CN106611504B

CN106611504B - A kind of speed bootstrap technique and device

Info

Publication number: CN106611504B
Application number: CN201510698130.1A
Authority: CN
Inventors: 张喆
Original assignee: China Mobile Communications Group Co Ltd
Current assignee: China Mobile Communications Group Co Ltd
Priority date: 2015-10-23
Filing date: 2015-10-23
Publication date: 2019-09-17
Anticipated expiration: 2035-10-23
Also published as: CN106611504A

Abstract

The present invention provides a kind of speed bootstrap technique and device, solve the problem of that existing speed bootup process easily leads to vehicle in vehicle generation lane-change when driving and collides.The present invention includes: the lane-change vehicle that detection travels in the target vehicle in speed designation range with the presence or absence of lane-change, and the speed designation range is the range apart from intersection pre-determined distance；If obtaining the running condition information of the target vehicle before the lane-change vehicle lane-changing and where after lane-change on lane there are the lane-change vehicle in the target vehicle, the running condition information is included at least: the speed and location information of vehicle；According to the running condition information, the guidance speed of the target vehicle before the lane-change vehicle lane-changing and where after lane-change on lane is updated, the guidance speed is the speed that the target vehicle is green light by signal lamp phase when the intersection.The present invention carries out speed guidance to vehicle again after detecting vehicle lane-changing, and vehicle is avoided to collide.

Description

A kind of speed bootstrap technique and device

Technical field

The present invention relates to speed bootstrap technique field, a kind of speed bootstrap technique and device are particularly related to.

Background technique

Speed guidance refers to, when vehicle will enter intersection, with speed variation limitation, traffic safety limitation etc. for constraint Condition provides to vehicle according to belisha beacon real-time status and suggests travel speed, when reducing vehicle parking number and waiting Between.As shown in Figure 1, if guided without speed, vehicle when driving, reaches intersection Shi Weihong with itself speed for speed guidance Lamp provides to vehicle when vehicle enters in a certain range if there is speed is guided and suggests speed, and vehicle accelerates or slows down Afterwards, it is ensured that signal lamp phase is green light when vehicle reaches intersection, and vehicle reduces vehicle parking and wait without parking waiting Time and waiting number.

But existing technical solution is mainly the travel speed current according to vehicle, the distance of vehicle distances intersection, letter The travel speed of signal lamp phase state calculating vehicle suggestion.Prior art assumes do not have lane-change in speed bootup process Vehicle, as long as speed guides system according to the state of vehicle and signal lamp in the range of that is, vehicle enters speed guidance The speed of suggestion is provided for vehicle, vehicle needs to ensure that it passes through intersection under green light phase always with speed traveling.But In actual vehicle driving process, in the range of speed guidance, it may appear that the vehicle of lane-change, when there is lane-change vehicle to occur, Original speed boot scheme can fail, if being still easy to cause vehicle to collide with original guidance speed traveling.

Summary of the invention

The purpose of the present invention is to provide a kind of speed bootstrap technique and devices, exist to solve existing speed bootup process Lane-change occurs for vehicle when driving, easily leads to the problem of vehicle collides.

To achieve the goals above, the present invention provides a kind of speed bootstrap techniques, comprising:

Detection is in the target vehicle in speed designation range with the presence or absence of the lane-change vehicle of lane-change traveling, the speed Designation range is the range apart from intersection pre-determined distance；

If being obtained before the lane-change vehicle lane-changing and where after lane-change there are the lane-change vehicle in the target vehicle The running condition information of target vehicle on lane, the running condition information include at least: the speed and location information of vehicle；

According to the running condition information, the target carriage before the lane-change vehicle lane-changing and where after lane-change on lane is updated Guidance speed, the guidance speed is the speed that the target vehicle is green light by signal lamp phase when the intersection Degree.

Wherein, the detection is in the target vehicle in speed designation range with the presence or absence of the lane-change vehicle of lane-change traveling The step of specifically include:

Whether the steering wheel angle for detecting the target vehicle is greater than predetermined angle threshold value；

If the steering wheel angle of the target vehicle is greater than the predetermined angle threshold value, it is determined that the target vehicle is institute Lane-change vehicle is stated, otherwise, it determines the target vehicle is not the lane-change vehicle.

Wherein, if there are the lane-change vehicle in the target vehicle, obtain before the lane-change vehicle lane-changing and The step of running condition information of target vehicle where after lane-change on lane includes:

It is being driven out on lane where obtaining before the lane-change vehicle lane-changing, adjacent with the lane-change vehicle and change described in being located at The running condition information of the first object vehicle of road rear of vehicle, and described and position adjacent with the lane-change vehicle is driven out on lane In the running condition information of the second target vehicle of the lane-change vehicle front；

It is driving on lane where obtaining before the lane-change vehicle lane-changing, adjacent with the lane-change vehicle and change described in being located at The running condition information of the third target vehicle of road rear of vehicle, and described drive into and position adjacent with the lane-change vehicle on lane In the running condition information of the 4th target vehicle of the lane-change vehicle front.

Wherein, it is described obtain before the lane-change vehicle lane-changing where drive on lane, it is adjacent with the lane-change vehicle and Positioned at the running condition information of the third target vehicle of the lane-change rear of vehicle, and it is described drive on lane with the lane-change vehicle The step of running condition information of the 4th target vehicle that is adjacent and being located at the lane-change vehicle front includes:

The target vehicle of the control in speed designation range opens infrared ray sending device and infrared receiver dress It sets, makes to establish between adjacent two target vehicle on same lane by the infrared ray sending device and infrared receiver Infrared ray connection, wherein an infrared ray sending device and infrared receiver are both provided on each target vehicle；

If detecting the separated infrared ray connection of adjacent two target vehicle, adjacent two target vehicle is obtained Running condition information will be described adjacent and according to the location information in the running condition information of adjacent two target vehicle Two target vehicles are respectively as the third target vehicle and the 4th target vehicle.

Wherein, described according to the running condition information, update lane before the lane-change vehicle lane-changing and where after lane-change On target vehicle guidance speed the step of include:

According to the first object vehicle and the running condition information of second target vehicle, the first object is updated The guidance speed of vehicle, and be driven out on lane according to the update of the guidance speed of the first object vehicle and be located at described first The guidance speed of the target vehicle at target vehicle rear；

According to the driving status letter after the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing Breath, updates the guidance speed of the lane-change vehicle and the third target vehicle, and according to the guidance of the third target vehicle Speed drives on lane the guidance speed for being located at the target vehicle at third target vehicle rear described in updating.

Wherein, described according to the first object vehicle and the running condition information of second target vehicle, update institute The step of stating the guidance speed of first object vehicle include:

If the speed V of the first object vehicle₁Less than the maximum speed limit V of current lane_max, then according to described first The speed of the speed of target vehicle and second target vehicle updates the guidance speed of the first object vehicle；

If the speed V of the first object vehicle₁Equal to the maximum speed limit V of current lane_max, then make first mesh The guidance speed of mark vehicle remains unchanged.

Wherein, if the speed V of the first object vehicle₁Less than the maximum speed limit V of current lane_max, then basis The speed of the speed of the first object vehicle and second target vehicle updates the guidance speed of the first object vehicle The step of include:

If V₁< V_max, and V₁>V₂, then after so that the first object vehicle is driven at a constant speed the t1 time, it is decelerated to and described Two target vehicles are synchronized, wherein t1=(L-L_safe)/(V₂-V₁)-(V₂-V₁)/2a, L indicate the first object vehicle with it is described The distance between second target vehicle, L_safeIndicate that the safe distance between two target vehicles, a indicate the acceleration of target vehicle Degree, V₂Indicate the speed of second target vehicle；

If V₁< V_max, and V₁< V₂, then make the first object vehicle accelerate to second target vehicle it is synchronized or Accelerate the first object vehicle, and is safety at a distance from the first object vehicle is between second target vehicle Apart from when stop accelerate；

If V₁< V_max, and V₁=V₂, then the first object vehicle is made to give it the gun after the t1 time, when Reduced Speed Now t2 Between, wherein the range difference that the first object vehicle and second target vehicle travel within t1 the and t2 time is two Safe distance between person.

Wherein, it is described according to the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing after Running condition information, the step of updating the guidance speed of the lane-change vehicle and the third target vehicle include:

According to the driving status letter after the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing Breath judges whether the lane-change vehicle can send with the third target vehicle or the 4th target vehicle and collides, obtains one Judging result；

If the judging result be it is yes, according to the third target vehicle, the 4th target vehicle and the lane-change Running condition information after vehicle lane-changing, the driving status carried out to the third target vehicle and the 4th target vehicle are believed Breath carries out preliminary guidance processing, and according to preliminary guidance treated running condition information, updates the lane-change vehicle and described The guidance speed of third target vehicle；

If the judging result be it is no, the third target vehicle according to current time, the 4th target vehicle and Running condition information after the lane-change vehicle lane-changing updates the guidance speed of the lane-change vehicle and the third target vehicle Degree.

Wherein, it is described according to the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing after Running condition information, the running condition information carried out to the third target vehicle and the 4th target vehicle are tentatively drawn Lead processing, comprising:

If V_m≤V₄, and V₃≥V_m, then make the third target vehicle Reduced Speed Now t3 time, wherein t3 < 2* (L₁-L₂- L_safe)/(V₃-V_m), L₁Indicate the distance between the third target vehicle and the 4th target vehicle, L₂Indicate the lane-change The distance between vehicle and the 4th target vehicle, L_safeIndicate the safe distance between two target vehicles, V₃Indicate described The speed of three target vehicles, V₄Indicate the speed of the 4th target vehicle, V_mSpeed after the lane-change vehicle lane-changing；

If V_m≤V₄, V₃< V_m, and the distance between third target vehicle described in current time and the lane-change vehicle are greater than Safe distance then accelerates to the third target vehicle synchronized or add the third target vehicle with the lane-change vehicle Speed, and at a distance from the third target vehicle is between the lane-change vehicle be safe distance when stop accelerate；

If V_m> V₄, V₃< V₄And distance between the two is greater than safe distance, then makes the lane-change vehicle deceleration traveling t4 Time, and it is synchronized or accelerate the third target vehicle with the target vehicle to accelerate to the third target vehicle, and Distance between the third target vehicle and the lane-change vehicle stops accelerating when being safe distance, wherein t4 < 2* (L₁-S_m)/(V_m-V₄), S_mThe distance travelled within the t4 time for the lane-change vehicle；

If V_m> V₄, V₃≥V₄, then the lane-change vehicle deceleration is made to travel the t4 time, and make the third target carriage Reduced Speed Now t5 time, wherein t5 < 2* (L₁-L₂-L_safe)/(V₃-V₄)。

The present invention also provides a kind of speed guide devices, comprising:

Detection module is in the target vehicle in speed designation range for detecting with the presence or absence of the lane-change of lane-change traveling Vehicle, the speed designation range are the range apart from intersection pre-determined distance；

Module is obtained, if obtaining the lane-change vehicle lane-changing for there are the lane-change vehicles in the target vehicle The running condition information of target vehicle where after preceding and lane-change on lane, the running condition information include at least: vehicle Speed and location information；

Update module, for according to the running condition information, update before the lane-change vehicle lane-changing and lane-change after where The guidance speed of target vehicle on lane, the guidance speed are signal lamp when the target vehicle passes through the intersection Phase is the speed of green light.

Wherein, the detection module includes:

Whether detection unit, the steering wheel angle for detecting the target vehicle are greater than predetermined angle threshold value；

Determination unit, if the steering wheel angle for the target vehicle is greater than the predetermined angle threshold value, it is determined that institute Stating target vehicle is the lane-change vehicle, otherwise, it determines the target vehicle is not the lane-change vehicle.

Wherein, the acquisition module includes:

First acquisition submodule, for where obtaining before the lane-change vehicle lane-changing be driven out to lane, with the lane-change Vehicle it is adjacent and be located at the lane-change rear of vehicle first object vehicle running condition information, and it is described be driven out on lane with The lane-change vehicle is adjacent and is located at the running condition information of the second target vehicle of the lane-change vehicle front；

Second acquisition submodule, for where obtaining before the lane-change vehicle lane-changing drive into lane, with the lane-change Vehicle it is adjacent and be located at the lane-change rear of vehicle third target vehicle running condition information, and it is described drive on lane with The lane-change vehicle is adjacent and is located at the running condition information of the 4th target vehicle of the lane-change vehicle front.

Wherein, second acquisition submodule includes:

Control unit, for control be in speed designation range in the target vehicle open infrared ray sending device and Infrared receiver makes between adjacent two target vehicle on same lane through the infrared ray sending device and infrared ray Reception device establishes infrared ray connection, wherein an infrared ray sending device and infrared is both provided on each target vehicle Line reception device；

Acquiring unit, if for detecting that the separated infrared ray of adjacent two target vehicle connects, described in acquisition The running condition information of adjacent two target vehicle, and believed according to the position in the running condition information of adjacent two target vehicle Breath, using adjacent two target vehicle as the third target vehicle and the 4th target vehicle.

Wherein, the update module includes:

First updates submodule, for being believed according to the driving status of the first object vehicle and second target vehicle Breath updates the guidance speed of the first object vehicle, and sails according to the update of the guidance speed of the first object vehicle It is located at the guidance speed of the target vehicle of the first object rear of vehicle on lane out；

Second updates submodule, for according to the third target vehicle, the 4th target vehicle and the lane-change vehicle Running condition information after lane-change, updates the guidance speed of the lane-change vehicle and the third target vehicle, and according to institute State the target vehicle for being driven on lane described in the guidance speed update of third target vehicle and being located at third target vehicle rear Guidance speed.

Wherein, the first update submodule includes:

First updating unit, if the speed V for the first object vehicle₁Less than the maximum speed limit of current lane V_max, then according to the speed of the first object vehicle and the speed of second target vehicle, the first object vehicle is updated Guidance speed；

Second updating unit, if the speed V for the first object vehicle₁Equal to the maximum speed limit of current lane V_max, then the guidance speed of the first object vehicle is remained unchanged.

Wherein, first updating unit includes:

First updates subelement, if being used for V₁< V_max, and V₁>V₂, then when the first object vehicle being made to drive at a constant speed t1 Between after, be decelerated to synchronized with second target vehicle, wherein t1=(L-L_safe)/(V₂-V₁)-(V₂-V₁)/2a, L indicate institute State the distance between first object vehicle and second target vehicle, L_safeIndicate the safe distance between two target vehicles, a Indicate the acceleration of target vehicle, V₂Indicate the speed of second target vehicle；

Second updates subelement, if being used for V₁< V_max, and V₁< V₂, then make the first object vehicle accelerate to it is described Second target vehicle is synchronized or accelerates the first object vehicle, and in the first object vehicle and second target carriage The distance between be safe distance when stop accelerate；

Third updates subelement, if being used for V₁< V_max, and V₁=V₂, then make the first object vehicle give it the gun t1 when Between after, the Reduced Speed Now t2 time, wherein the first object vehicle and second target vehicle are within t1 the and t2 time The range difference of traveling is safe distance between the two.

Wherein, second updating unit includes:

Judging unit, for according to the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing Running condition information afterwards, judges whether the lane-change vehicle can be sent out with the third target vehicle or the 4th target vehicle Collision is sent, obtains a judging result；

First processing units, if for the judging result be it is yes, according to the third target vehicle, the 4th mesh Running condition information after marking vehicle and the lane-change vehicle lane-changing, to the third target vehicle and the 4th target vehicle The running condition information of progress carries out preliminary guidance processing, and according to preliminary guidance treated running condition information, updates institute State the guidance speed of lane-change vehicle and the third target vehicle；

The second processing unit, if being no, third target vehicle, institute according to current time for the judging result Running condition information after stating the 4th target vehicle and the lane-change vehicle lane-changing updates the lane-change vehicle and the third mesh Mark the guidance speed of vehicle.

Wherein, the first processing units include:

4th updates subelement, if being used for V_m≤V₄, and V₃≥V_m, then when making the third target vehicle Reduced Speed Now t3 Between, wherein t3 < 2* (L₁-L₂-L_safe)/(V₃-V_m), L₁It indicates between the third target vehicle and the 4th target vehicle Distance, L₂Indicate the distance between the lane-change vehicle and the 4th target vehicle, L_safeIt indicates between two target vehicles Safe distance, V₃Indicate the speed of the third target vehicle, V₄Indicate the speed of the 4th target vehicle, V_mThe lane-change Speed after vehicle lane-changing；

5th updates subelement, if being used for V_m≤V₄, V₃< V_m, and third target vehicle described in current time and described change The distance between road vehicle is greater than safe distance, then accelerates to the third target vehicle synchronized or make with the lane-change vehicle The third target vehicle accelerates, and when being safe distance at a distance from the third target vehicle is between the lane-change vehicle Stop accelerating；

6th updates subelement, if being used for V_m> V₄, V₃< V₄And distance between the two is greater than safe distance, then makes institute The lane-change vehicle deceleration traveling t4 time is stated, and it is synchronized or make described with the target vehicle to accelerate to the third target vehicle Third target vehicle accelerate, and the distance between the third target vehicle and the lane-change vehicle be safe distance when stop Accelerate, wherein t4 < 2* (L₁-S_m)/(V_m-V₄), S_mThe distance travelled within the t4 time for the lane-change vehicle；

7th updates subelement, if being used for V_m> V₄, V₃≥V₄, then so that the lane-change vehicle deceleration is travelled the t4 time, And make the third target vehicle Reduced Speed Now t5 time, wherein t5 < 2* (L₁-L₂-L_safe)/(V₃-V₄)。

The embodiment of the present invention has the advantages that

The speed bootstrap technique of the embodiment of the present invention, detection whether there is in the target vehicle in speed designation range The lane-change vehicle of lane-change traveling；If there are the lane-change vehicles in the target vehicle, before obtaining the lane-change vehicle lane-changing And the running condition information of the target vehicle where after lane-change on lane；According to the running condition information, the lane-change is updated The guidance speed of target vehicle where before vehicle lane-changing and after lane-change on lane, so that vehicle be effectively prevent to collide.

Detailed description of the invention

Fig. 1 is the Velocity-time schematic diagram in existing speed bootup process；

Fig. 2 is the work flow diagram of existing speed bootstrap technique；

Fig. 3 is the first work flow diagram of the speed bootstrap technique of the embodiment of the present invention；

Fig. 4 is the second work flow diagram of the speed bootstrap technique of the embodiment of the present invention；

Fig. 5 is vehicle lane-changing schematic diagram in the speed bootstrap technique of the embodiment of the present invention；

Fig. 6 is the third work flow diagram of the speed bootstrap technique of the embodiment of the present invention；

Fig. 7 is the 4th work flow diagram of the speed bootstrap technique of the embodiment of the present invention；

Fig. 8 is the 5th work flow diagram of the speed bootstrap technique of the embodiment of the present invention；

Fig. 9 is the Velocity-time schematic diagram that the embodiment of the present invention carries out speed guidance to the vehicle being driven out on lane；

Figure 10 is the Velocity-time schematic diagram that the embodiment of the present invention carries out speed guidance to the vehicle driven on lane；

Figure 11 is the first structure block diagram of the speed guide device of the embodiment of the present invention；

Figure 12 is the second structural block diagram of the speed guide device of the embodiment of the present invention；

Figure 13 is the first structural block diagram for updating submodule in the speed guide device of the embodiment of the present invention；

Figure 14 is the structural block diagram of first processing units in the speed guide device of the embodiment of the present invention.

Specific embodiment

To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with specific implementation Example and attached drawing are described in detail.

In speed bootup process, there is no vehicle lane-changing, platform is normally carried out speed bootup process.Tool For body, the running condition information of itself can be reported to platform in real time for each vehicle entered in speed designation range, such as The information such as speed, position.Vehicle running state information to enable platform end to be uploaded in real time according to each vehicle calculates in real time The suggestion speed of each vehicle out.It is described as follows.

As shown in Fig. 2, above-mentioned speed bootup process includes:

Step S11: vehicle running state information, traffic safety restricted information, signal lamp phase information and speed are obtained and is become Change restricted information.

Step S12: it according to above- mentioned information, primarily determines the head vehicle passed through under current green light phase, and calculates drawing for a vehicle Lead speed.

Step S13: according to the guidance speed of head vehicle, successively can calculating front vehicle by intersection, and after calculating The guidance speed of square vehicle.

Step S14: vehicle passes through intersection under current green light phase to guide speed to travel.

Step S15: for vehicle to guide speed reduction to travel, the head vehicle as next green light phase passes through intersection.

In addition, being progress speed guidance in the embodiment of the present invention, building speed pilot model is first had to, is specifically included:

In speed bootup process, Vehicle Speed is made to be changed to optimization speed first, then vehicle is to optimize speed Intersection is travelled and passes through, therefore, at the time of vehicle passes through intersection stop line are as follows:

Wherein, T_iAt the time of passing through stop line for i vehicle；T₀For current time；v_iFor the guidance speed of i vehicle, v_i0For i vehicle Initial velocity；L_iFor the distance of i spacing stop line；A is the acceleration of vehicle.

If slowing down/driving at a constant speed after vehicle guidance, optimize speed are as follows:

If given it the gun after vehicle guidance, optimize speed are as follows:

Wherein, t_iThe time of stop line, t are driven through by initial position for i vehicle_i=T_i-T₀。

Variation tendency according to vehicle speed of operation after guided is different, and vehicle is divided into 3 types:

(1) vehicle that must be stopped, optimization speed are less than low speed threshold values v_min:

v_i< v_min

(2) slow down or at the uniform velocity can the not parking vehicle by intersection, optimization speed be located at low velocity threshold and initial vehicle Between speed:

v_min≤v_i≤v_i0

(3) speed can be optimized and be located at initial speed and High Speed Threshold v by the vehicle of intersection by giving it the gun_maxIt Between:

v_i0< v_i≤v_max

The delay D of each car_iIt is represented by its practical time for passing through stop line and it is travelled with free flow speed to stopping The time difference of fare:

Wherein, v_fFor the free stream velocity of i vehicle.

The purpose of speed guidance is the average traffic delay for reducing intersection, therefore the optimization object function of speed pilot model are as follows:

Wherein, N is the interior number of vehicles by intersection around this.

In order to realize purpose of more vehicles with optimal guidance speed by intersection, needed in speed pilot model Meet following constraint condition:

(1) " head vehicle " is constrained by the moment.After green light lights, " head vehicle " after stop line should be greater than or be waited by the moment In green light start time: T₁≥T_g, wherein T_gThe moment is lighted for green light.

(2) " head vehicle " is stopped by the moment and is constrained.After green light lights, " the head vehicle " after stop line is if parking, passes through Moment should be greater than or equal to the sum of green light start time and starting loss time: T₁≥T_g+t_l, wherein t_lWhen being lost for starting Between.

(3) fore-aft vehicle is constrained by the moment.Rear car should be greater than or equal to front truck by stopping at the time of passing through stop line The sum of with minimum time headway at the time of fare: T_i≥T_i-1+t_s, wherein t_sFor minimum time headway.

(4) green light finish time constrains.Vehicle by be necessarily less than constantly or be equal to green light finish time:

T_g+t_g≥T_i, wherein t_gFor green time.

(5) it is constrained by vehicle number.The vehicle number passed through in 1 period should be less than or equal under saturation stream mode Throughput: (S × l × g)/3600 >=N, wherein S is the saturation volume rate in crossing inlet road, and l is crossing inlet road research side To number of track-lines, g is effective green time.

(6) optimization speed constraint.The optimization speed that model calculates should be between low velocity threshold and High Speed Threshold: v_max≥ v_i≥v_min。

It is the process of normal speed guidance above, i.e., there is no lane-change situations for each vehicle in speed designation range. But actually and not always this ideal situation is often possible to certain vehicle occur in the process of moving in practice, lane-change is to another Situation on one lane.In response to this, it needs to detect in time and has known whether vehicle lane-changing, if there is vehicle lane-changing, then Trigger the speed bootup process of platform again.

Based on this, the embodiment provides a kind of speed bootstrap technique and devices, solve existing speed guidance Lane-change occurs for process when driving in vehicle, easily leads to the problem of vehicle collides.

First embodiment

As shown in figure 3, the speed bootstrap technique, comprising:

Step 11: the lane-change vehicle that detection travels in the target vehicle in speed designation range with the presence or absence of lane-change, The speed designation range is the range apart from intersection pre-determined distance.

Preferably, speed designation range can be defined as to the range apart from 500 meters of intersection in the embodiment.

Step 12: if obtaining before the lane-change vehicle lane-changing and changing there are the lane-change vehicle in the target vehicle The running condition information of target vehicle where behind road on lane, the running condition information include at least: the speed of vehicle and Location information.

Step 13: according to the running condition information, updating before the lane-change vehicle lane-changing and where after lane-change on lane Target vehicle guidance speed, the guidance speed is that the target vehicle is by signal lamp phase when the intersection The speed of green light.

Second embodiment

As shown in figure 4, the speed bootstrap technique, comprising:

Step 111: whether the steering wheel angle for detecting the target vehicle is greater than predetermined angle threshold value.

In the embodiment of the present invention, the hardware device installed on vehicle be may particularly include: high accurate positioning device, to vehicle Position be accurately positioned；A variety of sensing devices, such as velocity sensor, acceleration transducer, rotary angle transmitter etc., are used for Detect the real time running status information of vehicle；Communication module, for the communication between platform, by the speed, acceleration of vehicle, The running condition informations such as turning angle of steering wheel are uploaded to platform in real time.

Step 112: if the steering wheel angle of the target vehicle is greater than the predetermined angle threshold value, it is determined that the target Vehicle is the lane-change vehicle, otherwise, it determines the target vehicle is not the lane-change vehicle.

In the embodiment, multipair vehicle lane-changing was received in order to reduce platform and detects useless information, be located at speed and guide Each vehicle in range, only when the rotary angle transmitter on vehicle detects that steering wheel angle is greater than certain angle threshold value It waits, the location information of the corner information and vehicle is just reported to platform.Because being less than certain angle threshold for steering wheel angle The case where value, it is likely to which the minor rotation that vehicle normally occurs in current lane when driving is not meant to vehicle lane-changing Generation.

In the embodiment, as shown in fig. 5, it is assumed that the vehicle 1- vehicle 5 being located in speed designation range carries out normal vehicle in platform During speed guidance, the rotary angle transmitter of vehicle 4 detects that the steering wheel angle of vehicle 4 is greater than certain angle threshold value, at this point, vehicle 4 Position, the speed and direction disk corner information of vehicle 4 are reported to platform.To which platform is upon receiving this information, it is known that vehicle 4 Lane-change behavior has occurred.

3rd embodiment

As shown in fig. 6, the speed bootstrap technique, comprising:

Step 121: being driven out on lane where obtaining before the lane-change vehicle lane-changing, and position adjacent with the lane-change vehicle In the running condition information of the first object vehicle of the lane-change rear of vehicle, and described it is driven out on lane and the lane-change vehicle The running condition information of the second target vehicle that is adjacent and being located at the lane-change vehicle front.

Step 122: driving on lane where obtaining before the lane-change vehicle lane-changing, and position adjacent with the lane-change vehicle In the running condition information of the third target vehicle of the lane-change rear of vehicle, and it is described drive on lane with the lane-change vehicle The running condition information of the 4th target vehicle that is adjacent and being located at the lane-change vehicle front.

Further, as shown in fig. 7, above-mentioned steps 122 include:

Step 1221: the target vehicle of the control in the speed designation range opens infrared ray sending device and infrared Line reception device makes between adjacent two target vehicle on same lane through the infrared ray sending device and infrared receiver Device establishes infrared ray connection, wherein is both provided with an infrared ray sending device on each target vehicle and infrared ray connects Receiving apparatus.

In a specific embodiment of the present invention, infrared ray sending device and infrared receiver dress are fitted in each car It sets, infrared sending device is mounted on front part of vehicle, and infrared receiving device is mounted on vehicle tail, when vehicle enters speed guidance model When enclosing interior, control infrared facility starting carries out sending and receiving for infrared signal between the vehicle of front and back so that front and back vehicle it Between establish infrared ray connection.Since fore-aft vehicle can not perfectly aligned, the then infrared transmission and receiving device installed on vehicle It is linear infrared transmitting/receiving means, can sends or receive the infrared signal in wider amplitude range, guarantees front and back vehicle Infrared connection can also be established by having when certain deviation.

Step 1222: if detecting the separated infrared ray connection of adjacent two target vehicle, obtaining described adjacent The running condition information of two target vehicles, and according to the location information in the running condition information of adjacent two target vehicle, Using adjacent two target vehicle as the third target vehicle and the 4th target vehicle.

In a specific embodiment of the present invention, it can specifically be detected by the infrared signal detection device being installed on vehicle The cutting and connection of infrared ray, specifically, infrared signal detection device is real-time when the infrared signal between current rear car is cut off The signal cut situation is detected, and the signal cut information is uploaded to platform.

In addition, as described above, when platform knows whether vehicle sends lane-change row by the corner situation of detection direction disk For, but its change lane to actually where, i.e., the position specifically changed lane to not can determine that, platform can know the position of above-mentioned vehicle 4, The position changed lane to that may thereby determine that vehicle 4 should but cannot accurately determine tool in a certain range of current location The position of body changed lane to.

The position that vehicle 4 specifically changes lane to can be determined as follows:

Assuming that 4 lane-change of vehicle is inserted between vehicle 1 and vehicle 2.Since vehicle 1 and vehicle 2 are when driving in speed designation range, Respective infrared transmission, reception device have been had been switched on, has been formd between vehicle 1 and vehicle 2 with front and back neighbouring relations so red Outer connection.When 4 lane-change of vehicle is inserted between vehicle 1 and vehicle 2, the infrared connection between vehicle 1 and vehicle 2 is cut off.At this point, being arranged in vehicle 1 and vehicle 2 on infrared detecting device be able to detect and know that infrared connection between them is cut off, so that vehicle 1 and vehicle 2 are to platform The instruction information that the infrared connection is cut-off is reported, carries respective positions information, velocity information etc. in the instruction information.

Based on the above process, if platform receives the above-mentioned of vehicle 4 at a certain moment and reports information, and connect within a very short time The above-mentioned instruction information reported with the position given the correct time on vehicle 4 at a distance of a certain range of vehicle 1 and vehicle 2 is received, then platform can be true Determine 4 lane-change of vehicle to be inserted between vehicle 1 and vehicle 2, to realize the accurate detection of 4 lane-change of vehicle.

Fourth embodiment

As shown in figure 8, the speed bootstrap technique, comprising:

Step 131: according to the first object vehicle and the running condition information of second target vehicle, described in update The guidance speed of first object vehicle, and be driven out on lane and be located at according to the update of the guidance speed of the first object vehicle The guidance speed of the target vehicle of the first object rear of vehicle；

Step 132: according to the row after the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing Status information is sailed, updates the guidance speed of the lane-change vehicle and the third target vehicle, and according to the third target carriage Guidance speed update described in drive on lane positioned at third target vehicle rear target vehicle guidance speed.

Specifically, according to the driving status of the first object vehicle and second target vehicle in above-mentioned steps 131 Information, the step of updating the guidance speed of the first object vehicle include:

Further, if the speed V of the first object vehicle₁Less than the maximum speed limit V of current lane_max, then basis The speed of the speed of the first object vehicle and second target vehicle updates the guidance speed of the first object vehicle The step of include:

Specifically, in above-mentioned steps 132, according to the third target vehicle, the 4th target vehicle and the lane-change Running condition information after vehicle lane-changing, the step of updating the guidance speed of the lane-change vehicle and the third target vehicle packet It includes:

Further, above-mentioned according to the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing Running condition information afterwards, the running condition information carried out to the third target vehicle and the 4th target vehicle carry out just Walk guidance processing, comprising:

Speed bootup process after above-mentioned lane-change is specifically described below.

1) for being driven out to lane, due to there is being driven out to for vehicle, the distance between fore-aft vehicle of outgoing vehicles becomes larger, before this Rear vehicle will not cause the collision of fore-aft vehicle at this time with guidance speed traveling before, and platform needs remain after being driven out to according to vehicle The state of remaining vehicle recalculates guidance speed, enables the vehicle at outgoing vehicles rear accelerate, ensures that more vehicles pass through intersection.

Assuming that the vehicle being driven out to is M, front and back two cars are respectively that vehicle A and vehicle B, M are driven out to the speed of preceding two vehicle of A, B It is V respectively_aAnd V_b, the distance between two vehicles are L, and the acceleration value of vehicle is a, and road Maximum speed limit is V_max.According to V_bIt is big Small judgement gives B vehicle which kind of guidance speed.

(1) if V_b=V_max, illustrate that B vehicle with road Maximum speed limit traveling, accelerates without continuing, keeps existing row Sail state.

(2) if V_b<V_max, then compare velocity magnitude between two vehicle of A, B first.

1. if V_b>V_a, then B vehicle first can travel a period of time with present speed, then gradually be decelerated to mutually synchronized with A vehicle It spends, keeps safe distance between two vehicles, travel speed-time graph between two vehicles is as shown in Figure 9.

Assuming that B vehicle has driven at a constant speed time t1, then B vehicle is decelerated to V with acceleration a_a, required time t2.Assuming that A, B The safe distance for needing to keep when two vehicles reach identical speed is L_safe, then as shown in Figure 9, A vehicle is in (t1+t2) time expert The distance LA=V crossed_a* (t1+t2), the distance that B garage crosses are LB=V_b*t1+1/2(V_b-V_a) * t2, while knowing t2= (V_b-V_a)/a, t2 do not include t1, then can solve:

T1=(L-L_safe)/(V_b-V_a)-(V_b-V_a)/2a

B vehicle can be reminded first to drive at a constant speed the t1 time, then be decelerated to speed identical as A vehicle, it is ensured that two Che Buxiang of A, B It hits, while improving the speed of service.

2. if V_b<V_a, then B vehicle can directly accelerate, accelerate to it is synchronized with A vehicle, or when the distance between two vehicles reach To L_safeWhen stop accelerate.

③V_b=V_a, then B vehicle is made to give it the gun after the ta time, the Reduced Speed Now tb time, wherein B vehicle and A vehicle are in ta and tb The range difference travelled in time is safe distance between the two.

After calculating the guidance speed to B vehicle, the head vehicle that B vehicle can be guided as new speed, to the vehicle at its rear Calculate new guidance speed.

2) for driving into lane, due to driving into for vehicle, become smaller so that driving into the distance between fore-aft vehicle of vehicle, vehicle If continuation may cause the collision of fore-aft vehicle to guide speed to travel.So when having detected that vehicle drives into certain When lane, it is first depending on the state of the driving status and its front vehicle of driving into vehicle, other vehicles of rear of vehicle are driven into judgement Whether need to slow down, or drive into whether vehicle needs to accelerate immediately, guarantees to collide during lane-change, while vehicle Safe distance is kept between.It is tentatively guided according to judging result vehicle and front vehicle is driven into.Preliminary guidance is certain After time, guarantee that lane-change vehicle does not collide with rear car, when vehicle reaches the speed tentatively guided, to driving into lane Vehicle carry out again speed guide, accelerate the front vehicle for driving into vehicle suitably, guarantee that more vehicles pass through intersection.

In conclusion, altogether there are two bootup process, preliminary bootup process and again speed guide for driving into for lane Process.Preliminary bootup process is to prevent from touching between vehicle to drive into driving into the short time behind lane driving into vehicle It hits.Again speed bootup process is to carry out after preliminary bootup process to each vehicle for driving into rear of vehicle is driven into lane Again speed guides, and passes through intersection to meet more vehicles.

If vehicle M is to drive into vehicle, the two cars driven into before and after lane are respectively vehicle C and vehicle D, car speed point It Wei not V_cAnd V_d, it is V that vehicle M, which drives into the speed behind the lane,_m, the distance between vehicle C, D are L1, distance C vehicle when M vehicle drives into The distance between be L2.Do not bump against firstly the need of guarantee M and C vehicle, D vehicle does not bump against with M vehicle.

(1) if V_m≤V_c, then will not collide between M and C vehicle, need to only consider that the distance between M and D and speed are closed System:

1. if V_d≥V_m, then D vehicle, which continues traveling with present speed, to collide with M vehicle, it is necessary to be decelerated to same with M vehicle Safe distance L is kept between speed and two vehicles_safe, the motion process between two vehicles is shown in Figure 10.

When D vehicle movement velocity is reduced to speed identical as M vehicle, the distance of M vehicle movement is Sm=V_m* the movement of t, D vehicle Distance is Sd=V_m*td+1/2(V_d-V_m) * td, the distance between two meet Sm+ (L1+L2)-Sd > L at this time_safe, by Sd and Sm Substitution can be obtained, and D vehicle speed is decreased to meet td < 2* (L1-L2-L with the synchronized required time td of M vehicle_safe)/(V_d-V_m)。

2. if V_d<V_m, then the distance between D vehicle and M vehicle size are judged, if the distance between D and M are greater than safety Distance L_safe, then D vehicle can suitably accelerate to it is synchronized with M vehicle, or make the distance between two vehicles be equal to L_safe。

(2) if V_m>V_c, then M vehicle, which must be decelerated between and two vehicles synchronized with C vehicle, keeps safe distance L_safe, then M needs the speed in time tm to be reduced to V_c, then time tm meets tm < 2* (L1-S)/(V_m-V_c)。

M vehicle speed gradually reduces to V_c, judge whether M and D collides, that is, compare V_dAnd V_cSize:

1. if V_d<V_c, D vehicle is without slowing down, if the distance between D and M are greater than L_safe, then D vehicle can be accelerated to suitably V_cOr the distance between two vehicles are accelerated to equal to L_safe；

2. if V_d≥V_c, then D vehicle needs are decelerated to synchronized with M, and safe distance L is kept between two vehicles_safe, D vehicle needs It is decreased in the interior speed of time td ' synchronized with M vehicle, time td ' meets td ' < 2* (L1-L2-L_safe)/(V_d-V_c)。

For driving into lane, D vehicle may need to slow down in calculating process, due in initial speed bootup process The case where considering front truck braking, so D vehicle front vehicle is without continuing to slow down.After D vehicle and M vehicle speed are stablized, then may be used Using the new head vehicle guided using M vehicle as speed, new guidance speed is recalculated to its front vehicle based on this.

The speed bootstrap technique of the embodiment of the present invention, it is contemplated that vehicle lane-changing may occur in actual vehicle speed bootup process The case where, accurate vehicle lane-changing is realized by infrared connection cutting detection and steering wheel angle detection and is detected, thus, it is depositing It in lane-change vehicle, is guided by carrying out speed again to place lane before and after lane-change vehicle lane-changing, is guaranteeing that intersection is logical While believing efficiency, lane-change is also avoided to cause the generation of vehicle collision.

5th embodiment

As shown in figure 11, the present invention also provides a kind of speed guide devices, comprising:

Detection module 01, for detecting changing with the presence or absence of lane-change traveling in the target vehicle being in speed designation range Road vehicle, the speed designation range are the range apart from intersection pre-determined distance；

Module 02 is obtained, if obtaining the lane-change replacing vehicle for there are the lane-change vehicles in the target vehicle The running condition information of target vehicle where before road and after lane-change on lane, the running condition information include at least: vehicle Speed and location information；

Update module 03, for according to the running condition information, update before the lane-change vehicle lane-changing and lane-change after institute The guidance speed of target vehicle on lane, the guidance speed are signal when the target vehicle passes through the intersection Lamp phase is the speed of green light.

Further, as shown in figure 12, the detection module 01 includes:

Whether detection unit 011, the steering wheel angle for detecting the target vehicle are greater than predetermined angle threshold value；

Determination unit 012, if the steering wheel angle for the target vehicle is greater than the predetermined angle threshold value, it is determined that The target vehicle is the lane-change vehicle, otherwise, it determines the target vehicle is not the lane-change vehicle.

Further, as shown in figure 12, the acquisition module 02 includes:

First acquisition submodule 021, for being driven out to lane, changed with described where obtaining before the lane-change vehicle lane-changing Road vehicle is adjacent and is located at the running condition information of the first object vehicle of the lane-change rear of vehicle, and described is driven out on lane The running condition information of the second target vehicle that is adjacent with the lane-change vehicle and being located at the lane-change vehicle front；

Second acquisition submodule 022, for driving into lane, changed with described where obtaining before the lane-change vehicle lane-changing Road vehicle is adjacent and is located at the running condition information of the third target vehicle of the lane-change rear of vehicle, and described drives on lane The running condition information of the 4th target vehicle that is adjacent with the lane-change vehicle and being located at the lane-change vehicle front.

Further, second acquisition submodule 022 includes:

Control unit 0221 opens infrared ray transmission dress for controlling the target vehicle being in speed designation range It sets and infrared receiver, makes between adjacent two target vehicle on same lane through the outer sending device of the red line and red Outside line reception device establish infrared ray connection, wherein be both provided on each target vehicle an infrared ray sending device and Infrared receiver；

Acquiring unit 0222, if being obtained for detecting the separated infrared ray connection of adjacent two target vehicle The running condition information of adjacent two target vehicle, and according to the position in the running condition information of adjacent two target vehicle Confidence breath, using adjacent two target vehicle as the third target vehicle and the 4th target vehicle.

Further, as shown in figure 12, the update module 03 includes:

First updates submodule 031, for the traveling shape according to the first object vehicle and second target vehicle State information updates the guidance speed of the first object vehicle, and updates institute according to the guidance speed of the first object vehicle State the guidance speed for being driven out to the target vehicle for being located at the first object rear of vehicle on lane；

Second updates submodule 032, for according to the third target vehicle, the 4th target vehicle and the lane-change Running condition information after vehicle lane-changing, updates the guidance speed of the lane-change vehicle and the third target vehicle, and according to The guidance speed of the third target vehicle drives on lane the target carriage for being located at third target vehicle rear described in updating Guidance speed.

Further, as shown in figure 13, the first update submodule 031 includes:

First updating unit 0311, if the speed V for the first object vehicle₁Less than the Maximum speed limit of current lane Value V_max, then according to the speed of the first object vehicle and the speed of second target vehicle, the first object vehicle is updated Guidance speed；

Second updating unit 0312, if the speed V for the first object vehicle₁Equal to the Maximum speed limit of current lane Value V_max, then the guidance speed of the first object vehicle is remained unchanged.

Further, as shown in figure 13, first updating unit 0311 includes:

First updates subelement 03111, if being used for V₁< V_max, and V₁>V₂, then the first object vehicle is driven at a constant speed After the t1 time, it is decelerated to synchronized with second target vehicle, wherein t1=(L-L_safe)/(V₂-V₁)-(V₂-V₁)/2a, L table Show the distance between the first object vehicle and second target vehicle, L_safeIndicate between two target vehicles safety away from From a indicates the acceleration of target vehicle, V₂Indicate the speed of second target vehicle；

Second updates subelement 03112, if being used for V₁< V_max, and V₁< V₂, then the first object vehicle is accelerated to It is synchronized or accelerate the first object vehicle with second target vehicle, and in the first object vehicle and described second Stop accelerating when the distance between target vehicle is safe distance；

Third updates subelement 03113, if being used for V₁< V_max, and V₁=V₂, then the first object vehicle is made to accelerate row After sailing the t1 time, the Reduced Speed Now t2 time, wherein the first object vehicle and second target vehicle are in the t1 and t2 The range difference travelled in time is safe distance between the two.

Further, as shown in figure 13, second updating unit 0312 includes:

Judging unit 03121, for according to the third target vehicle, the 4th target vehicle and the lane-change vehicle Running condition information after lane-change judges whether the lane-change vehicle can be with the third target vehicle or the 4th target carriage Send collision, obtain a judging result；

First processing units 03122, if for the judging result be it is yes, according to the third target vehicle, described Running condition information after 4th target vehicle and the lane-change vehicle lane-changing, to the third target vehicle and the 4th mesh It marks the running condition information that vehicle carries out and carries out preliminary guidance processing, and according to preliminary guidance treated running condition information, Update the guidance speed of the lane-change vehicle and the third target vehicle；

The second processing unit 03123, if being no, the third target carriage according to current time for the judging result , the running condition information after the 4th target vehicle and the lane-change vehicle lane-changing, update the lane-change vehicle and described The guidance speed of third target vehicle.

Further, as shown in figure 14, the first processing units 03122 include:

4th updates subelement 031221, if being used for V_m≤V₄, and V₃≥V_m, then so that the third target vehicle is slowed down and go Sail the t3 time, wherein t3 < 2* (L₁-L₂-L_safe)/(V₃-V_m), L₁Indicate the third target vehicle and the 4th target carriage The distance between, L₂Indicate the distance between the lane-change vehicle and the 4th target vehicle, L_safeIndicate two target vehicles Between safe distance, V₃Indicate the speed of the third target vehicle, V₄Indicate the speed of the 4th target vehicle, V_mInstitute Speed after stating lane-change vehicle lane-changing；

5th updates subelement 031222, if being used for V_m≤V₄, V₃< V_m, and third target vehicle described in current time and The distance between described lane-change vehicle is greater than safe distance, then accelerates to the third target vehicle same with the lane-change vehicle Speed accelerates the third target vehicle, and is safety at a distance from the third target vehicle is between the lane-change vehicle Apart from when stop accelerate；

6th updates subelement 031223, if being used for V_m> V₄, V₃< V₄And distance between the two is greater than safe distance, Then make the lane-change vehicle deceleration traveling t4 time, and make the third target vehicle accelerate to the target vehicle it is synchronized or Accelerate the third target vehicle, and the distance between the third target vehicle and the lane-change vehicle is safe distance When stop accelerate, wherein t4 < 2* (L₁-S_m)/(V_m-V₄), S_mThe distance travelled within the t4 time for the lane-change vehicle；

7th updates subelement 031224, if being used for V_m> V₄, V₃≥V₄, then make described in the lane-change vehicle deceleration traveling The t4 time, and make the third target vehicle Reduced Speed Now t5 time, wherein t5 < 2* (L₁-L₂-L_safe)/(V₃-V₄)。

It should be noted that the device is device corresponding with above method embodiment, own in above method embodiment Implementation can also reach identical technical effect suitable for the embodiment of the device.

The speed bootstrap technique and device of the embodiment of the present invention, detection are in the target vehicle in speed designation range It is no that there are the lane-change vehicles of lane-change traveling；If there are the lane-change vehicles in the target vehicle, the lane-change vehicle is obtained The running condition information of target vehicle where before lane-change and after lane-change on lane；According to the running condition information, institute is updated The guidance speed for stating the target vehicle before lane-change vehicle lane-changing and where after lane-change on lane, so that vehicle be effectively prevent to touch It hits.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims

1. a kind of speed bootstrap technique characterized by comprising

Detection is in the target vehicle in speed designation range with the presence or absence of the lane-change vehicle of lane-change traveling, the speed guidance Range is the range apart from intersection pre-determined distance；

If obtaining lane before the lane-change vehicle lane-changing and where after lane-change there are the lane-change vehicle in the target vehicle On target vehicle running condition information, the running condition information includes at least: the speed and location information of vehicle；

According to the running condition information, the target vehicle before the lane-change vehicle lane-changing and where after lane-change on lane is updated Speed is guided, the guidance speed is the speed that the target vehicle is green light by signal lamp phase when the intersection.

2. speed bootstrap technique according to claim 1, which is characterized in that the detection is in speed designation range It is specifically included in target vehicle with the presence or absence of the step of lane-change vehicle of lane-change traveling:

If the steering wheel angle of the target vehicle is greater than the predetermined angle threshold value, it is determined that the target vehicle is described changes Road vehicle, otherwise, it determines the target vehicle is not the lane-change vehicle.

3. speed bootstrap technique according to claim 1, which is characterized in that if existing in the target vehicle described Lane-change vehicle then obtains the running condition information of the target vehicle before the lane-change vehicle lane-changing and where after lane-change on lane Step includes:

It is being driven out on lane where obtaining before the lane-change vehicle lane-changing, adjacent with the lane-change vehicle and positioned at the lane-change vehicle The running condition information of the first object vehicle at rear, and described be driven out on lane adjacent with the lane-change vehicle and be located at institute State the running condition information of the second target vehicle of lane-change vehicle front；

It is driving on lane where obtaining before the lane-change vehicle lane-changing, adjacent with the lane-change vehicle and positioned at the lane-change vehicle The running condition information of the third target vehicle at rear, and described drive into adjacent with the lane-change vehicle on lane and be located at institute State the running condition information of the 4th target vehicle of lane-change vehicle front.

4. speed bootstrap technique according to claim 3, which is characterized in that the institute before obtaining the lane-change vehicle lane-changing Drive on lane, it is adjacent with the lane-change vehicle and be located at the lane-change rear of vehicle third target vehicle traveling shape State information, and it is described drive into it is adjacent with the lane-change vehicle on lane and be located at the lane-change vehicle front the 4th target vehicle Running condition information the step of include:

The target vehicle of the control in speed designation range opens infrared ray sending device and infrared receiver, makes It is established between adjacent two target vehicle on same lane by the infrared ray sending device and infrared receiver infrared Line connection, wherein an infrared ray sending device and infrared receiver are both provided on each target vehicle；

If detecting the separated infrared ray connection of adjacent two target vehicle, the row of adjacent two target vehicle is obtained Status information is sailed, and according to the location information in the running condition information of adjacent two target vehicle, by adjacent two mesh Vehicle is marked respectively as the third target vehicle and the 4th target vehicle.

5. speed bootstrap technique according to claim 3, which is characterized in that it is described according to the running condition information, more Newly the step of guidance speed of the target vehicle before the lane-change vehicle lane-changing and where after lane-change on lane includes:

According to the first object vehicle and the running condition information of second target vehicle, the first object vehicle is updated Guidance speed, and according to the guidance speed of the first object vehicle update described in be driven out on lane be located at the first object The guidance speed of the target vehicle of rear of vehicle；

According to the running condition information after the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing, The guidance speed of the lane-change vehicle and the third target vehicle is updated, and according to the guidance speed of the third target vehicle It is driven into described in update on lane and is located at the guidance speed of the target vehicle at third target vehicle rear.

6. speed bootstrap technique according to claim 5, which is characterized in that described according to the first object vehicle and institute The running condition information for stating the second target vehicle, the step of updating the guidance speed of the first object vehicle include:

If the speed V of the first object vehicle₁Less than the maximum speed limit V of current lane_max, then according to the first object vehicle Speed and second target vehicle speed, update the guidance speed of the first object vehicle；

If the speed V of the first object vehicle₁Equal to the maximum speed limit V of current lane_max, then make the first object vehicle Guidance speed remain unchanged.

7. speed bootstrap technique according to claim 6, which is characterized in that if the speed of the first object vehicle V₁Less than the maximum speed limit V of current lane_max, then according to the speed of the first object vehicle and second target vehicle Speed, the step of updating the guidance speed of the first object vehicle includes:

If V₁< V_max, and V₁>V₂, then after so that the first object vehicle is driven at a constant speed the t1 time, it is decelerated to and second mesh It is synchronized to mark vehicle, wherein t1=(L-L_safe)/(V₂-V₁)-(V₂-V₁)/2a, L indicate the first object vehicle and described second The distance between target vehicle, L_safeIndicate that the safe distance between two target vehicles, a indicate the acceleration of target vehicle, V₂Table Show the speed of second target vehicle；

If V₁< V_max, and V₁< V₂, then accelerate to the first object vehicle synchronized or make institute with second target vehicle The acceleration of first object vehicle is stated, and is safe distance at a distance from the first object vehicle is between second target vehicle When stop accelerate；

If V₁< V_max, and V₁=V₂, then so that the first object vehicle is given it the gun after the t1 time, the Reduced Speed Now t2 time, In, the range difference that the first object vehicle and second target vehicle travel within t1 the and t2 time is between the two Safe distance.

8. speed bootstrap technique according to claim 5, which is characterized in that described according to the third target vehicle, institute Running condition information after stating the 4th target vehicle and the lane-change vehicle lane-changing updates the lane-change vehicle and the third mesh Mark vehicle guidance speed the step of include:

According to the running condition information after the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing, Judge whether the lane-change vehicle can send with the third target vehicle or the 4th target vehicle to collide, obtains a judgement As a result；

If the judging result be it is yes, according to the third target vehicle, the 4th target vehicle and the lane-change vehicle Running condition information after lane-change, the running condition information that the third target vehicle and the 4th target vehicle are carried out into Row preliminary guidance processing, and according to preliminary guidance treated running condition information, update the lane-change vehicle and the third The guidance speed of target vehicle；

If the judging result is no, the third target vehicle according to current time, the 4th target vehicle and described Running condition information after lane-change vehicle lane-changing updates the guidance speed of the lane-change vehicle and the third target vehicle.

9. speed bootstrap technique according to claim 8, which is characterized in that described according to the third target vehicle, institute Running condition information after stating the 4th target vehicle and the lane-change vehicle lane-changing, to the third target vehicle and the described 4th The running condition information that target vehicle carries out carries out preliminary guidance processing, comprising:

If V_m≤V₄, V₃< V_m, and the distance between third target vehicle described in current time and the lane-change vehicle are greater than safety Distance then accelerates to the third target vehicle synchronized or accelerate the third target vehicle with the lane-change vehicle, and Stop accelerating when being safe distance at a distance from the third target vehicle is between the lane-change vehicle；

If V_m> V₄, V₃< V₄And distance between the two is greater than safe distance, then makes the lane-change vehicle deceleration traveling t4 time, And it is synchronized or accelerate the third target vehicle with the target vehicle to accelerate to the third target vehicle, and described Stop accelerating when the distance between third target vehicle and the lane-change vehicle are safe distance, wherein t4 < 2* (L₁-S_m)/ (V_m-V₄), S_mThe distance travelled within the t4 time for the lane-change vehicle；

If V_m> V₄, V₃≥V₄, then the lane-change vehicle deceleration is made to travel the t4 time, t4 < 2* (L₁-S_m)/(V_m-V₄), and Make the third target vehicle Reduced Speed Now t5 time, wherein t5 < 2* (L₁-L₂-L_safe)/(V₃-V₄)。

10. a kind of speed guide device characterized by comprising

Detection module is in the target vehicle in speed designation range for detecting with the presence or absence of the lane-change vehicle of lane-change traveling , the speed designation range is the range apart from intersection pre-determined distance；

Obtain module, if for there are the lane-change vehicle, being obtained in the target vehicle before the lane-change vehicle lane-changing and The running condition information of target vehicle where after lane-change on lane, the running condition information include at least: the speed of vehicle And location information；

Update module, for according to the running condition information, update before the lane-change vehicle lane-changing and lane-change after where lane On target vehicle guidance speed, the guidance speed be the target vehicle pass through signal lamp phase when the intersection For the speed of green light.

11. speed guide device according to claim 10, which is characterized in that the detection module includes:

Determination unit, if the steering wheel angle for the target vehicle is greater than the predetermined angle threshold value, it is determined that the mesh Mark vehicle is the lane-change vehicle, otherwise, it determines the target vehicle is not the lane-change vehicle.

12. speed guide device according to claim 10, which is characterized in that the acquisition module includes:

First acquisition submodule, for where obtaining before the lane-change vehicle lane-changing be driven out to lane, with the lane-change vehicle It is adjacent and be located at the lane-change rear of vehicle first object vehicle running condition information, and it is described be driven out on lane with it is described Lane-change vehicle is adjacent and is located at the running condition information of the second target vehicle of the lane-change vehicle front；

Second acquisition submodule, for where obtaining before the lane-change vehicle lane-changing drive into lane, with the lane-change vehicle It is adjacent and be located at the lane-change rear of vehicle third target vehicle running condition information, and it is described drive on lane with it is described Lane-change vehicle is adjacent and is located at the running condition information of the 4th target vehicle of the lane-change vehicle front.

13. speed guide device according to claim 12, which is characterized in that second acquisition submodule includes:

Control unit opens infrared ray sending device and infrared for controlling the target vehicle being in speed designation range Line reception device makes between adjacent two target vehicle on same lane through the infrared ray sending device and infrared receiver Device establishes infrared ray connection, wherein is both provided with an infrared ray sending device on each target vehicle and infrared ray connects Receiving apparatus；

Acquiring unit, if being obtained described adjacent for detecting the separated infrared ray connection of adjacent two target vehicle The running condition information of two target vehicles, and according to the location information in the running condition information of adjacent two target vehicle, Using adjacent two target vehicle as the third target vehicle and the 4th target vehicle.

14. speed guide device according to claim 12, which is characterized in that the update module includes:

First updates submodule, for the running condition information according to the first object vehicle and second target vehicle, The guidance speed of the first object vehicle is updated, and is driven out to vehicle according to the update of the guidance speed of the first object vehicle It is located at the guidance speed of the target vehicle of the first object rear of vehicle on road；

Second updates submodule, for according to the third target vehicle, the 4th target vehicle and the lane-change replacing vehicle Running condition information behind road updates the guidance speed of the lane-change vehicle and the third target vehicle, and according to described The guidance speed of three target vehicles drives on lane drawing for the target vehicle for being located at third target vehicle rear described in updating Lead speed.

15. speed guide device according to claim 14, which is characterized in that described first, which updates submodule, includes:

First updating unit, if the speed V for the first object vehicle₁Less than the maximum speed limit V of current lane_max, then According to the speed of the first object vehicle and the speed of second target vehicle, the guidance of the first object vehicle is updated Speed；

Second updating unit, if the speed V for the first object vehicle₁Equal to the maximum speed limit V of current lane_max, then Remain unchanged the guidance speed of the first object vehicle.

16. speed guide device according to claim 15, which is characterized in that first updating unit includes:

First updates subelement, if being used for V₁< V_max, and V₁>V₂, then after so that the first object vehicle is driven at a constant speed the t1 time, It is decelerated to synchronized with second target vehicle, wherein t1=(L-L_safe)/(V₂-V₁)-(V₂-V₁)/2a, L indicate described first The distance between target vehicle and second target vehicle, L_safeIndicate that the safe distance between two target vehicles, a indicate mesh Mark the acceleration of vehicle, V₂Indicate the speed of second target vehicle；

Second updates subelement, if being used for V₁< V_max, and V₁< V₂, then the first object vehicle is accelerated to and described second Target vehicle is synchronized or accelerates the first object vehicle, and the first object vehicle and second target vehicle it Between distance be safe distance when stop accelerate；

Third updates subelement, if being used for V₁< V_max, and V₁=V₂, then the first object vehicle is made to give it the gun the t1 time Afterwards, the Reduced Speed Now t2 time, wherein the first object vehicle and second target vehicle are in t1 the and t2 time expert The range difference sailed is safe distance between the two.

17. speed guide device according to claim 14, which is characterized in that second updating unit includes:

Judging unit, after according to the third target vehicle, the 4th target vehicle and the lane-change vehicle lane-changing Running condition information, judges whether the lane-change vehicle can touch with the third target vehicle or the 4th target vehicle transmission It hits, obtains a judging result；

First processing units, if for the judging result be it is yes, according to the third target vehicle, the 4th target carriage And the lane-change vehicle lane-changing after running condition information, the third target vehicle and the 4th target vehicle are carried out Running condition information carry out preliminary guidance processing, and according to preliminary guidance treated running condition information, changed described in update The guidance speed of road vehicle and the third target vehicle；

The second processing unit, if for the judging result being no, the third target vehicle according to current time, described the Running condition information after four target vehicles and the lane-change vehicle lane-changing updates the lane-change vehicle and the third target carriage Guidance speed.

18. speed guide device according to claim 17, which is characterized in that the first processing units include:

4th updates subelement, if being used for V_m≤V₄, and V₃≥V_m, then make the third target vehicle Reduced Speed Now t3 time, In, t3 < 2* (L₁-L₂-L_safe)/(V₃-V_m), L₁Indicate between the third target vehicle and the 4th target vehicle away from From L₂Indicate the distance between the lane-change vehicle and the 4th target vehicle, L_safeIndicate the safety between two target vehicles Distance, V₃Indicate the speed of the third target vehicle, V₄Indicate the speed of the 4th target vehicle, V_mThe lane-change vehicle Speed after lane-change；

5th updates subelement, if being used for V_m≤V₄, V₃< V_m, and third target vehicle described in current time and the lane-change vehicle The distance between be greater than safe distance, then accelerate to the third target vehicle synchronized or make described the with the lane-change vehicle Three target vehicles accelerate, and at a distance from the third target vehicle is between the lane-change vehicle be safe distance when stop plus Speed；

6th updates subelement, if being used for V_m> V₄, V₃< V₄And distance between the two is greater than safe distance, then makes the lane-change Vehicle deceleration travels the t4 time, and it is synchronized or make the third mesh with the target vehicle to accelerate to the third target vehicle Mark vehicle accelerate, and the distance between the third target vehicle and the lane-change vehicle be safe distance when stop accelerate, Wherein, t4 < 2* (L₁-S_m)/(V_m-V₄), S_mThe distance travelled within the t4 time for the lane-change vehicle；

7th updates subelement, if being used for V_m> V₄, V₃≥V₄, then the lane-change vehicle deceleration is made to travel the t4 time, wherein T4 < 2* (L₁-S_m)/(V_m-V₄), and make the third target vehicle Reduced Speed Now t5 time, wherein t5 < 2* (L₁-L₂- L_safe)/(V₃-V₄)。