CN109461320A - Intersection speed planing method based on car networking - Google Patents
Intersection speed planing method based on car networking Download PDFInfo
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- CN109461320A CN109461320A CN201811561688.5A CN201811561688A CN109461320A CN 109461320 A CN109461320 A CN 109461320A CN 201811561688 A CN201811561688 A CN 201811561688A CN 109461320 A CN109461320 A CN 109461320A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Traffic Control Systems (AREA)
Abstract
The intersection speed planing method based on car networking that the invention discloses a kind of, comprising: all signal lamp datas in the communication range in vehicle planning path information are obtained by V2X equipment based on car networking in real time；The signal lamp data of acquisition is screened according to the routing information of vehicle planning and vehicle position information, obtains the signal lamp data on corresponding crossing and corresponding direction；Different speeds is planned for the signal lamp data on the correspondence crossing corresponding direction of acquisition according to the routing information that vehicle oneself state and vehicle are planned.The signal lamp data obtained by V2X is screened according to the path of vehicle planning, vehicle position information, then the speed that vehicle passes through the section is cooked up according to the signal lamp data of screening, car status information, optimal travel speed can be cooked up, the traffic efficiency of vehicle is improved.
Description
Technical field
The invention belongs to automobile intelligent control technology fields, more particularly to a kind of being planned according to vehicle based on car networking
Path and vehicle position information screening pass through the intersection speed planing method of the V2X signal lamp data obtained.
Background technique
Current vehicle increasing number, so that traffic congestion, vehicle application scene is complicated, and traffic safety is cured with the problems such as efficiency
Hair is serious.With the development of communication technology, based on Dedicated Short Range Communications (DSRC) and mobile cellular communication (3G/4G) technology
" vehicle-X " (X- vehicle, road, people, cloud, abbreviation V2X) system is solves the problems, such as traffic safety and efficiency provides new technological means.
Automatic driving vehicle urban road when driving, inevitably by there is the intersection of signal lamp.Work as vehicle
When encountering the situation, the vehicle for being equipped with car networking technology can obtain signal information by V2X, as shown in Figure 1, passing through
The communication between short range communication and vehicle and internet between " Che-vehicle ", " Che-road " and " vehicle-people ", available periphery vehicle
The real-time traffic states information of driving status, the prevailing state of peripheral path, the state of crossroad traffic signal lamp or the like.Have
Effect promotes the traffic efficiency of autonomous driving vehicle.The present invention comes therefrom.
Summary of the invention
In order to solve above-mentioned technical problem, the present invention provides a kind of, and the intersection speed based on car networking is advised
The method of drawing screens the signal lamp data obtained by V2X according to the path of vehicle planning, vehicle position information, then according to sieve
Signal lamp data, the car status information of choosing cook up the speed that vehicle passes through the section, can cook up optimal traveling speed
Degree, improves the traffic efficiency of vehicle.
The technical scheme is that
A kind of intersection speed planing method based on car networking, comprising the following steps:
S01: all letters in the communication range in vehicle planning path information are obtained by V2X equipment based on car networking in real time
Signal lamp data；
S02: the signal lamp data of acquisition is screened according to the routing information of vehicle planning and vehicle position information, is obtained
The signal lamp data on crossing and corresponding direction must be corresponded to；
S03: the routing information planned according to vehicle oneself state and vehicle, on the correspondence crossing corresponding direction of acquisition
Signal lamp data, plan different speeds.
In preferred technical solution, routing information described in the step S01 include longitude and latitude, course angle, road curvature,
Intersection and crossing stop line information.
In preferred technical solution, the intersection for including in the routing information is defined as node, between intersection
Road be defined as connecting.
In preferred technical solution, the step S02 includes:
S21: determining the road where vehicle, in conjunction with the actual heading angle of vehicle, determines the crossroad that vehicle will pass through
Mouthful；
S22: the signal lamp data in corresponding intersection corresponding phase is obtained；
S23: obtaining the road curvature K (i) of intersection, by the road curvature compared with the curvature threshold of setting, according to
Threshold region where curvature chooses the signal lamp data on corresponding direction.
In preferred technical solution, in the step S23, if K (i) < Kleft, then left rotaring signal lamp data are chosen；Such as
Fruit K (i) > Kright, then right turn signal lamp data are chosen；If Kright≤K(i)≤Kleft, then straight trip signal lamp data is chosen,
Middle KleftFor the effective curvature threshold of left rotaring signal lamp, KrightFor the effective curvature threshold of right turn signal lamp.
In preferred technical solution, the step S03 includes:
S31: being considered as barrier for red light, when red light, indicate barrier present in stop line, signal lamp residual time length
trestIndicate that barrier disappears the time needed；When green light, remaining time trest+ T indicates that the time needed occurs in barrier,
Middle T indicates amber light duration；
S32: vehicle and stop line distance d are calculated in real time, when vehicle enters distance threshold dthrIt, will at this time when in range
Actual vehicle speed as initial velocity vin, and calculate vehicle and travelled with the speed to time t needed for stop lineneed；
S33: in the presence of barrier, if tneed> trest, when indicating that vehicle is travelled with current vehicle speed to stop line, barrier
Hinder object to disappear, maintain current vehicle speed safety signal lamp intersection, plans speed vsuggest=vin；If tneed≤trest,
When indicating that vehicle is travelled with current vehicle speed to stop line, barrier is still remained, and vehicle carries out speed-down action；
S34: in the absence of barrier, if tneed< (trest+ T), indicate that vehicle is travelled with current vehicle speed to stop line
When, barrier does not occur, maintains current vehicle speed safety signal lamp intersection, plans speed vsuggest=vin；If tneed≥
(trest+ T), when indicating that vehicle is travelled with current vehicle speed to stop line, barrier is had already appeared, and vehicle need to carry out plus-minus quick-action
Make；
S35: it if vehicle cannot at the uniform velocity pass through signal lamp intersection with present speed, carries out the following processing:
(1) vehicle moves t with constant acceleration speed a1After time, reach speed v1=vin+a×t1, vehicle is with speed
v1Remaining distance is driven at a constant speed, signal lamp intersection is passed through；In the process, the distance of vehicle acceleration and deceleration travelingDrive at a constant speed distance d2=dthr-d1, drive at a constant speed the timePlan speed vsuggest
Are as follows:
Wherein, amaxFor vehicle peak acceleration, vlimitFor the max speed limited in running region；
(2) under conditions of not being able to satisfy vehicle deceleration and accelerating to pass through signal lamp intersection, vehicle need to be decelerated to stop line
It waits for parking barrier to disappear, plans speed are as follows:
Wherein, t1For deceleration time.
Compared with prior art, the invention has the advantages that
The signal lamp data obtained by V2X is screened according to the path of vehicle planning, vehicle position information, then according to sieve
Signal lamp data, the car status information of choosing cook up the speed that vehicle passes through the section, can cook up optimal traveling speed
Degree, improves the traffic efficiency of vehicle.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is the schematic diagram that vehicle obtains signal lamp data by V2X equipment；
Fig. 2 is that the present invention is based on the functional block diagrams of the intersection speed planing method of car networking；
Fig. 3 is the path schematic diagram comprising node (node) and connection (link) information；
Fig. 4 is signal lamp data select permeability schematic diagram；
Fig. 5 is the schematic diagram that red light is assumed to be to barrier.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Embodiment:
With reference to the accompanying drawing, presently preferred embodiments of the present invention is described further.
As shown in Fig. 2, a kind of intersection speed planing method based on car networking, comprising the following steps:
Step 1: according to start point information, cooking up vehicle route track, trace information includes longitude and latitude, course angle, road
Road curvature and crossing stop line information.For the ease of carrying out the selection of signal lamp data, according to the intersection for including in planning path
Intersection is defined as node by crossing, and the road between intersection is defined as node；As shown in Figure 3.
Step 2: in the process of moving, vehicle obtains the location information of Centimeter Level by differential GPS devices in real time, determines vehicle
Road link (i) where.One road link corresponds to two intersections, therefore need to be in conjunction with the actual heading of vehicle
Angle determines next intersection node (i) that vehicle will pass through.
Step 3: in the process of moving, vehicle obtains the data of traffic lights by V2X equipment in real time, as shown in Figure 1,
Acquired signal lamp data is all belisha beacon data in short-range communication range.
Step 4: the next intersection node (i) that will pass through obtained according to step 2, so that it may obtain under corresponding to
One belisha beacon number, so that the signal lamp data that screening step 3 obtains, obtains the signal lamp number of corresponding intersection
According to.
Step 5: the signal lamp data obtained according to the current course angle of vehicle, screening step 4 obtains in corresponding phase
Signal lamp data.The signal lamp data also include left-hand rotation, straight trip and turn right three directions on data, as shown in Figure 4.
Step 6: the path planned by step 1, the road for obtaining next crossing node (i) that vehicle will pass through are bent
Rate K (i).If K (i) < Kleft, then left rotaring signal lamp data in selecting step 5；If K (i) > Kright, then selecting step 5
In right turn signal lamp data；If Kright≤K(i)≤Kleft, then the straight trip signal lamp data in selecting step 5 is (wherein
KleftFor the effective curvature threshold of left rotaring signal lamp, KrightFor the effective curvature threshold of right turn signal lamp).
Step 7: as shown in figure 5, red light is assumed to be " barrier ", there is the correct time with disappearance in such " barrier "
It is all that automatic driving vehicle is known in advance.When red light, expression barrier is present in stop line, signal lamp residual time length trest
Indicate that " barrier " disappears the time needed；When green light, remaining time trest+ T indicates that the time needed occurs in " barrier ",
Middle T indicates amber light duration.
Step 8: vehicle and stop line distance d are calculated in real time, when vehicle enters d within the scope of distance thresholdthr(i.e. d <
dthr) when, actual vehicle speed at this time is defined as initial velocity vin, and vehicle is calculated with speed vinTraveling is to needed for stop line
Time tneed。
Step 9: in the presence of front " barrier ", comparing tneedWith trestBetween size relation.If tneed> trest,
When indicating that vehicle is travelled with current vehicle speed to stop line, " barrier " has disappeared, and vehicle remains current without doing speed-down action
Speed safety signal lamp intersection, planning proposal speed vsuggest=vin.If tneed≤trest, indicate vehicle to work as front truck
When speed traveling to stop line, " barrier " is still remained, and vehicle need to complete speed-down action.
Step 10: in the absence of front " barrier ", comparing tneedWith (trest+ T) between size relation.If tneed
< (trest+ T), when indicating that vehicle is travelled with current vehicle speed to stop line, " barrier " does not occur, and vehicle is dynamic without doing deceleration
Make, maintains current vehicle speed safety signal lamp intersection, planning proposal speed vsuggest=vin.If tneed≥(trest+ T), table
When showing that vehicle is travelled with current vehicle speed to stop line, " barrier " is had already appeared, and vehicle need to complete acceleration and deceleration movement.
Step 11: according to the analysis of step 9 and step 10, if vehicle cannot at the uniform velocity pass through signal lamp road with present speed
Mouthful, then vehicle can be described as following two by the process in the section:
(1) vehicle moves t with constant acceleration/deceleration a1After time, reach speed v1=vin+a×t1, this rear car
With speed v1Drive at a constant speed remaining distance, and it is safe, in accordance with regulation pass through signal lamp intersection.In the process, vehicle
The distance of acceleration and deceleration traveling Drive at a constant speed distance d2=dthr-d1, drive at a constant speed the timeThis to the relationship between dependent variable and suggests that the formula of speed is as follows in the process, wherein vsuggestIt is built for what is cooked up
Discuss speed, amaxFor vehicle peak acceleration, vlimitFor the max speed limited in running region.
(2) under conditions of not being able to satisfy vehicle deceleration and accelerating through signal lamp intersection, vehicle need to be decelerated to stop line
Parking waiting " barrier " disappears, as follows to the formula of relationship and suggestion speed between dependent variable during being somebody's turn to do, wherein t1For
Deceleration time.
It should be understood that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (6)
1. a kind of intersection speed planing method based on car networking, which comprises the following steps:
S01: all signal lamps in the communication range in vehicle planning path information are obtained by V2X equipment based on car networking in real time
Data；
S02: the signal lamp data of acquisition is screened according to the routing information of vehicle planning and vehicle position information, acquisition pair
Answer the signal lamp data on crossing and corresponding direction；
S03: the routing information planned according to vehicle oneself state and vehicle, for the letter on the correspondence crossing corresponding direction of acquisition
Signal lamp data plan different speeds.
2. the intersection speed planing method according to claim 1 based on car networking, which is characterized in that the step
Routing information described in S01 includes longitude and latitude, course angle, road curvature, intersection and crossing stop line information.
3. the intersection speed planing method according to claim 2 based on car networking, which is characterized in that the path
The intersection for including in information is defined as node, and the road between intersection is defined as connecting.
4. the intersection speed planing method according to claim 1 based on car networking, which is characterized in that the step
S02 includes:
S21: determining the road where vehicle, in conjunction with the actual heading angle of vehicle, determines the intersection that vehicle will pass through；
S22: the signal lamp data in corresponding intersection corresponding phase is obtained；
S23: the road curvature K (i) of the intersection in planning path is obtained, by the road curvature and the curvature threshold of setting ratio
Compared with according to the signal lamp data on the threshold region selection corresponding direction where curvature.
5. the intersection speed planing method according to claim 4 based on car networking, which is characterized in that the step
In S23, if K (i) < Kleft, then left rotaring signal lamp data are chosen；If K (i) > Kright, then right turn signal lamp data are chosen；
If Kright≤K(i)≤Kleft, then straight trip signal lamp data is chosen, wherein KleftFor the effective curvature threshold of left rotaring signal lamp,
KrightFor the effective curvature threshold of right turn signal lamp.
6. the intersection speed planing method according to claim 1 based on car networking, which is characterized in that the step
S03 includes:
S31: being considered as barrier for red light, when red light, indicate barrier present in stop line, signal lamp residual time length trestTable
Show that barrier disappears the time needed；When green light, remaining time trest+ T indicates that the time needed occurs in barrier, wherein T table
Show amber light duration；
S32: vehicle and stop line distance d are calculated in real time, when vehicle enters distance threshold dthrWhen in range, by reality at this time
Border speed is as initial velocity vin, and calculate vehicle and travelled with the speed to time t needed for stop lineneed；
S33: in the presence of barrier, if tneed> trest, when indicating that vehicle is travelled with current vehicle speed to stop line, barrier
It has been disappeared that, maintain current vehicle speed safety signal lamp intersection, planned speed vsuggest=vin；If tneed≤trest, indicate
When vehicle is travelled with current vehicle speed to stop line, barrier is still remained, and vehicle carries out speed-down action；
S34: in the absence of barrier, if tneed< (trest+ T), when indicating that vehicle is travelled with current vehicle speed to stop line,
Barrier does not occur, maintains current vehicle speed safety signal lamp intersection, plans speed vsuggest=vin；If tneed≥(trest
+ T), when indicating that vehicle is travelled with current vehicle speed to stop line, barrier is had already appeared, and vehicle need to carry out acceleration and deceleration movement；
S35: it if vehicle cannot at the uniform velocity pass through signal lamp intersection with present speed, carries out the following processing:
(1) vehicle moves t with constant acceleration speed a1After time, reach speed v1=vin+a×t1, vehicle is with speed v1It is even
Speed travels remaining distance, passes through signal lamp intersection；In the process, the distance of vehicle acceleration and deceleration travelingDrive at a constant speed distance d2=dthr-d1, drive at a constant speed the timePlan speed vsuggest
Are as follows:
Wherein, amaxFor vehicle peak acceleration, vlimitFor the max speed limited in running region；
(2) under conditions of not being able to satisfy vehicle deceleration and accelerating to pass through signal lamp intersection, vehicle need to be decelerated to stop line parking
It waits barrier to disappear, plans speed are as follows:
Wherein, t1For deceleration time.
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Cited By (10)
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| CN110162050A (en) * | 2019-05-22 | 2019-08-23 | 腾讯科技（深圳）有限公司 | Travel control method and drive-control system |
| CN110794827A (en) * | 2019-09-26 | 2020-02-14 | 国唐汽车有限公司 | V2X-based high-efficiency speed control method for passing traffic signal lamp |
| CN111341105A (en) * | 2020-03-05 | 2020-06-26 | 星觅(上海)科技有限公司 | Vehicle speed guiding method, device, equipment and medium based on adjacent intersection association degree |
| CN111583673A (en) * | 2020-04-28 | 2020-08-25 | 华东师范大学 | Intelligent intersection management method based on unmanned vehicle |
| CN112748719A (en) * | 2019-10-16 | 2021-05-04 | 北京京东乾石科技有限公司 | Method and device for controlling a transport vehicle |
| CN113192347A (en) * | 2021-03-16 | 2021-07-30 | 东南大学 | Intelligent internet vehicle economical driving control method in dynamic traffic scene |
| CN113450564A (en) * | 2021-05-21 | 2021-09-28 | 江苏大学 | Intersection passing method based on NARX neural network and C-V2X technology |
| WO2022127647A1 (en) * | 2020-12-18 | 2022-06-23 | 长城汽车股份有限公司 | Method and system for outputting driving prompt information, and vehicle |
| CN115171371A (en) * | 2022-06-16 | 2022-10-11 | 海信集团控股股份有限公司 | Cooperative type road intersection passing method and device |
| CN115223347A (en) * | 2021-12-16 | 2022-10-21 | 广州汽车集团股份有限公司 | Early warning for red light running of vehicle and vehicle speed control method |
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| CN111583673A (en) * | 2020-04-28 | 2020-08-25 | 华东师范大学 | Intelligent intersection management method based on unmanned vehicle |
| WO2022127647A1 (en) * | 2020-12-18 | 2022-06-23 | 长城汽车股份有限公司 | Method and system for outputting driving prompt information, and vehicle |
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| CN113450564A (en) * | 2021-05-21 | 2021-09-28 | 江苏大学 | Intersection passing method based on NARX neural network and C-V2X technology |
| CN113450564B (en) * | 2021-05-21 | 2022-08-23 | 江苏大学 | Intersection passing method based on NARX neural network and C-V2X technology |
| CN115223347A (en) * | 2021-12-16 | 2022-10-21 | 广州汽车集团股份有限公司 | Early warning for red light running of vehicle and vehicle speed control method |
| CN115171371A (en) * | 2022-06-16 | 2022-10-11 | 海信集团控股股份有限公司 | Cooperative type road intersection passing method and device |
| CN115171371B (en) * | 2022-06-16 | 2024-03-19 | 海信集团控股股份有限公司 | Cooperative road intersection passing method and device |
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Application publication date: 20190312 |