CN110097772A - A method of auxiliary driver crosses the crossing of traffic lights - Google Patents
A method of auxiliary driver crosses the crossing of traffic lights Download PDFInfo
- Publication number
- CN110097772A CN110097772A CN201810091698.0A CN201810091698A CN110097772A CN 110097772 A CN110097772 A CN 110097772A CN 201810091698 A CN201810091698 A CN 201810091698A CN 110097772 A CN110097772 A CN 110097772A
- Authority
- CN
- China
- Prior art keywords
- traffic light
- vehicle
- traffic
- light intersection
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention belongs to intelligent driving field, in particular to a kind of method at the crossing for assisting driver to cross traffic lights.Whether driver can be reminded to drive vehicle the present invention provides one kind can be in green time through the judgment method of red street lamp.Traffic light intersection is that motor vehicle has a car accident most places, majority is because can driver be unable to accurate judgement motor vehicle and pass through crossing within green light remaining time, often a lot of drivers are when just arriving crossing, it was found that becoming red light, but speed is very high at this time to brake in time, to cause automobile crash with the other side, if can advance notice car owner by traffic lights before vehicle reaches traffic light intersection, this will be very helpful for driver.
Description
Technical field
The invention belongs to intelligent driving field, in particular to a kind of method at the crossing for assisting driver to cross traffic lights.
Background technique
Traffic light intersection is that motor vehicle has a car accident most places, majority be because driver to be unable to accurate judgement motor-driven
Can vehicle pass through crossing within green light remaining time, and often for a lot of drivers when just to crossing, discovery becomes red light, but this
When speed is very high to brake in time, so that the automobile crash with the other side is caused, if traffic lights road can be reached in vehicle
Can advance notice car owner by traffic lights before mouthful, this will be very helpful for driver, while this law can also be
The result obtained is input to automated driving system, analyzes and uses for automated driving system.
There are also being exactly driver because can not see front traffic light signal caused by myopia or anomalous trichromatism etc. clearly, this method can
Front traffic light signal is shown to Vehicular display device in advance or is played back by audio system, remind in front of driver
The traffic light status.
Patent No. CN201510946454.2 discloses a kind of auxiliary driver judgement based on navigation by traffic lights road
Port system and method, the invention creation are only capable of prompt driver and reach required time when traffic light intersection, need to drive
Member voluntarily observes traffic light status information, there are also be not in real life it is each drive to require to open navigation system, if
Driver can not be reminded by not convincing boat the invention by patient analysis.
Summary of the invention
In order to solve the deficiencies in the prior art the invention discloses a kind of auxiliary method of the driver by traffic light intersection,
Driver vehicle can be reminded to reach traffic lights with present speed using locating module, identification module, output module, processing module
The color and temporal information of traffic lights when crossing, driver can easily judge whether to need to accelerate or slow down.
A kind of auxiliary driver method of crossing traffic light intersection is: when vehicle and first traffic lights of vehicle heading
The distance at crossing obtains current vehicle speed when being L；Obtain the current of first traffic light intersection on vehicle current driving direction
The traffic lights color in lane and time；It calculates and judges when getting information above and current driving direction is reached with current vehicle speed
The traffic light status of current lane when first traffic light intersection；Export the traffic light status result.
A kind of auxiliary driver method of crossing traffic light intersection be it is described when vehicle and vehicle heading first it is red green
Current vehicle speed is obtained when the distance at lamp crossing is L includes:
The position of vehicle is obtained in real time by locating module to compare with transmits information and with traffic light intersection database
It is calculated at a distance from first traffic light intersection of vehicle and driving direction, vehicle is obtained by locating module when this distance is L
Speed.
A kind of auxiliary driver method of crossing traffic light intersection be on the acquisition vehicle current driving direction first it is red
Traffic lights color and the time of the current lane at green light crossing includes:
It is to be identified to obtain lane locating for vehicle by camera, identifies to obtain the traffic lights of current lane by camera
Color and the time or traffic lights color and the time of current lane are obtained by built-in traffic lights time series database.
A kind of auxiliary driver method of crossing traffic light intersection be it is described calculate and judge when getting information above with
The traffic light status of current lane includes: when current vehicle speed reaches first traffic light intersection in current driving direction
Show that vehicle reaches the time required for traffic light intersection divided by car speed with traffic light intersection distance L by vehicle
T1 subtracts T1 with the traffic light time of current lane and obtains T2, judge using the red street lamp color and T2 of current lane
To the traffic light status.
A kind of auxiliary driver method of crossing traffic light intersection is that the output the traffic light status result includes: to pass through
Voice system broadcasts the traffic light status result to remind driver；It shows that red lamp condition result is reminded by display system to drive
Member；Result is delivered to unmanned processing system to use for unmanned processing system.
6, a kind of method that auxiliary driver crosses traffic light intersection is: the range of the L is 10 ~ 300 meters.
A kind of auxiliary driver method of crossing traffic light intersection be the described traffic lights color using current lane with
T2 is judged to obtain the traffic light status
If the traffic lights color of current lane is green and T2 is positive number, it is concluded that current lane when reaching traffic light intersection
Traffic lights color be green, remaining time T2;
If the traffic lights color of current lane is green and T2 is non-positive number, it is concluded that working as front truck when reaching traffic light intersection
The traffic lights color in road is non-green, and runing time is the absolute value of T2;
If the traffic lights color of current lane is non-green and T2 is positive number, it is concluded that working as front truck when reaching traffic light intersection
The traffic lights color in road is non-green, remaining time T2;
If the traffic lights color of current lane is non-green and T2 is non-positive number, it is concluded that current when reaching traffic light intersection
The traffic lights color in lane is green, and runing time is the absolute value of T2.
The beneficial effects of the present invention are: the lane that can be exercised according to vehicle is judged, make result more accurate；It mentions
The preceding traffic lights color and temporal information for informing current lane when driver reaches traffic light intersection with current vehicle speed, drives
Member, which can judge rapidly, adjusts speed operation, furthermore myopia or anomalous trichromatism driver may further determine that traffic lights shape
State；And the module number that the present invention uses is few, and can be detached from navigation system and be independently operated, and result can also be input to nobody
Control loop is analyzed for Unmanned Systems and is used.
Detailed description of the invention
Fig. 1 is single treatment step schematic block diagram of the invention.
Specific embodiment
It elaborates below to the preferred embodiment of the present invention:
The position of vehicle is obtained in real time by locating module to compare with transmits information and with traffic light intersection database
It is calculated at a distance from first traffic light intersection of vehicle and driving direction, is obtained when this distance is 100 meters by locating module
The speed of vehicle is obtained, the speed of vehicle and the driving direction of vehicle are obtained using locating module, naturally it is also possible to pass through vehicle
Velocity sensor obtains, this is well-known technique, after obtaining car speed, is shot and is known by the camera of identification module
It is not currently at which lane, learns that this lane crossing belongs to that type, lane class by comparing with lane database
Type includes turn lane, left turn lane, Through Lane, right-turn lane and combination of these types of type etc., passes through knowledge later
The camera of other module shoots and identifies in driving direction the traffic lights color and the time of first crossing current lane, general
Traffic lights are only labelled with the time in straight trip, thus can also be read out internal traffic lights time series database by with work as
Preceding time comparison carries out the color for assisting obtaining current lane traffic lights at this time and time, it is assumed that current speed is 20 meters every
Second, the color of current lane traffic lights is green, and current lane green light remaining time is 20 seconds, then these information are by processing
Module is judged that judgement show that vehicle reaches traffic light intersection with current vehicle speed and needs 100/20=5 second.5 are subtracted within 20 seconds to be equal to
15, so the traffic light status of current lane is green when vehicle reaches crossing with current vehicle speed, remaining time is 15 seconds,
It can show that this lane traffic lights color is green, remaining time when reaching traffic light intersection this when by display system
It is 15 seconds；Or it carries out broadcasting this result by audio system；Driver obtains this result and carries out acceleration and deceleration operation according to result,
It again or outputs this result to Unmanned Systems and is handled for Unmanned Systems and use, the speed of certain vehicle and work as front truck
The result that the traffic lights color in road also having time difference obtains is also different, if being the time that vehicle reaches traffic light intersection
T1, the traffic light time of current lane subtract T1 equal to T2, then combining judgement with the color of current lane traffic lights according to T2
There are following several results:
If the traffic lights color of current lane is green and T2 is positive number, it is concluded that current lane when reaching traffic light intersection
Traffic lights color be green, remaining time T2;
If the traffic lights color of current lane is green and T2 is non-positive number, it is concluded that working as front truck when reaching traffic light intersection
The traffic lights color in road is non-green, and runing time is the absolute value of T2;
If the traffic lights color of current lane is non-green and T2 is positive number, it is concluded that working as front truck when reaching traffic light intersection
The traffic lights color in road is non-green, remaining time T2;
If the traffic lights color of current lane is non-green and T2 is non-positive number, it is concluded that current when reaching traffic light intersection
The traffic lights color in lane is green, and runing time is the absolute value of T2.
This method of the invention can be integrated with existing automobile data recorder, it is only necessary to increase to automobile data recorder
Locating module, automobile data recorder download traffic lights location database by network, obtain vehicle position by locating module
It sets and driving direction, compares to obtain vehicle distances driving direction first with vehicle location cooperation driving direction and traffic lights database
The distance L of a traffic lights recycles locating module to obtain current vehicle speed, identify using the camera of automobile data recorder current
Lane information obtains the classification in vehicle driving lane by the way which lane recognized and lane database compare, again
The traffic light status is identified using camera, is judged by processing module according to the information recognized, output module output knot
Fruit should be just that automobile data recorder is shown or voice broadcast result here.
Can also be also to cooperate with navigation system, the state of this when of identification traffic lights can use traffic lights database,
It compares to obtain according to current time and traffic lights database, eliminates camera and know method for distinguishing, identify the side in lane
Method does not use camera yet and is identified, but is judged by the route that navigation pre-sets, if being not turned on navigation
Locating module can be used to be positioned, lane locating for vehicle can also also be obtained by carrying out position versus with road number library.
Above explanation is used only to illustrate the present invention, be not to limit the present invention, it is all in spirit of that invention principle
Within make change replacement also should belong to the present invention.
Claims (7)
1. it is a kind of auxiliary driver cross traffic light intersection method it is characterized by: when vehicle and vehicle heading first it is red
The distance at green light crossing obtains current vehicle speed when being L；Obtain first traffic light intersection on vehicle current driving direction
The traffic lights color of current lane and time；It calculates and judges when getting information above and current driving is reached with current vehicle speed
The traffic light status of current lane when first traffic light intersection in direction；Export the traffic light status result.
2. a kind of auxiliary driver according to claim 1 crosses the method for traffic light intersection it is characterized in that described works as vehicle
Obtaining current vehicle speed when being L at a distance from first traffic light intersection of vehicle heading includes:
The position of vehicle is obtained in real time by locating module to compare with transmits information and with traffic light intersection database
It is calculated at a distance from first traffic light intersection of vehicle and driving direction, vehicle is obtained by locating module when this distance is L
Speed.
3. a kind of auxiliary driver according to claim 1 crosses the method for traffic light intersection it is characterized in that the acquisition
The traffic lights color of the current lane of first traffic light intersection includes: with the time on vehicle current driving direction
It is to be identified to obtain lane locating for vehicle by camera, identifies to obtain the traffic lights of current lane by camera
Color and the time or traffic lights color and the time of current lane are obtained by built-in traffic lights time series database.
4. a kind of auxiliary driver according to claim 1 crosses the method for traffic light intersection it is characterized in that described working as obtains
Current lane when reaching first traffic light intersection in current driving direction with current vehicle speed is calculated and judged when getting information above
The traffic light status include:
Show that vehicle reaches the time required for traffic light intersection divided by car speed with traffic light intersection distance L by vehicle
T1 subtracts T1 with the traffic light time of current lane and obtains T2, judge using the red street lamp color and T2 of current lane
To the traffic light status.
5. a kind of auxiliary driver according to claim 1 crosses the method for traffic light intersection it is characterized in that the output
The traffic light status result includes: to broadcast the traffic light status result by voice system to remind driver；It is aobvious by display system
Show that red lamp condition result reminds driver；Result is delivered to unmanned processing system to be made for unmanned processing system
With.
6. according to claim 1 claim 2 it is as claimed in claim 4 it is a kind of auxiliary driver cross traffic light intersection method its
Be characterized in that: the range of the L is 10 ~ 300 meters.
7. a kind of auxiliary driver according to claim 4 crosses the method for traffic light intersection it is characterized in that the use
Traffic lights color and the T2 of current lane are judged to obtain the traffic light status
If the traffic lights color of current lane is green and T2 is positive number, it is concluded that current lane when reaching traffic light intersection
Traffic lights color be green, remaining time T2;
If the traffic lights color of current lane is green and T2 is non-positive number, it is concluded that working as front truck when reaching traffic light intersection
The traffic lights color in road is non-green, and runing time is the absolute value of T2;
If the traffic lights color of current lane is non-green and T2 is positive number, it is concluded that working as front truck when reaching traffic light intersection
The traffic lights color in road is non-green, remaining time T2;
If the traffic lights color of current lane is non-green and T2 is non-positive number, it is concluded that current when reaching traffic light intersection
The traffic lights color in lane is green, and runing time is the absolute value of T2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810091698.0A CN110097772A (en) | 2018-01-30 | 2018-01-30 | A method of auxiliary driver crosses the crossing of traffic lights |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810091698.0A CN110097772A (en) | 2018-01-30 | 2018-01-30 | A method of auxiliary driver crosses the crossing of traffic lights |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110097772A true CN110097772A (en) | 2019-08-06 |
Family
ID=67442724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810091698.0A Pending CN110097772A (en) | 2018-01-30 | 2018-01-30 | A method of auxiliary driver crosses the crossing of traffic lights |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110097772A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113071510A (en) * | 2021-04-12 | 2021-07-06 | 郭宗文 | Vehicle safe driving assistance method, system, computer device, and storage medium |
| CN113212300A (en) * | 2021-05-10 | 2021-08-06 | 首约科技(北京)有限公司 | Vehicle-mounted traffic light identification system |
| CN113492858A (en) * | 2020-04-03 | 2021-10-12 | 深圳市超捷通讯有限公司 | Driving assistance method based on high-precision map and vehicle-mounted device |
| CN115171392A (en) * | 2022-08-04 | 2022-10-11 | 阿波罗智联(北京)科技有限公司 | Method for providing early warning information for vehicle and vehicle-mounted terminal |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070105540A (en) * | 2006-04-26 | 2007-10-31 | 윤언중 | A traffic light device and signal method |
| CN101950478A (en) * | 2010-08-24 | 2011-01-19 | 宇龙计算机通信科技(深圳)有限公司 | Method, system and mobile terminal for prompting traffic light status information |
| CN103559798A (en) * | 2013-11-04 | 2014-02-05 | 苏州大学 | Vehicle-mounted traffic light reminding system |
| CN104252793A (en) * | 2013-06-27 | 2014-12-31 | 比亚迪股份有限公司 | Signal lamp state detecting method, signal lamp state detecting system and vehicle-mounted control device |
| CN105096631A (en) * | 2014-04-29 | 2015-11-25 | 比亚迪股份有限公司 | Traffic condition prompting method, device and system |
-
2018
- 2018-01-30 CN CN201810091698.0A patent/CN110097772A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070105540A (en) * | 2006-04-26 | 2007-10-31 | 윤언중 | A traffic light device and signal method |
| CN101950478A (en) * | 2010-08-24 | 2011-01-19 | 宇龙计算机通信科技(深圳)有限公司 | Method, system and mobile terminal for prompting traffic light status information |
| CN104252793A (en) * | 2013-06-27 | 2014-12-31 | 比亚迪股份有限公司 | Signal lamp state detecting method, signal lamp state detecting system and vehicle-mounted control device |
| CN103559798A (en) * | 2013-11-04 | 2014-02-05 | 苏州大学 | Vehicle-mounted traffic light reminding system |
| CN105096631A (en) * | 2014-04-29 | 2015-11-25 | 比亚迪股份有限公司 | Traffic condition prompting method, device and system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113492858A (en) * | 2020-04-03 | 2021-10-12 | 深圳市超捷通讯有限公司 | Driving assistance method based on high-precision map and vehicle-mounted device |
| US11562648B2 (en) | 2020-04-03 | 2023-01-24 | Mobile Drive Netherlands B.V. | Method for providing assistance to driver based on HD map, and vehicle apparatus applying method |
| CN113071510A (en) * | 2021-04-12 | 2021-07-06 | 郭宗文 | Vehicle safe driving assistance method, system, computer device, and storage medium |
| CN113212300A (en) * | 2021-05-10 | 2021-08-06 | 首约科技(北京)有限公司 | Vehicle-mounted traffic light identification system |
| CN115171392A (en) * | 2022-08-04 | 2022-10-11 | 阿波罗智联(北京)科技有限公司 | Method for providing early warning information for vehicle and vehicle-mounted terminal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11436919B2 (en) | Method and apparatus for determining driving strategy of a vehicle | |
| CN102171737B (en) | Drive assist device and method | |
| CN110375991B (en) | Test road, system and method for lane changing capability of automatic driving vehicle | |
| CN110097772A (en) | A method of auxiliary driver crosses the crossing of traffic lights | |
| CN108394411B (en) | Vehicle follows start control device | |
| US9336183B2 (en) | Vehicle information processing system and driving assistance system | |
| US20160236682A1 (en) | Vehicle driving support system | |
| CN103832282A (en) | Automobile intelligent speed limiting system and automobile speed limiting method | |
| KR101499520B1 (en) | Signal change prediction system and method of traffic light using learning experience data of a driver | |
| CN110382319A (en) | Travel householder method and steering control device | |
| KR20180086632A (en) | Apparatus amd method of determining action of an autonomous vehicle | |
| CN105774806A (en) | Vehicle travelling control device | |
| CN104386063A (en) | Driving assistance system based on artificial intelligence | |
| US10137828B1 (en) | Vehicular notification device | |
| CN109849924B (en) | Curve speed early warning method, system and computer readable storage medium | |
| CN105355066B (en) | A kind of Intelligent Recognition lamp system and method | |
| CN102341835A (en) | Vehicle drive support device | |
| CN104599517A (en) | Intelligent vehicle safety auxiliary control system | |
| CN111462491A (en) | Expressway confluence area traffic conflict early warning method based on ramp control | |
| CN111731296A (en) | Travel control device, travel control method, and storage medium storing program | |
| CN108407806A (en) | Auxiliary driving method and device | |
| CN106384524A (en) | System of assisting driver to determine whether to pass through traffic light intersection based on navigation and method thereof | |
| CN107564336B (en) | Signalized intersection left turn conflict early warning system and early warning method | |
| CN113879325B (en) | Automatic driving auxiliary testing device, method and system | |
| CN113920485A (en) | Vehicle-mounted road pothole reminding method and system based on big data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190806 |
|
| WD01 | Invention patent application deemed withdrawn after publication |