CN105336180A - Speed predication device and method enabling vehicle to meet green light at crossing - Google Patents

Abstract

The invention discloses a speed predication device and method enabling a vehicle to meet green light at the crossing, and relates to the communication field. To make more vehicles driving on the road at a uniform speed and avoid the vehicles from meeting red light at the crossing, whether the vehicles meet red or green light at the crossing is analyzed in detail, and the needed speed predication device and necessary information obtaining and processing methods are provided. The distance from the vehicle to the crossing is estimated by a map and positioning base station in a client or a control center, the control center provides each phase timing of the traffic light and the position, of present time, in the period of the traffic light, and the predication speed is calculated. Thus, predication speeds are provided for the vehicle, and if the vehicle can meet the green light at the crossing if driving at the speed; and thus, convenience is provided for drivers, and traffic jams are alleviated.

Description

Vehicle walks to intersection at a time when the prediction of speed device and method of green light

One, technical field

The present invention relates to the communications field, be specifically related to Vehicle Speed prediction unit and method

Two, background technology

Along with the quick stable development of China's economy and rising year by year of people's quality of life, a large amount of automobile pours in the large difficult point that city has become highway communication.Transport solution the most effectively means of blocking up are exactly the management of scientific and efficient, key is the precision governance of vehicle, traffic control center's real-time detection vehicle location, travel speed and travel direction can provide important data supporting for real-time optimization traffic, propose convenience that a kind of scheme can either strengthen vehicle user self and its pleased real-time sharing vehicle location can be made again just to seem be even more important.Real-time estimate Vehicle Speed, makes it arrive intersection at a time when corresponding green light, provides easily simultaneously also for traffic control center provides vehicle flowrate real time data, reach the effect of doulbe-sides' victory to user.

The method that pre existing surveys Vehicle Speed is little, and especially vehicle walks to intersection at a time when the prediction of speed device and method of corresponding green light.The author has delivered one section of scientific paper " Control System Design of driving vehicle intelligent speed " in July, 2013 on " computer measurement and control " periodical, briefly introduce vehicle and walk to intersection at a time when the prediction of speed principle of corresponding green light, in order to overcome a difficult problem for wireless senser implementation difference of deploying to ensure effective monitoring and control of illegal activities along road, the real-time of further raising Vehicle Speed prediction and accuracy, promote this technology and be convenient for people to trip by bus, drive to people or ride in an automobile and bring joyful mood, practical mitigation traffic pressure, propose vehicle and walk to intersection at a time when the prediction of speed device and method of green light.

Three, summary of the invention

Vehicle walks to intersection at a time when the prediction of speed device and method of green light mainly comprises two parts, prediction of speed device and the message processing flow matched.

Prediction of speed device as shown in Figure 1, comprises user side, locating base station, communication base station, control center, traffic lights display terminal and connecting line.User side storing map, by less radio-frequency same locating base station, communication base station connection respectively, completes the information interaction with the two; Communication base station is connected with control center, has built bridge to the message exchange between user side and control center; Control center is connected with traffic lights display terminal, controls the phase place of traffic lights in real time.

Obtain and calculate two parts information by this covering device, first driving vehicle arrives the distance L of intersection, and it two is that each multiphase traffic time allocation of intersection traffic lamp and current time are in the position in this cycle of traffic lights.The acquisition of this two parts information is without sequencing, and its method is as follows:

1. the position of user side is determined by locating base station, and the position of intersection can be obtained by two kinds of modes, and the first is obtained by user side storing map, and it two is that control center is obtained by its storing map.The distance L of vehicle to intersection is estimated by the method that curve asks infinitesimal analysis or many straight-line segments to approach.

2. control center provides each multiphase traffic time allocation of intersection traffic lamp and current time in the position in this cycle of traffic lights.

After obtaining this two parts information, the cycle T of traffic lights is calculated by each multiphase traffic time allocation of traffic lights, to obtain vehicle in the position in this cycle of traffic lights according to current time again and arrive the time remainder less than a traffic light cycles needed for intersection, this time remainder adds that the several times of traffic light cycles arrive the time needed for intersection as vehicle, divided by this time, distance L just show that vehicle arrives intersection at a time when predetermined speed of corresponding green light.

The calculating of predetermined speed can be dispersed in user side, also can concentrate on control center, can also introduce third party's map operator, by map operator centralized calculation.

Vehicle walk to intersection at a time when the another kind of prediction of speed device of green light as shown in Figure 9, predetermined speed display terminal is connected with control center, and control center is connected with traffic lights display terminal.Predetermined speed display terminal is placed in road, and there is certain distance distance intersection, and length is L ', and control center is built-in with this distance.Control center according to each multiphase traffic time allocation of traffic lights calculate the cycle T of traffic lights ', to obtain vehicle in the position in this cycle of traffic lights according to current time again and arrive the time remainder less than a traffic light cycles needed for intersection, this time remainder adds that the several times of traffic light cycles arrive the time needed for intersection as vehicle, divided by this time, distance L ' just show that vehicle arrives intersection at a time when predetermined speed of corresponding green light, predetermined speed sends to predetermined speed display terminal to be shown again after obtaining.Because the time disappears continuously, so predetermined speed is also dynamic change, human pilot is driven according to the predetermined speed on the display terminal seen in real time, and arriving intersection also can at a time when corresponding green light.

After driving vehicle uses this covering device and method, arrive intersection at a time when corresponding green light, bring joyful impression to personnel and human pilot by bus, improve enthusiasm and the notice of human pilot, enhance interest, reduce sense of fatigue and irritable sense; Human pilot effectively can be reduced to meet anxious waiting after red light and the phenomenon that scrambles for roads that may occur, reduce the probability that intersection traffic accident occurs; Greatly reduce fleet vehicles trip and wait for the probability of green light, impel people more reasonably to cook up line time, improve efficiency, the traffic pressure of mitigation simultaneously.

Four, accompanying drawing explanation

Fig. 1 Vehicle Speed prediction unit structure

Fig. 2 Vehicle Speed prediction preferred embodiment example

Fig. 3 Vehicle Speed predicts preferred distance example

Fig. 4 Vehicle Speed predicts preferred traffic lights multiphase traffic time allocation example

Fig. 5 Vehicle Speed prediction preferred, users end and control center's message exchange example

Fig. 6 Vehicle Speed predicts the position example of preferred current time in this cycle

Fig. 7 Vehicle Speed prediction preference information obtains and treatment scheme example

Fig. 8 Vehicle Speed predicts preferred traffic lights phase control example

The prediction of Fig. 9 Vehicle Speed and display device structure

The prediction of Figure 10 Vehicle Speed is preferred with display device

Five, embodiment

Provide Vehicle Speed prediction preferred embodiment and embodiment of the method below, by reference to the accompanying drawings and flow process foundation is further described to invention, but protection scope of the present invention is not limited in this.

Vehicle Speed prediction preferred embodiment as shown in Figure 2, user side is smart mobile phone, locating base station is GPS position location satellite, communication base station and the communication server are provided by common carrier, map rejuvenation service is provided by map operator, and the Internet respectively connected communication company server, control center and map operator.Traffic lights divides three layer-managements, is respectively control center, Region control and terminal device.

Suppose that next intersection is common crossroad, as shown in Figure 3, certain kart needs to continue to move forward through this crossroad, and driver wishes with about v _stdspeed steering vehicle, arrive crossing when corresponding green light lights σ time, it is v that this section limits this car model maximum travelling speed _max, minimum travel speed is v _min.The each multiphase traffic time allocation of this crossroad access lamp and sequential are as shown in Figure 4.Prefix " EW " represents east-west direction branch road traffic lights phase place, i.e. vehicle place branch road, and prefix " SN " represents North and South direction branch road traffic lights phase place.Suffix " g " represents green light, and " y " represents amber light, and " r " represents red light.Being located at thing branch road green time in traffic lights complete cycle is C _eW, north and south branch road green time is C _sN, each branch road yellow time is C, then the Cycle Length T of this traffic lights is:

T＝C _EW+C _SN+2C(1)

Time period σ meets:

σ＜C _EW(2)

If using license plate number as vehicle self identification, vehicle can be estimated by following steps and arrive crossroad at a time when the speed of corresponding green light.

1 estimating vehicle is to the distance L of crossroad

The GPS locating terminal of smart mobile phone is by calculating the position at vehicle place with the communication of position location satellite, found the position of crossroad by built-in map software, mode of the approaching estimating vehicle on map adopting multi-line section to add round-off error arrives the distance L of crossroad.

2 vehicles are to each multiphase traffic time allocation of control center's application traffic lights

As shown in Figure 5, user side smart mobile phone, through communication base station, the communication server and the Internet, sends application field Q={ license plate number to control center, sails out of crossing title, branch road title, drive towards crossing title, check code }.Control center receive application field Q confirm errorless after return acknowledgement field QA={ license plate number, traffic light cycles, each multiphase traffic time allocation of traffic lights, current time in the position in this cycle of traffic lights, reference time, check code }.

3 user sides proofread reference time

Smart mobile phone carries out check and correction reference time receiving after control center returns acknowledgement field QA, makes smart mobile phone consistent for reference time with control center, and such as unified is Beijing time.

4 estimating vehicles arrive the traffic light cycles number needed for crossroad

Smart mobile phone calculates traffic light cycles length T according to each multiphase traffic time allocation of traffic lights, compared with the traffic light cycles that field QA is built-in, accurate to confirm each multiphase traffic time allocation of traffic lights.If each multiphase traffic time allocation of traffic lights is identical with Fig. 4 in the field QA that smart mobile phone receives, then the traffic light cycles number m of vehicle arrival needed for crossroad is:

Wherein Δ t is that vehicle vehicle is to expect speed v _stdtravel to the time needed for crossroad, bracket represent the maximum integer being no more than numerical value x.

Green light cycle when 5 smart mobile phones pass through from crossroad to control center's application vehicle

If current time in the position in this cycle of traffic lights as shown in Figure 6, T _nfor the Current traffic lamp cycle, T _n+mfor needing the traffic light cycles of vehicle by crossroad of application, t ₀for this cycle sart point in time, t _n, t _n+1t _n+mfor respective cycle green light terminates amber light sart point in time, composition graphs 4 can draw t _n+i:

t _n+i＝t ₀+C _EW+iTi＝0，1，2，3…(4)

There are two kinds of possibilities in current time in the position in this cycle of traffic lights:

If 1. current time is at the t ' place in this cycle of traffic lights, namely within this cycle starts the σ time, the predicted time Δ t ' that vehicle walks to crossroad is:

Δt′＝[T-(t′-t ₀)]+(m-1)T+σ

＝mT+σ+t ₀-t′(5)

Consider the intellectuality of vehicle predetermined speed, provide multiple selectable speeds to human pilot, predicted time Δ t ' and predetermined speed v _{prd_A}for:

$\left\{\begin{array}{c}{\mathrm{\Δt}}^{\′}=\mathrm{mT}+\mathrm{\σ}+t_0-t^{\′}\±\mathrm{jT}\\ =(m\±j)T+\mathrm{\σ}+t_0-t^{\′}\\ m\±j\≥0\\ v_{\mathrm{prd}\_A}=\frac{L}{{\mathrm{\Δt}}^{\′}}\\ v_{\min }\≤v_{\mathrm{prd}\_A}\≤v_{\max }\\ j=\mathrm{0,1,2}\·\·\·\end{array}\right.---\left(6\right)$

" place, namely start beyond the σ time in this cycle, vehicle walks to the predicted time Δ t of crossroad " and predetermined speed v if 2. current time is at the t in this cycle of traffic lights _{prd_B}for:

$\left\{\begin{array}{c}{\mathrm{\Δt}}^{\′\′}=\mathrm{mT}+\mathrm{\σ}+t_0-t^{\′\′}\±\mathrm{jT}\\ =(m\±j)T+\mathrm{\σ}+t_0-t^{\′\′}\\ m\±j\≥1\\ v_{\mathrm{prd}\_B}=\frac{L}{{\mathrm{\Δt}}^{\′\′}}\\ v_{\min }\≤v_{\mathrm{prd}\_B}\≤v_{\max }\\ j=\mathrm{0,1,2}\·\·\·\end{array}\right.---\left(7\right)$

Comprehensive 1. and 2. known, predetermined speed v _prdfor:

Therefore, as j=0, predetermined speed v _prdexpect to travel speed v close to user _std, when j=± 1, ± 2 ... time, arrive time of crossroad at Δ t ' or Δ t " basis on delayed or some cycles in advance, Vehicle Speed slows down accordingly or accelerates, and with this speeds, arrives crossroad still at a time when corresponding green light.Predicted time is presented on smart mobile phone after completing calculating, also can provide reference to human pilot.

Smart mobile phone after calculating the m ± j met the demands, by T _{m ± j}as requisition cycle, σ files an application to control center as driving number, namely sends field QQ={ license plate number, the cycle of application, driving number, check code } to control center.

Cycle confirmation request situation correction predetermined speed that 6 smart mobile phones feed back according to control center

Field QQA={ license plate number is replied after receiving user side smart mobile phone application field QQ by control center, cycle confirmation request situation, all the other each branch road congestions, check code }.Cycle confirmation request situation comprises whether the cycle of vehicle application is ratified, whether the number of driving is ratified, recommendation cycle and recommend driving number.If the cycle of smart mobile phone application and driving number vacant, not yet taken by other vehicle, all approvals are just replied by control center; If the cycle vehicle of smart mobile phone application less than, but application number is taken by other vehicle, then cycle approved and suitable vacant driving number are replied by control center; If the cycle vehicle applied for is full, then control center reply recommend contiguous less than cycle and suitable vacant driving number.In order to encourage everybody to take public transport, control center can pass through the cycle of crossroad and driving number for bus priority allocation.

Smart mobile phone revises predetermined speed according to the cycle confirmation request situation QQA of control center's feedback.If the cycle of smart mobile phone application and driving number all go through, then select the v in 5 _prduser is shown to as predetermined speed; If the cycle that Shen smart mobile phone is asked goes through, driving suggestion is σ ', and smart mobile phone recalculates v ' according to step 5 after σ is replaced with σ ' _prd, meet the demands and be just shown to user; If the cycle of application is not granted, the cycle, suggestion was for m ", driving number is recommended as σ ", and m ± j is replaced with m by smart mobile phone ", σ replaces with σ " then recalculate v according to step 5 " _prd, meet the demands and be just shown to user.In order to avoid congested link, smart mobile phone separates all the other each branch road congestions after receiving field QQA, selects straightway branch road and recommends user, further facilitated user, enhance the intelligent of system.

Combined with intelligent mobile phone and control center's information operation sequential, car speed prediction unit information flow can be described as shown in Fig. 7, smart mobile phone and control center independently run, ask in the process of predetermined speed at smart mobile phone, complete the calculating of predetermined speed and the application in cycle through twice message exchange.The foundation of Tu7Zhong control center to driving σ occupied judgement is in time σ surrounding time τ, has namely had the record of vehicle application in time period [σ-τ, σ+τ] scope.The size of τ is determined by spacing between type of vehicle, vehicle and branch road width, and vehicle can be judged by license plate number, selects suitable time interval τ can reduce the probability of traffic accident appearance like this for different type of vehicle, branch road width.ξ is real number, and q, k are integer.

Control center has had the vehicle of application record again will wipe historical record with driving number requisition cycle, facilitates after temporarily parking in human pilot midway and again leaves.The difficult problems such as control center's real time record vehicle application and driving information scramble for roads to judgement vehicle, traffic accident responsibility provide foundation, also for the violation lawbreakers such as inspection criminal provide real-time information.

Control center according to each multiphase traffic time allocation of vehicle flowrate real-time adaptive optimization traffic lights, can find traffic congestion early, is solved among rudiment, as shown in Figure 8 on the basis obtaining a large amount of vehicle cycle application information.After adjustment, each multiphase traffic time allocation of traffic lights must meet following formula:

$\left\{\begin{array}{c}{t}_{\mathrm{EW}\_\mathrm{walk}}\≤C_{\mathrm{EW}}\±\mathrm{\α}\≤t_{\mathrm{patient}}-C\\ t_{\mathrm{SN}\_\mathrm{walk}}\≤C_{\mathrm{SN}}\±\mathrm{\β}\≤t_{\mathrm{patient}}-C\end{array}\right.---\left(9\right)$

Wherein, t _{eW_walk}refer to that Walking People are through the minimum time needed for the branch road of north and south, t _{sN_walk}refer to that Walking People are through the minimum time needed for thing branch road, t _patientrefer to that pedestrian can wait for the maximum patience time that red light turns green.Control center's adjustment traffic lights phase control can be avoided because Walking People's irritability makes a dash across the red light and issuable traffic accident in pedestrian's tolerance interval.

Another kind of Vehicle Speed prediction and display device are preferably as shown in Figure 10, predetermined speed display terminal is connected with embedded controller, embedded controller and Internet connection, the Internet is connected with control center, control center's join domain Control Server, Region control server connects traffic lights display terminal.Embedded controller and predetermined speed display terminal are installed together, be built-in with the distance of predetermined speed display terminal to intersection, receive each multiphase traffic time allocation of traffic lights sent through the Internet of control center and current time in the position in this cycle of traffic lights and computational prediction speed.Suppose that each multiphase traffic time allocation of road conditions, traffic lights, current time are identical with shown in Fig. 3, Fig. 4, Fig. 6 respectively in the position in this cycle of traffic lights, just by desired speed v _stdreplace with the average velocity of this sections of road vehicle , still easily calculate vehicle according to formula (1)-(8) and arrive intersection at a time when predetermined speed of corresponding green light, and one or more predetermined speed can be shown for human pilot reference at predetermined speed display terminal.Predicted time is presented at after completing calculating on predetermined speed display terminal, also can provide reference to human pilot.

The above know-why being specific embodiments of the invention and using, if the change done according to conception of the present invention, its function produced do not exceed that instructions and accompanying drawing contain yet spiritual time, must protection scope of the present invention be belonged to.

Claims (19)

1. vehicle walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that comprising the following steps:

(1) user side is by less radio-frequency same locating base station, communication base station connection respectively, and communication base station is connected with control center, and control center is connected with traffic lights display terminal, and user side or control center are built-in with map;

(2) two parts information is obtained by device (1), without sequencing: 1. by the position of locating base station determination user side, obtained the position of intersection by user side storing map or control center's storing map, go out the distance of vehicle to intersection by the position estimation of user side and intersection; 2. control center provides each multiphase traffic time allocation of intersection traffic lamp and current time in the position in this cycle of traffic lights;

(3) cycle of traffic lights is obtained by each multiphase traffic time allocation of traffic lights, according to the position of current time in this cycle of traffic lights, obtain vehicle to arrive intersection and run into the time remainder less than a traffic light cycles required for green light, this time remainder adds that the several times of traffic light cycles arrive the time required for intersection as vehicle, divided by this time, vehicle just show that vehicle arrives intersection at a time when predetermined speed of corresponding green light to the distance of intersection.

2. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: described locating base station is communication base station or GPS base station or Big Dipper base station or Ge Luonasi base station or Galileo base station.

3. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: described vehicle is carried out accurate Calculation by user side or control center by storing map to the distance of intersection or replaced by the air line distance of both position calculation of user side and traffic lights.

4. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: described user side is smart mobile phone or navigating instrument or PAD or flush type meter.

5. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: described user side is built-in with identity recognition number.

6. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: the connected mode of described user side and communication base station is GPRS or 2G or 3G or 4G.

7. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: the described vehicle time arrived required for intersection complete calculating after be presented at user side.

8. vehicle according to claim 1 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: the described predetermined speed in the controlling heart sends to user side or directly calculates at user side after completing calculating.

9. the vehicle according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: be connected with the communication server between described communication base station and control center, common carrier supervisory communications base station and the communication server also provide communication service.

10. vehicle according to claim 9 walks to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: be connected with the Internet between the described communication server and control center.

11. vehicles according to claim 10 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: described Internet connection has map server, and map operator management map server also provides Map Services.

12. vehicles according to claim 11 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: predetermined speed sends to user side after map server completes calculating.

13. vehicles according to claim 11 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: if user proposes desired speed, then according to desired speed computational prediction speed, if user does not provide desired speed, then the average velocity travelled according to this section vehicle carrys out computational prediction speed.

14. vehicles according to claim 13 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: the optimization that described control center is traffic lights phase place provides real-time traffic flow amount data.

15. vehicles walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that comprising the following steps:

(1) predetermined speed display terminal is placed in road and is connected with control center, control center is built-in with predetermined speed display terminal to the distance of intersection and is connected with traffic lights display terminal, and control center provides each multiphase traffic time allocation of intersection traffic lamp and current time in the position in this cycle of traffic lights;

(2) cycle of traffic lights is obtained by each multiphase traffic time allocation of traffic lights, according to the position of current time in this cycle of traffic lights, obtain vehicle to arrive intersection from predetermined speed display terminal and run into the time remainder less than a traffic light cycles required for green light, this time remainder adds the several times of traffic light cycles as vehicle from the time required for predetermined speed display terminal arrival intersection, divided by this time, predetermined speed display terminal just show that vehicle arrives intersection at a time when predetermined speed of corresponding green light to the distance of intersection, predetermined speed is presented on predetermined speed display terminal after obtaining.

16. vehicles according to claim 15 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: described vehicle is presented at predetermined speed display terminal after completing calculating from predetermined speed display terminal time arrived required for intersection.

17. vehicles according to claim 15 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: be connected with embedded controller between described predetermined speed display terminal and control center.

18. vehicles according to claim 17 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: the described predetermined speed in the controlling heart sends to predetermined speed display terminal or sends to predetermined speed display terminal complete calculating on embedded controller after after completing calculating.

19. vehicles according to claim 18 walk to intersection at a time when the prediction of speed device and method of green light, it is characterized in that: the average velocity that described predetermined speed travels according to this section vehicle calculates.