TW201724048A - System for controlling speed of vehicle by collecting vehicle information and intersection information and method thereof - Google Patents
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一種車速控制系統及其方法,特別係指一種收集車輛與路口資訊以控制車輛速度之系統及其方法。A vehicle speed control system and method thereof, in particular, a system and method for collecting vehicle and intersection information to control vehicle speed.
路口的號誌時制之設計乃為提供用路人兼具安全與效率之交通環境。號誌時制設計不良的話,容易引起交通事故,或使車輛在號誌變換間走走停停不符合行車效率。例如,路口無提供綠燈倒數秒數時,駕駛人除了無法於號誌轉換時間接近時,在安全情況內加速通過路口,也可能因車速過快而無法安全煞停於停止線前。又如,若駕駛人無法預期路口號誌轉換時間,故無法進行行車速度的對應調整,這容易使車輛產生過多的停車等待時間而造成延滯,且不能達到順暢及有效率通過多路口之目標,也造成行車舒適度降低。The design of the intersection of the time is designed to provide a safe and efficient transportation environment for passers-by. If the design of the Zhishi system is not good, it may cause traffic accidents, or make the vehicle stop and stop in the change of the code is not in line with the driving efficiency. For example, when there is no green light countdown in the intersection, the driver can not accelerate through the intersection in a safe situation except when the signal conversion time is close. It may also be unable to safely stop before the stop line because the speed is too fast. For example, if the driver cannot predict the conversion time of the intersection number, the corresponding adjustment of the driving speed cannot be performed, which easily causes the vehicle to have excessive parking waiting time and delays, and cannot achieve the goal of smooth and efficient passage through the multi-way. It also causes reduced driving comfort.
因此,號誌時制之設計必須在效率與安全間做出取捨。若欲使路口順暢及有效率,則容易造成車輛車速過快,造成危險或事故。若欲使路口安全,卻會使路過車輛車速降低,在路口前的停車等待時間增加,導致駕駛人不耐久候而違規造成危險或事故。Therefore, the design of the time system must make trade-offs between efficiency and safety. If you want to make the intersection smooth and efficient, it will easily cause the vehicle to drive too fast, causing danger or accident. If the intersection is to be safe, the speed of passing the vehicle will decrease, and the waiting time in front of the intersection will increase, causing the driver to be unsustainable and causing danger or accident.
綜上所述,可知先前技術中長期以來一直存在車輛在交通號誌間走走停停導致駕駛人不耐的問題,因此有必要提出改進的技術手段,來解決此一問題。In summary, it can be seen that in the prior art, there has been a long-standing problem that the vehicle stops and stops in the traffic sign, which causes the driver to be intolerant. Therefore, it is necessary to propose an improved technical means to solve this problem.
有鑒於先前技術存在車輛在交通號誌間走走停停導致駕駛人不耐的問題,本發明遂揭露一種收集車輛與路口資訊以控制車輛速度之系統及其方法,其中:In view of the prior art, there is a problem that the vehicle is inevitably caused by the stop and stop of the traffic between the traffic signs, and the present invention discloses a system and method for collecting vehicle and intersection information to control the speed of the vehicle, wherein:
本發明所揭露之收集車輛與路口資訊以控制車輛速度之系統,至少包含:無線通訊模組,用以透過無線通訊技術至交通伺服器接收車輛前方路口之燈號及燈號之持續時間;資訊收集模組,用以取得車輛所行駛路段之行車速限,及用以取得車輛之當前位置及行駛速度;停車判斷模組,用以依據車輛的當前位置與行駛速度、行車速限、前方路口的燈號與持續時間,判斷車輛是否可以不停止而通過前方路口;車速控制模組,用以依據判斷結果控制車輛之車速。The system for collecting vehicle and intersection information to control vehicle speed disclosed in the present invention includes at least: a wireless communication module for receiving a signal and a signal duration of a road ahead intersection through a wireless communication technology to a traffic server; The collection module is configured to obtain the driving speed limit of the road section driven by the vehicle, and to obtain the current position and the traveling speed of the vehicle; the parking judgment module is configured to be based on the current position of the vehicle and the traveling speed, the driving speed limit, and the front intersection The light number and duration, determine whether the vehicle can pass through the front intersection without stopping; the vehicle speed control module is used to control the vehicle speed according to the judgment result.
本發明所揭露之收集車輛與路口資訊以控制車輛速度之方法,其步驟至少包括:透過無線通訊技術至交通伺服器接收車輛前方路口之燈號及燈號之持續時間;取得車輛所行駛路段之行車速限;取得車輛之當前位置及行駛速度;依據車輛的當前位置與行駛速度、行車速限、前方路口的燈號與持續時間,判斷車輛是否可以不停止而通過前方路口,並依據判斷結果控制車輛之車速。The method for collecting vehicle and intersection information to control the speed of the vehicle disclosed in the present invention comprises the steps of: receiving, by the wireless communication technology, a traffic server to receive the duration of the signal and the number of the road ahead of the vehicle; and obtaining the road section of the vehicle. Driving speed limit; obtaining the current position and driving speed of the vehicle; determining whether the vehicle can pass the front intersection without stopping according to the current position of the vehicle and the driving speed, the driving speed limit, the signal number and the duration of the front intersection, and according to the judgment result Control the speed of the vehicle.
本發明所揭露之系統與方法如上,與先前技術之間的差異在於本發明透過使用無線通訊技術至交通伺服器接收車輛前方路口的燈號資訊,並收及車輛的當前位置、行駛速度與行駛路段之行車速限後,依據所取得之資料判斷車輛是否可以直接通過前方路口,並依據判斷結果控制車輛的車速,藉以解決先前技術所存在的問題,並可以達成可讓車輛順暢、安全、有效率通過路口的技術功效。The system and method disclosed by the present invention are as above, and the difference from the prior art is that the present invention uses the wireless communication technology to the traffic server to receive the signal information of the intersection in front of the vehicle, and to receive the current position, the traveling speed and the driving of the vehicle. After the speed limit of the road section, based on the obtained data, it is judged whether the vehicle can directly pass the front intersection, and the vehicle speed is controlled according to the judgment result, thereby solving the problems existing in the prior art, and achieving a smooth, safe and reliable vehicle Efficiency through the technical effects of intersections.
以下將配合圖式及實施例來詳細說明本發明之特徵與實施方式,內容足以使任何熟習相關技藝者能夠輕易地充分理解本發明解決技術問題所應用的技術手段並據以實施,藉此實現本發明可達成的功效。The features and embodiments of the present invention will be described in detail below with reference to the drawings and embodiments, which are sufficient to enable those skilled in the art to fully understand the technical means to which the present invention solves the technical problems, and The achievable effects of the present invention.
本發明可以至少依據車輛的當前位置與行駛速度、車輛前方路口的燈號、轉換順序與持續時間、以及車輛行駛路段的行車速限控制車輛的車速,使得車輛可以不停止的通過路口,或是平順地在路口前停止等待燈號變換。The invention can control the vehicle speed of the vehicle at least according to the current position and the traveling speed of the vehicle, the signal number of the intersection in front of the vehicle, the switching sequence and the duration, and the driving speed limit of the driving section of the vehicle, so that the vehicle can pass the intersection without stopping, or Waiting for the signal number change in front of the intersection smoothly.
以下先以「第1圖」本發明所提之收集車輛與路口資訊以控制車輛速度之系統架構圖來說明本發明的系統運作。如「第1圖」所示,本發明之系統設置於車輛100內,含有無線通訊模組110、資訊收集模組130、停車判斷模組150、以及車速控制模組170。The system operation of the present invention will be described below with reference to the system architecture diagram of the present invention for collecting vehicle and intersection information to control vehicle speed. As shown in FIG. 1, the system of the present invention is disposed in the vehicle 100 and includes a wireless communication module 110, an information collection module 130, a parking determination module 150, and a vehicle speed control module 170.
無線通訊模組110負責透過無線通訊技術與交通伺服器400連接。一般而言,無線通訊模組110可以使用3G/4G網路、WiFi/WiMax網路、衛星通訊網路、藍芽或近場通訊等無線通訊技術與交通伺服器400連接,但本發明所提之無線通訊技術並不以上述為限。其中,交通伺服器400可以設置在機房內,也可以設置在車輛100前方的路口周圍一定範圍內,本發明沒有特別的限制。The wireless communication module 110 is responsible for connecting to the traffic server 400 via wireless communication technology. In general, the wireless communication module 110 can be connected to the traffic server 400 by using a wireless communication technology such as a 3G/4G network, a WiFi/WiMax network, a satellite communication network, a Bluetooth or near field communication, but the present invention provides Wireless communication technology is not limited to the above. The traffic server 400 may be disposed in the equipment room or may be disposed in a certain range around the intersection in front of the vehicle 100, and the present invention is not particularly limited.
無線通訊模組110也負責由交通伺服器400接收車輛100之前方路口當前的燈號以及該燈號的持續時間,甚至,無線通訊模組110也可以接收車輛100之前方路口當前的燈號、所有燈號的轉換順序以及各燈號的持續時間。在部分的實施例中,無線通訊模組110還可以透過交通伺服器400取得車輛100前方路口的交通狀況。一般而言,無線通訊模組110可以向交通伺服器400發出請求,藉以接收交通伺服器400回傳之車輛100之前方路口當前的燈號、燈號的轉換順序、以及各燈號的持續時間,甚至交通狀況,但本發明並不以此為限。The wireless communication module 110 is also responsible for receiving the current light number of the front intersection of the vehicle 100 and the duration of the light number by the traffic server 400. Even the wireless communication module 110 can receive the current light number of the square intersection of the vehicle 100, The order in which all the lights are converted and the duration of each light. In some embodiments, the wireless communication module 110 can also obtain the traffic condition of the intersection at the front of the vehicle 100 through the traffic server 400. In general, the wireless communication module 110 can send a request to the traffic server 400 to receive the current light number, the order of conversion of the light signals, and the duration of each light signal before the vehicle 100 returned by the traffic server 400. Even traffic conditions, but the invention is not limited thereto.
資訊收集模組130負責取得車輛100的當前位置及行駛速度。一般而言,資訊收集模組130可以透過設置於車輛100上的定位系統取得車輛100的當前位置,通常為經緯度資料;資訊收集模組130也可以透過車輛100的行控系統(圖中未示)取得車輛100當前的行駛速度。但資訊收集模組130收集車輛100之當前位置與行駛速度的方式並不以上述為限。The information collection module 130 is responsible for obtaining the current position and travel speed of the vehicle 100. In general, the information collection module 130 can obtain the current position of the vehicle 100, usually the latitude and longitude data, through the positioning system disposed on the vehicle 100. The information collection module 130 can also pass through the control system of the vehicle 100 (not shown) The current travel speed of the vehicle 100 is obtained. However, the manner in which the information collecting module 130 collects the current position and the traveling speed of the vehicle 100 is not limited to the above.
資訊收集模組130也負責取得車輛100所行駛之路段的行車速限。資訊收集模組130可以透過無線通訊模組110將車輛100的當前位置傳送給交通伺服器400,藉以接收交通伺服器400所傳回之行車速限,資訊收集模組130也可以將車輛100的當前位置與預先建立的資料進行比對,藉以判斷車輛100之當前位置的行車速限,如現有之部分的車用導航產品。但資訊收集模組130取得車輛100之行駛路段的行車速限之方式並不以上述為限。The information collection module 130 is also responsible for obtaining the travel speed limit of the road section on which the vehicle 100 is traveling. The information collection module 130 can transmit the current location of the vehicle 100 to the traffic server 400 through the wireless communication module 110, so as to receive the driving speed limit returned by the traffic server 400, and the information collection module 130 can also The current location is compared to pre-established data to determine the speed limit of the current location of the vehicle 100, such as the existing portion of the vehicle navigation product. However, the manner in which the information collecting module 130 obtains the driving speed limit of the traveling section of the vehicle 100 is not limited to the above.
停車判斷模組150負責依據資訊收集模組130所取得之車輛100的當前位置與行駛速度、車輛100之行駛路段的行車速限、以及無線通訊模組110所接收之車輛100前方路口當前的燈號與該燈號的持續時間(或是車輛100之前方路口當前的燈號、所有燈號的轉換順序、與各燈號的持續時間),判斷車輛100是否可以不停止而通過路口。也就是判斷車輛100在抵達前方路口時,前方路口的燈號是否表示車輛100可以通行,或是表示車輛100需要停車等待。The parking judgment module 150 is responsible for the current position and traveling speed of the vehicle 100 obtained by the information collecting module 130, the driving speed limit of the driving section of the vehicle 100, and the current light of the intersection of the vehicle 100 received by the wireless communication module 110. The number and the duration of the light (or the current light number of the intersection of the vehicle 100, the order of conversion of all the lights, and the duration of each light) determine whether the vehicle 100 can pass the intersection without stopping. That is, when it is determined that the vehicle 100 arrives at the front intersection, whether the light signal of the front intersection indicates that the vehicle 100 can pass, or indicates that the vehicle 100 needs to wait for parking.
停車判斷模組150可以先計算車輛100之當前位置與車輛100之前方路口間的距離,並依據車輛100之前方路口當前的燈號與該燈號的持續時間(或是車輛100之前方路口當前的燈號、所有燈號的轉換順序、與各燈號的持續時間)計算可直接通過前方路口的最大時間,再依據車輛100與前方路口間的距離、可直接通過前方路口的最大時間、以及車輛100當前的行駛速度計算建議速度,並判斷所計算出的建議速度是否超過車輛100所行駛之當前路段的行車速限。當建議速度超過行車速限,則停車判斷模組150可以判斷車輛100需要在前方路口停車,而若建議速度沒有超過行車速限,也就是小於或等於行車速限,則停車判斷模組150可以判斷車輛100可以不停車而直接通過前方路口。但停車判斷模組150判斷車輛100是否可以不停止而通過前方路口之方式並不以上述為限。The parking judgment module 150 may first calculate the distance between the current position of the vehicle 100 and the intersection of the vehicle 100, and according to the current light number of the previous intersection of the vehicle 100 and the duration of the light (or the current intersection of the vehicle 100) The number of lights, the order of conversion of all lights, and the duration of each signal) calculate the maximum time that can pass directly through the front intersection, and then the distance between the vehicle 100 and the front intersection, the maximum time that can pass directly through the front intersection, and The recommended travel speed is calculated by the current travel speed of the vehicle 100, and it is judged whether the calculated recommended speed exceeds the travel speed limit of the current road section on which the vehicle 100 is traveling. When the recommended speed exceeds the driving speed limit, the parking determination module 150 can determine that the vehicle 100 needs to stop at the front intersection, and if the recommended speed does not exceed the driving speed limit, that is, less than or equal to the driving speed limit, the parking determination module 150 can It is determined that the vehicle 100 can pass directly through the front intersection without stopping. However, the parking determination module 150 determines whether the vehicle 100 can pass through the front intersection without stopping, and is not limited to the above.
在部分的實施例中,停車判斷模組150也可以依據車輛100的當前位置與行駛速度、車輛100所行駛路段的行車速限、車輛100前方路口當前的燈號與該燈號的持續時間(或是車輛100之前方路口當前的燈號、所有燈號的轉換順序、與各燈號的持續時間)、以及車輛100前方路口的交通狀況,判斷車輛100是否可以不停止而通過前方路口。例如,即使停車判斷模組150所計算出之建議速度沒有超過行車速限,但若無線通訊模組110所接收到之前方路口的交通狀況表示路口的車輛過多,導致停車判斷模組150判斷無法保持建議速度行駛至前方路口時,停車判斷模組150也可以判斷車輛100無法不停止而通過前方路口。In some embodiments, the parking determination module 150 may also depend on the current position of the vehicle 100 and the traveling speed, the driving speed limit of the road section on which the vehicle 100 travels, the current number of the road ahead of the vehicle 100, and the duration of the light number ( Whether the current number of the intersection of the vehicle 100, the order of conversion of all the lights, the duration of each of the lights, and the traffic condition of the intersection of the vehicle 100 determine whether the vehicle 100 can pass the front intersection without stopping. For example, even if the recommended speed calculated by the parking determination module 150 does not exceed the driving speed limit, if the traffic condition of the previous intersection is received by the wireless communication module 110 indicating that there are too many vehicles at the intersection, the parking determination module 150 determines that the parking cannot be determined. When the recommended speed is maintained to the front intersection, the parking determination module 150 may determine that the vehicle 100 cannot pass through the front intersection without stopping.
車速控制模組170負責依據停車判斷模組150所產生的判斷結果控制車輛100的車速。一般而言,車速控制模組170可以透過車輛100的行控系統來控制車輛100的車速,但本發明並不以此為限。The vehicle speed control module 170 is responsible for controlling the vehicle speed of the vehicle 100 based on the determination result generated by the parking determination module 150. In general, the vehicle speed control module 170 can control the vehicle speed of the vehicle 100 through the traffic control system of the vehicle 100, but the invention is not limited thereto.
當停車判斷模組150判斷車輛100無法直接通過前方路口,也就是車輛100需要在前方路口停止時,車速控制模組170可以在車輛100行駛一定時間、行駛一定距離、或行駛至一定地點後,控制車輛100開始減速,藉以使車輛100於前方路口前平穩的停止,而不至於太晚煞車;而當停車判斷模組150判斷車輛100可以直接通過前方路口,則車速控制模組170可以控制車輛100保持相同的行駛速度或加速至停車判斷模組150所計算出的建議速度,藉以讓車輛100的車速在不超過所行駛路段之行車速限的情況下,使車輛100不停止而順利通過前方路口。When the parking determination module 150 determines that the vehicle 100 cannot directly pass the front intersection, that is, the vehicle 100 needs to stop at the front intersection, the vehicle speed control module 170 may drive the vehicle 100 for a certain period of time, travel a certain distance, or travel to a certain location. The vehicle 100 is controlled to start deceleration, so that the vehicle 100 is smoothly stopped in front of the front intersection, and is not too late; and when the parking determination module 150 determines that the vehicle 100 can directly pass the front intersection, the vehicle speed control module 170 can control the vehicle. The vehicle 100 maintains the same traveling speed or accelerates to the recommended speed calculated by the parking determination module 150, so that the vehicle speed of the vehicle 100 does not stop and smoothly passes through the front without exceeding the driving speed limit of the traveling section. intersection.
接著以一個實施例來解說本發明的運作系統與方法,並請參照「第2A圖」本發明所提之收集車輛與路口資訊以控制車輛速度之方法流程圖。在本實施例中,假設本發明包含在車輛100的行控系統中,但本發明並不以此為限。Next, an operational system and method of the present invention will be described with reference to an embodiment. Referring to FIG. 2A, a flow chart of a method for collecting vehicle and intersection information to control vehicle speed is provided. In the present embodiment, it is assumed that the present invention is included in the line control system of the vehicle 100, but the present invention is not limited thereto.
在車輛100行駛時,無線通訊模組110可以透過無線通訊技術至交通伺服器400至少接收車輛100前方路口的燈號與該燈號的持續時間(步驟210)。在本實施例中,假設無線通訊模組110可以嘗試使用WiFi技術中的Adhoc模式與設置在前方路口的交通伺服器400連接,並在成功與前方路口的交通伺服器400連接後,向交通伺服器400請求車輛前方路口當前的燈號、所有燈號的轉換順序與各燈號的持續時間。When the vehicle 100 is traveling, the wireless communication module 110 can receive at least the light number of the intersection of the vehicle 100 and the duration of the light signal through the wireless communication technology to the traffic server 400 (step 210). In this embodiment, it is assumed that the wireless communication module 110 can attempt to connect to the traffic server 400 disposed at the front intersection using the Adhoc mode in the WiFi technology, and after successfully connecting with the traffic server 400 at the front intersection, the traffic servo is provided. The device 400 requests the current light number of the intersection ahead of the vehicle, the order of conversion of all the lights, and the duration of each light.
在無線通訊模組110接收到車輛100前方路口的燈號與持續時間後,資訊收集模組130可以取得車輛100的當前位置以及行駛速度(步驟230)。在本實施例中,假設資訊收集模組130可以透過車輛100的衛星定位模組取得車輛100當前的經緯度資料(當前位置),並依據連續兩次取得的經緯度資料與時間間隔計算車輛100的行駛速度。After the wireless communication module 110 receives the light number and duration of the intersection of the vehicle 100, the information collection module 130 can obtain the current position of the vehicle 100 and the traveling speed (step 230). In this embodiment, it is assumed that the information collecting module 130 can obtain the current latitude and longitude data (current position) of the vehicle 100 through the satellite positioning module of the vehicle 100, and calculate the driving of the vehicle 100 according to the latitude and longitude data obtained twice consecutively and the time interval. speed.
在資訊收集模組130取得車輛100的當前位置以及行駛速度(步驟230)後,資訊收集模組130可以取得車輛100所行駛之路段的行車速限(步驟250)。在本實施例中,假設資訊收集模組130可以透過無線通訊模組110向交通伺服器400查詢,也可以依據所取得之車輛100的當前位置至預先建立的資料庫中查詢車輛100之行駛路段的行車速限。After the information collection module 130 obtains the current position of the vehicle 100 and the traveling speed (step 230), the information collection module 130 can obtain the driving speed limit of the section on which the vehicle 100 travels (step 250). In this embodiment, it is assumed that the information collection module 130 can query the traffic server 400 through the wireless communication module 110, or can query the driving route of the vehicle 100 according to the obtained current location of the vehicle 100 to the pre-established database. Driving speed limit.
在無線通訊模組110接收車輛100之前方路口的燈號與燈號的持續時間(步驟210),且資訊收集模組130取得車輛100的當前位置、行駛速度、以及車輛100之行駛路段的行車速限(步驟230、步驟250)後,停車判斷模組150可以依據資訊收集模組130所取得之車輛100的當前位置、行駛速度、車輛100之行駛路段的行車速限,以及無線通訊模組110所接收到之車輛100之前方路口的燈號與燈號的持續時間判斷車輛100是否可以不停止而通過前方路口,並由車速控制模組170依據停車判斷模組150所產生的判斷結果控制車輛100的車速(步驟270)。The wireless communication module 110 receives the duration of the light signal and the light number of the square road before the vehicle 100 (step 210), and the information collecting module 130 obtains the current position of the vehicle 100, the traveling speed, and the line of the traveling road segment of the vehicle 100. After the vehicle speed limit (steps 230 and 250), the parking determination module 150 can determine the current position of the vehicle 100, the traveling speed, the driving speed limit of the driving section of the vehicle 100, and the wireless communication module according to the information collecting module 130. The duration of the signal and the signal number of the front intersection of the received vehicle 100 determines whether the vehicle 100 can pass through the front intersection without stopping, and is controlled by the vehicle speed control module 170 according to the judgment result generated by the parking determination module 150. The vehicle speed of the vehicle 100 (step 270).
在本實施例中,假設停車判斷模組150與車速控制模組170可以如「第2B圖」之流程所示,停車判斷模組150先計算車輛100之當前位置與車輛100之前方路口間的距離(步驟271)。在本實施例中,假設停車判斷模組150可以依據資訊收集模組130所收集到之車輛100的當前位置至預先建立知道路資料庫中查找車輛100之前方路口的位置資料,並依據車輛100之當前位置的位置資訊與所查找出之前方路口的位置資料計算兩者間的距離。In this embodiment, it is assumed that the parking determination module 150 and the vehicle speed control module 170 can be as shown in the flow of FIG. 2B. The parking determination module 150 first calculates the current position of the vehicle 100 and the intersection of the vehicle 100. Distance (step 271). In this embodiment, it is assumed that the parking determination module 150 can search for the location information of the intersection of the vehicle 100 in advance in the known road database according to the current location of the vehicle 100 collected by the information collection module 130, and according to the vehicle 100. The distance between the position information of the current position and the position data of the previous intersection is calculated.
停車判斷模組150也可以依據前方路口的燈號與持續時間計算可通過前方路口的最大時間(步驟272)。在本實施例中,停車判斷模組150可以依據無線通訊模組110所接收到之前方路口的燈號、前方路口所有燈號的轉換順序、以及各個燈號的持續時間計算最大時間,例如,當前方路口為綠燈,持續時間為28秒,則停車判斷模組150所計算出之最大時間即為28秒,而若前方路口為黃燈,燈號轉換順序為綠燈、黃燈、紅燈、綠燈,且各燈號的持續時間分別為黃燈3秒、綠燈77秒、紅燈69秒,則停車判斷模組所計算出之最大時間為149(3+69+77)秒。The parking determination module 150 may also calculate the maximum time that can pass through the front intersection according to the light number and duration of the front intersection (step 272). In this embodiment, the parking determination module 150 can calculate the maximum time according to the signal number of the previous intersection, the conversion order of all the lights of the front intersection, and the duration of each light number received by the wireless communication module 110, for example, The current intersection is a green light, and the duration is 28 seconds. The maximum time calculated by the parking determination module 150 is 28 seconds. If the front intersection is yellow, the order of the light conversion is green, yellow, red, The green light, and the duration of each light is 3 seconds for the yellow light, 77 seconds for the green light, and 69 seconds for the red light, the maximum time calculated by the parking judgment module is 149 (3+69+77) seconds.
在停車判斷模組150計算出車輛100之當前位置與前方路口間的距離以及通過前方路口的最大時間後,可以依據所計算出之距離與最大時間、以及資訊收集模組130所收集到之車輛100當前的行駛速度計算建議速度(步驟273)。在本實施例中,假設停車判斷模組150可以依據所計算出之距離與最大時間計算基準速度,並依據車輛100當前的行駛速度與所計算出之基準速度的差值進行微調,例如額外考量車輛100由當前行駛速度增加至基準速度的所需時間,藉以計算出建議速度。After the parking determination module 150 calculates the distance between the current position of the vehicle 100 and the front intersection and the maximum time of passing the front intersection, the calculated distance and maximum time, and the vehicle collected by the information collection module 130 100 The current travel speed calculates the recommended speed (step 273). In this embodiment, it is assumed that the parking determination module 150 can calculate the reference speed according to the calculated distance and the maximum time, and fine-tune according to the difference between the current traveling speed of the vehicle 100 and the calculated reference speed, for example, an additional consideration. The recommended time is calculated by the vehicle 100 increasing the current travel speed to the required time of the reference speed.
在停車判斷模組150計算出建議速度後,可以接著判斷所計算出的建議速度是否超過資訊收集模組130所收集到之車輛100之行駛路段的行車速限(步驟275)。若建議速度超過行車速限,則車速控制模組170可以控制車輛100在行駛一定時間、行駛一定距離、或行駛至一定地點後開始減速,藉以讓車輛100可以在前方路口前停止(步驟277);而若建議速度沒有超過行車速限,則車速控制模組170可以控制車輛保持行駛速度或將車速增加至建議速度,藉以讓車輛100可以不在前方路口前停止而直接通過前方路口(步驟278)。After the parking determination module 150 calculates the recommended speed, it may be determined whether the calculated recommended speed exceeds the driving speed limit of the driving section of the vehicle 100 collected by the information collecting module 130 (step 275). If the recommended speed exceeds the driving speed limit, the vehicle speed control module 170 may control the vehicle 100 to start decelerating after traveling for a certain period of time, driving a certain distance, or driving to a certain place, so that the vehicle 100 can stop before the front intersection (step 277). And if the recommended speed does not exceed the driving speed limit, the vehicle speed control module 170 can control the vehicle to maintain the driving speed or increase the vehicle speed to the recommended speed, so that the vehicle 100 can stop directly before the front intersection and directly pass the front intersection (step 278). .
如此,透過本發明,車輛100便可以順暢有效率的地通過前方路口,避免車輛100的駕駛人搶黃燈而造成的危險。As such, with the present invention, the vehicle 100 can smoothly and efficiently pass through the front intersection, thereby avoiding the danger caused by the driver of the vehicle 100 robbing the yellow light.
另外,在上述的實施例也可以如「第2C圖」之流程所示,無線通訊模組110可以在透過無線通訊技術至交通伺服器400至少接收車輛100前方路口的燈號與該燈號的持續時間(步驟210)後,同樣至交通伺服器400取得車輛100前方路口的交通狀況(步驟220)。In addition, in the above embodiment, as shown in the flow of "2C", the wireless communication module 110 can receive at least the light number of the intersection of the vehicle 100 and the light number through the wireless communication technology to the traffic server 400. After the duration (step 210), the traffic server 400 also obtains the traffic condition at the intersection of the vehicle 100 (step 220).
並在資訊收集模組130取得車輛100的當前位置與行駛速度(步驟230),以及車輛100之行駛路線的行車速限(步驟250)後,停車判斷模組150可以依據資訊收集模組130所收集到之車輛100的當前位置、行駛速度、車輛100行駛路線之行車速限、以及無線通訊模組110所接收到之車輛100前方路口的燈號、燈號的持續時間、與交通狀況,判斷車輛100是否可以不停止而直接通過前方路口,並由車速控制模組170依據停車判斷模組150的判斷結果控制車輛100的車速(步驟280)。例如,若在前方路口等待通過的車輛過多,導致在一次燈號轉換的期間無法讓所有等待的車輛都通過,則停車判斷模組150可以判斷車輛100無法直接通過前方路口,則車速控制模組170可以依據車輛的當前位置、行駛速度、與車輛預期的停止位置計算車輛的行駛速度,藉以控制車輛100平穩的在前方路口前停車等待號誌變換。After the information collection module 130 obtains the current position and the traveling speed of the vehicle 100 (step 230) and the driving speed limit of the driving route of the vehicle 100 (step 250), the parking determination module 150 can be configured according to the information collecting module 130. The current position of the collected vehicle 100, the traveling speed, the driving speed limit of the driving route of the vehicle 100, and the signal number of the intersection ahead of the vehicle 100 received by the wireless communication module 110, the duration of the light number, and the traffic condition are determined. Whether the vehicle 100 can directly pass through the front intersection without stopping, and the vehicle speed control module 170 controls the vehicle speed of the vehicle 100 according to the determination result of the parking determination module 150 (step 280). For example, if there are too many vehicles waiting to pass at the front intersection, and all the waiting vehicles cannot be passed during the one-time conversion, the parking determination module 150 can determine that the vehicle 100 cannot directly pass the front intersection, and the vehicle speed control module 170 can calculate the traveling speed of the vehicle according to the current position of the vehicle, the traveling speed, and the stop position expected by the vehicle, thereby controlling the vehicle 100 to smoothly stop waiting for the sign change before the front intersection.
綜上所述,可知本發明與先前技術之間的差異在於具有透過無線通訊技術至交通伺服器接收車輛前方路口的燈號資訊,並收及車輛的當前位置、行駛速度與行駛路段之行車速限後,依據所取得之資料判斷車輛是否可以直接通過前方路口,並依據判斷結果控制車輛的車速之技術手段,藉由此一技術手段可以來解決先前技術所存在車輛在交通號誌間走走停停導致駕駛人不耐的問題,進而達成可讓車輛順暢、安全、有效率通過路口的技術功效。In summary, it can be seen that the difference between the present invention and the prior art is that the information of the vehicle is received by the wireless communication technology to the traffic server to receive the front position of the vehicle, and the current position of the vehicle, the traveling speed, and the traveling speed of the traveling section are received. After the limitation, based on the obtained information, it is determined by the technical means that the vehicle can directly pass the front intersection and control the vehicle speed according to the judgment result, and the technical means can solve the problem that the vehicle existing in the prior art walks between the traffic signs The stoppage causes the driver to be intolerant, and the technical effect of allowing the vehicle to pass smoothly, safely and efficiently through the intersection is achieved.
再者,本發明之收集車輛與路口資訊以控制車輛速度之方法,可實現於硬體、軟體或硬體與軟體之組合中,亦可在電腦系統中以集中方式實現或以不同元件散佈於若干互連之電腦系統的分散方式實現。Furthermore, the method for collecting vehicle and intersection information of the present invention to control the speed of the vehicle can be implemented in a combination of hardware, software or a combination of hardware and software, or can be implemented in a centralized manner in a computer system or distributed by different components. The decentralized implementation of several interconnected computer systems.
雖然本發明所揭露之實施方式如上,惟所述之內容並非用以直接限定本發明之專利保護範圍。任何本發明所屬技術領域中具有通常知識者,在不脫離本發明所揭露之精神和範圍的前提下,對本發明之實施的形式上及細節上作些許之更動潤飾,均屬於本發明之專利保護範圍。本發明之專利保護範圍,仍須以所附之申請專利範圍所界定者為準。While the embodiments of the present invention have been described above, the above description is not intended to limit the scope of the invention. Any modification of the form and details of the practice of the present invention, which is a matter of ordinary skill in the art to which the present invention pertains, is a patent protection of the present invention. range. The scope of the invention is to be determined by the scope of the appended claims.
100‧‧‧車輛
110‧‧‧無線通訊模組
130‧‧‧資訊收集模組
150‧‧‧停車判斷模組
170‧‧‧車速控制模組
400‧‧‧交通伺服器
步驟210‧‧‧透過無線通訊技術至交通伺服器接收車輛前方路口之燈號及燈號之持續時間
步驟220‧‧‧至交通伺服器取得路口之交通狀況
步驟230‧‧‧取得車輛之當前位置及行駛速度
步驟250‧‧‧取得車輛所行駛之路段之行車速限
步驟270‧‧‧依據當前位置、行駛速度、行車速限、燈號、及持續時間判斷車輛是否可以不停止而通過路口,並依據判斷結果控制車輛之車速
步驟271‧‧‧計算當前位置與路口間之距離
步驟272‧‧‧依據燈號與持續時間計算可通過路口之最大時間
步驟273‧‧‧依據距離、最大時間、及行駛速度計算建議速度
步驟275‧‧‧判斷建議速度是否超過行車速限
步驟277‧‧‧控制車輛於行駛一定時間、行駛一定距離、或行駛至一定地點後開始減速,藉以使車輛於路口前停止
步驟278‧‧‧控制車輛保持行駛速度或加速至建議速度,藉以使車輛不停止而通過路口
步驟280‧‧‧依據當前位置、行駛速度、行車速限、燈號、持續時間、及交通狀況判斷車輛是否可以不停止而通過路口,並依據判斷結果控制車輛之車速100‧‧‧ Vehicles
110‧‧‧Wireless communication module
130‧‧‧Information Collection Module
150‧‧‧Parking Judgment Module
170‧‧‧Speed Control Module
400‧‧‧Traffic Server Step 210‧‧‧Through the wireless communication technology to the traffic server to receive the signal and the duration of the signal at the intersection of the vehicle. Step 220‧‧‧From the traffic server to obtain the traffic condition at the intersection Step 230‧ ‧ ‧ Get the current position and speed of the vehicle Steps 250 ‧ ‧ Get the speed limit of the road section where the vehicle is driving Step 270‧‧‧According to the current position, driving speed, driving speed limit, signal number, and duration You can pass the intersection without stopping, and control the speed of the vehicle according to the judgment result. Step 271‧‧‧ Calculate the distance between the current position and the intersection Step 272‧‧‧ Calculate the maximum time that can pass the intersection according to the signal number and duration Step 273‧ ‧ Calculate the recommended speed based on distance, maximum time, and travel speed. Step 275‧‧‧Determine whether the recommended speed exceeds the driving speed limit. Step 277‧‧‧ Control the vehicle to start decelerating after driving for a certain period of time, driving a certain distance, or driving to a certain place. In order to stop the vehicle at the intersection 278‧‧‧ Control the vehicle to maintain the speed or increase To the recommended speed, so that the vehicle does not stop and pass the intersection step 280‧‧‧According to the current position, driving speed, driving speed limit, signal number, duration, and traffic conditions, it is judged whether the vehicle can pass the intersection without stopping, and according to the judgment Result in controlling the speed of the vehicle
第1圖為本發明所提之收集車輛與路口資訊以控制車輛速度之系統架構圖。 第2A圖為本發明所提之收集車輛與路口資訊以控制車輛速度之方法流程圖。 第2B圖為本發明所提之控制車輛速度之詳細方法流程圖。 第2C圖為本發明所提之另一種收集車輛與路口資訊以控制車輛速度之方法流程圖。FIG. 1 is a system architecture diagram of collecting vehicle and intersection information to control vehicle speed according to the present invention. 2A is a flow chart of a method for collecting vehicle and intersection information to control vehicle speed according to the present invention. Figure 2B is a flow chart showing a detailed method of controlling the speed of the vehicle according to the present invention. 2C is a flow chart of another method for collecting vehicle and intersection information to control vehicle speed according to the present invention.
步驟210‧‧‧透過無線通訊技術至交通伺服器接收車輛前方路口之燈號及燈號之持續時間 Step 210‧‧‧Through the wireless communication technology to the traffic server to receive the signal and the duration of the signal at the intersection of the vehicle
步驟230‧‧‧取得車輛之當前位置及行駛速度 Step 230‧‧‧Get the current position and speed of the vehicle
步驟250‧‧‧取得車輛所行駛之路段之行車速限 Step 250‧‧‧Get the speed limit of the section on which the vehicle is traveling
步驟270‧‧‧依據當前位置、行駛速度、行車速限、燈號、及持續時間判斷車輛是否可以不停止而通過路口,並依據判斷結果控制車輛之車速 Step 270‧‧‧According to the current position, driving speed, driving speed limit, lamp number, and duration, it is judged whether the vehicle can pass through the intersection without stopping, and control the vehicle speed according to the judgment result.
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Publication number | Priority date | Publication date | Assignee | Title |
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CN110320899A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its travel control method |
CN110320899B (en) * | 2018-03-30 | 2021-08-10 | 比亚迪股份有限公司 | Automobile and driving control method thereof |
TWI677859B (en) * | 2018-08-22 | 2019-11-21 | 南開科技大學 | Traffic control system and method thereof |
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