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WO2018232939A1 - 一种路口交通灯智能控制方法及装置 - Google Patents

一种路口交通灯智能控制方法及装置 Download PDF

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Publication number
WO2018232939A1
WO2018232939A1 PCT/CN2017/097994 CN2017097994W WO2018232939A1 WO 2018232939 A1 WO2018232939 A1 WO 2018232939A1 CN 2017097994 W CN2017097994 W CN 2017097994W WO 2018232939 A1 WO2018232939 A1 WO 2018232939A1
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WO
WIPO (PCT)
Prior art keywords
intersection
traffic light
vehicle
traffic
information
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Application number
PCT/CN2017/097994
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English (en)
French (fr)
Inventor
杜光东
Original Assignee
深圳市盛路物联通讯技术有限公司
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Application filed by 深圳市盛路物联通讯技术有限公司 filed Critical 深圳市盛路物联通讯技术有限公司
Publication of WO2018232939A1 publication Critical patent/WO2018232939A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles

Definitions

  • the invention relates to the technical field of intelligent transportation, in particular to an intelligent control method and device for intersection traffic lights.
  • the conversion time of the traffic light is manually set, or the traffic light is more intelligent.
  • the detecting device detects the traffic flow in each direction in real time, and adjusts the time of the traffic light according to the traffic flow. Under normal circumstances, if the driver They all obey the traffic rules and concentrate. This traffic light can adjust the congestion in all directions to a certain extent.
  • the driver often cannot accurately determine whether the vehicle can be in traffic. Passing the intersection before the end of the light passing state, causing sudden braking at the zebra crossing, or dangerous driving action such as yellow light, which not only increases the wear of the vehicle to a certain extent, but more importantly, seriously affects the passage of the vehicle.
  • the vehicle starts when the red light waiting time has not ended, or at a relatively remote intersection, the driver usually arbitrarily blinks red light because there is no electronic monitoring, which is a serious dangerous driving behavior.
  • the existing traffic lights can not effectively remind the driver when the traffic lights switch, usually the driver does not notice the red light, or the driver does not start in time when switching to the green light, causing road delays, resulting in roads Congestion or traffic accidents.
  • the present invention provides an intelligent control method and device for intersection traffic lights.
  • the present invention provides an intelligent control method for an intersection traffic light, the method comprising: receiving traffic light information uploaded by a traffic light, the traffic light information including a traffic light state and a traffic light state duration; and receiving the vehicle terminal uploading
  • the vehicle speed information and the intersection location information are generated according to the traffic light information, the vehicle speed information, and the intersection distance, and are sent to the vehicle terminal for reminding; wherein the intersection distance is the distance between the location of the vehicle and the traffic intersection.
  • the intelligent control method for the intersection traffic light provided by the embodiment of the invention automatically determines whether the vehicle can directly pass the intersection according to the traffic light information, the vehicle speed information and the intersection distance, and generates a corresponding intersection reminding message to remind the driver to pass the traffic intersection safely. Under the premise of ensuring the safety of vehicles and pedestrians, the traffic efficiency of traffic intersections is improved.
  • the method further includes: acquiring a waiting time of the vehicle and storing, specifically, after the generating the deceleration waiting reminding message, when the vehicle arrives at the traffic intersection, the time taken by the vehicle to pass the traffic intersection is taken as the waiting time of the vehicle.
  • the vehicle waiting time is stored in one-to-one correspondence with the target waiting time, wherein the target waiting time is the duration of the traffic light state when the vehicle arrives at the traffic intersection.
  • the method further includes comparing the vehicle waiting time with the target waiting time, and determining whether the vehicle has a dangerous driving behavior, specifically: when the vehicle passes the traffic intersection, if the vehicle waiting time is less than the target, etc.
  • the vehicle has dangerous driving behavior, and the dangerous driving behavior information is uploaded to the user terminal for the user to consult.
  • the vehicle waiting time by comparing the vehicle waiting time with the target waiting time, it can be determined whether the vehicle stops waiting according to the reminder message, thereby determining whether the vehicle has dangerous driving behavior, such as when the traffic light is in a forbidden state, and the waiting time of the vehicle is less than The target waiting time, the vehicle has dangerous driving behavior, and the dangerous driving behavior information is uploaded to the user terminal for the user to consult.
  • the method further includes statistically analyzing the dangerous driving behavior of the vehicle, specifically: detecting whether the dangerous driving behavior of the same vehicle exceeds a set number of times threshold within a set period, and if so, generating a dangerous driving behavior report, and
  • the dangerous driving behavior report is uploaded to the application server of the traffic control department and saved, and simultaneously sent to the user terminal for downloading by the user.
  • the vehicle with a relatively frequent number of dangerous driving behaviors can be found, and the dangerous driving behavior report is uploaded to the application server of the traffic control department, so that the traffic control department can punish the dangerous driving vehicle. Effectively restrain the irregular driving behavior of road junctions.
  • the driver of the vehicle can also download dangerous driving behavior reports through the terminal, timely understand their dangerous driving behavior, and regulate their driving behavior.
  • the present invention provides an intersection traffic light intelligent control device, which includes a first receiving unit for receiving traffic light information uploaded by a traffic light, the traffic light information including a traffic light state and a traffic light state continuing a second receiving unit, configured to receive vehicle speed information and intersection location information uploaded by the vehicle-mounted terminal; the central processing unit is configured to generate an intersection reminding message according to the traffic light information, the vehicle speed information, and the intersection distance; and the sending unit is configured to: The intersection reminder message is sent to the vehicle terminal for reminding; wherein the intersection distance is the distance between the location of the vehicle and the traffic intersection.
  • intersection traffic light intelligent control device of the invention automatically determines whether the vehicle can directly pass the intersection according to the traffic light information, the vehicle speed information and the intersection distance sent by the traffic light, and generates a corresponding intersection reminding message to remind the driver to pass the traffic intersection safely. Under the premise of ensuring the safety of vehicles and pedestrians, the traffic efficiency of traffic intersections is improved.
  • intersection traffic light intelligent control device further includes a waiting time acquisition unit and a storage unit, and the waiting time acquisition unit is configured to: when the vehicle arrives at the traffic intersection to stop, after the vehicle generates the deceleration waiting reminding message, the vehicle starts to pass the traffic The time taken by the intersection is used as the waiting time of the vehicle, and the waiting time of the vehicle is stored in one-to-one correspondence with the target waiting time, wherein the target waiting time is the duration of the traffic light state when the vehicle arrives at the traffic intersection.
  • intersection traffic light intelligent control device further includes a comparison unit, configured to compare the vehicle waiting time with the target waiting time, and determine whether the vehicle has dangerous driving behavior, specifically: when the vehicle passes the traffic intersection, if the vehicle waits for time If the target waiting time is less than the target waiting time, the vehicle has dangerous driving behavior, and the dangerous driving behavior information is sent to the user terminal for the user to consult.
  • a comparison unit configured to compare the vehicle waiting time with the target waiting time, and determine whether the vehicle has dangerous driving behavior, specifically: when the vehicle passes the traffic intersection, if the vehicle waits for time If the target waiting time is less than the target waiting time, the vehicle has dangerous driving behavior, and the dangerous driving behavior information is sent to the user terminal for the user to consult.
  • the vehicle waiting time after generating the deceleration waiting reminder message, by comparing the vehicle waiting time with the target waiting time, it can be accurately determined whether the vehicle stops waiting according to the reminder message, thereby determining whether the vehicle is There are dangerous driving behaviors, such as when the traffic light is in a forbidden state, and the vehicle waiting time is less than the traffic light state duration, the vehicle has dangerous driving behavior.
  • intersection traffic light intelligent control device further includes a statistical unit configured to detect whether the dangerous driving behavior of the same vehicle exceeds a set number of times threshold within a set period, and if so, generate a dangerous driving behavior report, by sending a unit
  • the dangerous driving behavior report is uploaded to the traffic management department application server and saved, and simultaneously sent to the user terminal for download by the user.
  • the vehicle with a relatively frequent number of dangerous driving behaviors can be found, and the dangerous driving behavior report is uploaded to the application server of the traffic control department, so that the traffic control department can punish the dangerous driving vehicle. Effectively restrain the irregular driving behavior of road junctions.
  • the driver of the vehicle can also download dangerous driving behavior reports through the terminal, timely understand their dangerous driving behavior, and regulate their driving behavior.
  • FIG. 1 is a schematic flow chart of an intelligent control method for an intersection traffic light according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of an intelligent control method for an intersection traffic light according to another embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of an intelligent control method for an intersection traffic light according to another embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of an intelligent control method for an intersection traffic light according to another embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of an intelligent control method for an intersection traffic light according to another embodiment of the present invention.
  • FIG. 6 is a structural diagram of an intersection traffic light intelligent control system according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an intersection traffic light intelligent control device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an intersection traffic light intelligent control device according to another embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of an intersection traffic light intelligent control device according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an intersection traffic light intelligent control device according to another embodiment of the present invention.
  • FIG. 11 is a structural diagram of an intersection traffic light intelligent control system according to another embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of an intersection traffic light intelligent control device according to another embodiment of the present invention.
  • the green light indicates permission to pass
  • the red light indicates prohibition of passage
  • the yellow light indicates warning
  • the red light, the green light, and the yellow light are all explained in accordance with the above rules, but it is not to be construed as limiting the present invention, that is, the signal lights of other colors may be used to ban the passage. , Allow the meaning of traffic and warnings.
  • FIG. 1 is a schematic flowchart of an intelligent control method for an intersection traffic light according to an embodiment of the present invention.
  • the execution body of the method shown in FIG. 1 may be a server that is disposed inside the vehicle, and the method includes:
  • S110 Receive traffic light information uploaded by a traffic light, where the traffic light information includes a traffic light state and a traffic light state duration.
  • the traffic light information can be sent to the vehicle receiving terminal.
  • the driver can know the traffic light in front conveniently through the vehicle terminal. Information, very convenient, no additional operation, automatic reception, does not affect the driver's normal driving.
  • the traffic light state and the traffic light state duration can be known at any time, so that the driver has enough time to process in advance to improve the traffic efficiency.
  • the traffic light information includes the traffic light state and the traffic light state duration, such as a red light in front, lasting 15 seconds, a green light in front, lasting 20 seconds, or a yellow light in front for 2 seconds.
  • the traffic light information allows the driver to know the status of the traffic light at the front intersection in real time, so that the vehicle speed can be controlled more reasonably.
  • the existing traffic lights basically display the duration when the traffic light state is about to be switched. For example, when the green light state has 10 seconds left, the display time is started. In this way, the vehicle closer to the traffic light can have time to process. It is difficult to accurately grasp the vehicles far away from the traffic lights, and it is easy to drive to the traffic intersection to brake or cross the traffic intersection at high speed, which affects the safety of passing vehicles and pedestrians.
  • the vehicle terminal can receive the traffic light information, and the traffic light state and the traffic light state can be continuously known at any time compared to the existing traffic light. Time, so that the driver has enough time to deal with and improve the efficiency of traffic.
  • S120 Receive vehicle speed information and intersection location information uploaded by the vehicle terminal, generate an intersection reminding message according to the traffic light information, the vehicle speed information, and the intersection distance, and send the reminder message to the vehicle terminal for alerting; wherein the intersection distance is the location of the vehicle and the traffic intersection the distance between.
  • the vehicle speed information, the vehicle terminal is directly read from the vehicle body controller BCM, and the real-time speed information of the vehicle can be accurately obtained without additionally setting the speed detecting device, which is very convenient, and it is easy to estimate the arrival of the vehicle according to the speed of the current vehicle.
  • the time required at the intersection is convenient for accurately determining whether the vehicle can directly pass through the traffic intersection.
  • the vehicle location information and the upcoming traffic intersection location information can be obtained by the positioning device in the vehicle terminal.
  • the manner of obtaining the intersection distance is: acquiring vehicle positioning information, calculating real-time coordinates of the vehicle according to the positioning information, and calculating the intersection distance according to the intersection location information.
  • the intelligent control method for the intersection traffic light of the invention automatically determines whether the vehicle can directly pass the intersection according to the traffic light information, the vehicle speed information and the intersection distance, and generates a corresponding intersection reminding message to remind the driver to safely pass the traffic intersection, and to ensure the vehicle and On the premise of pedestrian safety, the traffic at the intersection is improved. effectiveness.
  • generating an intersection reminding message according to the traffic light information, the vehicle speed information, and the intersection distance includes:
  • the state of the traffic light becomes a traffic state, so that the vehicle can directly start and safely pass through the traffic intersection without affecting other vehicles at the intersection and Pedestrians pass.
  • the vehicle When the traffic light is in the state of continuous flashing warning, the vehicle should slowly pass through the traffic intersection under the premise of ensuring safety, so the vehicle is reminded to slow down the message, so as to ensure the safety of passing vehicles and pedestrians without affecting the traffic intersection. Passing through, taking into account the effects of both aspects.
  • the traffic light When the traffic light is in the traffic state, it indicates that the vehicle is allowed to pass through the traffic intersection, but the vehicle may not have reached the traffic intersection, or there are other vehicles in front of the vehicle in normal driving. In this case, when the vehicle arrives at the traffic intersection, the traffic The state of the lamp may become a warning state or a communication state, so the vehicle cannot be directly reminded that the vehicle can normally pass through the traffic intersection, and an intersection reminding message needs to be generated according to the intersection distance and the vehicle speed information.
  • generating an intersection reminding message according to the comparison result specifically includes:
  • the traffic light transit state duration is greater than the estimated time, it indicates that the vehicle can reach the traffic intersection before the end of the traffic light traffic state duration according to the current traveling speed, and the vehicle cannot slow down through the traffic intersection, which cannot be ensured.
  • the vehicle reaches the traffic intersection whether the traffic light transit state duration has ended, so the vehicle cannot be directly reminded to slow down, nor can the vehicle directly be reminded to decelerate, and the vehicle needs to be further judged according to the preset difference condition to reach the traffic intersection. Whether you need to wait or pass directly.
  • the traffic light transit state duration is less than or equal to the estimated time, it indicates that the vehicle cannot reach the traffic intersection before the end of the traffic light state duration according to the current traveling speed, and the reminding vehicle decelerates to wait. In this case, because the vehicle can no longer directly pass through the traffic intersection, the vehicle is reminded to decelerate directly to the traffic intersection, and wait for the next time the traffic light allows the traffic state to pass through the traffic intersection.
  • an intersection reminding message is generated according to the preset difference condition. Specifically include:
  • the difference between the traffic light transit state duration and the estimated time is less than or equal to the preset time threshold, indicating that the traffic light state duration is about to end or has ended when the vehicle reaches the intersection, and if it continues to pass At traffic intersections, it is likely that vehicles in other directions or passing pedestrians will likely meet the vehicle in the middle of the intersection, causing poor traffic at traffic intersections or causing pedestrian safety hazards. Therefore, reminding the vehicle to wait for deceleration at this time will not only reduce the traffic efficiency of the traffic intersection, but will help the pedestrian or other vehicles to smoothly cross the traffic intersection, thereby improving the efficiency of the same traffic intersection.
  • the difference between the traffic light transit state duration and the estimated time is greater than a preset time threshold, it indicates that the traffic light state duration has not ended before the vehicle reaches the intersection, and sufficient time is reserved for the vehicle to drive At the intersection of traffic, at this time, the vehicle can pass through the intersection more comfortably, so the vehicle is reminded to drive down the traffic intersection safely.
  • the method further includes: when the deceleration waiting reminder message is generated, detecting the traffic light prohibition. Whether the state duration ends and generates a start reminder message at the end of the traffic light inhibit state duration.
  • the driver When the vehicle stops at the traffic intersection, the driver usually relaxes his attention. Even some drivers like to play mobile phones, make phone calls, etc. In this case, the driver will ignore the fact that the traffic light has been switched, so that the vehicle is not started in time. Caused by road traffic delays, resulting in road congestion or traffic accidents. Therefore, when the deceleration waiting reminder message is generated, the start reminder is generated when the traffic light prohibition state duration ends. Interest, you can promptly remind the driver to start the vehicle, ensure smooth traffic at the intersection, and improve traffic efficiency.
  • the method further includes: acquiring a waiting time of the vehicle and storing, specifically: after generating a deceleration waiting reminding message, when When the vehicle arrives at the traffic intersection, the time taken to start the vehicle is taken as the waiting time of the vehicle, and the waiting time of the vehicle is stored in one-to-one correspondence with the target waiting time, wherein the target waiting time is the traffic light state when the vehicle arrives at the traffic intersection and stops. duration.
  • how to obtain the waiting time of the vehicle in the embodiment of the present invention, there are two ways: First, after receiving the deceleration waiting reminding message, starting from the time when the speed of the vehicle drops to zero, when the vehicle starts after the traffic light state is switched When the timing is finished, the vehicle waiting time can be calculated more accurately. Secondly, the coordinates of the vehicle can be calculated in real time through the vehicle positioning information acquired in real time, and after receiving the deceleration waiting reminding message, the time point from the change of the vehicle to the stationary time is the starting time of the time, and is started again after the parking. At the time when the vehicle coordinate is from rest to change, the time is the timing end, and the waiting time of the vehicle can be calculated more accurately.
  • the method further includes: comparing the waiting time of the vehicle with the waiting time of the target, and determining whether the vehicle has a dangerous driving behavior, specifically: when the vehicle passes the traffic intersection, if the waiting time of the vehicle is less than the target waiting time, the vehicle has a dangerous driving behavior.
  • the dangerous driving behavior information is uploaded to the user terminal for the user to consult.
  • the vehicle waiting time by comparing the vehicle waiting time with the target waiting time, it can be determined whether the vehicle has dangerous driving behavior, for example, when the traffic light is in a forbidden state, and the vehicle waiting time is less than the target waiting time, the vehicle has dangerous driving behavior. And upload dangerous driving behavior information to the user terminal for users to consult.
  • the vehicle starts before the end of the target waiting time (ie, before the traffic light state is switched) and passes through the traffic intersection, and then determines that the vehicle has dangerous driving behavior, and the user can refer to it through the user terminal.
  • the method further includes: performing statistical analysis on dangerous driving behavior of the vehicle, specifically: in a set period Detect whether the dangerous driving behavior of the same vehicle exceeds the set number of times threshold, and if so, generate a dangerous driving behavior report, and upload it to the traffic management department application server through the sending unit and save it, and simultaneously send it to the user terminal for the user to download.
  • the vehicle with a relatively frequent number of dangerous driving behaviors can be found, and the dangerous driving behavior report is uploaded to the application server of the traffic control department, so that the traffic control department can punish the dangerous driving vehicle. Effectively restrain the irregular driving behavior of road junctions.
  • the driver of the vehicle can also download dangerous driving behavior reports through the terminal, timely understand their dangerous driving behavior, and regulate their driving behavior.
  • the analysis of the dangerous driving behavior of the vehicle can be carried out simultaneously at multiple angles. For example, if a dangerous driving behavior occurs continuously through a certain road or within a set period of time, a dangerous driving behavior report is generated. In this case, the driver has problems with drunk driving, poison driving or emotional situations. At this time, the traffic control department can conduct fixed-point investigations through the positioning information of the vehicle and timely remove road safety hazards.
  • the number of dangerous driving times may be divided into multiple levels, each level corresponding to a threshold number of times and corresponding punishment measures.
  • a penalty measure of the corresponding level is performed on the vehicle.
  • the generated intersection reminder message can be presented in the form of screen display and/or voice broadcast, so that the driver can timely and accurately receive the intersection reminder message without affecting the normal driving, and follow the intersection.
  • Reminder messages are safely passed through traffic intersections.
  • intersection traffic light intelligent control method according to the embodiment of the present invention is described in detail above with reference to FIG. 1 to FIG. 5.
  • the intersection traffic light intelligent control device of the embodiment of the present invention will be described in detail below with reference to FIG. 6 to FIG.
  • FIG. 6 is a structural diagram of an intersection traffic light intelligent control system according to an embodiment of the present invention.
  • the system architecture includes a traffic light, an Internet of Things system, and a user terminal platform.
  • the Internet of Things system includes IoT access devices, IoT interconnect devices, IoT security devices, and IoT application servers.
  • the Internet of Things access device includes an Internet of Things remote access interface and an Internet of Things local access interface for establishing an external terminal and an Internet of Things service subsystem through the Internet of Things remote access interface and the Internet of Things local access interface. Connection.
  • the Internet of Things interconnection device includes an Internet of Things interconnection interface for connecting with an Internet of Things access device, an IoT security device, an Internet of Things application server, and an internal terminal, respectively, for providing the Internet of Things connection through the Internet of Things interconnection interface.
  • a traffic light is used to display traffic light information, and the traffic light information is uploaded to the intersection traffic light intelligent control device.
  • the traffic light information can be sent to the vehicle receiving terminal.
  • the driver can conveniently know the traffic light of the front through the vehicle terminal, which is very convenient. , no additional operation, automatic reception, does not affect the driver's normal driving.
  • the traffic light state and the traffic light state duration can be known at any time, so that the driver has enough time to process in advance to improve the traffic efficiency.
  • the application document describes the method flow executed by the Internet of Things application server.
  • the Internet of Things application server is a control center server, that is, an intersection traffic light intelligent control device.
  • FIG. 7 is a schematic diagram of an intersection traffic light intelligent control device according to an embodiment of the present invention.
  • the device includes: a first receiving unit, configured to receive traffic light information uploaded by a traffic light, where the traffic light information includes traffic light status and traffic
  • the second receiving unit is configured to receive the vehicle speed information and the intersection location information uploaded by the vehicle-mounted terminal;
  • the central processing unit is configured to generate an intersection reminding message according to the traffic light information, the vehicle speed information, and the intersection distance;
  • a unit configured to send the roadway reminder message to the vehicle-mounted terminal for reminding; wherein the intersection distance is a distance between the location of the vehicle and the traffic intersection.
  • intersection traffic light intelligent control device of the invention automatically determines whether the vehicle can directly pass the intersection according to the traffic light information, the vehicle speed information and the intersection distance, and generates a corresponding intersection reminding message to remind the driver to pass the traffic intersection safely, and to ensure the vehicle and Under the premise of pedestrian safety, the traffic efficiency of traffic intersections has been improved.
  • the central processing unit automatically recognizes the traveling direction of the vehicle according to the position change information of the vehicle, and selects the applicable The traffic light information indicating the direction of travel of the vehicle, and the other traffic light information is directly filtered out.
  • the central processing unit generates the intersection reminding message according to the traffic light information, the vehicle speed information, and the intersection distance, and specifically includes:
  • the state of the traffic light becomes a traffic state, so that the vehicle can directly start and safely pass through the traffic intersection without affecting other vehicles at the intersection and Pedestrians pass.
  • the vehicle When the traffic light is in the state of continuous flashing warning, the vehicle should slowly pass through the traffic intersection under the premise of ensuring safety, so the vehicle is reminded to slow down the message, so as to ensure the safety of passing vehicles and pedestrians without affecting the traffic intersection. Passing through, taking into account the effects of both aspects.
  • the traffic light When the traffic light is in the traffic state, it indicates that the vehicle is allowed to pass through the traffic intersection, but the vehicle may not have reached the traffic intersection, or there are other vehicles in front of the vehicle in normal driving. In this case, when the vehicle arrives at the traffic intersection, the traffic The state of the lamp may become a warning state or a communication state, so the vehicle cannot be directly reminded that the vehicle can normally pass through the traffic intersection, and the distance according to the intersection and the vehicle speed information are required. Generate an intersection reminder message.
  • the central processing unit generates an intersection reminding message according to the comparison result, which specifically includes:
  • the intersection reminder message is generated according to the preset difference condition.
  • the traffic light transit state duration is greater than the estimated time, it indicates that the vehicle can reach the traffic intersection before the end of the traffic light traffic state duration according to the current traveling speed, and the vehicle cannot slow down through the traffic intersection, which cannot be ensured.
  • the vehicle reaches the traffic intersection there is no guarantee that the traffic light transit state duration has ended. Therefore, the vehicle cannot be directly reminded to decelerate, nor can the vehicle be directly reminded to decelerate.
  • the vehicle needs to be further judged according to the preset difference condition. When you are at a traffic intersection, do you need to wait or pass directly?
  • the traffic light transit state duration is less than or equal to the estimated time, it indicates that the vehicle cannot reach the traffic intersection before the end of the traffic light state duration according to the current traveling speed, and the reminding vehicle decelerates to wait. In this case, because the vehicle can no longer directly pass through the traffic intersection, the vehicle is reminded to decelerate directly to the traffic intersection, and wait for the next time the traffic light allows the traffic state to pass through the traffic intersection.
  • the central processing unit when the traffic light transit state duration is greater than the estimated time, the central processing unit generates an intersection reminder message according to the preset difference condition, specifically including :
  • the difference between the traffic light transit state duration and the estimated time is less than or equal to the preset time threshold, indicating that the traffic light state duration is about to end or has ended when the vehicle reaches the intersection, and if the traffic continues to pass At the intersection, it is possible that vehicles in other directions or passing pedestrians are likely to meet the vehicle in the middle of the intersection, resulting in poor traffic at the intersection or causing pedestrian safety hazards. Therefore, reminding the vehicle to wait for deceleration at this time will not only reduce the traffic efficiency of the traffic intersection, but will help the pedestrian or other vehicles to smoothly cross the traffic intersection, thereby improving the efficiency of the same traffic intersection.
  • a deceleration driving reminder message is generated and sent to the vehicle terminal for reminding.
  • the difference between the traffic light transit state duration and the estimated time is greater than a preset time threshold, indicating that the traffic light state duration has not ended before the vehicle reaches the intersection, and sufficient time is left for the vehicle to pass At the intersection of traffic, at this time, the vehicle can pass through the intersection more comfortably, so the vehicle is reminded to drive down the traffic intersection safely.
  • the central processing unit when the central processing unit generates a deceleration waiting reminder message, it also detects whether the traffic light prohibition state duration ends, and when the traffic light prohibition state duration ends , generate a start reminder message.
  • the driver When the vehicle stops at the traffic intersection, the driver usually relaxes his attention. Even some drivers like to play mobile phones, make phone calls, etc. In this case, the driver will ignore the fact that the traffic light has been switched, so that the vehicle is not started in time. Caused by road traffic delays, resulting in road congestion or traffic accidents. Therefore, when the deceleration waiting reminding message is generated, the start reminding message is generated at the end of the traffic light prohibition state duration, and the driver can be promptly reminded to start the vehicle to ensure smooth running of the traffic intersection and improve the traffic efficiency.
  • the intersection traffic light intelligent control device further includes a waiting time acquisition unit and a storage unit, and the waiting time acquisition unit is configured to wait for the deceleration in the generation.
  • the waiting time acquisition unit is configured to wait for the deceleration in the generation.
  • the waiting time obtaining unit starts counting when the speed of the vehicle drops to zero, waiting for the traffic light After the state is switched, the vehicle ends when it starts, which means that the vehicle waiting time can be calculated more accurately.
  • the waiting time acquisition unit calculates the coordinates of the vehicle in real time according to the vehicle positioning information acquired by the central processing unit, and after receiving the deceleration waiting reminding message, the time point from the change of the vehicle to the stationary time is the timing start time. And when starting again after stopping, the time point from the stationary to the change of the vehicle coordinates is the timing end time, and the waiting time of the vehicle can be calculated more accurately.
  • the intersection traffic light intelligent control device further includes a comparison unit, configured to compare the vehicle waiting time with the target time, and determine whether the vehicle is There are dangerous driving behaviors, specifically: when the vehicle passes through the traffic intersection, if the waiting time of the vehicle is less than the target waiting time, the vehicle has dangerous driving behavior, and the dangerous driving behavior information is uploaded to the user terminal for the user to consult.
  • a comparison unit configured to compare the vehicle waiting time with the target time, and determine whether the vehicle is There are dangerous driving behaviors, specifically: when the vehicle passes through the traffic intersection, if the waiting time of the vehicle is less than the target waiting time, the vehicle has dangerous driving behavior, and the dangerous driving behavior information is uploaded to the user terminal for the user to consult.
  • the deceleration waiting reminding message after the deceleration waiting reminding message is generated, by comparing the waiting time of the vehicle with the target waiting time, it can be accurately determined whether the vehicle stops waiting according to the reminding message, thereby determining whether the vehicle has dangerous driving behavior, such as when the traffic light is forbidden.
  • the line state, and the vehicle waiting time is less than the target waiting time, the vehicle has dangerous driving behavior, and the dangerous driving behavior information is uploaded to the user terminal, and the user can refer to it through the user terminal.
  • the vehicle starts before the end of the target waiting time (ie, before the traffic light state is switched) and passes through the traffic intersection, and then determines that the vehicle has dangerous driving behavior, and the user can refer to it through the user terminal.
  • the intersection traffic light intelligent control device further includes a statistical unit for performing statistical analysis on dangerous driving behavior of the vehicle, specifically: Detecting whether the dangerous driving behavior of the same vehicle exceeds the set number of times threshold within a set period, and if so, the central driving unit generates a dangerous driving behavior report, and uploads it to the traffic management department application server through the sending unit and saves and simultaneously transmits Give the user terminal for the user to download.
  • a statistical unit for performing statistical analysis on dangerous driving behavior of the vehicle specifically: Detecting whether the dangerous driving behavior of the same vehicle exceeds the set number of times threshold within a set period, and if so, the central driving unit generates a dangerous driving behavior report, and uploads it to the traffic management department application server through the sending unit and saves and simultaneously transmits Give the user terminal for the user to download.
  • control center server is interconnected with the traffic management department application server.
  • the dangerous driving behavior report is uploaded to the traffic management department application server through the sending unit and saved.
  • the vehicle with a relatively frequent number of dangerous driving behaviors can be found, and the dangerous driving behavior report is uploaded to the application server of the traffic control department, so that the traffic control department can punish the dangerous driving vehicle. Effectively restrain the irregular driving behavior of road junctions.
  • the driver of the vehicle can also download dangerous driving behavior reports through the terminal, timely understand their dangerous driving behavior, and regulate their driving behavior.
  • the statistical unit can analyze the dangerous driving behavior of the vehicle at multiple angles at the same time. For example, if a dangerous driving behavior occurs continuously through a certain road or within a set period of time, a dangerous driving behavior report is generated. In this case, the driver has problems with drunk driving, drug driving or emotions. At this time, the application platform of the traffic control department can conduct fixed-point investigation through the positioning information of the vehicle and timely remove the road safety hazard.
  • the number of dangerous driving times may be divided into multiple levels, each level corresponding to a threshold number of times and corresponding punishment measures.
  • a penalty measure of the corresponding level is performed on the vehicle.
  • the intersection traffic light intelligent control device further includes an interaction unit, and the interaction unit is configured to present an intersection reminder message, including a deceleration waiting reminder Message, deceleration through reminder message and start reminder message.
  • the interaction unit includes a display screen and/or a voice broadcaster, and the display screen is used to display an intersection reminder message, and the voice broadcaster is configured to perform voice broadcast on the intersection reminder message, so that the driver does not affect the driver. Accurately receive intersection reminders in the case of normal driving.
  • intersection reminder messages can be presented in the form of on-screen display and/or voice broadcast, which is convenient for the driver to receive in time and without affecting normal driving.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of cells is only a logical function division.
  • multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • An integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.
  • the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present invention.
  • the storage medium corresponding to the foregoing storage unit includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like.
  • the medium of the program code includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like.

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Abstract

一种路口交通灯智能控制方法及装置，该方法包括：接收交通灯上传的交通灯信息，交通灯信息包括交通灯状态和交通灯状态持续时间（110）；接收车载终端上传的车辆速度信息和路口位置信息，根据交通灯信息、车辆速度信息以及路口距离生成路口提醒消息，并发送给车载终端进行提醒（120）；其中，路口距离为车辆所在位置与交通路口之间的距离。路口交通灯智能控制方法根据交通灯信息、车辆速度信息以及路口距离自动判断车辆能否直接通过路口，并生成对应的路口提醒消息，提醒驾驶员安全通过交通路口，在保证车辆和行人安全的前提下，提高了交通路口的通行效率。

Description

一种路口交通灯智能控制方法及装置 技术领域
本发明涉及智能交通技术领域，尤其涉及一种路口交通灯智能控制方法及装置。
背景技术
现有技术中是采取人工设定红绿灯的转换时间，或者更加智能一点的是交通灯，检测装置实时检测各个方向的车流量，根据车流量来调节红绿灯的时间，在正常情况下，如果驾驶员都遵守交通规则且注意力集中，这种交通灯可以在一定程度上调节各个方向的拥堵状况，但是在实际情况中，在即将到达交通路口时，驾驶员往往无法精确的判断车辆能否在交通灯通行状态结束之前通过路口，造成在斑马线处突然急刹车，或者闯黄灯等危险驾驶动作，这样不仅会在一定程度上加大对车辆的磨损，更为重要的是严重影响了车辆通过路口时的安全性，尤其是对过往的行人容易造成人生伤害。并且，在红灯等待时间尚未结束时车辆便起步，或者在比较偏僻的路口，驾驶员通常会因为没有电子监控而随意闯红灯等现象，这些都属于严重危险驾驶行为。另外，现有的交通灯无法在红绿灯切换时对驾驶员进行有效提醒，通常会出现驾驶员没有注意到而误闯红灯，或者切换为绿灯时驾驶员没有及时启动而造成道路行车延误，导致出现道路拥堵或者交通事故。
发明内容
为解决上述技术问题,本发明提供了一种路口交通灯智能控制方法及装置。
第一方面，本发明提供了一种路口交通灯智能控制方法，该方法包括：接收交通灯上传的交通灯信息，所述交通灯信息包括交通灯状态和交通灯状态持续时间；接收车载终端上传的车辆速度信息和路口位置信息，根据交通灯信息、车辆速度信息以及路口距离生成路口提醒消息，并发送给车载终端进行提醒；其中，路口距离为车辆所在位置与交通路口之间的距离。
本发明实施例提供的路口交通灯智能控制方法，根据交通灯信息、车辆速度信息以及路口距离自动判断车辆能否直接通过路口，并生成对应的路口提醒消息，提醒驾驶员安全通过交通路口，在保证车辆和行人安全的前提下，提高了交通路口的通行效率。
进一步：所述方法还包括获取车辆等待时间并存储，具体为：在生成减速等待提醒消息后，当车辆到达交通路口停车这一时刻起，至车辆起步通过交通路口所用的时间作为车辆等待时间，并将车辆等待时间与目标等待时间一一对应存储，其中，目标等待时间为车辆到达交通路口停车时交通灯状态持续时间。
所述方法还包括将车辆等待时间与目标等待时间比较，并判断车辆是否存在危险驾驶行为，具体为：当车辆通过交通路口时，如果车辆等待时间小于目标等 待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息上传至用户终端，供用户自行查阅。
上述实施例中，通过将车辆等待时间和目标等待时间进行比较，可以判断车辆是否按照提醒消息停车等待，从而判断车辆是否存在危险驾驶行为，比如当交通灯为禁行状态，且车辆等待时间小于目标等待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息上传至用户终端，供用户自行查阅。
所述方法还包括对车辆的危险驾驶行为进行统计分析，具体为：在设定的周期内检测同一车辆的危险驾驶行为是否超过设定的次数阈值，如果是，生成危险驾驶行为报告，并将所述危险驾驶行为报告上传至交管部门应用服务器并保存，同时发送给用户终端，供用户下载。
上述实施例中，通过对车辆的危险驾驶行为进行分析，可以找到危险驾驶行为次数比较频繁的车辆，并将危险驾驶行为报告上传至交管部门应用服务器，便于交管部门对危险驾驶车辆进行处罚，可以有效约束道路路口的不规范驾驶行为。同时，车辆驾驶员也可以通过终端下载危险行驶行为报告，及时了解自己的危险驾驶行为，并规范自己的驾驶行为。
第二方面，本发明提供了一种路口交通灯智能控制装置，该装置包括第一接收单元，用于接收交通灯上传的交通灯信息，所述交通灯信息包括交通灯状态和交通灯状态持续时间；第二接收单元，用于接收车载终端上传的车辆速度信息和路口位置信息；中央处理单元，用于根据交通灯信息、车辆速度信息以及路口距离生成路口提醒消息；发送单元，用于将所述路口提醒消息发送给车载终端进行提醒；其中，路口距离为车辆所在位置与交通路口之间的距离。
本发明的路口交通灯智能控制装置，根据交通灯发送的交通灯信息、车辆速度信息以及路口距离自动判断车辆能否直接通过路口，并生成对应的路口提醒消息，提醒驾驶员安全通过交通路口，在保证车辆和行人安全的前提下，提高了交通路口的通行效率。
进一步，所述路口交通灯智能控制装置还包括等待时间获取单元和存储单元，等待时间获取单元用于在生成减速等待提醒消息后，当车辆到达交通路口停车这一时刻起，至车辆起步通过交通路口所用的时间作为车辆等待时间，并将车辆等待时间与目标等待时间一一对应存储，其中，目标等待时间为车辆到达交通路口停车时交通灯状态持续时间。
进一步，所述路口交通灯智能控制装置还包括比较单元，用于将车辆等待时间与目标等待时间比较，并判断车辆是否存在危险驾驶行为，具体为：当车辆通过交通路口时，如果车辆等待时间小于目标等待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息发送至用户终端，供用户自行查阅。
上述实施例中，在生成减速等待提醒消息后，通过将车辆等待时间与目标等待时间比较，可以准确判断车辆是否按照提醒消息停车等待，从而判断车辆是否 存在危险驾驶行为，比如当交通灯为禁行状态，且车辆等待时间小于交通灯状态持续时间，则车辆存在危险驾驶行为。
进一步，所述路口交通灯智能控制装置还包括统计单元，用于在设定的周期内检测同一车辆的危险驾驶行为是否超过设定的次数阈值，如果是，生成危险驾驶行为报告，通过发送单元将危险驾驶行为报告上传至交管部门应用服务器并保存，同时发送给用户终端，供用户下载。
上述实施例中，通过对车辆的危险驾驶行为进行分析，可以找到危险驾驶行为次数比较频繁的车辆，并将危险驾驶行为报告上传至交管部门应用服务器，便于交管部门对危险驾驶车辆进行处罚，可以有效约束道路路口的不规范驾驶行为。同时，车辆驾驶员也可以通过终端下载危险行驶行为报告，及时了解自己的危险驾驶行为，并规范自己的驾驶行为。
本发明附加的方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明实践了解到。
附图说明
图1为本发明一实施例的一种路口交通灯智能控制方法流程示意图；
图2为本发明另一实施例的一种路口交通灯智能控制方法流程示意图；
图3为本发明另一实施例的一种路口交通灯智能控制方法流程示意图；
图4为本发明另一实施例的一种路口交通灯智能控制方法流程示意图；
图5为本发明另一实施例的一种路口交通灯智能控制方法流程示意图；
图6为本发明一实施例提供的一种路口交通灯智能控制系统架构图；
图7为本发明一实施例提供的一种路口交通灯智能控制装置结构示意图；
图8为本发明另一实施例提供的一种路口交通灯智能控制装置结构示意图；
图9为本发明一实施例提供的一种路口交通灯智能控制装置结构示意图；
图10为本发明另一实施例提供的一种路口交通灯智能控制装置结构示意图；
图11为本发明另一实施例提供的一种路口交通灯智能控制系统架构图；
图12为本发明另一实施例提供的一种路口交通灯智能控制装置结构示意图。
具体实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、模块、技术之类的具体细节，以便透切理解本发明。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本发明。在其它情况中，省略对众所周知的系统、电路以及方法的详细说明，以免不必要的细节妨碍本发明的描述。
本发明中，根据世界上交通灯的通行指示方法，绿灯表示允许通行，红灯表示禁止通行，黄灯表示警示，车辆在保证安全的前提下缓慢通行。本发明的实施例中，涉及到红灯、绿灯和黄灯时均按照上述规则进行解释说明，但是，并不能理解为对本发明的限定，也就是说，可以采用其他颜色的信号灯来规定禁止通行、 允许通行和警示的含义。
如图1给出了本发明实施例提供的一种路口交通灯智能控制方法的示意性流程图。如图1所示方法的执行主体可以是设置车辆内部的服务器，该方法包括：
S110，接收交通灯上传的交通灯信息，所述交通灯信息包括交通灯状态和交通灯状态持续时间。
需要说明的是，接收交通灯实时上传的交通灯信息后，可以将交通灯信息发送至车载接收终端，当车辆行驶至接近交通路口时，驾驶员便可以通过车载终端比较方便的知晓前方交通灯信息，非常方便，无需额外操作，自动接收，不影响驾驶员正常驾驶。相比于现有的交通灯，可以在任何时候都知道交通灯状态和交通灯状态持续时间，便于驾驶员有足够的时间预先进行处理，提高通行效率。
其中，交通灯信息包括交通灯状态和交通灯状态持续时间，比如前方红灯、持续15秒，前方绿灯、持续20秒或者前方黄灯持续2两秒等等。通过交通灯信息便于驾驶员实时了解前方路口交通灯状态，从而更加合理的控制车速。
现有的交通灯，基本上都是在交通灯状态将要切换时才会显示持续时间，比如绿灯状态还剩10秒时开始显示时间，这种方式中，离交通灯比较近的车辆能来得及处理，对于离交通灯稍远的车辆很难精准把握，容易出现行驶至交通路口急刹车或者高速冲过交通路口，影响过往车辆和行人的安全。本实施例中，只要车辆进入距离交通灯设定的范围内，车辆终端即可接收到交通灯信息，相比于现有的交通灯，可以在任何时候都知道交通灯状态和交通灯状态持续时间，便于驾驶员有足够的时间处理，提高通行效率。
S120，接收车载终端上传的车辆速度信息和路口位置信息，根据交通灯信息、车辆速度信息以及路口距离生成路口提醒消息，并发送给车载终端进行提醒；其中，路口距离为车辆所在位置与交通路口之间的距离。
这里，车辆速度信息，车辆终端直接从车身控制器BCM中读取，无须额外设置速度检测装置，便可以准确获取车辆的实时速度信息，非常方便，并且，根据当前车辆的速度便于估算出车辆到达路口所需时间，便于准确判断车辆能否直接通过交通路口。通过车载终端中的定位装置即可获取车辆位置信息以及即将到达的交通路口位置信息。
本发明的实施例中，获取所述路口距离的方式为：获取车辆定位信息，根据所述定位信息计算出车辆的实时坐标，并结合路口位置信息计算出所述路口距离。通过实时获取车辆的定位信息可以比较精准的计算出车辆与前方交通路口之间的距离。这样，结合车辆速度信息和路口距离即可生成对应的路口提醒消息，在车辆行驶到交通路口时提醒车辆安全通过。
本发明的路口交通灯智能控制方法，根据交通灯信息、车辆速度信息以及路口距离自动判断车辆能否直接通过路口，并生成对应的路口提醒消息，提醒驾驶员安全通过交通路口，在保证车辆和行人安全的前提下，提高了交通路口的通行 效率。
优选地，作为本发明的一个实施例，如图2所示，该实施例中，根据所述交通灯信息、车辆速度信息以及路口距离生成路口提醒消息包括：
S210，当交通灯为禁行状态或警示状态时，则生成减速等待提醒消息。
需要说明的是，当交通灯为禁行状态或警示状态时，此时车辆不能通过或者已经来不及直接通过交通路口，需要等待下一次通行状态时，即使是位于交通路口的车辆，也提醒车辆需减速停车等待，避免出现“抢灯”而引发的安全事故，这样可以确保车辆更加安全的通过交通路口。
但是，这种情况下，有可能出现当车辆达到交通路口时，交通灯的状态变成了通行状态，这样情况下车辆可以直接启动并安全地驶过交通路口，不会影响路口的其他车辆和行人通行。
S220，当交通灯为持续闪烁警示状态时，则生成减速驶过提醒消息。
当交通灯为持续闪烁警示状态时，此时车辆应在保证安全的前提下缓慢通过交通路口，所以提醒车辆减速驶过消息，这样既可以确保路过车辆和行人的安全，又不影响交通路口的通行，兼顾两方面的效果。
S230，当交通灯为通行状态时，根据所述路口距离和车辆速度信息计算车辆到达路口的预估时间，将所述预估时间与所述交通灯通行状态持续时间进行比较，并根据比较结果生成路口提醒消息。
当交通灯为通行状态时，表明允许车辆通过交通路口，但是车辆有可能还没有到达交通路口，或者车辆的前方还有其他车辆在正常行驶中，这种情况下，车辆到达交通路口时，交通灯的状态可能变成了警示状态或禁止通信状态，所以不能直接提醒车辆可以正常驶过交通路口，需要根据所述路口距离和车辆速度信息生成路口提醒消息。
优选地，作为本发明的另一个实施例，如图3所示，该实施例中，根据比较结果生成路口提醒消息具体包括：
S310，当所述交通灯通行状态持续时间大于所述预估时间，则根据预设差值条件生成路口提醒消息。
如果所述交通灯通行状态持续时间大于所述预估时间，则表明车辆按照目前的行驶速度可以在交通灯通行状态持续时间结束前到达交通路口，由于车辆会减速通过交通路口，所述不能确保车辆达到交通路口时，所述交通灯通行状态持续时间是否已经结束，所以不能直接提醒车辆减速驶过，也不能直接提醒车辆减速等待，需要根据预设差值条件来进一步判断车辆在达到交通路口时，是否需要等待，或者能直接通过。
S320，当所述交通灯通行状态持续时间小于或等于所述预估时间，则生成减 速等待提醒消息。
如果所述交通灯通行状态持续时间小于或等于所述预估时间，则表明车辆按照目前的行驶速度在交通灯状态持续时间结束前不能到达交通路口，所述提醒车辆减速等待。这种情况下，因为车辆已经不能直接驶过交通路口，所以提醒车辆直接减速行驶至交通路口，并等待交通灯下一次允许通行状态时驶过交通路口。
实际中，很多驾驶员在这种情况下选择加速驶过交通路口，一方面，如果控制不好，则容易出现违规行为，另一方面，容易引起交通事故，对过往的车辆和行人造成危害。所以，通过生成减速等待提醒消息，可以引导驾驶员安全规范行车，确保自身以及过往行人和车辆的安全。
优选地，作为本发明的另一个实施例，如图4所示，该实施例中，当所述交通灯通行状态持续时间大于所述预估时间时，根据预设差值条件生成路口提醒消息具体包括：
S410，如果所述交通灯通行状态持续时间与所述预估时间的差值小于或等于预设时间阈值，则生成减速等待提醒消息。
当所述交通灯通行状态持续时间与所述预估时间的差值小于或等于预设时间阈值时，表明车辆达到路口时，交通灯状态持续时间快要结束或已经结束，并在如果继续驶过交通路口，那么有可能其他方向的车辆或过往行人很可能会在路口中间与该车辆相遇，造成交通路口通行不畅，或引起行人通行安全隐患。所以此时提醒车辆减速等待，不仅不会降低交通路口的通行效率，反而有利于行人或者其他方向的车辆顺利驶过交通路口，从而提高整个交通路口的同相效率。
S420，如果交通灯通行状态持续时间与所述预估时间所述的差值大于预设时间阈值，则生成减速驶过提醒消息，并发送给车载终端进行提醒。
当所述交通灯通行状态持续时间与所述预估时间所述的差值大于预设时间阈值，则表明车辆达到路口时，交通灯状态持续时间尚未结束，并且留有足够的时间供车辆驶过交通路口，此时，车辆可以比较从容的驶过路口，所以提醒车辆减速安全的驶过交通路口。
优选地，作为本发明的一个实施例，如图5所示，在上述任一实施例的基础上，该实施例中，该方法还包括：当生成减速等待提醒消息后，还检测交通灯禁止状态持续时间是否结束，并在交通灯禁止状态持续时间结束时生成起步提醒消息。
当车辆停在交通路口等待时，驾驶员通常会放松注意力，甚至有的驾驶员喜欢玩手机、打电话等，这样情况下，驾驶员会忽视了交通灯状态已经切换，从而没有及时启动车辆，造成道路行车延误，导致出现道路拥堵或者交通事故。所以，当生成减速等待提醒消息后，在交通灯禁止状态持续时间结束时生成起步提醒消 息，可以及时提醒驾驶员启动车辆，保证交通路口行驶畅通，提高通行效率。
优选地，作为本发明的一个实施例，在上述任一实施例的基础上，该实施例中，该方法还包括：获取车辆等待时间并存储，具体为：在生成减速等待提醒消息后，当车辆到达交通路口停车这一时刻起，至车辆起步所用的时间作为车辆等待时间，并将车辆等待时间与目标等待时间一一对应存储，其中，目标等待时间为车辆到达交通路口停车时交通灯状态持续时间。
具体如何获取车辆等待时间，本发明实施例中，有两种方式：其一，在接收到减速等待提醒消息后，从车辆的速度降为零时开始计时，待交通灯状态切换后车辆起步时结束计时，即可以比较准确的计算出车辆等待时间。其二，可以通过实时获取的车辆定位信息实时计算车辆的坐标，并在接收到减速等待提醒消息后，以车辆的坐标由变化到静止的时间点为计时起始时刻，并在停车后再次启动时，车辆坐标由静止到变化的时间点为计时终止时刻，也可以比较精确的计算出车辆的等待时间。
该方法还包括：将车辆等待时间与目标等待时间比较，并判断车辆是否存在危险驾驶行为，具体为：当车辆通过交通路口时，如果车辆等待时间小于目标等待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息上传至用户终端，供用户自行查阅。
上述实施例中，通过将车辆等待时间和目标等待时间进行比较，可以判断车辆是否存在危险驾驶行为，比如当交通灯为禁行状态，且车辆等待时间小于目标等待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息上传至用户终端，供用户自行查阅。
需要指出的是，该实施例中，车辆在目标等待时间结束之前(即交通灯状态切换之前)起步并驶过交通路口，则判定车辆存在危险驾驶行为，用户可以通过用户终端自行查阅。
优选地，作为本发明的一个实施例，在上述任一实施例的基础上，该实施例中，该方法还包括：对车辆的危险驾驶行为进行统计分析，具体为：在设定的周期内检测同一车辆的危险驾驶行为是否超过设定的次数阈值，如果是，生成危险驾驶行为报告，并通过发送单元上传至交管部门应用服务器并保存，同时发送给用户终端，供用户下载。
上述实施例中，通过对车辆的危险驾驶行为进行分析，可以找到危险驾驶行为次数比较频繁的车辆，并将危险驾驶行为报告上传至交管部门应用服务器，便于交管部门对危险驾驶车辆进行处罚，可以有效约束道路路口的不规范驾驶行为。同时，车辆驾驶员也可以通过终端下载危险行驶行为报告，及时了解自己的危险驾驶行为，并规范自己的驾驶行为。
需要指出的是，这里，对车辆的危险驾驶行为进行分析可以多个角度同时进行。比如，在通过某一段道路或者在设定的一段较短时间内，如果车辆连续出现多次危险驾驶行为，则生成危险驾驶行为报告。这种情况下，驾驶员存在着酒驾、毒驾或者情绪出现问题，这时交管部门可以通过车辆的定位信息进行定点查处，及时解除道路安全隐患。
当然，还可以在设定的一个较长周期内统计车辆的危险驾驶行为次数，比如在一年内，危险驾驶行为次数达到设定的次数阈值，那么则反映出驾驶员存在不规范驾驶的恶习，需要对其进行处罚，以起到规范道路驾驶的作用。
实际中，可以将危险驾驶次数划分多个等级，每个等级对应一个次数阈值和对应的处罚措施，当车辆的危险驾驶次数超过对应等级的次数阈值，则对该车辆执行对应等级的处罚措施。
特别地，本发明实施例中，生成的路口提醒消息都可以通过屏幕显示和/或语音播报的形式呈现，便于驾驶员在不影响正常驾驶的情况下及时准确地接收路口提醒消息，并按照路口提醒消息安全通过交通路口。
上文结合图1至图5，详细地描述了根据本发明实施例的路口交通灯智能控制方法，下面将结合图6至图12，详细地描述本发明实施例的路口交通灯智能控制装置。
图6为本发明实施例提供的一种路口交通灯智能控制系统架构图。具体如下，该系统架构包括交通灯、物联网系统和用户终端平台。其中，物联网系统包括物联网接入设备、物联网互联设备、物联网安全设备和物联网应用服务器等。物联网接入设备包括有物联网远端接入接口和物联网本地接入接口，用于通过所述物联网远端接入接口和物联网本地接入接口建立外部终端与物联网服务子系统的连接。物联网互联设备包括有分别用于与物联网接入设备、物联网安全设备、物联网应用服务器以及内部终端连接的物联网互联接口，用于通过所述物联网互联接口提供所述物联网接入设备以及所述物联网服务子系统的互联。
本发明中，交通灯，用于显示交通灯信息，并将所述交通灯信息上传至所述路口交通灯智能控制装置。
这里，接收交通灯实时上传交通灯信息后，可以将交通灯信息发送至车载接收终端，当车辆行驶至接近交通路口时，驾驶员便可以通过车载终端比较方便的知晓前方交通灯信息，非常方便，无需额外操作，自动接收，不影响驾驶员正常驾驶。相比于现有的交通灯，可以在任何时候都知道交通灯状态和交通灯状态持续时间，便于驾驶员有足够的时间预先进行处理，提高通行效率。
本申请文件将详细介绍物联网应用服务器所执行的方法流程，该实施例中，物联网应用服务器为控制中心服务器，即路口交通灯智能控制装置。
如图7为本发明实施例提供的一种路口交通灯智能控制装置，该装置包括：第一接收单元，用于接收交通灯上传的交通灯信息，所述交通灯信息包括交通灯状态和交通灯状态持续时间；第二接收单元，用于接收车载终端上传的车辆速度信息和路口位置信息；中央处理单元，用于根据所述交通灯信息、车辆速度信息以及路口距离生成路口提醒消息；发送单元，用于将所述路口提醒消息发送给车载终端进行提醒；其中，路口距离为车辆所在位置与交通路口之间的距离。
本发明的路口交通灯智能控制装置，根据交通灯信息、车辆速度信息以及路口距离自动判断车辆能否直接通过路口，并生成对应的路口提醒消息，提醒驾驶员安全通过交通路口，在保证车辆和行人安全的前提下，提高了交通路口的通行效率。
特别地，在实际中，在一个路口，会存在指示不同方向的车辆的多个交通灯，针对这种情况，所述中央处理单元根据车辆的位置变化信息自动识别车辆的行驶方向，并选择适用于指示车辆行驶方向的交通灯信息，并将其他的交通灯信息直接滤除。
优选地，作为本发明的一个实施例，该实施例中，所述中央处理单元根据所述交通灯信息、车辆速度信息以及路口距离生成路口提醒消息具体包括：
当交通灯为禁行状态或过渡警示状态时，则生成减速等待提醒消息。
需要说明的是，当交通灯为禁行状态或警示状态时，此时车辆不能通过或者已经来不及直接通过交通路口，需要等待下一次通行状态时，即使是位于交通路口的车辆，也提醒车辆需减速停车等待，避免出现“抢灯”而引发的安全事故，这样可以确保车辆更加安全的通过交通路口。
但是，这种情况下，有可能出现当车辆达到交通路口时，交通灯的状态变成了通行状态，这样情况下车辆可以直接启动并安全地驶过交通路口，不会影响路口的其他车辆和行人通行。
当交通灯为持续闪烁警示状态时，则生成减速驶过提醒消息。
当交通灯为持续闪烁警示状态时，此时车辆应在保证安全的前提下缓慢通过交通路口，所以提醒车辆减速驶过消息，这样既可以确保路过车辆和行人的安全，又不影响交通路口的通行，兼顾两方面的效果。
当交通灯为通行状态时，根据所述路口距离和车辆速度信息计算车辆到达路口的预估时间，将所述预估时间与所述交通灯通行状态持续时间进行比较，并根据比较结果生成路口提醒消息。
当交通灯为通行状态时，表明允许车辆通过交通路口，但是车辆有可能还没有到达交通路口，或者车辆的前方还有其他车辆在正常行驶中，这种情况下，车辆到达交通路口时，交通灯的状态可能变成了警示状态或禁止通信状态，所以不能直接提醒车辆可以正常驶过交通路口，需要根据所述路口距离和车辆速度信息 生成路口提醒消息。
优选地，作为本发明的一个实施例，该实施例中，所述中央处理单元根据比较结果生成路口提醒消息，具体包括：
当所述交通灯通行状态持续时间大于所述预估时间，则根据预设差值条件生成路口提醒消息。
如果所述交通灯通行状态持续时间大于所述预估时间，则表明车辆按照目前的行驶速度可以在交通灯通行状态持续时间结束前到达交通路口，由于车辆会减速通过交通路口，所述不能确保车辆达到交通路口时，不能保证所述交通灯通行状态持续时间是否已经结束，所以不能直接提醒车辆减速驶过，也不能直接提醒车辆减速等待，需要根据预设差值条件来进一步判断车辆在达到交通路口时，是否需要等待，或者能直接通过。
当所述交通灯通行状态持续时间小于或等于所述预估时间，则生成减速等待提醒消息。
如果所述交通灯通行状态持续时间小于或等于所述预估时间，则表明车辆按照目前的行驶速度在交通灯状态持续时间结束前不能到达交通路口，所述提醒车辆减速等待。这种情况下，因为车辆已经不能直接驶过交通路口，所以提醒车辆直接减速行驶至交通路口，并等待交通灯下一次允许通行状态时驶过交通路口。
优选地，作为本发明的一个实施例，该实施例中，当所述交通灯通行状态持续时间大于所述预估时间时，所述中央处理单元根据预设差值条件生成路口提醒消息具体包括：
如果所述交通灯通行状态持续时间与所述预估时间的差值小于或等于预设时间阈值，则生成减速等待提醒消息。
所述交通灯通行状态持续时间与所述预估时间的差值小于或等于预设时间阈值时，表明车辆达到路口时，交通灯状态持续时间快要结束或者已经结束，并在如果继续驶过交通路口，那么有可能其他方向的车辆或过往行人很可能会在路口中间与该车辆相遇，造成交通路口通行不畅，或引起行人通行安全隐患。所以此时提醒车辆减速等待，不仅不会降低交通路口的通行效率，反而有利于行人或者其他方向的车辆顺利驶过交通路口，从而提高整个交通路口的同相效率。
如果交通灯通行状态持续时间与所述预估时间所述的差值大于预设时间阈值，则生成减速驶过提醒消息并发送给车载终端进行提醒。
所述交通灯通行状态持续时间与所述预估时间所述的差值大于预设时间阈值，则表明车辆达到路口时，交通灯状态持续时间尚未结束，并且留有足够的时间供车辆驶过交通路口，此时，车辆可以比较从容的驶过路口，所以提醒车辆减速安全的驶过交通路口。
优选地，作为本发明的一个实施例，该实施例中，当所述中央处理单元生成减速等待提醒消息后，还检测交通灯禁止状态持续时间是否结束，并在交通灯禁止状态持续时间结束时，生成起步提醒消息。
当车辆停在交通路口等待时，驾驶员通常会放松注意力，甚至有的驾驶员喜欢玩手机、打电话等，这样情况下，驾驶员会忽视了交通灯状态已经切换，从而没有及时启动车辆，造成道路行车延误，导致出现道路拥堵或者交通事故。所以，当生成减速等待提醒消息后，在交通灯禁止状态持续时间结束时生成起步提醒消息，可以及时提醒驾驶员启动车辆，保证交通路口行驶畅通，提高通行效率。
优选地，作为本发明的一个实施例，如图8所示，该实施例中，所述路口交通灯智能控制装还包括等待时间获取单元和存储单元，等待时间获取单元用于在生成减速等待提醒消息后，当车辆到达交通路口停车这一时刻起，至车辆起步所用的时间作为车辆等待时间，并将车辆等待时间与目标等待时间一一对应存储，其中，目标等待时间为车辆到达交通路口停车时交通灯状态持续时间。
具体如何获取车辆等待时间，本发明实施例中，有两种方式：其一，在接收到减速等待提醒消息后，所述等待时间获取单元从车辆的速度降为零时开始计时，待交通灯状态切换后车辆起步时结束计时，即可以比较准确的计算出车辆等待时间。其二，所述等待时间获取单元根据中央处理单元获取的车辆定位信息实时计算车辆的坐标，并在接收到减速等待提醒消息后，以车辆的坐标由变化到静止的时间点为计时起始时刻，并在停车后再次启动时，车辆坐标由静止到变化的时间点为计时终止时刻，也可以比较精确的计算出车辆的等待时间。
优选地，作为本发明的一个实施例，如图9所示，该实施例中，所述路口交通灯智能控制装还包括比较单元，用于将车辆等待时间与目标时间比较，并判断车辆是否存在危险驾驶行为，具体为：当车辆通过交通路口时，如果车辆等待时间小于目标等待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息上传至用户终端，供用户自行查阅。
上述实施例中，在生成减速等待提醒消息后，通过将车辆等待时间与目标等待时间比较，可以准确判断车辆是否按照提醒消息停车等待，从而判断车辆是否存在危险驾驶行为，比如当交通灯为禁行状态，且车辆等待时间小于目标等待时间，则车辆存在危险驾驶行为，并将危险驾驶行为信息上传至用户终端，用户可以通过用户终端自行查阅。
需要指出的是，该实施例中，车辆在目标等待时间结束之前(即交通灯状态切换之前)起步并驶过交通路口，则判定车辆存在危险驾驶行为，用户可以通过用户终端自行查阅。
优选地，作为本发明的一个实施例，如图10所述，该实施例中，所述路口交通灯智能控制装还包括统计单元，用于对车辆的危险驾驶行为进行统计分析，具体为：在设定的周期内检测同一车辆的危险驾驶行为是否超过设定的次数阈值，如果是，则由中央处理单元生成危险驾驶行为报告，并通过发送单元上传至交管部门应用服务器并保存，同时发送给用户终端，供用户下载。
优选地，作为本发明的一个实施例，如图11所示，在图10所示实施例的基础上，在该实施例中，控制中心服务器与交管部门应用服务器互联。当所述中央处理单元生成危险驾驶行为报告后，通过发送单元将危险驾驶行为报告上传至交管部门应用服务器并保存。
上述实施例中，通过对车辆的危险驾驶行为进行分析，可以找到危险驾驶行为次数比较频繁的车辆，并将危险驾驶行为报告上传至交管部门应用服务器，便于交管部门对危险驾驶车辆进行处罚，可以有效约束道路路口的不规范驾驶行为。同时，车辆驾驶员也可以通过终端下载危险行驶行为报告，及时了解自己的危险驾驶行为，并规范自己的驾驶行为。
需要指出的是，这里，统计单元对车辆的危险驾驶行为进行分析可以多个角度同时进行。比如，在通过某一段道路或者在设定的一段较短时间内，如果车辆连续出现多次危险驾驶行为，则生成危险驾驶行为报告。这种情况下，驾驶员存在着酒驾、毒驾或者情绪出现问题，这时交管部门应用平台可以通过车辆的定位信息进行定点查处，及时解除道路安全隐患。
当然，还可以在设定的一个较长周期内统计车辆的危险驾驶行为次数，比如在一年内，危险驾驶次数达到设定的次数阈值，那么则反映出驾驶员存在不规范驾驶的恶习，需要对其进行处罚，以起到轨道道路驾驶的作用。
实际中，可以将危险驾驶次数划分多个等级，每个等级对应一个次数阈值和对应的处罚措施，当车辆的危险驾驶次数超过对应等级的次数阈值，则对该车辆执行对应等级的处罚措施。
优选地，作为本发明的一个实施例，如图12所示，该实施例中，所述路口交通灯智能控制装还包括交互单元，所述交互单元用于呈现路口提醒消息，包括减速等待提醒消息、减速驶过提醒消息和起步提醒消息。
具体地，所述交互单元包括显示屏和/或语音播报器，所述显示屏用于对路口提醒消息进行显示，所述语音播报器用于对路口提醒消息进行语音播报，便于驾驶员在不影响正常驾驶的情况下准确的接收路口提醒消息。
生成的路口提醒消息都可以通过屏幕显示和/或语音播报的形式呈现，便于驾驶员在不影响正常驾驶的情况下及时准确地接收。
读者应理解，在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本发明实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分，或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。而前述的存储单元对应的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效 的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (10)

  1. 一种路口交通灯智能控制方法，其特征在于，所述方法包括：
    接收交通灯上传的交通灯信息，所述交通灯信息包括交通灯状态和交通灯状态持续时间；
    接收车载终端上传的车辆速度信息和路口位置信息，根据所述交通灯信息、车辆速度信息以及路口距离生成路口提醒消息，并发送给车载终端进行提醒；
    其中，路口距离为车辆所在位置与交通路口之间的距离。
  2. 根据权利要求1所述的路口交通灯智能控制方法，其特征在于，所述根据所述交通灯信息、车辆速度信息以及路口距离生成路口提醒消息包括：
    当交通灯为禁行状态或警示状态时，则生成减速等待提醒消息；
    当交通灯为持续闪烁警示状态时，则生成减速驶过提醒消息；
    当交通灯为通行状态时，根据所述路口距离和车辆速度信息计算车辆到达路口的预估时间，将所述预估时间与所述交通灯通行状态持续时间进行比较，并根据比较结果生成路口提醒消息。
  3. 根据权利要求2所述的路口交通灯智能控制方法，其特征在于，当交通灯为通行状态时，所述根据比较结果生成路口提醒消息包括：
    当所述交通灯通行状态持续时间大于所述预估时间，则根据预设差值条件生成路口提醒消息；
    当所述交通灯通行状态持续时间小于或等于所述预估时间，则生成减速等待提醒消息。
  4. 根据权利要求3所述的路口交通灯智能控制方法，其特征在于，当所述交通灯通行状态持续时间大于所述预估时间时，根据预设差值条件生成路口提醒消息具体包括：
    如果所述交通灯通行状态持续时间与所述预估时间的差值小于或等于预设时间阈值，则生成减速等待提醒消息；
    如果交通灯通行状态持续时间与所述预估时间所述的差值大于预设时间阈值，则生成减速驶过提醒消息。
  5. 根据权利要求2至4任一项所述的路口交通灯智能控制方法，其特征在于，当生成减速等待提醒消息后，还检测交通灯禁行状态持续时间是否结束，并在交通灯禁行状态持续时间结束时生成起步提醒消息并发送给车载终端进行提醒。
  6. 一种路口交通灯智能控制装置，其特征在于，该装置包括：
    第一接收单元，用于接收交通灯上传的交通灯信息，所述交通灯信息包括交通灯状态和交通灯状态持续时间；
    第二接收单元，用于接收车载终端上传的车辆速度信息和路口位置信息；
    中央处理单元，用于根据所述交通灯信息、车辆速度信息以及路口距离生成 路口提醒消息；
    发送单元，用于将所述路口提醒消息发送给车载终端进行提醒；
    其中，路口距离为车辆所在位置与交通路口之间的距离。
  7. 根据权利要求6所述的路口交通灯智能控制装置，其特征在于，所述中央处理单元根据所述交通灯信息、车辆速度信息以及路口距离生成路口提醒消息具体包括：
    当交通灯为禁行状态或过渡警示状态时，则生成减速等待提醒消息；
    当交通灯为持续闪烁警示状态时，则生成减速驶过提醒消息；
    当交通灯为通行状态时，根据所述路口距离和车辆速度信息计算车辆到达路口的预估时间，将所述预估时间与所述交通灯通行状态持续时间进行比较，并根据比较结果生成路口提醒消息。
  8. 根据权利要求7所述的路口交通灯智能控制装置，其特征在于，所述中央处理单元根据比较结果生成路口提醒消息具体包括：
    当所述交通灯通行状态持续时间大于所述预估时间，则根据预设差值条件生成路口提醒消息；
    当所述交通灯通行状态持续时间小于或等于所述预估时间，则生成减速等待提醒消息。
  9. 根据权利要求8所述的路口交通灯智能控制装置，其特征在于，当所述交通灯通行状态持续时间大于所述预估时间时，所述中央处理单元根据预设差值条件生成路口提醒消息具体包括：
    如果所述交通灯通行状态持续时间与所述预估时间的差值小于或等于预设时间阈值，则生成减速等待提醒消息；
    如果所述交通灯通行状态持续时间与所述预估时间所述的差值大于预设时间阈值，则生成减速驶过提醒消息。
  10. 根据权利要求7至10任一项所述的路口交通灯智能控制装置，其特征在于，当所述中央处理单元生成减速等待提醒消息后，还检测交通灯禁行状态持续时间是否结束，并在交通灯禁行状态持续时间结束时生成起步提醒消息并发送给车载终端进行提醒。
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