CN115472030A

CN115472030A - Green wave vehicle speed optimization method and device, vehicle and storage medium

Info

Publication number: CN115472030A
Application number: CN202210970355.8A
Authority: CN
Inventors: 苗成生; 张志德
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-12-13
Anticipated expiration: 2042-08-12
Also published as: CN115472030B

Abstract

The application discloses a green wave vehicle speed optimization method, a green wave vehicle speed optimization device, a vehicle and a storage medium, which are applied to the technical field of vehicle driving, wherein the method comprises the following steps: acquiring traffic information of a vehicle on a preset road section; the traffic information comprises traffic state information and a traffic interference state; the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of a preset road section; obtaining an initial driving speed interval of the vehicle according to the traffic state information; updating the initial running speed interval of the vehicle according to the traffic interference state to obtain a traffic optimization speed interval; the green wave speed of the vehicle is adjusted according to the traffic optimized speed, so that the vehicle can pass through the traffic light intersection without stopping at the adaptive green wave speed under the influence of the traffic interference state, and the vehicle passing efficiency of the traffic light intersection is improved.

Description

Green wave vehicle speed optimization method and device, vehicle and storage medium

Technical Field

The application relates to the technical field of vehicle driving, in particular to a green wave vehicle speed optimization method and device, a vehicle and a storage medium.

Background

With the development of the automobile industry, vehicles in cities are more and more, the traffic jam of the vehicles at traffic intersections is serious in peak hours (such as commuting hours), and the vehicles can pass after the vehicles stop at the traffic intersections and wait for the periodic change of the traffic lights even in off-peak hours (such as night hours), so that the passing efficiency of the vehicles at the traffic intersections is low.

Disclosure of Invention

The application provides a green wave vehicle speed optimization method, a green wave vehicle speed optimization device, a vehicle and a storage medium, so as to improve the vehicle passing efficiency of a traffic light intersection.

A green wave vehicle speed optimization method includes:

acquiring traffic information of the vehicle on a preset road section; wherein the traffic information comprises traffic state information and a traffic interference state;

the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of the preset road section;

obtaining an initial driving speed interval of the vehicle according to the traffic state information;

updating the initial driving speed interval of the vehicle according to the traffic interference state to obtain a traffic optimized speed interval;

and adjusting the green wave speed of the vehicle according to the traffic optimization speed interval.

A green wave vehicle speed optimization method device comprises the following steps:

the traffic information acquisition module is used for acquiring traffic information of the vehicle on a preset road section; wherein the traffic information comprises traffic state information and a traffic interference state; the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of the preset road section;

the initial speed interval calculation module is used for obtaining an initial driving speed interval of the vehicle according to the traffic state information;

the traffic optimization speed calculation module is used for updating the vehicle initial running speed interval according to the traffic interference state to obtain a traffic optimization speed interval;

and the vehicle speed adjusting module is used for adjusting the green wave vehicle speed of the vehicle according to the traffic optimization speed interval.

A vehicle comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implementing the steps of the green wave vehicle speed optimization method described above when executing the computer program.

A computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described green wave vehicle speed optimization method.

According to the green wave vehicle speed optimization method, the green wave vehicle speed optimization device, the vehicle and the storage medium, traffic information of the vehicle on a preset road section is obtained; the traffic information comprises traffic state information and a traffic interference state; the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of a preset road section; obtaining an initial driving speed interval of the vehicle according to the traffic state information; the initial vehicle running speed interval is obtained under the limitation of traffic state information, the calculated initial vehicle running speed interval is less than or equal to the highest speed limit of a preset road section, the accuracy and the practicability of the green wave vehicle speed guiding function of the vehicle are improved, the obtained initial vehicle running speed interval is ensured to accord with traffic rules, the driving safety of the vehicle is improved, the initial vehicle running speed interval is adjusted according to the influence of a traffic interference state on the initial vehicle running speed interval, the traffic optimized speed interval is obtained, the vehicle can run at any speed in the traffic optimized speed interval and can pass through a traffic light intersection without stopping, and the vehicle passing efficiency of the traffic light intersection is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic diagram of an application environment of a green wave vehicle speed optimization method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of another application environment of the green wave vehicle speed optimization method in an embodiment of the present application;

FIG. 3 is a schematic diagram of another application environment of the green wave vehicle speed optimization method according to an embodiment of the present application;

FIG. 4 is a flow chart of a green wave vehicle speed optimization method in an embodiment of the present application;

FIG. 5 is a schematic diagram of a driving speed coordinate of a vehicle passing through a continuous 2 traffic light intersection in a green wave vehicle speed optimization method according to an embodiment of the present application;

FIG. 6 is a flow chart of a green wave vehicle speed optimization method in yet another embodiment of the present application;

FIG. 7 is a flow chart of a green wave vehicle speed optimization method in yet another embodiment of the present application;

FIG. 8 is a schematic coordinate diagram of an initial driving speed interval of a vehicle according to an embodiment of the present application;

FIG. 9 is a flow chart of a green wave vehicle speed optimization method in yet another embodiment of the present application;

FIG. 10 is a schematic diagram of coordinates of a vehicle disturbance state representation running speed trajectory and a vehicle initial running speed interval without disturbance in a green wave vehicle speed optimization method according to an embodiment of the application;

FIG. 11 is a schematic diagram of coordinates of a vehicle disturbance state representation driving speed trajectory and a vehicle initial driving speed interval with disturbance in a green wave vehicle speed optimization method according to an embodiment of the present application;

FIG. 12 is a flow chart of a green wave vehicle speed optimization method according to yet another embodiment of the present application;

FIG. 13 is a schematic coordinate diagram illustrating obtaining a target optimized speed according to a driving speed trajectory in the green wave vehicle speed optimization method according to the embodiment of the present application;

FIG. 14 is a schematic structural diagram of a green wave vehicle speed optimizing device according to an embodiment of the present application;

fig. 15 is a schematic view of an internal structure of the vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The green wave vehicle speed optimization method provided by the embodiment of the application can be applied to application environments shown in fig. 1, fig. 2 and fig. 3.

As shown in fig. 1, the application environment includes a Vehicle HV, a traffic light intersection including a traffic light, a roadside communication device (RSU) and an intersection signal, wherein the Vehicle HV has a V2I (Vehicle to Road) communication capability and a V2V (Vehicle to Vehicle) communication capability, the traffic light is used for indicating Vehicle HV passing, the roadside communication device and the intersection signal are used for sending out traffic information, and the Vehicle HV obtains the traffic information from the roadside communication device and the intersection signal through the V2I (Vehicle to Road) communication capability;

as shown in fig. 2, the application environment includes a Vehicle H, an interfering Vehicle R, and a traffic light intersection including a traffic light, a roadside to Road communication device (RSU) and an intersection signal, wherein the Vehicle H and the interfering Vehicle R both have a V2I (Vehicle to Road) communication capability and a V2V (Vehicle to Vehicle) communication capability, the traffic light is used for indicating the Vehicle H and the interfering Vehicle R to pass through, the roadside communication device and the intersection signal are used for sending out traffic information, the Vehicle H and the interfering Vehicle R acquire the traffic information from the roadside communication device and the intersection signal through the V2I (Vehicle to Road) communication capability, and the Vehicle H acquires the traffic state information of the interfering Vehicle R from the interfering Vehicle R through the V2V communication capability.

As shown in fig. 3, the application environment includes a Vehicle H, at least 2 traffic light intersections (2 traffic light intersections are shown in the figure), each traffic light intersection includes a traffic light, a roadside communication device (RSU) and an intersection signal, wherein the Vehicle H has a V2I (Vehicle to Road) communication capability and a V2V (Vehicle to Vehicle) communication capability, the traffic light is used for indicating the Vehicle H to pass, the roadside communication device and the intersection signal are used for sending out traffic information, and the Vehicle H obtains the traffic information from the roadside communication device and the intersection signal through the V2I (Vehicle to Road) communication capability.

In an embodiment, as shown in fig. 4, a green wave vehicle speed optimization method is provided, which is described by taking a vehicle H in the application environment of fig. 1, 2 and 3 as an example, and includes the following steps S201 to S203:

s201: acquiring traffic information of a vehicle on a preset road section; the traffic information comprises traffic state information and a traffic interference state; the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of a preset road section.

The Vehicle has V2I (Vehicle to Road) communication capacity and V2V (Vehicle to Vehicle) communication capacity;

the preset road section is a road section where a red road lamp intersection is located, wherein the red road lamp intersection is required to be passed by a vehicle at present;

if the number of the traffic light intersections is at least 2, the first traffic light distance information comprises the distance from the vehicle to each stop line of the traffic light intersection, and if the number of the traffic light intersections is 1, the first traffic light distance information comprises the distance from the vehicle to the stop line of the traffic light intersection;

the traffic light period information includes red and yellow light period durations (e.g., 35S), green light period durations (e.g., 30S);

the traffic light state information includes a light-on state of the traffic light and remaining time of the light-on state.

The traffic disturbance state includes a non-interfering vehicle in front of the vehicle and a disturbing vehicle in front of the vehicle.

Specifically, the traffic information of the preset road section is acquired from road side communication equipment and a crossing signal machine arranged on the preset road section through the V2I communication capacity and the V2V communication capacity of the vehicle.

S202: and obtaining an initial driving speed interval of the vehicle according to the traffic state information.

Specifically, the first traffic light distance information, the traffic light period information, the traffic light state information and the highest speed limit of a preset road section can be acquired according to the traffic state information, so that the traffic state information can be calculated, and the initial driving speed interval of the vehicle can be obtained.

S203: and updating the initial running speed interval of the vehicle according to the traffic interference state to obtain a traffic optimized speed interval.

The traffic interference state comprises an interference-free vehicle in front of the vehicle and an interference-free vehicle in front of the vehicle, wherein the interference-free vehicle in front of the vehicle can be on the same lane of the preset road section, and the interference-free vehicle in front of the vehicle can be on the same lane of the preset road section.

When the traffic interference vehicle is in an interference-free state in front of the vehicle, comparing the highest speed limit of a preset road section with the initial running speed interval of the vehicle to obtain a traffic optimization speed interval; when the traffic interference vehicle is an interference vehicle in front of the vehicle, the running speed track of the interference vehicle is obtained, and the initial running speed interval of the vehicle is updated according to the running speed track of the interference vehicle, so that a traffic optimized speed interval is obtained, the running speed track of the interference vehicle can be obtained by obtaining the vehicle state information and traffic information of the interference vehicle through the V2V communication capacity of the vehicle for calculation, or can be obtained by calculating the interference vehicle according to the vehicle state information and traffic information of the interference vehicle, and the vehicle can be obtained from the interference vehicle through the V2V communication capacity.

S204: and adjusting the green wave speed of the vehicle according to the traffic optimized speed interval.

The traffic optimized speed interval is the speed of the vehicle reaching the stop line of the traffic light intersection, and comprises the lowest green wave vehicle speed, the highest green wave vehicle speed and the green wave vehicle speed between the lowest green wave vehicle speed and the highest green wave vehicle speed when the vehicle reaches the stop line of the traffic light intersection, so that the filtering vehicle speed of the vehicle can be adjusted according to the traffic optimized speed interval.

For a better understanding of the inventionReferring to fig. 5, fig. 5 provides a schematic diagram of a driving speed coordinate of a vehicle passing through a continuous 2-traffic light intersection, wherein the abscissa is time/second, and the ordinate is distance/meter, S _0-1 Is the distance from the vehicle to the stop line of the first traffic light intersection, S _0-2 Distance, V, from vehicle to stop line at second traffic light intersection _0-1 Continuously passing through 2 traffic light intersections for the vehicle at the lowest green wave speed corresponding to the target traffic light intersection, V _0-2 The vehicle continuously passes through the running track of 2 traffic light intersections at the highest green wave speed corresponding to the target traffic light intersection.

In the embodiment, a green wave vehicle speed optimization method is provided, which includes acquiring traffic information of a vehicle on a preset road section; the traffic information comprises traffic state information and a traffic interference state; the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of a preset road section; obtaining an initial running speed interval of the vehicle according to the traffic state information, and determining the vehicle; updating the initial running speed interval of the vehicle according to the traffic interference state to obtain a traffic optimization speed interval; the green wave vehicle speed of the vehicle is adjusted according to the traffic optimized speed interval, in the embodiment, the initial vehicle running speed interval is obtained by calculating the traffic state information and is obtained under the limitation of the traffic state information, the calculated initial vehicle running speed interval is less than or equal to the highest speed limit of a preset road section, the accuracy and the practicability of the green wave vehicle speed guiding function of the vehicle are improved, the obtained initial vehicle running speed interval is ensured to accord with traffic rules, the driving safety of the vehicle is further improved, the initial vehicle running speed interval is adjusted according to the influence of a traffic interference state on the initial vehicle running speed interval, the traffic optimized speed interval is obtained, the vehicle can run at any speed in the traffic optimized speed interval, the vehicle does not stop passing through a traffic light intersection, and the vehicle running efficiency of the traffic light intersection is improved.

In some optional implementations of this embodiment, as shown in fig. 6, in step S202, when the traffic disturbance state is a disturbance-free vehicle in front of the vehicle, the obtaining of the vehicle initial travel speed section according to the traffic state information includes the following steps S2020a to S2020g:

s2020a: acquiring current first vehicle state information of a vehicle; the first vehicle state information comprises current first running speed and first time information, and the number n of the traffic light intersections, first counting values i of n traffic light intersections, a first distance difference sequence and second counting values j of n first distance differences in the first distance difference sequence are determined according to the first traffic light distance information, wherein the initial values of i and j are 1.

Specifically, the distances from the stop lines of the traffic light intersections to the front ends of the vehicles are obtained from the first traffic light distance information and are sequenced from small to large to obtain a first distance sequence, and a difference value is calculated according to the first distance sequence to obtain a distance difference between two adjacent traffic light intersections to obtain a first distance difference sequence;

the first count value i of the n traffic light intersections is used for determining a target traffic light intersection;

the first distance difference sequence includes n first distance differences (the number of the first distance differences is equal to the number of the traffic light intersections), and second count values j of the n first distance differences in the first distance difference sequence are used for determining first distance differences corresponding to the target traffic light intersections, namely the target first distance differences.

Illustratively, assuming that the number of the traffic light intersections is 4, the first distance sequence is [0n1 n2 n3 n4], wherein 0 is a distance initial value, n1 is a distance from the vehicle to a stop line of the first traffic light intersection, n2 is a distance from the vehicle to a stop line of the second traffic light intersection, n3 is a distance from the vehicle to a stop line of the third traffic light intersection, and n4 is a distance from the vehicle to a stop line of the fourth traffic light intersection, the first distance sequence is subjected to difference calculation, i.e., [ c1= n1-0 c2= n2-n 1c 3= n3-n2 c4= n4-n3], so as to obtain a first distance difference sequence, i.e., [ c 1c 2 c 3], wherein c1 is a first distance difference between the distance from the vehicle to the stop line of the first traffic light intersection and the distance initial value, c2 is a first distance difference between the stop line of the second traffic light intersection and the first traffic light intersection, c3 is a first distance difference between the stop line of the third traffic light intersection, and the fourth traffic light intersection is a fourth traffic light intersection;

the first count value i = [ 12 3] of 4 traffic light intersections, wherein the first count value 1 represents a first traffic light intersection, the first count value 2 represents a second traffic light intersection, and the like; the first distance difference sequence includes 4 first distance differences, a second count value j = [ 12 3] of the 4 first distance differences, the second count value 1 represents a first distance difference corresponding to a first traffic light intersection, the second count value 2 represents a first distance difference corresponding to a second traffic light intersection, and so on, in other words, when i =1, j =1, it represents that a first distance difference in the first distance difference sequence corresponding to the first traffic light intersection (i.e., the target traffic light intersection) is c1 (i.e., the target first distance difference), when i = i +1=2, j = j 1=2, it represents that a first distance difference in the first distance difference sequence corresponding to the second traffic light intersection (i.e., the target traffic light intersection) is c2 (i.e., the target first distance difference), and so on.

The first traffic light distance information can be obtained by calculating the position information of the vehicle and the position information of each traffic light, and the first time information can be represented as 13 hours, 23 minutes and 05 seconds in 3 months, 21 months and 13 hours in 2022 years.

S2020b: and when the first count value i and the second count value j are smaller than or equal to the number n of the traffic light intersections, determining a target first distance difference in the first distance difference sequence according to the second count value j, and obtaining intersection passing time of the vehicle as first green light passing time according to the first time information, the target first distance difference and the first running speed.

When the first count value i is smaller than or equal to the number n of the traffic light intersections, the target traffic light intersection can be determined according to the first count value i, and further, the first distance difference in the first distance difference sequence is determined according to a second count value j of n first distance differences in the first distance difference sequence to serve as the target first distance difference.

The first green light passing time is the time required by the vehicle to reach a stop line of a traffic light intersection.

Specifically, the first green light passing time is calculated according to the following formula (1):

in the formula, t ₁ Is the first green light passing time, t ₀ As information of the first time, S ₀ Is a first distance difference of the object, V ₁ The first travel speed.

S2020c: and obtaining a first green light duration interval according to the traffic light state information, the first time information and the traffic light period information.

The first green light duration interval is the starting time and the stopping time of the green light lighting state relative to the vehicle, the lighting state of the traffic light can be determined according to the traffic light state information, the remaining time of the lighting state is obtained, and the remaining time of the lighting state, the first time information and the traffic light period information are calculated to obtain the first green light duration interval.

Alternatively, when the lighting states of the red and green lamps are red and yellow, the first green lamp duration interval may be obtained according to the following formula (2):

in the formula, K _G (a ₀ ，a ₁ ) Is the first green lamp duration interval, t ₀ Is information of a first time, t _s Time remaining for a lit condition, T _G For the duration of the red light and yellow light periods in the traffic light period information, it should be noted that a is ₁ Stop time representing the lighting state of the green light, a ₀ And representing the starting moment of the green light lighting state.

For example, when the red and green lights are turned on in the red and yellow lights, assuming that the first time information of the vehicle is 13 hours 00 minutes 00 seconds, the remaining time of the red and yellow lights is 10 seconds, the cycle of the red and yellow lights is 35 seconds, and the cycle of the green light is 30 seconds, the start time of the green light is: 13 hours 00 minutes 00 seconds +10 seconds =13 hours 00 minutes 10 seconds, and the stop time of the green light is: 13 hours 00 min 00 sec +10S +30S =13 hours 00 min 40 sec, so the first green lamp duration interval is: (13 hours 00 minutes 10 seconds, 13 hours 00 minutes 40 seconds).

Alternatively, when the lighting state of the red-green lamp is a green lamp, the first green lamp duration interval may be obtained according to the following formula (3):

in the formula, K _G (a ₀ ，a ₁ ) Is the first green duration interval, t ₀ Is information of a first time, t _s Time remaining for a lit condition, T _G For the duration of the red light and yellow light periods in the traffic light period information, it should be noted that, in particular, a ₁ Stop time representing the lighting state of the green light, a ₀ And representing the starting moment of the green light lighting state. For example, when the lighting state of the red/green light is green, assuming that the first time information of the vehicle is 13 hours 00 minutes 00 seconds, the remaining time of the green light is 10 seconds, the cycle of the red light and the yellow light is 35 seconds, and the cycle of the green light is 30 seconds, the start time of the green light is: 13 hours 00 minutes 00 seconds + (10 seconds-30 seconds) =12 hours 59 minutes 40 seconds, and the stop time of the green light is: 13 hours 00 min 00 sec +10 sec =13 hours 00 min 10 sec, so the first green duration interval is: (12 hours 59 minutes 40 seconds, 13 hours 00 minutes 10 seconds).

S2020d: and if the first green light passing time belongs to the first green light duration time interval, taking the first running speed as the initial running speed of the vehicle to obtain the initial running speed interval of the vehicle.

In this step, since the first road traffic time belongs to the first green light duration time interval, the vehicle can pass through the traffic light intersection at a constant speed with the first running speed being maintained unchanged, and thus the vehicle initial running speed interval of the target traffic light intersection is obtained by taking the first running speed as the vehicle initial running speed.

When the light-on state of the red light and the green light is green light, the first green light passing time belongs to a first green light duration time interval, and the first green light passing time indicates that the vehicle can pass through a traffic light intersection at a first running speed, so that an initial running speed interval of the vehicle is obtained.

When the red and green lights are in the red and yellow light states, the first green light passing time belongs to the first green light duration time interval, and the first green light passing time indicates that the vehicle can pass through the traffic light intersection at the first running speed, so that the initial running speed interval of the vehicle is obtained.

S2020e: and if the first green light passing time does not belong to the first green light duration time interval, optimizing the first running speed to obtain the initial running speed interval of the vehicle.

When the light-on state of the red and green lights is green, the first green light passing time does not belong to the first green light duration time interval, which indicates that the vehicle cannot pass through the traffic light intersection at the first running speed, and the first running speed needs to be optimized to obtain the vehicle initial running speed interval of the target traffic light intersection.

When the red and green lights are in the red and yellow light states, the first green light passing time does not belong to the first green light duration time interval, which indicates that the vehicle cannot pass through the traffic light intersection at the first running speed, and the first running speed needs to be optimized to obtain the vehicle initial running speed interval of the target traffic light intersection.

S2020f: and updating the first running speed and the first time information according to the initial running speed interval of the vehicle and the first green light duration interval.

The vehicle initial driving speed interval comprises a minimum initial driving speed, a maximum initial driving speed and a speed between the minimum initial driving speed and the maximum initial driving speed, the first green light duration interval comprises a first green light starting time (namely the time when the vehicle reaches a stop line of the traffic light intersection earliest), a first green light stopping time (namely the time when the vehicle reaches the traffic light intersection at the latest to stop), and a time between the first green light starting time and the first green light stopping time, and the speed in the vehicle initial driving speed interval corresponds to the time in the first road light duration interval one to one. In order to ensure that the vehicle quickly passes through the traffic light intersection, updating the first running speed and the first time information according to the initial running speed interval and the first green light duration interval of the vehicle specifically comprises the following steps: the method comprises the steps of obtaining a speed in an initial driving speed interval of a vehicle as a first driving speed, and using the time of a first green light duration interval corresponding to the speed as first time information. For example, if the maximum initial travel speed is set as the first travel speed, the first start green time corresponding to the maximum initial travel speed is set as the first time information.

S2020g: and updating the first count value i and the second count value j according to a preset first step value, and returning to the step that when the first count value i and the second count value j are smaller than and equal to the number n of the traffic light intersections, a target first distance difference in the first distance difference sequence is determined according to the second count value j, intersection passing time of the vehicle is obtained according to the first time information, the target first distance difference and the first traveling speed and is used as the first green light passing time, and the step is continuously executed until the first count value i and/or the second count value j are larger than the number n of the traffic light intersections, so that initial traveling speed intervals of the vehicle at the n traffic light intersections are sequentially obtained, wherein i, j and n are positive integers.

The preset first step value is 1, and the first count value i and the second count value j are updated according to the preset first step value, specifically: the first count value i is added to the preset first step value to update the first count value i, i.e., i = i +1, and the second count value j is added to the preset first step value to update the second count value j, i.e., j = j +1.

In the embodiment, a first green light passing time and a first green light duration time interval of the vehicle are obtained, wherein the first green light passing time is a moment when the vehicle runs to a stop line of a traffic light intersection at a first running speed; if the first green light passing time belongs to the first green light duration time interval, the fact that the vehicle can pass through the traffic light intersection at the first running speed is indicated, and the first running speed is used as the passing optimization speed; if the first green light passing time does not belong to the first green light duration time interval, it is indicated that the vehicle cannot pass through the traffic light intersection at the first running speed, the first running speed needs to be optimized to obtain a vehicle initial running speed interval, and the purpose that the vehicle can pass through the traffic light intersection in the current period by judging whether the vehicle can run at the first running speed is achieved.

In some optional implementations of this embodiment, as shown in fig. 7, in step S2020E, optimizing the first driving speed to obtain an initial driving speed interval of the vehicle, includes the following steps E1 to E4:

and E1, obtaining the first speed-limiting passing time of the vehicle according to the first distance difference of the target and the highest speed limit of the preset road section.

The first speed-limiting passing time is the shortest time for the vehicle to reach a stop line of a traffic light intersection under the highest speed limit of a preset road section.

Specifically, the first speed-limiting passing time of the vehicle can be obtained according to the following formula (4):

in the formula, T _min Is the first speed limit transit time, s ₀ Is a first distance difference of the object, v _max Is the highest speed limit of the preset road section.

E2: and obtaining the minimum traffic light passing period of the vehicle as the first traffic light passing period according to the first time information, the first green light duration interval and the first speed limit passing time.

Wherein, the first traffic light passing period can be obtained according to the following formula (5):

K _G (a ₀ ，a ₁ )+(T _G +T _R )N _min ≥T _min +t ₀ (5)

in the formula, K _G (a ₀ ，a ₁ ) For the first green lamp duration interval, N _min For the first green light passage period, T _min Is the first speed limit transit time, T _G For red and yellow light cycle durations, T, in traffic light cycle information _R For the duration of the green light period, t, in the traffic light period information ₀ Is the first time information, wherein, N _min Are integers.

For example, when the red and green lights are in the red and yellow light lighting states, it is assumed that the first green light duration interval of the vehicle is (13 hours 00 minutes 10 seconds, 13 hours 00 minutes 40 seconds), at this time, the first time information is 13 hours 00 minutes 00 seconds, the first speed-limited transit time is 50 seconds, that is, the time when the vehicle arrives at the intersection of the traffic light is 13 hours 00 minutes 50 seconds, the red and yellow light cycle duration is 35 seconds, the green light cycle duration is 30 seconds, and when N is greater than N, the vehicle is in the red and yellow light cycle duration _min When 0, the time when the vehicle reaches the traffic light intersection is 13 hours 00 minutes 50 seconds which is larger than the range of the first green light duration interval of the vehicle, therefore, the time N is needed _min1 Adding 1 when N _min When the time is 1, the duration time interval of the first green light is changed to (13 hours 01 minutes 15 seconds, 13 hours 01 minutes 45 seconds), the time when the vehicle reaches the traffic light intersection is 13 hours 00 minutes 50 seconds and is smaller than the range of the duration time interval of the first green light of the vehicle, N _min Is greater than or equal to 1, therefore, N _min Is 1.

For another example, when the lighting state of the red/green light is green, it is assumed that the first green light duration interval of the vehicle is (12 hours, 59 minutes, 40 seconds, 13 hours, 00 minutes, 10 seconds), at this time, the first time information is 13 hours, 00 minutes, 00 seconds, the first speed-limited transit time is 50 seconds, that is, the time when the vehicle reaches the intersection of the traffic lights is 13 hours, 00 minutes, 50 seconds, the cycle durations of the red light and the yellow light are 35 seconds, the cycle duration of the green light is 30 seconds, and when N is equal to N, the first speed-limited transit time is 50 seconds _min When 0, the time when the vehicle reaches the traffic light intersection is 13 hours 00 minutes 50 seconds which is larger than the range of the first green light duration interval of the vehicle, therefore, the time N is needed _min1 Adding 1 when N _min When the time is 1, the duration time interval of the first green light is changed to (13 hours 00 minutes 45 seconds, 13 hours 01 minutes 05 seconds), and the time when the vehicle reaches the intersection of the traffic lights is13 hours 00 minutes 50 seconds belong to the range of the first green duration interval of the vehicle, N _min Is greater than or equal to 1, therefore, N _min Is 1.

E3: and obtaining second green light passing time of the vehicle according to the first time information, the first green light duration interval, the traffic light period information and the first traffic light passing period.

The shorter the second green light passing time is, the faster the vehicle passes through the traffic light intersection, and the second green light passing time can be calculated according to the following formula (6):

in the formula, T _min2 For the second green light passage time, t ₀ Is first time information, a ₀ Is the starting time of the first green lamp duration interval, a ₁ At the stop time of the first green duration interval, T _G For red and yellow light cycle durations, T, in traffic light cycle information _R For the duration of the green light period, N, in the traffic light period information _min Is the first traffic light passing cycle.

For example, when the red and green lights are turned on, assuming that the start time of the first green light duration interval of the vehicle is 13 hours 00 minutes 10 seconds, the stop time of the first green light duration of the vehicle is 13 hours 00 minutes 40 seconds, at this time, the first time information is 13 hours 00 minutes 00 seconds, the red and yellow light cycle duration is 35 seconds, the green light cycle duration is 30 seconds, and the first traffic light passing period is 1, the shortest time of the second green light passing time is (13 hours 00 minutes 10 seconds — 13 hours 00 minutes 00 seconds + (30 seconds +35 seconds) = 1) =75 seconds, and the longest time of the second green light passing time is (13 hours 00 minutes 40 seconds — 13 hours 00 minutes 00 seconds + (30 seconds +35 seconds) = 1) =105 seconds, so the second green light passing time is [75, 105].

For example, when the lighting state of the red/green light is a green light, it is assumed that the start time of the first green light duration section of the vehicle is 12 hours, 59 minutes and 40 seconds, the stop time of the first green light duration section of the vehicle is 13 hours, 00 minutes and 10 seconds, at this time, the first time information is 13 hours, 00 minutes and 00 seconds, the red light and yellow light cycle duration is 35 seconds, the green light cycle duration is 30 seconds, and the first traffic light passing cycle is 1, the shortest time of the second green light passing time is (12 hours, 59 minutes, 40 minutes, 13 hours, 00 minutes and 00 seconds + (30 seconds +35 seconds) = 1) =45 seconds, and the longest time of the second green light passing time is (13 hours, 10 minutes, 13 hours, 00 minutes and 00 seconds + (30 seconds +35 seconds) = 1) =75 seconds, so the second green light passing time is [45, 75].

E4: and optimizing the first running speed according to the target first distance difference and the second green light passing time to obtain an initial running speed interval of the vehicle.

The initial vehicle running speed interval can be the lowest green wave speed of the vehicle reaching the stop line of the traffic light intersection, the highest green wave speed of the vehicle reaching the stop line of the traffic light intersection and any speed between the lowest green wave speed and the highest green wave speed, and the speed in the initial vehicle running speed interval is used as the green wave vehicle speed of the vehicle, wherein the higher the green wave vehicle speed is, the higher the vehicle passing efficiency of the traffic light intersection is.

Wherein, the vehicle initial driving speed interval can be calculated according to the following formula (7):

in the formula, V _b For an initial driving speed interval of the vehicle, S ₀ Is a first distance difference of the object, T _min2 The second green light pass time.

Illustratively, assuming that the target first distance difference is 25 meters, when the lighting states of the red and green lights are yellow and red, and the second green light passing time is [75 seconds, 105 seconds ], the initial driving speed interval of the vehicle obtained according to the above formula (7) is [0.23 meters/second, 0.33 meters/second ], where 0.23 meters/second is the lowest green wave speed at which the vehicle reaches the stop line of the traffic light, and 0.33 meters/second is the highest green wave speed at which the vehicle reaches the stop line of the traffic light, so as to optimize the first driving speed.

For another example, assuming that the target first distance difference is 25 meters, when the light state of the red and green lights is green light, and the second green light passing time is [45 seconds, 75 seconds ], the vehicle initial driving speed interval obtained according to the above formula (7) is [0.33 meters/second, 0.55 meters/second ], where 0.33 meters/second is the lowest green wave speed at which the vehicle reaches the stop line of the traffic light, and 0.55 meters/second is the highest green wave speed at which the vehicle reaches the stop line of the traffic light, thereby optimizing the first driving speed.

For a better understanding of this step, FIG. 8 provides a coordinate diagram of the vehicle initial travel speed interval, as shown in FIG. 8, S ₀ Is the target first distance difference, t _min2-0 When the bright states of the traffic lights are yellow and red, the shortest time, t, of the second green light passing time _min2-1 When the lighting state of the traffic light is yellow light and red light, the maximum time of the second green light passing time, t _min2-2 When the lighting state of the traffic light is green, the shortest time, t, of the second green light passing time _min2-3 When the lighting state of the traffic light is green, the longest time V of the second green light passing time _low1 When the light state of the traffic light is yellow light and red light, the lowest green wave speed V in the initial running speed of the vehicle _high1 When the light state of the traffic light is yellow light and red light, the lowest green wave speed V in the initial running speed of the vehicle _low2 When the light state of the traffic light is green, the lowest green wave speed V in the initial running speed of the vehicle _high2 The highest green wave speed in the initial running speed of the vehicle is the vehicle speed when the light-on state of the traffic light is green.

In the embodiment, the first speed-limiting passing time of the vehicle is obtained according to the target first distance difference and the highest speed limit of the preset road section, wherein the first speed-limiting passing time is the time from the vehicle to the stop line of the traffic light intersection under the limitation of the highest speed limit of the preset road section; obtaining the minimum traffic light passing period of the vehicle as a first traffic light passing period according to the first time information, the first green light duration interval and the first speed limit passing time; obtaining second green light passing time of the vehicle according to the first time information, the first green light duration interval, the traffic light period information and the first traffic light passing period; according to the first traffic light distance information and the second green light passing time, the passing optimized speed is obtained, the second green light passing time when the vehicle passes through the traffic light intersection without stopping is calculated, so that the initial vehicle running speed interval is obtained, the highest speed limit of the preset road section and the limitation of the traffic state information can be ensured to be less than or equal to the highest speed limit of the preset road section, the accuracy and the practicability of the green wave vehicle speed guiding function of the vehicle can be improved, the obtained initial vehicle running speed interval is ensured to accord with the traffic rules, the driving safety of the vehicle is improved, the vehicle is ensured to pass through the traffic light intersection without stopping, and the passing efficiency of the traffic light intersection is improved.

In some optional implementation manners of this embodiment, as shown in fig. 9, in step S202, when the traffic disturbance state is a disturbance vehicle in front of the vehicle, the vehicle initial driving speed interval is updated according to the traffic disturbance state to obtain a traffic optimized speed interval, which includes the following steps S2021a to S2021e:

s2021a: acquiring current second vehicle state information and second traffic light distance information of the interference vehicle; the second vehicle state information comprises the current second driving speed and second time information, and the number m of the traffic light intersections, the third counting values x of the m traffic light intersections, the second distance difference sequence and the fourth counting values y of the m second distance differences in the second distance difference sequence are determined according to the second traffic light distance information, wherein the initial values of x and y are 1.

When the number of the traffic light intersections of the preset road section is at least 2, the second traffic light distance information comprises the distance from the interfering vehicle to the stop line of each traffic light intersection, and when the number of the traffic light intersections of the preset road section is 1, the second traffic light distance information comprises the distance from the interfering vehicle to the stop line of the traffic light intersection.

Specifically, the second traffic light distance information is acquired from roadside communication equipment and intersection signal machines arranged on a preset road section through the V2I communication capacity and the V2V communication capacity of the interfering vehicle, and the second green light distance information is acquired from the interfering vehicle through the V2V communication capacity of the vehicle.

the third counting value x of the m traffic light intersections is used for determining the target traffic light intersection;

the second distance difference sequence includes m second distance differences (the number of the second distance differences is equal to the number of the traffic light intersections), and a fourth count value y of the m second distance differences in the second distance difference sequence is used for determining a second distance difference corresponding to the target traffic light intersection, that is, a target second distance difference.

Illustratively, assuming that the number of the traffic light intersections is 4, the second distance sequence is [0m1 m2 m3 m4], wherein 0 is a distance initial value, m1 is a distance from the interfering vehicle to a first traffic light intersection stop line, m2 is a distance from the interfering vehicle to a second traffic light intersection stop line, m3 is a distance from the interfering vehicle to a third traffic light intersection stop line, and m4 is a distance from the interfering vehicle to a fourth traffic light intersection stop line, the second distance sequence is subjected to difference calculation, i.e., [ d1= m1-0 c2= m2-m 1c 3= m3-m2 c4= m4-m3], so as to obtain a second distance difference sequence, i.e., d = [ d 1d2 d3 d4], wherein d1 is a second difference between the distance from the interfering vehicle to the first traffic light intersection stop line and the distance initial value, d2 is a second difference between the distance from the second traffic light intersection stop line and the first traffic light intersection stop line, d3 is a second distance difference between the distance stop line and the fourth traffic light intersection stop line, and the fourth traffic light stop line are three traffic light stops;

wherein, the third count value x = [ 12 3] of 4 traffic light intersections, wherein the third count value 1 represents a first traffic light intersection, the third count value 2 represents a second traffic light intersection, and so on; the second distance difference sequence includes 4 second distance differences, a fourth count value y = [ 12 3] of the 4 second distance differences, where a fourth count value 1 represents a second distance difference corresponding to a first traffic light intersection, a fourth count value 2 represents a second distance difference corresponding to a second traffic light intersection, and so on, in other words, when x =1, y =1, it represents that a second distance difference in the second distance difference sequence corresponding to the first traffic light intersection (i.e., the target traffic light intersection) is d1 (i.e., the target first distance difference), and when x = x +1=2, y = y 1=2, it represents that a second distance difference in the second distance difference sequence corresponding to the second traffic light intersection (i.e., the target traffic light intersection) is d2 (i.e., the target second distance difference), and so on.

The second traffic light distance information can be obtained by calculating the position information of the interfering vehicles and the position information of each traffic light, and the second time information can be represented as 13 hours, 23 minutes and 05 seconds in 3 months, 21 months and 13 hours in 2022 years.

It should be noted that, the vehicle and the interfering vehicle are on the same preset road, so the number m of the traffic light intersections is equal to the number n of the traffic light intersections, and the first count value i, the second count value j, the third count value x and the fourth count value y are equal.

S2021b: and when the third counting value x and the fourth counting value y are smaller than or equal to the number m of the traffic light intersections, determining a target second distance difference in the second distance difference sequence according to the second counting value y, and obtaining intersection passing time of the interfering vehicle according to the target second distance difference and the second running speed to serve as third green light passing time.

When the third count value x is smaller than or equal to the number m of the traffic light intersections, the target traffic light intersection can be determined according to the third count value x, and further, the second distance difference in the second distance difference sequence is determined according to a fourth count value y of m second distance differences in the second distance difference sequence and serves as the target second distance difference.

And the third green light passing time is the time when the interference vehicle reaches the stop line of the traffic light intersection.

Specifically, the third green light passing time is calculated according to the following formula (8):

in the formula, t ₁₁ For the third green lamp on time, t ₀₁ As second time information, S ₀₁ Is a target second distance difference, V ₁₁ The second travel speed.

S2021c: and obtaining a second green light duration interval according to the traffic light state information, the second moment information and the traffic light period information.

The second green light duration interval is the starting time and the stopping time of the lighting state of the green light relative to the interfering vehicle, the lighting state of the traffic light can be determined according to the traffic light state information, the remaining time of the lighting state is obtained, and the remaining time of the lighting state, the second time information and the traffic light period information are calculated to obtain the second green light duration interval.

Alternatively, when the lighting states of the red and green lamps are red and yellow, the second green duration interval may be obtained according to the following formula (9):

in the formula, K _G1 (a ₀ ，a ₁ ) For a second green light duration interval, t ₀₁ As second time information, t _s Time remaining for a lit condition, T _G For the duration of the red light and yellow light periods in the traffic light period information, it should be noted that a is ₁ Stop time representing the lighting state of the green light, a ₀ And representing the starting moment of the green light lighting state.

For example, when the lighting states of the red and green lights are the red light and the yellow light, assuming that the second time information of the interfering vehicle is 13 hours 00 minutes 00 seconds, the remaining time of the red light and the yellow light is 10 seconds, the cycle of the red light and the yellow light is 35 seconds, and the cycle of the green light is 30 seconds, the start time of the green light is: 13 hours 00 minutes 00 seconds +10 seconds =13 hours 00 minutes 10 seconds, and the stop time of the green light is: 13 hours 00 min 00 sec +10S +30S =13 hours 00 min 40 sec, and therefore, the second green duration interval is: (13 hours 00 minutes 10 seconds, 13 hours 00 minutes 40 seconds).

Alternatively, when the lighting state of the red-green lamp is a green lamp, the first green lamp duration interval may be obtained according to the following formula (10):

in the formula, K _G1 (a ₀ ，a ₁ ) For a second green light duration interval, t ₀₁ As second time information, t _s Time remaining for the on state, T _G For the duration of the red light and yellow light periods in the traffic light period information, it should be noted that a is ₁ Stop time representing the lighting state of the green light, a ₀ And representing the starting moment of the green light lighting state.

For example, when the lighting state of the red/green light is green, assuming that the second time information of the interfering vehicle is 13 hours 00 minutes 00 seconds, the remaining time of the green light is 10 seconds, the cycle of the red light and the yellow light is 35 seconds, and the cycle of the green light is 30 seconds, the start time of the green light is: 13 hours 00 minutes 00 seconds + (10 seconds-30 seconds) =12 hours 59 minutes 40 seconds, and the stop time of the green light is: 13 hours 00 min 00 sec +10 sec =13 hours 00 min 10 sec, so the second green duration interval is: (12 hours 59 minutes 40 seconds, 13 hours 00 minutes 10 seconds).

S2021d: and determining the running speed track of the interference vehicle according to the third green light passing time and the second green light duration interval.

S2021e: and updating the second running speed and the second time information according to the running speed track and the second green light duration interval.

Wherein the driving speed trajectory includes a driving speed at which the interfering vehicle travels from the second position information to the target traffic light intersection stop line and performs a uniform speed linear motion, wherein an initial speed in the driving speed trajectory is a driving speed of the interfering vehicle at the second position information, that is, a second driving speed, a final driving speed in the driving speed trajectory is a driving speed at which the interfering vehicle travels to the target traffic light intersection stop line, and the second green light duration interval includes a second initial green light time (that is, a time at which the interfering vehicle reaches the traffic light intersection stop line earliest), a second green light stop time (that is, a time at which the interfering vehicle reaches the traffic light intersection stop line latest), and a time between the second initial green light time and the second green light stop time, and the driving speed in the driving speed trajectory and the time in the second green light duration interval have a one-to-one correspondence, and in order to ensure that the vehicle passes through the traffic light intersection quickly, the second driving speed and the second time information are specifically: and acquiring a final driving speed in the driving speed track, wherein the final driving speed is used as a second driving speed, and the time in which the second green light continues corresponding to the final driving speed is used as second time information.

2021f: and updating a third counting value x and a fourth counting value y according to a preset second step value, and returning to the step of determining a target second distance difference in a second distance difference sequence according to the fourth counting value y when the third counting value x and the fourth counting value y are less than or equal to the number m of the traffic light intersections, and continuously executing the step of obtaining the third green light traffic time of the interfering vehicle according to the second moment information, the target second distance difference and the second traffic speed until the third counting value x and/or the fourth counting value y are greater than the number m of the traffic light intersections, so as to sequentially obtain the travel speed tracks of the m traffic light intersections, wherein x, y and m are positive integers.

Wherein, predetermine the second step value and be 1, update third count value x and fourth count value y according to predetermineeing the second step value, specifically do: and adding the third counting value x and the preset second step length value to update the third counting value x, namely x = x +1, and adding the fourth counting value y and the preset second step length value to update the fourth counting value y, namely y = y +1.

S2021g: and determining a vehicle interference state according to the running speed track and the initial running speed interval of the vehicle, wherein the vehicle interference state is used for representing whether the running speed track and the initial running speed interval of the vehicle have interference or not.

Specifically, a speed-distance coordinate graph is established according to a running speed track of a target traffic light intersection and an initial running speed interval of a vehicle, and a vehicle interference state is determined according to the speed-distance coordinate graph, wherein the speed-distance coordinate graph comprises the running speed track and the speed track of the vehicle, the speed track of the vehicle can be formed by any speed in the initial running speed interval of the vehicle, in order to ensure that the vehicle quickly passes through the traffic light intersection, the maximum speed in the initial running speed interval of the vehicle is generally selected as the speed track of the vehicle, the maximum speed in the initial running speed interval of the vehicle can be determined according to an actual application scene, and no specific limitation is made here.

For example, fig. 10 provides a coordinate diagram of a vehicle disturbance state representation running speed trajectory without disturbance from a vehicle initial running speed interval, as shown in fig. 10, a dashed line a is a running speed trajectory of a disturbance vehicle, a solid line b is a speed in the obtained vehicle initial running speed interval (i.e. a first running speed) when a first green light passage time belongs to a first green light duration interval, the speed in the obtained vehicle initial running speed interval determines a speed trajectory of the vehicle, and a solid line c is a speed in the obtained vehicle initial running speed interval when a first green light passage time does not belong to the first green light duration interval, the speed trajectory of the vehicle is determined, and when the vehicle and the disturbance vehicle run to a traffic light intersection stop line, the running speed trajectories of several disturbance vehicles and the speed trajectory of the vehicle do not intersect (i.e. there is no equal speed), the vehicle disturbance state representation running speed trajectory is determined to be free from disturbance vehicle initial running speed interval.

For example, fig. 11 provides a coordinate diagram of a vehicle disturbance state representing that a running speed trajectory has interference with a vehicle initial running speed interval, as shown in fig. 11, a dashed line a is a running speed trajectory of a disturbance vehicle, a solid line b is a speed in the obtained vehicle initial running speed interval (i.e. a first running speed) when a first green light passing time belongs to a first green light duration interval, the speed in the obtained vehicle initial running speed interval is determined as the speed trajectory of the vehicle, a solid line c is a speed in the obtained vehicle initial running speed interval when the first green light passing time does not belong to the first green light duration interval, the speed trajectory of the vehicle is determined, and when the vehicle and the disturbance vehicle run to a traffic light intersection stop line, the running speed trajectories of several disturbance vehicles and the speed trajectory of the vehicle have intersection (i.e. equal speed exists), the vehicle disturbance state representing that the running speed trajectory has interference with the vehicle initial running speed interval.

S2021h: and updating the initial running speed interval of the vehicle according to the vehicle interference state to obtain a traffic optimized speed interval.

In the embodiment, the current second vehicle state information and the second traffic light distance information of the interference vehicle are acquired; the second vehicle state information includes a current second travel speed and second time information; obtaining intersection passing time of the interference vehicle as third green light passing time according to the second moment information, the second traffic light distance information and the second running speed, wherein the third green light passing time is the moment when the interference vehicle runs at the second running speed to reach a stop line of the traffic light intersection; obtaining a second green light duration interval according to the traffic light state information, the second moment information and the traffic light period information; determining a running speed track of the interference vehicle according to the third green light passing time and the second green light duration interval; obtaining a passing optimized speed according to the running speed track, determining the running speed track of the interference vehicle by judging whether the interference vehicle can pass through the traffic light intersection in the current period when running at the second running speed, and carrying out vehicle speed optimization according to the running speed track so as to ensure that the vehicle does not stop to pass through the traffic light intersection and improve the vehicle passing efficiency of the traffic light intersection.

In some optional implementations of this embodiment, as shown in fig. 12, step S2021d: determining a running speed track of the interfering vehicle according to the third green light passing time and the second green light duration interval, wherein the following steps S2021d1 to S2021d2 are included:

s2021d1: and if the third green light passing time belongs to the second green light duration time interval, determining the running speed track of the interference vehicle according to the second running speed.

When the lighting state of the red and green lights is green, the third green light passing time belongs to the second green light duration time interval, and the situation that the interfering vehicle can pass through the traffic light intersection at the second running speed is shown.

When the red and green lights are in the red and yellow light states, the first green light passing time belongs to the first green light duration time interval, and the situation that the vehicle can pass through the traffic light intersection at the first running speed is shown.

S2021d2: and if the third green light passing time does not belong to the second green light duration time interval, predicting the running speed track of the interference vehicle according to the speed track prediction model.

The velocity trajectory prediction model can be expressed by the following formula (11):

in the formula, V _RV To disturb the driving speed trajectory of the vehicle, V ₁₁ At the second running speed, t ₀₁ The second time information of the interfering vehicle is the starting time t of the uniform deceleration straight line running of the interfering vehicle _{F_s1} The starting time of the parking waiting of the interference vehicle is the ending time of the uniform deceleration straight line driving of the interference vehicle, t _{F_s3} The starting time of the uniform acceleration linear motion of the interference vehicle is the stopping time of the parking waiting of the interference vehicle, t _{F_s4} The ending time of the movement between the uniform acceleration of the interference vehicle is the starting time of the uniform linear running of the interference vehicle, t is the real-time second time information of the interference vehicle, V _{F_min} To disturb the initial velocity of the vehicle in a uniformly accelerated linear motion, a _Dec For deceleration, a _Acc The historical vehicle can be various types of vehicles (such as trucks, cars and the like) or one type of vehicle (such as cars), and the type of the historical vehicle is adjusted according to actual application scenes, which is not specifically limited herein.

In this embodiment, if the third green light passing time belongs to the second green light duration time interval, determining the running speed track of the interfering vehicle according to the second running speed, which means that the interfering vehicle passes through the traffic light intersection at the second running speed, and then taking the second running speed as the running speed track of the interfering vehicle; if the third green light passing time does not belong to the second green light duration time interval, the fact that the interfering vehicle cannot pass through the traffic light intersection at the second running speed is indicated, the running speed track of the interfering vehicle is predicted according to the speed track prediction model, and after the running speed track of the interfering vehicle is determined, the passing optimized speed can be obtained according to the running speed track of the interfering vehicle, so that the vehicle can pass through the traffic light intersection without stopping running, and the passing efficiency of the vehicle at the traffic light intersection can be improved.

In some optional implementations of the embodiment, in step S2021d2, before predicting the traveling speed trajectory of the interfering vehicle according to the speed trajectory prediction model, the green wave vehicle speed optimization method further includes:

and obtaining second speed-limiting passing time of the interfering vehicle according to the target second distance difference and the highest speed limit of the preset road section.

And the second speed-limiting passing time is the shortest time for interfering the vehicle to reach the stop line of the traffic light under the highest speed limit of the preset road section.

Specifically, the second speed-limiting passing time can be calculated according to the following formula (12):

in the formula, T _min3 For the second restricted transit time, s ₀₁ Is the target second distance difference, v _max Is the highest speed limit of the preset road section.

And obtaining a minimum traffic light passing period of the interfering vehicle according to the second moment information, the second green light duration interval and the second speed-limiting passing time, and taking the minimum traffic light passing period as a second traffic light passing period.

Wherein the second traffic light passing period can be obtained according to the following formula (13):

K _G1 (a ₀ ，a ₁ )+(T _G +T _R )N _min1 ≥T _min3 +t ₀₁ (13)

in the formula, K _G1 (a ₀ ，a ₁ ) For the second green duration interval, N _min1 For the second green light passage period, T _min3 For the second restricted transit time, T _G For duration of red and yellow light periods, T, in traffic light period information _R For the duration of the green light period, t, in the traffic light period information ₀₁ Is the second time information, wherein, N _min3 Are integers.

For example, when the red and green lights are on, the duration of the second green light for interfering with the vehicle is assumed to be (13 hours 00 minutes 10 seconds, 13 hours 00 minutes 40 seconds), at this time, the second time information is 13 hours 00 minutes 00 seconds, the second speed-limited transit time is 50 seconds, that is, the time for interfering with the vehicle to reach the intersection of the traffic light is 13 hours 00 minutes 50 seconds, the duration of the red and yellow light periods is 35 seconds, the duration of the green light period is 30 seconds, and when N is the time _min1 When 0, the time when the interfering vehicle reaches the traffic light intersection is 13 hours 00 minutes 50 seconds, which is larger than the range of the second green light duration interval of the interfering vehicle, therefore, the number of pairs N is needed _min1 Adding 1 when N _min1 When the time is 1, the duration time interval of the second green light is changed to (13 hours 01 minutes 15 seconds, 13 hours 01 minutes 45 seconds), the time when the interference vehicle reaches the traffic light intersection is 13 hours 00 minutes 50 seconds and is smaller than the range of the duration time interval of the second green light of the interference vehicle, N _min1 Is greater than or equal to 1, therefore, N _min1 Is 1.

For another example, when the lighting state of the red/green light is green, it is assumed that the second green light duration period of the interfering vehicle is (12 hours, 59 minutes, 40 seconds, 13 hours, 00 minutes, 10 seconds), at this time, the second time information is 13 hours, 00 minutes, 00 seconds, the first speed-limited transit time is 50 seconds, that is, the time when the interfering vehicle arrives at the traffic light intersection is 13 hours, 00 minutes, 50 seconds, the red light and yellow light cycle duration is 35 seconds, the green light cycle duration is 30 seconds, and when N is the time when the interfering vehicle arrives at the traffic light intersection _min1 When 0, the time when the interfering vehicle reaches the traffic light intersection is 13 hours 00 minutes 50 seconds, which is larger than the range of the second green light duration interval of the interfering vehicle, therefore, the number of pairs N is needed _min1 Adding 1; when N is present _min At time 1, the second green duration interval becomes (13 hours 00 minutes 45 seconds, 13 hours)Time 01 minutes 05 seconds), the time when the interfering vehicle arrives at the traffic light intersection is 13 hours 00 minutes 50 seconds, which belongs to the range of the first green light duration interval of the vehicle, N _min Is greater than or equal to 1, therefore, N _min Is 1.

And obtaining fourth green light passing time of the interfering vehicle according to the second moment information, the second green light duration interval, the traffic light period information and the second traffic light passing period.

The shorter the fourth green light passing time is, the faster the interfering vehicle passes through the traffic light intersection, so that the faster the vehicle passes through the traffic light intersection, and the fourth green light passing time can be calculated according to the following formula (14):

T _min4 ＝(a ₀ -t ₀₁ )+(T _G +T _R )N _min1 (14)

in the formula, T _min4 Is the fourth green light passage time, t ₀₁ Is the second time information, a ₀ Is the starting time of the second green duration interval, T _G For duration of red and yellow light periods, T, in traffic light period information _R For the duration of the green light period, N, in the traffic light period information _min1 Is the second traffic light passing cycle.

For example, when the red/green light is turned on by the yellow light and the red light, assuming that the start time of the second green light duration interval of the interfering vehicle is 13 hours 00 minutes 10 seconds, and the stop time of the second green light duration of the interfering vehicle is 13 hours 00 minutes 40 seconds, at this time, the second time information is 13 hours 00 minutes 00 seconds, the red light and yellow light cycle duration is 35 seconds, the green light cycle duration is 30 seconds, and the second traffic light passing cycle is 1, the shortest time of the fourth green light passing time is (13 hours 00 minutes 10 seconds — 13 hours 00 minutes 00 seconds + (30 seconds +35 seconds) × 1) =75 seconds, and the longest time of the fourth green light passing time is (13 hours 00 minutes 40 seconds — 13 hours 00 minutes 00 seconds + (30 seconds +35 seconds) = 1) =105 seconds, so the fourth green light passing time is [75, 105].

For example, when the lighting state of the red/green light is green, assuming that the start time of the second green light duration interval of the interfering vehicle is 12 hours, 59 minutes and 40 seconds, and the stop time of the second green light duration interval of the interfering vehicle is 13 hours, 00 minutes and 10 seconds, at this time, the second time information is 13 hours, 00 minutes and 00 seconds, the red light and yellow light cycle duration is 35 seconds, the green light cycle duration is 30 seconds, and the second traffic light passing cycle is 1, the shortest time of the fourth green light passing time is (12 hours, 59 minutes, 40 minutes, 13 hours, 00 minutes and 00 seconds + (30 seconds +35 seconds) = 1) =45 seconds, and the longest time of the fourth green light passing time is (13 hours, 10 minutes, 10 seconds + 13 hours, 00 minutes and 00 seconds + (30 seconds +35 seconds) = 1) =75 seconds, so the fourth green light passing time is [45, 75].

And determining the motion state duration of the interference vehicle according to the second running speed, the target second distance difference and the fourth green light passing time.

Specifically, according to the second running speed, the target second distance difference and the fourth green light passing time, calculating to obtain uniform linear motion time and uniform deceleration linear motion time of the interference vehicle reaching the traffic light intersection; and determining the motion state duration of the interfering vehicle according to the uniform velocity linear motion time and the uniform deceleration linear motion time.

For example, the uniform velocity linear motion time and the uniform deceleration linear motion time of the interfering vehicle may be calculated according to the following formula (15):

in the formula, x ₁ For uniform linear motion time, x ₂ For uniform deceleration of linear movement time, V ₁₁ Is the second running speed, S ₀₁ Is the target second distance difference, t _min4 Is the fourth green light passing time, a _Dec The deceleration is the average deceleration of the historical vehicle before the stop line of the traffic light intersection, which is obtained through data statistics, the historical vehicle can be various types of vehicles (such as trucks, cars, etc.) or one type of vehicle (such as cars), and the type of the historical vehicle is adjusted according to the actual application scenario, and is not limited specifically here.

If the uniform linear motion time is more than 0, determining that the motion state of the interfered vehicle is uniform linear motion, and interferingThe duration time of the state that the vehicle does uniform linear motion is t ₀₁ ,t _{F_s1} ＝t ₀₁ +x ₁ ]；

Otherwise, the state duration time of the vehicle interfering with the uniform linear motion is [ t ] ₀₁ ,t _{F_s1} ＝t ₀₁ ]Interfering the vehicle to enter uniform deceleration linear motion;

if the uniform deceleration linear motion time is more than

Determining that the interfering vehicle has a motion state of parking waiting, and the duration of the state of the interfering vehicle making uniform deceleration linear motion is

The duration of the state interfering with the parking waiting of the vehicle is

Wherein,

time to uniformly decelerate the second travel speed to 0 for the interfering vehicle;

at this time, the initial speed V of the disturbance vehicle in the uniform acceleration linear motion _{F_min} ＝0

Otherwise, the state duration time of the interference vehicle making the uniform deceleration linear motion is [ t ] _{F_s1} ,t _{F_s2} ＝t _min4 +t ₀₁ ]；

At this time, the initial speed of the interfering vehicle in the uniform acceleration linear motion can be calculated according to the following formula (16):

V _{F_min} ＝V ₁₁ -a _Dec (t _{F_S2} -t _{F_S1} ) (16)

for the parameter interpretation in the formula, please refer to the parameter interpretation in the velocity trajectory prediction model in the formula (12), and details are not repeated here.

Further, the time for the interfering vehicle to make uniform acceleration linear motion can be calculated according to the following formula (17)t _Acc ：

For the parameter interpretation in the formula, please refer to the parameter interpretation in the velocity trajectory prediction model in the formula (11), and details are not repeated here.

Furthermore, the ending time of the uniform acceleration linear motion of the interference vehicle is t _{F_s4} ＝t _{F_s3} +t _Acc 。

And establishing a speed track prediction model according to the motion state duration.

Specifically, the motion state speed is determined according to the motion state duration; and establishing a speed track prediction model according to the motion state duration and the motion state speed.

Illustratively, the velocity trajectory prediction model may be represented according to equation (18) as follows:

It should be particularly noted that the speed trajectory prediction model is adjusted according to an actual application scenario, and is not limited herein.

In the embodiment, a second speed-limiting passing time of the interfering vehicle is obtained according to the target second distance difference and the highest speed limit of the preset road section; according to the second moment information, the second green light duration interval and the second speed limit passing time, obtaining a minimum traffic light passing period of the interfering vehicle as a second traffic light passing period; obtaining fourth green light passing time of the interfering vehicle according to the second moment information, the second green light duration interval, the traffic light period information and the second traffic light passing period; determining the motion state duration of the interference vehicle according to the second running speed, the target second distance difference and the fourth green light passing time; under the limitation of the interval of the highest speed limit of the preset road section and the duration of the second green light, the obtained duration of the transportation state is ensured to accord with the traffic rule, the accuracy and the practicability of the green wave vehicle speed guiding function of the vehicle are improved, the driving safety of the vehicle is further improved, a speed track prediction model is established according to the duration of the motion state, then the running speed track of the vehicle is predicted to be interfered by the speed track prediction model, the vehicle is optimized in speed according to the running speed track, the vehicle is ensured to pass through the traffic light intersection without stopping, and the vehicle passing efficiency of the traffic light intersection is improved.

In one embodiment, in step S2021h, updating the vehicle initial driving speed interval according to the vehicle interference state to obtain a traffic optimized speed interval, includes:

and obtaining the target passing speed according to the running speed track, the second green light passing time, the first running speed and the target first distance difference.

Wherein, the target traffic speed is calculated according to the following formula (19):

V ₁ *t _min2 +k*V ₁ +(V _HV -V _RV )Δt＝S ₀ (19)

in the formula, V _HV Optimizing the speed, V, for the target _RV For the travel speed trajectory, k is a time constant value, which in this application may be 3.6 meters, t _min2 For the second green light passage time, V ₁ For the first travel speed, Δ t is a time difference constant value, which in this application may be 3 seconds, S ₀ For the first distance difference, k V, of the object ₁ +(V _HV -V _RV ) Δ t is the safe distance between the vehicle and the interfering vehicle.

To better understand the above steps, fig. 13 provides a coordinate diagram of the target optimized speed according to the driving speed trajectory, please refer to fig. 13, in which the abscissa is time/second, and the ordinate is distance/meter, S ₀ Is the target first distance difference, t _min2 For the moment when the vehicle reaches the stop line of the traffic light intersection, wherein V _RV For the track of the speed of travel, V _HV Optimizing the speed, k V, for the target ₁ +(V _HV -V _RV ) Δ t is a safe distance between the vehicle H and the interfering vehicle R, and the target passing speed V is calculated according to the formula (11) by increasing the safe distance between the vehicle H and the interfering vehicle R _HV 。

And updating the initial running speed interval of the vehicle according to the target passing speed to obtain a passing optimized speed interval.

Specifically, as shown in FIG. 13, V _high Is the highest green wave speed, V, in the initial driving speed interval _low For the lowest green wave speed in the initial driving speed interval, the speed V is optimized by the target _HV For the highest green wave velocity V _high Updating to obtain the optimal speed interval, i.e. [ V ] _HV ,V _low ]。

Further, if the highest speed limit of the preset road section is smaller than the target passing speed, the highest speed limit of the preset road section is adopted to update the passing optimization speed.

Specifically, the highest green wave speed is updated by the highest speed limit of the preset road section, so as to obtain a traffic optimization speed interval, namely [ the lowest filtering speed, the highest speed limit of the preset road section ].

In the embodiment, the target passing speed is obtained through calculation through the constraint of the running speed track, the second green light passing time, the first running speed and the target first distance difference, and the initial running speed interval of the vehicle is updated for the second time by adopting the target passing speed, so that traffic accidents such as rear-end collision and the like between the vehicle and an interfering vehicle can be avoided, the vehicle is ensured to pass through the traffic light intersection without stopping, and the passing efficiency of the vehicle at the traffic light intersection is improved.

In one embodiment, when the traffic disturbance state is a disturbance-free vehicle in front of the vehicle, updating the vehicle initial driving speed interval according to the traffic disturbance state to obtain a traffic optimization speed interval, including:

and updating the initial running speed interval of the vehicle according to the highest speed limit of the preset road section to obtain a traffic optimized speed interval.

Specifically, in order to improve the safety of the vehicle passing through the intersection without stopping, the vehicle may update the initial vehicle running speed interval according to the initial vehicle running speed interval and the highest speed limit of the preset section, and according to the actual scene needs, the updated initial vehicle running speed interval is used as a traffic optimized speed interval, and any speed in the traffic optimized speed interval is used as the green wave vehicle speed of the vehicle, when the highest green wave speed is less than the highest speed limit of the preset section, the traffic optimized speed interval may be represented as [ the lowest green wave speed, the highest green wave speed ], when the highest green wave speed is greater than the highest speed limit of the preset section, the traffic optimized speed interval may be represented as [ the lowest green wave speed, the highest speed limit of the preset section ], wherein the greater the green wave vehicle speed, the higher the traffic efficiency of the traffic light intersection.

It should be particularly noted that, since the vehicle initial driving speed interval is obtained by solving under the limitation of the highest speed limit of the preset road section, the lowest green wave speed in the vehicle initial driving speed interval is not less than the highest speed limit of the preset road section.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In one embodiment, a green wave vehicle speed optimization device is provided, which corresponds to the green wave vehicle speed optimization method in the above embodiments one to one. As shown in fig. 9, the green wave vehicle speed optimization device includes a traffic information acquisition module 30, a traffic optimization speed calculation module 31, and a vehicle speed adjustment module 32. The functional modules are explained in detail as follows:

the traffic information acquiring module 30 is used for acquiring traffic information of a vehicle on a preset road section; the traffic information comprises traffic state information and a traffic interference state; the traffic state information comprises first traffic light distance information, traffic light period information, traffic light state information and the highest speed limit of a preset road section.

And the initial speed interval calculation module 31 is configured to obtain an initial driving speed interval of the vehicle according to the traffic state information.

The speed interval updating module 32 is used for updating the vehicle initial running speed interval according to the traffic interference state to obtain a traffic optimized speed interval;

and the vehicle speed adjusting module 33 is used for adjusting the green wave vehicle speed of the vehicle according to the traffic optimization speed interval.

Further, the initial speed interval calculation module 31 includes:

the first state information acquisition submodule is used for acquiring current first vehicle state information of the vehicle; the first vehicle state information comprises current first running speed and first time information, and the number n of the traffic light intersections, first counting values i of n traffic light intersections, a first distance difference sequence and second counting values j of n first distance differences in the first distance difference sequence are determined according to the first traffic light distance information, wherein the initial values of i and j are 1.

The first green light passing time obtaining sub-module is used for determining a target first distance difference in the first distance difference sequence according to j when i is smaller than or equal to n and j is smaller than or equal to n, and obtaining intersection passing time of the vehicle according to the first time information, the target first distance difference and the first traveling speed to serve as first green light passing time;

the first time interval acquisition submodule is used for acquiring a first green light duration interval according to the traffic light state information, the first time information and the traffic light period information;

the first driving speed determining submodule is used for taking the first driving speed as the initial driving speed of the vehicle to obtain the initial driving speed interval of the vehicle if the first green light passing time belongs to the first green light duration interval;

and the second running speed determining submodule is used for optimizing the first running speed to obtain an initial running speed interval of the vehicle if the first green light passing time does not belong to the first green light duration interval.

And the first updating submodule is used for updating the first running speed and the first time information according to the initial running speed interval of the vehicle and the first green light duration.

And the second updating submodule is used for updating i and j according to a preset first step value, returning that when i is smaller than or equal to n, a target traffic light intersection is determined according to i, when j is smaller than or equal to n, a target first distance difference in the first distance difference sequence is determined according to j, intersection passing time of the vehicle is obtained according to the first time information, the target first distance difference and the first traveling speed, and the step of taking the intersection passing time as the first green light passing time is continuously executed until i is larger than n, and sequentially obtaining vehicle initial traveling speed intervals of n traffic light intersections, wherein i, j and n are positive integers.

Further, the second travel speed determination sub-module includes:

the first passing time obtaining unit is used for obtaining first speed-limiting passing time of the vehicle according to the target first distance difference and the highest speed limit of the preset road section;

the first passing period acquiring unit is used for acquiring a minimum traffic light passing period of the vehicle as a first traffic light passing period according to the first time information, the first green light duration interval and the first speed limit passing time;

the second traffic time acquisition unit is used for acquiring second green light traffic time of the vehicle according to the first time information, the first green light duration interval, the traffic light period information and the first traffic light traffic period;

and the first running speed acquisition unit is used for obtaining an initial running speed interval of the vehicle according to the target first distance difference and the second green light passing time.

Further, when the traffic interference state is that there is an interfering vehicle in front of the vehicle, the speed interval updating module 32 includes:

the second state information acquisition submodule is used for acquiring the current second vehicle state information and the second traffic light distance information of the interference vehicle; the second vehicle state information comprises the current second driving speed and second time information, and the number m of the traffic light intersections, the third counting values x of the m traffic light intersections, the second distance difference sequence and the fourth counting values y of the m second distance differences in the second distance difference sequence are determined according to the second traffic light distance information, wherein the initial values of x and y are 1.

The third green light passing time obtaining sub-module is used for determining a target second distance difference in the second distance difference sequence according to y when x is smaller than or equal to m and y is smaller than or equal to m, and obtaining intersection passing time of the interfering vehicle according to the second moment information, the target second distance difference and the second running speed to serve as the third green light passing time;

the second time interval acquisition submodule is used for acquiring a second green light duration interval according to the traffic light state information, the second moment information and the traffic light period information;

the driving speed track acquisition submodule is used for determining the driving speed track of the interference vehicle according to the passing time of the third green light and the duration time interval of the second green light;

and the third updating submodule is used for updating the second running speed and the second moment information according to the running speed track and the second green light duration interval.

And the fourth updating submodule is used for updating x and y according to a preset second step value, returning to the step that when x is smaller than or equal to m and y is smaller than or equal to m, determining a target second distance difference in a second distance difference sequence according to y, and obtaining a third green light passing time of the interfering vehicle according to the second moment information, the target second distance difference and the second running speed, and continuing to execute the step until x is larger than m, and sequentially obtaining running speed tracks of m traffic light intersections, wherein x, y and m are positive integers.

And the vehicle interference state determining submodule is used for determining a vehicle interference state according to the running speed track and the vehicle initial running speed interval, and the vehicle interference state is used for representing whether the running speed track and the vehicle initial running speed interval have interference or not.

And the first speed interval updating submodule is used for updating the initial running speed interval of the vehicle according to the vehicle interference state to obtain a passing optimized speed interval.

Further, the traveling speed trajectory acquisition submodule includes:

and the first running speed track acquisition unit is used for determining the running speed track of the interference vehicle according to the second running speed if the third green light passing time belongs to the second green light duration interval.

And the second running speed track acquisition unit is used for predicting the running speed track of the interfering vehicle according to the speed track prediction model if the third green light passing time does not belong to the second green light duration time interval.

Further, the green wave velocity optimizing apparatus further includes:

and the third passing time acquisition unit is used for obtaining second speed-limiting passing time of the interfering vehicle according to the target second distance difference and the highest speed limit of the preset road section.

The second traffic cycle acquisition unit is used for acquiring a minimum traffic cycle of the interfering vehicle as a second traffic cycle according to the second moment information, the second green light duration interval and the second speed limit traffic time;

and the fourth passing time acquisition unit is used for acquiring fourth green light passing time of the interfering vehicle according to the second moment information, the second green light duration interval, the traffic light period information and the second traffic light passing period.

And the time determining unit is used for determining the motion state duration of the interference vehicle according to the second running speed, the target second distance difference and the fourth green light passing time.

And the model establishing unit is used for establishing a speed track prediction model according to the motion state duration.

Further, the first speed interval updating submodule includes:

and the target passing speed obtaining unit is used for obtaining a target passing speed according to the running speed track, the second green light passing time, the first running speed and the target first distance difference.

And the speed updating unit is used for updating the initial running speed interval of the vehicle according to the target passing speed to obtain a passing optimized speed interval.

Further, when the traffic interference state is an interference-free vehicle in front of the vehicle, the speed interval updating module 32 includes:

and the second speed interval updating submodule is used for updating the initial running speed interval of the vehicle according to the highest speed limit of the preset road section to obtain a traffic optimized speed interval.

Wherein the meaning of "first" and "second" in the above modules/units is only to distinguish different modules/units, and is not used to define which module/unit has higher priority or other defining meaning. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, article, or apparatus, and such that a division of modules presented in this application is merely a logical division and may be implemented in a practical application in a further manner.

For specific definition of the green wave vehicle speed optimizing device, reference may be made to the above definition of the green wave vehicle speed optimizing method, which is not described herein again. The modules in the green wave vehicle speed optimization device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the vehicle, and can also be stored in a memory in the vehicle in a software form, so that the processor can call and execute the corresponding operations of the modules.

In one embodiment, a vehicle is provided, which may be an autonomous vehicle, the internal structure of which may be as shown in fig. 10. The vehicle includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the vehicle is configured to provide computing and control capabilities. The memory of the vehicle includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The vehicle database is used for data involved in the green wave vehicle speed optimization method. The network interface of the vehicle is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a green wave vehicle speed optimization method.

In one embodiment, a vehicle is provided comprising a memory, a processor and a computer program stored on the memory and executed on the processor, the processor when executing the computer program implementing the steps of the green wave vehicle speed optimization method of the embodiments described above, such as steps 201-203 and other extensions of the method and related steps shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of the respective modules/units of the green wave vehicle speed optimizing device in the above-described embodiment, for example, the functions of the modules 30 to 33 shown in fig. 9. To avoid repetition, further description is omitted here.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.

The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the cellular phone, etc.

The memory may be integrated in the processor or may be provided separately from the processor.

In one embodiment, a computer readable storage medium is provided having stored thereon a computer program that when executed by a processor implements the steps of the green wave vehicle speed optimization method of the embodiments described above, such as the steps 201-203 shown in fig. 2 and extensions of other extensions and related steps of the method. Alternatively, the computer program is executed by the processor to implement the functions of the respective modules/units of the green wave vehicle speed optimizing device in the above-described embodiment, for example, the functions of the modules 30 to 33 shown in fig. 9. To avoid repetition, further description is omitted here.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A green wave vehicle speed optimization method is applied to a vehicle and comprises the following steps:

updating the vehicle initial running speed interval according to the traffic interference state to obtain a traffic optimization speed interval;

and adjusting the green wave speed of the vehicle according to the passing optimized speed interval.

2. The green wave vehicle speed optimization method according to claim 1, wherein the obtaining of the vehicle initial driving speed interval according to the traffic state information comprises:

acquiring current first vehicle state information of the vehicle; the first vehicle state information comprises current first running speed and first time information, and the number n of traffic light intersections, first counting values i of n traffic light intersections, a first distance difference sequence and second counting values j of n first distance differences in the first distance difference sequence are determined according to the first traffic light distance information, wherein the initial values of i and j are 1;

when the first count value i and the second count value j are smaller than or equal to the number n of the traffic light intersections, determining a target first distance difference in the first distance difference sequence according to the second count value j, and obtaining intersection passing time of the vehicle as first green light passing time according to the first time information, the target first distance difference and the first running speed;

obtaining a first green light duration time interval according to the traffic light state information, the first time information and the traffic light period information;

if the first green light passing time belongs to the first green light duration time interval, taking the first running speed as a vehicle initial running speed to obtain the vehicle initial running speed interval;

if the first green light passing time does not belong to the first green light duration time interval, optimizing the first running speed to obtain the vehicle initial running speed interval;

updating the first running speed and the first time information according to the vehicle initial running speed interval and the first green light duration interval;

updating the first count value i and the second count value j according to a preset first step value, and returning to the step that when the first count value i and the second count value j are smaller than or equal to the number n of the traffic light intersections, a target first distance difference in the first distance difference sequence is determined according to the second count value j, intersection passing time of the vehicle is obtained according to the first time information, the target first distance difference and the first traveling speed, the step of taking the intersection passing time as the first green light passing time is continuously executed until the first count value i and/or the second count value j are larger than the number n of the traffic light intersections, and the vehicle initial traveling speed intervals of the n traffic light intersections are sequentially obtained, wherein i, j and n are positive integers.

3. The green wave vehicle speed optimization method according to claim 2, wherein the optimizing the first driving speed to obtain the vehicle initial driving speed interval comprises:

obtaining first speed-limiting passing time of the vehicle according to the target first distance difference and the highest speed limit of the preset road section;

obtaining a minimum traffic light passing period of the vehicle as a first traffic light passing period according to the first time information, the first green light duration interval and the first speed limit passing time;

obtaining second green light passing time of the vehicle according to the first time information, the first green light duration interval, the traffic light period information and the first traffic light passing period;

and optimizing the first running speed according to the target first distance difference and the second green light passing time to obtain the initial running speed interval of the vehicle.

4. The green wave vehicle speed optimization method according to any one of claims 1 to 3, wherein when the traffic disturbance state is a disturbance vehicle in front of the vehicle, the updating of the vehicle initial driving speed interval according to the traffic disturbance state to obtain a traffic optimized speed interval comprises:

acquiring current second vehicle state information and second traffic light distance information of the interference vehicle; the second vehicle state information comprises current second running speed and second moment information, and the number m of traffic light intersections, third counting values x of m traffic light intersections, a second distance difference sequence and fourth counting values y of m second distance differences in the second distance difference sequence are determined according to the second traffic light distance information, wherein the initial values of x and y are 1;

when the third count value x and the fourth count value y are smaller than or equal to the number m of the traffic light intersections, determining a target second distance difference in the second distance difference sequence according to the fourth count value y, and obtaining a third green light passing time of the interfering vehicle according to the second time information, the target second distance difference and the second running speed;

obtaining a second green light duration interval according to the traffic light state information, the second moment information and the traffic light period information;

determining a running speed track of the interference vehicle according to the third green light passing time and the second green light duration time interval;

updating the second driving speed and the second moment information according to the driving speed track and the second green light duration interval;

updating the third count value x and the fourth count value y according to a preset second step value, and returning to the step of determining a target second distance difference in the second distance difference sequence according to the fourth count value y when the third count value x and the fourth count value y are less than or equal to the number m of the traffic light intersections, and continuing to execute the step of obtaining a third green light passing time of the interfering vehicle according to the second moment information, the target second distance difference and the second running speed until the third count value x and/or the fourth count value y are greater than the number m of the traffic light intersections, so as to sequentially obtain the running speed trajectories of the m traffic light intersections, wherein x, y and m are positive integers;

determining a vehicle interference state according to the running speed track and the vehicle initial running speed interval, wherein the vehicle interference state is used for representing whether the running speed track and the vehicle initial running speed interval have interference or not;

and updating the initial running speed interval of the vehicle according to the vehicle interference state to obtain the traffic optimization speed interval.

5. The green wave vehicle speed optimization method of claim 4, wherein the determining the travel speed trajectory of the interfering vehicle according to the third green light on-time and the second green light duration interval comprises:

if the third green light passing time belongs to the second green light duration time interval, determining a running speed track of the interference vehicle according to the second running speed;

and if the third green light passing time does not belong to the second green light duration time interval, predicting the running speed track of the interference vehicle according to a speed track prediction model.

6. The green wave vehicle speed optimization method of claim 5, wherein before predicting the travel speed trajectory of the interfering vehicle from the speed trajectory prediction model, the method further comprises:

obtaining second speed-limiting passing time of the interfering vehicle according to the target second distance difference and the highest speed limit of the preset road section;

obtaining a minimum traffic light passing period of the interfering vehicle according to the second moment information, the second green light duration interval and the second speed-limiting passing time, and taking the minimum traffic light passing period as a second traffic light passing period;

obtaining fourth green light passing time of the interfering vehicle according to the second moment information, the second green light duration interval, the traffic light period information and the second traffic light passing period;

determining the motion state duration of the interfering vehicle according to the second running speed, the target second distance difference and the fourth green light passing time;

7. The green wave vehicle speed optimization method according to claim 4, wherein the updating the vehicle initial driving speed interval according to the vehicle disturbance state to obtain the traffic optimization speed interval comprises:

obtaining a target passing speed according to the running speed track, the second green light passing time, the first running speed and the target first distance difference;

and updating the initial running speed interval of the vehicle according to the target passing speed to obtain the passing optimized speed interval.

8. The green wave vehicle speed optimization method according to any one of claims 1 to 3, wherein when the traffic disturbance state is a disturbance-free vehicle in front of the vehicle, the updating of the vehicle initial driving speed interval according to the traffic disturbance state to obtain the traffic optimized speed interval comprises:

and updating the initial running speed interval of the vehicle according to the highest speed limit of the preset road section to obtain the traffic optimized speed interval.

9. A green wave vehicle speed optimizing device, the device comprising:

the traffic optimization speed interval calculation module is used for updating the vehicle initial running speed interval according to the traffic interference state to obtain a traffic optimization speed interval;

10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executed on the processor, wherein the processor when executing the computer program implements the steps of the green wave vehicle speed optimization method of any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the green wave vehicle speed optimization method according to any one of claims 1 to 8.