining the corresponding safe lane change as the target lane.
In this embodiment, no vehicle obstructing acceleration of the own vehicle exists naturally even when no vehicle is present between the own vehicle and the target traffic light, and the target lane can be determined directly. And under the condition that a safe lane change lane without a vehicle exists between the vehicle and the target traffic light, judging whether the nearest vehicle in front of the vehicle on the safe lane change vehicle is a vehicle which hinders the acceleration of the vehicle from two dimensions of the vehicle speed and the vehicle distance. When the first vehicle speed and the vehicle speed of the vehicle are different little and the second longitudinal distance is smaller, the speed-increasing space after the vehicle changes to the corresponding lane is not big, the predicted return of the changing lane may not be as good as the current lane running, so that the vehicle which hinders the vehicle acceleration is judged to exist on the corresponding lane, and the corresponding lane is not the target lane. When a plurality of selectable lanes exist, one lane is also required to be determined as a target lane, and a preset selection strategy for screening the target lane can be configured according to requirements.
Optionally, the preset selection policy is configured as one of a first selection policy, a second selection policy and a third selection policy;
the first selection strategy is to determine the selectable lane with the largest second longitudinal distance as a target lane;
the second selection strategy is to determine the selectable lane with the maximum first vehicle speed as a target lane;
The third selection strategy is to normalize and weight the second longitudinal distance and the first vehicle speed to obtain a quantized value for each selectable lane, and determine the selectable lane with the largest quantized value as the target lane.
In this embodiment, the first selection policy uses the second longitudinal distance as a unique screening standard, the second selection policy uses the first vehicle speed as a unique screening standard, the third selection policy uses the second longitudinal distance and the first vehicle speed as a unique screening standard, the normalization function is to eliminate the dimensional influence between indexes, the normalized values of the second longitudinal distance and the first vehicle speed can be subjected to weight calculation, and weight coefficients are set for the second longitudinal distance and the first vehicle speed according to the requirement, so that the quantized value of the selectable lane is obtained, and the higher the quantized value is, the highest priority of lane changing is.
Further, in an embodiment, when a plurality of selectable preset selection strategies are preset, the green wave passing control method further includes:
the total accumulated value is increased by one every time the own vehicle reaches the target traffic light, and the successful accumulated value is increased by one every time the own vehicle reaches the target traffic light in the green light period;
If the total accumulated value reaches the preset number, calculating to obtain a green wave success rate according to the total accumulated value and the successful accumulated value, and resetting the total accumulated value and the successful accumulated value to zero;
if the green wave success rate is smaller than the preset success rate, switching the preset selection strategy.
In this embodiment, when the own vehicle passes through the preset number of traffic lights, the green wave success rate is counted once, and when the green wave success rate is smaller than the preset success rate, the preset selection strategy is switched, so as to attempt to improve the success rate of green wave passing.
Optionally, the green wave success rate calculated each time and the corresponding preset selection strategy are recorded, so that subsequent analysis and improvement are facilitated.
Further, in an embodiment, the green wave passing control method further includes:
the total accumulated value is increased by one every time the own vehicle reaches the target traffic light, and the successful accumulated value is increased by one every time the own vehicle reaches the target traffic light in the green light period;
If the total accumulated value reaches the preset number, calculating to obtain a green wave success rate according to the total accumulated value and the successful accumulated value, and resetting the total accumulated value and the successful accumulated value to zero;
and if the green wave success rate is smaller than the preset success rate, regulating down the lane change speed difference and/or the lane change distance.
In this embodiment, when the own vehicle passes through the preset number of traffic lights, a green wave success rate is counted once, and when the green wave success rate is smaller than the preset success rate, the lane change speed difference and/or lane change distance are reduced so as to reduce the screening standard of the target lane, and a more aggressive lane change strategy is adopted, so that an attempt is made to improve the success rate of green wave passing.
Optionally, the green wave success rate calculated each time and the corresponding lane change speed difference and lane change distance are recorded, so that the follow-up analysis and improvement are facilitated.
Further, in an embodiment, after determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit, the method further includes:
if the vehicle speed of the vehicle is smaller than the target vehicle speed and a vehicle exists between the vehicle and the target traffic light on the current lane, acquiring a second vehicle speed of the nearest vehicle in front of the vehicle on the current lane and a third longitudinal distance between the vehicle and the vehicle;
If the second vehicle speed is less than or equal to the speed of the own vehicle and the third longitudinal distance is less than or equal to the accelerating vehicle distance, determining that the vehicle which prevents the own vehicle from accelerating exists on the current lane.
In this embodiment, when the second vehicle speed is greater than the vehicle speed of the own vehicle, the own vehicle may accelerate to the second vehicle speed first, wait for the next period and then determine whether the lane change is needed, and when the third longitudinal distance is greater than the accelerating distance, the own vehicle may accelerate first until the third longitudinal distance is equal to the accelerating distance, wait for the next period and then determine whether the lane change is needed, so that there is no vehicle obstructing the acceleration of the own vehicle on the current lane in a short time. Under the condition that the two conditions are not met, the situation that the vehicle which prevents the acceleration of the vehicle exists on the current lane is judged, and the lane change is needed to be carried out and the lane to which the lane can be changed is detected.
Specifically, if the speed of the own vehicle is smaller than the target speed and no vehicle exists between the own vehicle and the target traffic light on the current lane, determining that no vehicle which prevents the acceleration of the own vehicle exists on the current lane, and if the second speed of the own vehicle is larger than the speed of the own vehicle or the third longitudinal distance is larger than the distance between the accelerated vehicles, determining that no vehicle which prevents the acceleration of the own vehicle exists on the current lane.
In a second aspect, the embodiment of the application further provides a green wave passing control device.
Fig. 4 is a schematic functional block diagram of a green wave traffic control device according to an embodiment of the application.
Referring to fig. 4, in one embodiment, a green wave passing control device includes:
the target vehicle speed determining module 10 is configured to determine, periodically, according to the first longitudinal distance, the state of the target traffic light and the road speed limit after the first longitudinal distance between the host vehicle and the nearest target traffic light on the navigation route is smaller than the preset distance, where the target vehicle speed is used to control the host vehicle to reach the target traffic light in the green light period, and the target vehicle speed is smaller than or equal to the road speed limit;
The target lane detection module 20 is configured to detect whether a target lane exists if the vehicle speed is less than the target vehicle speed and there is a vehicle that blocks the acceleration of the vehicle on the current lane, wherein the target lane is a safe lane change lane and there is no vehicle that blocks the acceleration of the vehicle on the target lane;
the control module 30 is used for controlling the vehicle to change the lane to the target lane and controlling the vehicle to accelerate if the target lane exists.
Further, in an embodiment, the target lane detection module 20 is configured to:
if vehicles exist between the self vehicle and the target traffic light on all the safety lane changing lanes, acquiring a first speed of the nearest vehicle in front of each safety lane changing lane and a second longitudinal distance between the self vehicle and the vehicle;
if the first vehicle speed is greater than the sum of the vehicle speed of the own vehicle and the lane change speed difference and the second longitudinal distance is greater than the lane change distance, determining the corresponding safe lane change lane as a selectable lane;
if only one selectable lane exists, the selectable lane is determined to be a target lane, otherwise, the target lane is determined from a plurality of selectable lanes according to a preset selection strategy.
Further, in an embodiment, the preset selection policy is configured as one of the first selection policy, the second selection policy and the third selection policy;
the first selection strategy is to determine the selectable lane with the largest second longitudinal distance as a target lane;
the second selection strategy is to determine the selectable lane with the maximum first vehicle speed as a target lane;
The third selection strategy is to normalize and weight the second longitudinal distance and the first vehicle speed to obtain a quantized value for each selectable lane, and determine the selectable lane with the largest quantized value as the target lane.
Further, in an embodiment, when a plurality of selectable preset selection strategies are preset, the green wave passing control device further includes a success rate calculation module and a strategy switching module;
The success rate calculation module is used for adding one to the total accumulated value every time the own vehicle reaches the target traffic light, adding one to the successful accumulated value every time the own vehicle reaches the target traffic light in the green light period, calculating to obtain the green wave success rate according to the total accumulated value and the successful accumulated value if the total accumulated value reaches the preset quantity, and resetting the total accumulated value and the successful accumulated value to be zero;
the strategy switching module is used for switching a preset selection strategy if the green wave success rate is smaller than the preset success rate.
Further, in an embodiment, the green wave passing control device further includes a success rate calculation module and a policy switching module;
The success rate calculation module is used for adding one to the total accumulated value every time the own vehicle reaches the target traffic light, adding one to the successful accumulated value every time the own vehicle reaches the target traffic light in the green light period, calculating to obtain the green wave success rate according to the total accumulated value and the successful accumulated value if the total accumulated value reaches the preset quantity, and resetting the total accumulated value and the successful accumulated value to be zero;
And the strategy switching module is used for reducing the lane change speed difference and/or the lane change distance if the green wave success rate is smaller than the preset success rate.
Further, in an embodiment, the target lane detection module 20 is configured to:
if no vehicle exists between the own vehicle and the target traffic light on any safety lane change, determining the corresponding safety lane change as the target lane.
Further, in an embodiment, the green wave traffic control device further includes a current lane detection module, configured to:
if the vehicle speed of the vehicle is smaller than the target vehicle speed and a vehicle exists between the vehicle and the target traffic light on the current lane, acquiring a second vehicle speed of the nearest vehicle in front of the vehicle on the current lane and a third longitudinal distance between the vehicle and the vehicle;
If the second vehicle speed is less than or equal to the speed of the own vehicle and the third longitudinal distance is less than or equal to the accelerating vehicle distance, determining that the vehicle which prevents the own vehicle from accelerating exists on the current lane.
Further, in an embodiment, the target vehicle speed determining module 10 is configured to:
calculating to obtain a first green wave duration according to the latest green light end time and the current time of the target traffic light;
calculating a first green wave speed according to the first longitudinal distance and the first green wave duration;
And if the first green wave speed is smaller than or equal to the road speed limit, determining the target speed as the first green wave speed, otherwise, calculating to obtain a second green wave speed corresponding to the ending moment of the next green light, and determining the target speed as the second green wave speed, wherein the second green wave speed is smaller than or equal to the road speed limit.
The function implementation of each module in the green wave passing control device corresponds to each step in the green wave passing control method embodiment, and the function and implementation process of each module are not described here again.
In a third aspect, an embodiment of the present application provides a green wave traffic control device, which may be a device having a data processing function, such as a personal computer (personal computer, PC), a notebook computer, or a server.
Fig. 5 shows a schematic hardware configuration of a green wave traffic control apparatus according to an embodiment of the present application.
Referring to fig. 5, in an embodiment of the present application, a green wave traffic control device may include a processor, a memory, a communication interface, and a communication bus.
The communication bus may be of any type for implementing the processor, memory, and communication interface interconnections.
The communication interfaces include input/output (I/O) interfaces, physical interfaces, logical interfaces, and the like for realizing interconnection of devices inside the green wave traffic control apparatus, and interfaces for realizing interconnection of the green wave traffic control apparatus with other apparatuses (e.g., other computing apparatuses or user apparatuses). The physical interface may be an ethernet interface, an optical fiber interface, an ATM interface, etc., and the user device may be a Display screen (Display), a Keyboard (Keyboard), etc.
The memory may be various types of storage media such as random access memory (random access memory, RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (erasable PROM, EPROM), electrically erasable PROM (ELECTRICALLY ERASABLE PROM, EEPROM), and the like.
The processor may be a general-purpose processor, and the general-purpose processor may call a green wave traffic control program stored in the memory and execute the green wave traffic control method provided by the embodiment of the present application. For example, the general purpose processor may be a central processing unit (central processing unit, CPU). The method executed when the green wave passing control program is called can refer to various embodiments of the green wave passing control method of the present application, and will not be described herein.
Those skilled in the art will appreciate that the hardware configuration shown in fig. 5 is not limiting of the application and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
It should be noted that, the foregoing reference numerals of the embodiments of the present application are merely for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments.
The terms "comprising" and "having" and any variations thereof in the description and claims of the application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The terms "first," "second," and "third," etc. are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order, and are not limited to the fact that "first," "second," and "third" are not identical.
In describing embodiments of the present application, "exemplary," "such as," or "for example," etc., are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary," "such as" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "such as" or "for example," etc., is intended to present related concepts in a concrete fashion.
In the description of the embodiment of the present application, "/" means or, for example, a/B may mean a or B, and "and/or" in the text is merely an association relationship describing an association object, means that three relationships may exist, for example, a and/or B, three cases where a exists alone, a and B exist together, and B exists alone, and further, in the description of the embodiment of the present application, "a plurality" means two or more.
In some of the processes described in the embodiments of the present application, a plurality of operations or steps occurring in a particular order are included, but it should be understood that the operations or steps may be performed out of the order in which they occur in the embodiments of the present application or in parallel, the sequence numbers of the operations merely serve to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the processes may include more or fewer operations, and the operations or steps may be performed in sequence or in parallel, and the operations or steps may be combined.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A green wave traffic control method, characterized in that the green wave traffic control method comprises:
after the first longitudinal distance between the self-vehicle and the nearest target traffic light on the navigation route is smaller than a preset distance, determining a target vehicle speed at regular intervals according to the first longitudinal distance, the state of the target traffic light and the road speed limit, wherein the target vehicle speed is used for controlling the self-vehicle to reach the target traffic light in the green light period, and the target vehicle speed is smaller than or equal to the road speed limit;
if the vehicle speed of the vehicle is smaller than the target vehicle speed and the vehicle which hinders the acceleration of the vehicle exists on the current lane, detecting whether the target lane exists, wherein the target lane is a safe lane change lane and the vehicle which hinders the acceleration of the vehicle does not exist on the target lane;
If the target lane exists, controlling the vehicle to change the lane to the target lane and controlling the vehicle to accelerate;
the step of detecting whether the target lane exists comprises the following steps:
if vehicles exist between the self vehicle and the target traffic light on all the safety lane changing lanes, acquiring a first speed of the nearest vehicle in front of each safety lane changing lane and a second longitudinal distance between the self vehicle and the vehicle;
if the first vehicle speed is greater than the sum of the vehicle speed of the own vehicle and the lane change speed difference and the second longitudinal distance is greater than the lane change distance, determining the corresponding safe lane change lane as a selectable lane;
if only one selectable lane exists, the selectable lane is determined to be a target lane, otherwise, the target lane is determined from a plurality of selectable lanes according to a preset selection strategy.
2. The green wave traffic control method according to claim 1, wherein the preset selection policy is configured as one of a first selection policy, a second selection policy, and a third selection policy;
the first selection strategy is to determine the selectable lane with the largest second longitudinal distance as a target lane;
the second selection strategy is to determine the selectable lane with the maximum first vehicle speed as a target lane;
The third selection strategy is to normalize and weight the second longitudinal distance and the first vehicle speed to obtain a quantized value for each selectable lane, and determine the selectable lane with the largest quantized value as the target lane.
3. The green wave traffic control method according to claim 1, wherein when a plurality of selectable preset selection strategies are preset, the green wave traffic control method further comprises:
the total accumulated value is increased by one every time the own vehicle reaches the target traffic light, and the successful accumulated value is increased by one every time the own vehicle reaches the target traffic light in the green light period;
If the total accumulated value reaches the preset number, calculating to obtain a green wave success rate according to the total accumulated value and the successful accumulated value, and resetting the total accumulated value and the successful accumulated value to zero;
if the green wave success rate is smaller than the preset success rate, switching the preset selection strategy.
4. The green wave traffic control method according to claim 1, characterized in that the green wave traffic control method further comprises:
the total accumulated value is increased by one every time the own vehicle reaches the target traffic light, and the successful accumulated value is increased by one every time the own vehicle reaches the target traffic light in the green light period;
If the total accumulated value reaches the preset number, calculating to obtain a green wave success rate according to the total accumulated value and the successful accumulated value, and resetting the total accumulated value and the successful accumulated value to zero;
and if the green wave success rate is smaller than the preset success rate, regulating down the lane change speed difference and/or the lane change distance.
5. The green wave traffic control method according to any one of claims 1 to 4, wherein the step of detecting whether or not the target lane exists comprises:
if no vehicle exists between the own vehicle and the target traffic light on any safety lane change, determining the corresponding safety lane change as the target lane.
6. The green wave traffic control method according to any one of claims 1 to 4, further comprising, after the determination of the target vehicle speed based on the first longitudinal distance, the state of the target traffic light, and the road speed limit:
if the vehicle speed of the vehicle is smaller than the target vehicle speed and a vehicle exists between the vehicle and the target traffic light on the current lane, acquiring a second vehicle speed of the nearest vehicle in front of the vehicle on the current lane and a third longitudinal distance between the vehicle and the vehicle;
If the second vehicle speed is less than or equal to the speed of the own vehicle and the third longitudinal distance is less than or equal to the accelerating vehicle distance, determining that the vehicle which prevents the own vehicle from accelerating exists on the current lane.
7. The green wave traffic control method according to any one of claims 1 to 4, wherein the step of determining the target vehicle speed based on the first longitudinal distance, the state of the target traffic light, and the road speed limit comprises:
calculating to obtain a first green wave duration according to the latest green light end time and the current time of the target traffic light;
calculating a first green wave speed according to the first longitudinal distance and the first green wave duration;
And if the first green wave speed is smaller than or equal to the road speed limit, determining the target speed as the first green wave speed, otherwise, calculating to obtain a second green wave speed corresponding to the ending moment of the next green light, and determining the target speed as the second green wave speed, wherein the second green wave speed is smaller than or equal to the road speed limit.
8. A green wave passage control device, characterized in that the green wave passage control device comprises:
The target vehicle speed determining module is used for determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit periodically after the first longitudinal distance between the self vehicle and the nearest target traffic light on the navigation route is smaller than the preset distance, wherein the target vehicle speed is used for controlling the self vehicle to reach the target traffic light in the green light period, and the target vehicle speed is smaller than or equal to the road speed limit;
The target lane detection module is used for detecting whether a target lane exists or not if the vehicle speed of the vehicle is smaller than the target vehicle speed and the vehicle which hinders the acceleration of the vehicle exists on the current lane, wherein the target lane is a safe lane change lane and the vehicle which hinders the acceleration of the vehicle does not exist on the target lane;
the control module is used for controlling the vehicle to change the lane to the target lane and controlling the vehicle to accelerate if the target lane exists;
The target lane detection module is used for:
if vehicles exist between the self vehicle and the target traffic light on all the safety lane changing lanes, acquiring a first speed of the nearest vehicle in front of each safety lane changing lane and a second longitudinal distance between the self vehicle and the vehicle;
if the first vehicle speed is greater than the sum of the vehicle speed of the own vehicle and the lane change speed difference and the second longitudinal distance is greater than the lane change distance, determining the corresponding safe lane change lane as a selectable lane;
if only one selectable lane exists, the selectable lane is determined to be a target lane, otherwise, the target lane is determined from a plurality of selectable lanes according to a preset selection strategy.
9. A green wave traffic control apparatus comprising a processor, a memory, and a green wave traffic control program stored on the memory and executable by the processor, wherein the green wave traffic control program, when executed by the processor, implements the steps of the green wave traffic control method according to any one of claims 1 to 7.
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| CN202311725914.XA CN117711196B (en) | 2023-12-14 | 2023-12-14 | Green wave traffic control method, device and equipment |
| PCT/CN2024/123645 WO2025123894A1 (en) | 2023-12-14 | 2024-10-09 | Green wave transit control method, apparatus and device, and medium |
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| CN113870601A (en) * | 2021-04-27 | 2021-12-31 | 南通路远科技信息有限公司 | A method and system for controlling a vehicle to pass through a green wave band |
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| CN108305477B (en) * | 2017-04-20 | 2019-08-13 | 腾讯科技（深圳）有限公司 | A kind of choosing lane method and terminal |
| CN111862635B (en) * | 2020-02-28 | 2022-08-09 | 重庆长安汽车股份有限公司 | Traffic signal lamp-based vehicle speed control method and device and automobile |
| CN116665464A (en) * | 2022-02-17 | 2023-08-29 | 腾讯科技（深圳）有限公司 | Green wave vehicle speed guiding method and device, computer readable medium and electronic equipment |
| CN116311963A (en) * | 2022-12-30 | 2023-06-23 | 清华大学苏州汽车研究院（吴江） | A method, device, equipment and medium for determining the speed of a green wave vehicle |
| CN116844332A (en) * | 2023-06-29 | 2023-10-03 | 西部科学城智能网联汽车创新中心(重庆)有限公司 | Dynamic planning method and device for intelligent network-connected vehicle |
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| CN116985800A (en) * | 2023-07-14 | 2023-11-03 | 长城汽车股份有限公司 | Method and device for controlling vehicle speed based on green wave and vehicle |
| CN116805445B (en) * | 2023-07-21 | 2024-04-02 | 交通运输部公路科学研究所 | Vehicle lane changing driving control method and system |
| CN117711196B (en) * | 2023-12-14 | 2025-01-21 | 岚图汽车科技有限公司 | Green wave traffic control method, device and equipment |
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