CN108961797A - A kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information - Google Patents
A kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information Download PDFInfo
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- CN108961797A CN108961797A CN201710394771.7A CN201710394771A CN108961797A CN 108961797 A CN108961797 A CN 108961797A CN 201710394771 A CN201710394771 A CN 201710394771A CN 108961797 A CN108961797 A CN 108961797A
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- 230000000007 visual effect Effects 0.000 claims abstract description 19
- 125000000205 L-threonino group Chemical group [H]OC(=O)[C@@]([H])(N([H])[*])[C@](C([H])([H])[H])([H])O[H] 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000008447 perception Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 3
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides the vehicle DAS (Driver Assistant System) and device of a kind of view-based access control model traffic lights information, belong to intellectual traffic control field, multiple aware communications nodes of visual traffic lamp device, road sensing region including crossing and the DAS (Driver Assistant System) for being installed on vehicle.Visual traffic lamp device acquires crossing state, including traffic lights time state and wagon flow length information by camera, sends to the first aware communications node；First aware communications node receives the vehicle position information in crossing status information and sensing range, forwards to descendant node, and the vehicle into communication range is sent；Vehicle DAS (Driver Assistant System) receives crossing state and vehicle position information, calculates the target vehicle speed under current vehicle speed with crossing traffic lamp or nearest vehicle, it is predicted that traffic light status when reaching crossing automatically controls vehicle acceleration and deceleration.By introducing crossing state and road vehicle information, the automatic deceleration control without human intervention is realized, can be used for assisting driving and unmanned control.
Description
Technical field
The present invention relates to a kind of vehicle of intellectual traffic control field more particularly to view-based access control model traffic lights information auxiliary to drive
Sail system and device.
Background technique
Traffic lights are used to control the traffic order and flow at crossing, but under conventional truck driving mode, only hand over
After logical lamp enters driver's seat, driver can just take corresponding measure.If driver can obtain crossing traffic lamp in advance
Information and front vehicles information, so that it may the time by traffic intersection is calculated, so that acceleration or deceleration in advance, smoothly passes friendship
Access mouth not only slows down traffic congestion, but also the problems such as avoid the high oil consumption of frequent acceleration or deceleration bring, low comfort.
Existing auxiliary drive or unmanned scene in, most of solutions are emphasized: vehicle as independent individual,
Driving and control are to perceive ambient enviroment by vehicle self-sensor equipment (such as vision, radar), simultaneously with traffic infrastructure
Without information exchange, junction ahead traffic lights information and front vehicles information can not be obtained, it may be assumed that the driving and control of vehicle will not
Junction ahead traffic lights information and front vehicles information are used as referring to being comprehensively considered, so that vehicle is in approaching traffic intersection
When, it often will appear and give it the gun-decelerate to crossing or wagon flow end-waiting red light or trail the passage shape gone slowly of wagon flow
Condition, due to that cannot notify the quick approaching of subsequent vehicle in time, causes crossing to be arranged especially when congestion wagon flow occurs in crossing
Team's vehicle is increasingly longer, and congestion phenomenon is increasingly severe；Even if vehicle can pass through friendship in the intellectual traffic control scheme of part
Logical infrastructure comprehensive traffic lamp information and front vehicles information, but be only limitted to mention by prompting (such as voice, display) mode
Wake up driver, and vehicle itself, which has no, actively takes control measure.Theory show vehicle in operating condition downward driving relatively at the uniform velocity, no
Only comfort improves, and can also reduce oil consumption, improves vehicle service life, therefore, crossing traffic congestion caused by above situation,
Frequently the problems such as the high oil consumption of acceleration or deceleration bring, low comfort, need comprehensive by introducing crossing state and road vehicle
Information, and by vehicle DAS (Driver Assistant System) without human intervention automatically speed up and control of slowing down, effectively changed
It is kind.
Summary of the invention
In view of the above-mentioned deficiency of the prior art, the present invention provides a kind of vehicle assistant drive of view-based access control model traffic lights information
System and device.After applying the present invention, the frequent acceleration and deceleration number of vehicle can be reduced in vehicle in approaching traffic intersection, it is excellent
Change vehicle control, reduce oil consumption, improves comfort, while slowing down the traffic congestion of traffic intersection, vehicle is made to smoothly pass traffic
Crossing.
The invention is realized by the following technical scheme.
On the one hand, a kind of vehicle assistant drive device of view-based access control model traffic lights information is provided, described device includes: to lay
In the visual traffic lamp device at crossing, multiple aware communications nodes of road sensing region and the auxiliary driving system for being installed on vehicle
System.
The visual traffic lamp device for being laid in crossing is used to acquire crossing status information, including traffic by camera
Lamp time state and wagon flow length information are sent to the first aware communications node.
Multiple aware communications nodes of the road sensing region include the first aware communications node, the second aware communications section
Point etc., the vehicle position information in crossing status information and sensing range for receiving the transmission of visual traffic lamp device, backward
It is forwarded after aware communications node, and the vehicle into communication range is sent.
The DAS (Driver Assistant System) for being installed on vehicle for receiving crossing status information and vehicle position information, work as by calculating
Under preceding speed with the target vehicle speed of nearest vehicle, it is predicted that reach crossing when traffic light status, automatically control vehicle execute accelerate or
Deceleration-operation.
Further, the visual traffic lamp device includes camera module, traffic lamp module and control module.
The camera module calculates crossing wagon flow length for acquiring the image of crossing.
The traffic lamp module is for acquiring traffic lights time state information.
The control module is used for comprehensive traffic lamp time state and crossing wagon flow length information, to the first aware communications section
Point is sent.
Further, the vehicle DAS (Driver Assistant System) includes auxiliary Driving control module, accelerates control module, control of slowing down
Molding block, display alarm module.
The auxiliary Driving control module receives sense for obtaining itself speed, accelerating control or control information of slowing down
Know communication node send crossing status information and vehicle position information, calculate current vehicle speed under with crossing traffic lamp or nearest vehicle
Target vehicle speed, it is predicted that traffic light status when reaching crossing, and accelerating to accelerating control module or deceleration control module to issue
Control signal or deceleration control signal.
It is described that control module is accelerated to be used to receive the acceleration control signal that auxiliary Driving control module issues, and execute corresponding
Vehicle accelerate operation.
The deceleration control module is used to receive the deceleration control signal that auxiliary Driving control module issues, and executes corresponding
Vehicle deceleration operation.
The display alarm module is used to control acceleration or deceleration information by reminding (such as voice, display) mode to mention
Wake up driver.
On the other hand, a kind of vehicle DAS (Driver Assistant System) of view-based access control model traffic lights information is provided, the system run to
Include the following steps less.
Step 1: visual traffic lamp device is used to acquire crossing status information, including traffic lights time shape by camera
State and wagon flow length information are sent to the first aware communications node.
Step 2: the first aware communications node of road sensing region receives the crossing shape that visual traffic lamp device is sent
Vehicle position information in state information and sensing range generates the first comprehensive road information { traffic lights time state, crossing wagon flow
Length information, the first sensing range vehicle position information }, it is forwarded to the second subsequent aware communications node, and comprehensive by first
Vehicle of the road information into the first aware communications is sent.
Step 3: the vehicle within the scope of the first aware communications obtains itself speed, accelerates control or control information of slowing down.
Step 4: vehicle within the scope of the first aware communications according to traffic lights time state and crossing wagon flow length information,
The distance between current vehicle position and crossing wagon flow terminal position are calculated, and is combined according to itself current speed and works as preacceleration
Or control information of slowing down reaches the time of crossing wagon flow end, and if: when (1) reaching crossing traffic lamp, traffic lights is green light, then protects
Hold current vehicle speed traveling；(2) reach crossing traffic lamp when, traffic lights be red light or amber light, then according to reach wagon flow end when
Between and red light remaining time so that vehicle reach crossing traffic lamp when traffic lights switch to green light be target, calculate target vehicle speed.
Step 5: the vehicle within the scope of the first aware communications automatically controls vehicle execution and adds according to the target vehicle speed of calculating
Speed or deceleration-operation, and remind driver.
Step 6: the second aware communications node receives the first comprehensive road information of the first aware communications node, and sense
Know the vehicle position information in range, generate the second comprehensive road information traffic lights time state, crossing wagon flow length information,
Second sensing range vehicle position information }, forwarded to subsequent third aware communications node, and by the second comprehensive road information to
Vehicle within the scope of second aware communications is sent.
Step 7: subsequent n-th aware communications node receives (n-1) comprehensive road letter of (n-1) aware communications node
Vehicle position information in breath and sensing range generates (n-1) comprehensive road information { traffic lights time state, crossing vehicle
Flow length information, (n-1) sensing range vehicle position information }, it is forwarded to subsequent (n+1) aware communications node, and will
Vehicle of (n-1) the comprehensive road information into (n-1) aware communications is sent.
Step 8: the vehicle in the second and n-th aware communications range of nodes obtain respectively itself speed, accelerate control or
Slow down and controls information.
Step 9: the vehicle in the second and n-th aware communications range of nodes based on the received believe by sensing range vehicle location
Breath calculates the distance between current vehicle position and nearest vehicle, and combines when preacceleration or subtract according to itself current speed
Fast information reaches the time of nearest vehicle.
Step 10: the vehicle in the second and n-th aware communications range of nodes is automatically controlled according to the target vehicle speed of calculating
Vehicle executes acceleration or deceleration operation, and reminds driver.
Further, the method that the vehicle within the scope of the first aware communications calculates target vehicle speed are as follows: set and clapped according to camera
Taking the photograph the wagon flow length that image calculates is length of the crossing L(to wagon flow end), wagon flow average speed is V1, vehicle distances vehicle
The distance for flowing end is S, and vehicle itself speed is V2, then vehicle reaches the time of crossing traffic lamp as (L/V1+S/V2).
According to Current traffic lamp status information, by (L/V1+S/V2) after the time, if traffic lights is green, vehicle
Keep current vehicle speed V2 traveling；If traffic lights is red or yellow, and distance is changed into green light also having time T, calculates mesh
Mark speed are as follows:
V=(L+S)/(L/V1+S/V2+T).
Further, the method that the vehicle within the scope of the second to the n-th aware communications calculates target vehicle speed are as follows: it is current to set vehicle
The distance between position and nearest front truck are S, and preceding vehicle speed is V1, and vehicle itself speed is V2, then work as S/(V1-V2)=Thres
When, keep current vehicle speed；As S/(V1-V2) < Thres when, vehicle deceleration to V2；As S/(V1-V2) > Thres when, vehicle accelerate
To V1.
Further, system instructs the acceleration or deceleration that calculated target vehicle speed, vehicle DAS (Driver Assistant System) issue
Driver is reminded in such a way that sound plays or instrument is shown.
Compared with prior art, the device have the advantages that are as follows: a kind of view-based access control model traffic lights proposed by the present invention
The vehicle DAS (Driver Assistant System) of information makes vehicle in approaching traffic road by introducing crossing state and road vehicle integrated information
When mouth, the frequent acceleration and deceleration number of vehicle is reduced, optimization vehicle automatically controls, and reduces oil consumption, raising comfort, while slowing down traffic
The traffic congestion at crossing, makes vehicle smoothly pass traffic intersection.
Detailed description of the invention
Fig. 1 is a kind of vehicle DAS (Driver Assistant System) of view-based access control model traffic lights information proposed by the present invention and the module of device
Structure chart.
Fig. 2 is a kind of work of the vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information proposed by the present invention
Flow chart.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing, but the embodiment should not be construed as to this
The limitation of invention.
Basic implementation deployment way of the invention is as shown in Fig. 1, comprising: be laid in crossing visual traffic lamp device 1,
Multiple aware communications nodes 2 of road sensing region and the DAS (Driver Assistant System) 3 for being installed on vehicle.
Wherein, visual traffic lamp device 1 includes camera module 1.1, traffic lamp module 1.2 and control module 1.3；Perception
Communication node 2 include the first aware communications node 2.1, the second aware communications node 2.2 ..., until the n-th aware communications node
2.3；DAS (Driver Assistant System) 3 includes auxiliary Driving control module 3.1, deceleration control module 3.2, display alarm module 3.3 and adds
Fast control module 3.4.
Wherein, the camera module 1.1 calculates crossing wagon flow length for acquiring the image of crossing；The traffic lights mould
Block 1.2 is for acquiring traffic lights time state information；The control module 1.3 is used for comprehensive traffic lamp time state and crossing vehicle
Length information is flowed, is sent to the first aware communications node.
Wherein, the first aware communications node 2.1 is used to receive the crossing status information of visual traffic lamp device transmission
With the vehicle position information in sensing range, the first comprehensive road information { traffic lights time state, crossing wagon flow length letter is generated
Breath, the first sensing range vehicle position information }, it is forwarded to the second subsequent aware communications node, and the first comprehensive road is believed
The vehicle ceased into the first aware communications is sent；Second aware communications node 2.2 is for receiving the first aware communications node
The first comprehensive road information and sensing range in vehicle position information, generate the second comprehensive road information { when traffic lights
Between state, crossing wagon flow length information, the second sensing range vehicle position information, to subsequent third aware communications node turn
Hair, and vehicle of the second comprehensive road information into the second aware communications is sent；N-th aware communications node 2.3 receives
Vehicle position information in (n-1) of (n-1) aware communications node comprehensive road information and sensing range generates the
(n-1) comprehensive road information { traffic lights time state, crossing wagon flow length information, (n-1) sensing range vehicle location letter
Breath }, it is forwarded to subsequent (n+1) aware communications node, and (n-1) is integrated into road information to (n-1) aware communications
Vehicle in range is sent.
Wherein, the auxiliary Driving control module 3.1 is for obtaining itself speed, accelerating control or the control letter that slows down
Breath, receive aware communications node send crossing status information and vehicle position information, calculate current vehicle speed under with crossing traffic
The target vehicle speed of lamp or nearest vehicle, it is predicted that traffic light status when reaching crossing, and mould is controlled to acceleration control module or deceleration
Block issues acceleration control signal or deceleration control signal；The deceleration control module 3.2 is for receiving auxiliary Driving control module
The deceleration control signal of sending, and execute corresponding vehicle deceleration operation；The acceleration control module 3.3 is driven for receiving auxiliary
The acceleration control signal of control module sending is sailed, and executes corresponding vehicle and accelerates operation；The display alarm module 3.4 is used for
Acceleration or deceleration is controlled into information by reminding (such as voice, display) mode to remind driver.
As shown in Fig. 2, the vehicle DAS (Driver Assistant System) and device of a kind of view-based access control model traffic lights information provided by the invention
Workflow are as follows:.
(S1) visual traffic lamp device be used for by camera acquire crossing status information, including traffic lights time state with
Wagon flow length information is sent to the first aware communications node.
(S2) the first aware communications node of road sensing region receives the crossing state letter that visual traffic lamp device is sent
Vehicle position information in breath and sensing range generates the first comprehensive road information { traffic lights time state, crossing wagon flow length
Information, the first sensing range vehicle position information }, it is forwarded to the second subsequent aware communications node, and integrate road for first
Vehicle of the information into the first aware communications is sent.
(S3) vehicle within the scope of the first aware communications obtains itself speed, accelerates control or control information of slowing down.
(S4) vehicle within the scope of the first aware communications is calculated according to traffic lights time state and crossing wagon flow length information
The distance between current vehicle position and crossing wagon flow terminal position, and combine when preacceleration or subtract according to itself current speed
Speed control information reaches the time of crossing wagon flow end, if: when (1) reaching crossing traffic lamp, traffic lights is green light, then keeps working as
Preceding speed traveling；(2) reach crossing traffic lamp when, traffic lights be red light or amber light, then according to reach wagon flow end time and
Red light remaining time calculates target vehicle speed so that it is target that traffic lights, which switchs to green light, when vehicle reaches crossing traffic lamp.
(S5) vehicle within the scope of the first aware communications automatically controls vehicle and executes acceleration according to the target vehicle speed of calculating
Or deceleration-operation, and remind driver.
(S6) the second aware communications node receives the first comprehensive road information of the first aware communications node, and perception
Vehicle position information in range generates the second comprehensive road information { traffic lights time state, crossing wagon flow length information, the
Two sensing range vehicle position informations }, it is forwarded to subsequent third aware communications node, and by the second comprehensive road information to the
Vehicle within the scope of two aware communications is sent.
(S7) subsequent n-th aware communications node receives (n-1) comprehensive road information of (n-1) aware communications node,
And the vehicle position information in sensing range, generate (n-1) comprehensive road information { traffic lights time state, crossing wagon flow
Length information, (n-1) sensing range vehicle position information }, it is forwarded to subsequent (n+1) aware communications node, and by the
(n-1) vehicle of the comprehensive road information into (n-1) aware communications is sent.
(S8) vehicle in the second and n-th aware communications range of nodes obtains itself speed respectively, accelerates control or subtract
Speed control information.
(S9) the sensing range vehicle position information based on the received of the vehicle in the second and n-th aware communications range of nodes,
The distance between current vehicle position and nearest vehicle are calculated, and is believed according to itself current speed in conjunction with current acceleration or deceleration
Breath reaches the time of nearest vehicle.
(S10) vehicle in the second and n-th aware communications range of nodes automatically controls vehicle according to the target vehicle speed of calculating
Acceleration or deceleration operation is executed, and reminds driver.
Wherein, the method that the vehicle within the scope of the first aware communications calculates target vehicle speed, can be, but not limited to following method:
Shooting the wagon flow length that image calculates according to camera is length of the crossing L(to wagon flow end), wagon flow average speed is
V1, the distance of vehicle distances wagon flow end are S, and vehicle itself speed is V2, then vehicle reaches the time of crossing traffic lamp as (L/
V1+S/V2).
According to Current traffic lamp status information, by (L/V1+S/V2) after the time, if traffic lights is green, vehicle
Keep current vehicle speed V2 traveling；If traffic lights is red or yellow, and distance is changed into green light also having time T, calculates mesh
Mark speed are as follows:
V=(L+S)/(L/V1+S/V2+T).
Wherein, the method that the vehicle within the scope of the second to the n-th aware communications calculates target vehicle speed, can be, but not limited to as follows
Method: setting the distance between current vehicle position and nearest front truck as S, and preceding vehicle speed is V1, and vehicle itself speed is V2, then when
S/(V1-V2)=Thres when, keep current vehicle speed；As S/(V1-V2) < Thres when, vehicle deceleration to V2；Work as S/(V1-V2) >
When Thres, vehicle accelerates to V1.
Wherein, system passes through the acceleration or deceleration instruction that calculated target vehicle speed, vehicle DAS (Driver Assistant System) issue
The mode that sound plays or instrument is shown reminds driver.
It should be noted that above-described embodiment is only the example of the division of the above functional modules, practical application
In, it can according to need and complete above-mentioned function distribution by different modules, i.e., internal structure is divided into different function moulds
Block, to complete above-mentioned all or part of function.
The above embodiments are merely a preferred embodiment of the present invention, and cannot limit interest field of the invention with this, because
This is still within the scope of the present invention according to equivalent variations made by scope of the present invention patent.
Claims (7)
1. a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, it is characterised in that: including being laid in road
The visual traffic lamp device of mouth, multiple aware communications nodes of road sensing region and the DAS (Driver Assistant System) for being installed on vehicle；
The visual traffic lamp device for being laid in crossing is used to acquire crossing status information by camera, including when traffic lights
Between state and wagon flow length information, to the first aware communications node send；
Multiple aware communications nodes of the road sensing region include the first aware communications node, the second aware communications node
Deng the vehicle position information in crossing status information and sensing range for receiving the transmission of visual traffic lamp device, to subsequent
The forwarding of aware communications node, and the vehicle into communication range is sent；
The DAS (Driver Assistant System) for being installed on vehicle works as front truck for receiving crossing status information and vehicle position information, calculating
The lower target vehicle speed with crossing traffic lamp or nearest vehicle of speed, it is predicted that traffic light status when reaching crossing automatically controls vehicle and holds
Row acceleration or deceleration operation.
2. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist
In: the visual traffic lamp device includes camera module, traffic lamp module and control module；
The camera module calculates crossing wagon flow length for acquiring the image of crossing；
The traffic lamp module is for acquiring traffic lights time state information；
The control module is used for comprehensive traffic lamp time state and crossing wagon flow length information, sends out to the first aware communications node
It send.
3. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist
In: the vehicle DAS (Driver Assistant System) includes auxiliary Driving control module, control module, deceleration control module, display is accelerated to mention
Awake module；
It is logical to receive perception for obtaining itself speed, accelerating control or control information of slowing down for the auxiliary Driving control module
Believe the crossing status information and vehicle position information that node is sent, calculate under current vehicle speed with crossing traffic lamp or nearest vehicle
Target vehicle speed, it is predicted that traffic light status when reaching crossing, and accelerate control to accelerating control module or deceleration control module to issue
Signal or deceleration control signal；
It is described that control module is accelerated to be used to receive the acceleration control signal that auxiliary Driving control module issues, and execute corresponding vehicle
Accelerate operation；
The deceleration control module is used to receive the deceleration control signal that auxiliary Driving control module issues, and executes corresponding vehicle
Deceleration-operation；
The display alarm module is used to control acceleration or deceleration information by reminding (such as voice, display) mode to remind and drive
The person of sailing.
4. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist
In: specifically comprise the following steps:
Visual traffic lamp device is used to acquire crossing status information, including traffic lights time state and wagon flow length by camera
Information is sent to the first aware communications node；
First aware communications node of road sensing region receives the crossing status information and perception that visual traffic lamp device is sent
Vehicle position information in range generates the first comprehensive road information { traffic lights time state, crossing wagon flow length information, the
One sensing range vehicle position information }, it is forwarded to subsequent the second aware communications node, and by the first comprehensive road information to the
Vehicle within the scope of one aware communications is sent；
Vehicle within the scope of first aware communications obtains itself speed, accelerates control or control information of slowing down；
It is current to calculate vehicle according to traffic lights time state and crossing wagon flow length information for vehicle within the scope of first aware communications
The distance between position and crossing wagon flow terminal position, and current acceleration or deceleration control letter is combined according to itself current speed
Breath reaches the time of crossing wagon flow end, if: when (1) reaching crossing traffic lamp, traffic lights is green light, then keeps current vehicle speed row
It sails；(2) when reaching crossing traffic lamp, traffic lights is red light or amber light, then according to the time for reaching wagon flow end and red light residue
Time calculates target vehicle speed so that it is target that traffic lights, which switchs to green light, when vehicle reaches crossing traffic lamp；
Vehicle within the scope of first aware communications automatically controls vehicle and executes acceleration or deceleration behaviour according to the target vehicle speed of calculating
Make, and reminds driver；
Second aware communications node receives the vehicle in the first comprehensive road information and sensing range of the first aware communications node
Location information generates the second comprehensive road information { traffic lights time state, crossing wagon flow length information, the second sensing range
Vehicle position information }, it is forwarded to subsequent third aware communications node, and integrate road information to the second aware communications for second
Vehicle in range is sent；
Subsequent n-th aware communications node receives (n-1) comprehensive road information of (n-1) aware communications node, and perception
Vehicle position information in range, generate (n-1) comprehensive road information traffic lights time state, crossing wagon flow length information,
(n-1) sensing range vehicle position information }, it is forwarded to subsequent (n+1) aware communications node, and (n-1) is comprehensive
Vehicle of the road information into (n-1) aware communications is sent；
Vehicle in second and n-th aware communications range of nodes obtains itself speed respectively, accelerates control or the control letter that slows down
Breath；
Vehicle in second and n-th aware communications range of nodes sensing range vehicle position information based on the received, calculates vehicle
The distance between current location and nearest vehicle, and combine current acceleration or deceleration information to reach most according to itself current speed
The time of nearly vehicle；
Vehicle in second and n-th aware communications range of nodes automatically controls vehicle and executes acceleration according to the target vehicle speed of calculating
Or deceleration-operation, and remind driver.
5. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist
In: the method that the vehicle within the scope of the first aware communications calculates target vehicle speed are as follows:
If shooting the wagon flow length that image calculates according to camera is length of the crossing L(to wagon flow end), wagon flow is average
Speed is V1, and the distance of vehicle distances wagon flow end is S, and vehicle itself speed is V2, then vehicle reach crossing traffic lamp when
Between be (L/V1+S/V2)；
According to Current traffic lamp status information, by (L/V1+S/V2) after the time, if traffic lights is green, vehicle is kept
Current vehicle speed V2 traveling；If traffic lights is red or yellow, and distance is changed into green light also having time T, calculates target carriage
Speed are as follows:
V=(L+S)/(L/V1+S/V2+T).
6. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist
In: the method that the vehicle within the scope of the second to the n-th aware communications calculates target vehicle speed are as follows:
If the distance between current vehicle position and nearest front truck be S, preceding vehicle speed be V1, vehicle itself speed be V2, then when
S/(V1-V2)=Thres when, keep current vehicle speed；As S/(V1-V2) < Thres when, vehicle deceleration to V2；Work as S/(V1-V2) >
When Thres, vehicle accelerates to V1.
7. as described in claim 1, a kind of vehicle DAS (Driver Assistant System) and device of view-based access control model traffic lights information, feature exist
In: the acceleration or deceleration instruction that calculated target vehicle speed, vehicle DAS (Driver Assistant System) are issued passes through sound broadcasting or instrument
The mode of display reminds driver.
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