Intelligent driving method, system, equipment and computer-readable storage medium for traffic light intersections

Abstract

The present invention relates to an intelligent driving passage method, passage system, passage equipment and computer-readable storage medium at a traffic light intersection. The intelligent driving passage method at a traffic light intersection includes S1, establishing an intersection passage model; S2, calculating the passage time based on the intersection passage model; S3, finding a matching intersection passage model, and then entering step S4, otherwise entering step S5; S4, selecting the optimal intersection passage model based on the maximum speed and the average speed of the process through the traffic light intersection, passing the current intersection according to the optimal intersection passage model, and ending; S5, the vehicle stops before the stop line of the current intersection. The present invention proposes an intelligent driving passage method, passage system, passage equipment and computer-readable storage medium at a traffic light intersection, which can effectively obtain a traffic plan for a traffic light intersection and improve the safety and comfort of vehicle traffic at the intersection.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an intelligent driving method, a passage system, a passage device, and a computer-readable storage medium at a traffic light intersection. Background Art

[0002] At present, when smart driving vehicles pass through traffic lights, they mostly only consider the color of the traffic lights, but do not take the remaining time of the traffic lights into account. When making decisions, they only follow the principle of stopping at red lights and going at green lights. This will cause smart driving vehicles to suddenly brake when the traffic light changes color, affecting the safety of the vehicle and the comfort of passengers.

[0003] With the widespread adoption of V2X (Vehicle to Everything) technology, intelligent vehicles can use their current lane information to determine the color and remaining time of the traffic light they should pay attention to at traffic lights. The challenge of providing more efficient traffic flow solutions based on these indicators has become a pressing issue. Summary of the Invention

[0004] In response to the above-mentioned problems in the prior art, the present invention proposes an intelligent driving passage method, passage system, passage equipment and computer-readable storage medium at traffic light intersections, which can effectively obtain traffic light intersection passage plans and improve the safety and comfort of vehicle passage at intersections.

[0005] Specifically, the present invention proposes a method for intelligent driving at a traffic light intersection, comprising the steps of:

[0006] S1, establishing an intersection traffic model, including multiple green light intersection traffic models and red light intersection traffic models, wherein the green light intersection traffic model is applicable to a traffic scenario when the current traffic light at the intersection is green, and the red light intersection traffic model is applicable to a traffic scenario when the current traffic light at the intersection is red;

[0007] S2, calculating the travel time based on the intersection traffic model;

[0008] If the traffic light at the current intersection is green, the travel time range [t min ,t max ], where Δt is the preset adjustment value, t min is the minimum time to pass the intersection, t max is the maximum time to pass through the intersection;

[0009] If the traffic light at the current intersection is red, the travel time range [t min ,t max ];

[0010] S3, find the matching intersection traffic model, if the remaining time of the green light is t-Δt∈[t min ,t max ] or the remaining time of red light t+Δt∈[t min ,t max ], it is considered that the corresponding intersection traffic model meets the current traffic scene, and all matching intersection traffic models are found, and the process goes to step S4; otherwise, the process goes to step S5;

[0011] S4, selecting an optimal intersection traffic model based on the maximum speed and the average speed of the process of passing the traffic light intersection, passing the current intersection according to the optimal intersection traffic model, and ending;

[0012] S5: The vehicle stops before the stop line at the current intersection.

[0013] According to one embodiment of the present invention, in step S2, if the traffic light at the current intersection is yellow, the state of the previous traffic light is determined. If the previous traffic light is green, processing is performed according to the current traffic light being green; if the previous traffic light is red, processing is performed according to the current traffic light being red.

[0014] According to one embodiment of the present invention, the green light intersection traffic model includes:

[0015] The uniform speed model satisfies the requirement to pass the current intersection at the current speed v0, and the current speed v0 is not higher than the road speed limit v limit ;

[0016] The constant acceleration model satisfies the requirement to accelerate to the target speed v1 to pass the current intersection, and the target speed v1 is not higher than the road speed limit v limit ;

[0017] The first acceleration and then constant speed model satisfies the requirement of first accelerating to the target speed v2 and then maintaining a constant speed to pass the current intersection. The target speed v2 is not higher than the road speed limit v limit ;

[0018] The model first accelerates and then maintains a constant speed before decelerating. It satisfies the requirement of accelerating to the target speed v3, maintaining the target speed v3 at a constant speed for a period of time, and then decelerating to the target speed v4 to pass the current intersection. The target speed v3 is not higher than the road speed limit v limit ;

[0019] Constant deceleration model, the current vehicle speed v0 exceeds the road speed limit v limit , first decelerate to the road speed limit v limit Pass the current intersection;

[0020] First decelerate and then maintain constant speed model, the current speed v0 exceeds the road speed limit v limit , first decelerate to the road speed limit v limit , then maintain a constant speed through the current intersection;

[0021] The red light intersection traffic model includes:

[0022] The uniform speed model satisfies the requirement to pass the current intersection at the current speed v0, and the current speed v0 is not higher than the road speed limit v limit ;

[0023] The constant acceleration model satisfies the requirement to accelerate to the target speed v1 to pass the current intersection, and the target speed v1 is not higher than the road speed limit v limit ;

[0024] The first acceleration and then constant speed model satisfies the requirement of first accelerating to the target speed v2 and then maintaining a constant speed to pass the current intersection. The target speed v2 is not higher than the road speed limit v limit ;

[0025] The model first accelerates and then maintains a constant speed before decelerating. It satisfies the requirement of accelerating to the target speed v3, maintaining the target speed v3 at a constant speed for a period of time, and then decelerating to the target speed v4 to pass the current intersection. The target speed v3 is not higher than the road speed limit v limit ;

[0026] The constant deceleration model satisfies the requirement to decelerate to the target speed v5 to pass the current intersection, and the target speed v5 is not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v min ;

[0027] The model of first decelerating and then maintaining a constant speed satisfies the requirement of first decelerating to the target speed v6 and then maintaining a constant speed to pass the current intersection. The target speed v6 is not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v min ;

[0028] The model first decelerates, then maintains a constant speed, and then accelerates. It satisfies the requirement of first decelerating to the target speed v6, then maintaining a constant speed, and then accelerating to the target speed v7 to pass the current intersection. The target speeds v6 and v7 are not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v limit .

[0029] According to one embodiment of the present invention, the model formula corresponding to the green light intersection traffic model includes:

[0030] The model formula of the uniform speed model is: v0*t=s;

[0031] The model formula of the constant acceleration model is: v0*t+0.5*a1*t 2 =s, where a1 is the fixed acceleration of the model;

[0032] The model formula of the acceleration-first-and-constant-speed model is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*(t-t1)=s, t1 is the acceleration time;

[0033] The model formula of the model of accelerating first, then maintaining a constant speed, and then decelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*t2+(v0+a1*t1)*t3+0.5*a2*t3 2 =s, a2 is the fixed deceleration of the model, t2 is the uniform speed time, t3 is the deceleration time, and t1+t2+t3=t;

[0034] The model formula of the constant deceleration model is: v0*t+0.5*a2*t 2 =s;

[0035] The model formula of the deceleration-then-constant speed model is: v0*t2+0.5*a2*t2 2 +(v0+a2*t2)*(t-t2)=s.

[0036] According to one embodiment of the present invention, the model formula corresponding to the red light intersection traffic model includes:

[0037] The model formula of the uniform speed model is: v0*t=s;

[0038] The model formula of the constant acceleration model is: v0*t+0.5*a1*t 2 =s, where a1 is the fixed acceleration of the model;

[0039] The model formula of the acceleration-first-and-constant-speed model is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*(t-t1)=s, t1 is the acceleration time;

[0040] The model formula of the model of accelerating first, then maintaining a constant speed, and then decelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1*t2+v0+a1*t1*t3+0.5*a2*t32=s, a2 is the fixed deceleration of the model, t2 is the uniform speed time, t3 is the deceleration time, and t1+t2+t3=t;

[0041] The model formula of the constant deceleration model is: v0*t+0.5*a2*t 2 =s;

[0042] The model formula of the deceleration-then-constant speed model is: v0*t2+0.5*a2*t2 2 +(v0+a2*t2)*(t-t2)=s;

[0043] The model formula for the model of first decelerating, then maintaining a constant speed, and then accelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1*t2+v0+a1*t1*t3+0.5*a2*t32=s.

[0044] According to one embodiment of the present invention, in step S3, if the calculation result of only one intersection traffic model matches the remaining green light time t-Δt or the remaining red light time t+Δt, then in step S4, there is no need to select the optimal model and the current intersection is passed according to the matched intersection traffic model.

[0045] The present invention also provides a traffic light intersection intelligent driving passage system, which is used to implement the aforementioned traffic light intersection intelligent driving passage method, comprising:

[0046] A model building unit is used to build an intersection traffic model, including multiple green light intersection traffic models and red light intersection traffic models, wherein the green light intersection traffic model is applicable to the traffic scene when the current traffic light at the intersection is green, and the red light intersection traffic model is applicable to the traffic scene when the current traffic light at the intersection is red;

[0047] The calculation unit includes a first calculation module and a second calculation module. When the traffic light at the current intersection is green, the first calculation module calculates the travel time range [t min ,t max ], where Δt is the preset adjustment value, t min is the minimum time to pass the intersection, t max is the maximum time to pass the intersection; when the traffic light at the current intersection is red, the second calculation module calculates the travel time range [t min ,t max ];

[0048] The matching unit obtains the intersection traffic model that meets the set conditions, where the set conditions are the remaining time of the green light t-Δt∈[t min ,t max] or the remaining time of red light t+Δt∈[t min ,t max ];

[0049] Obtaining an optimal unit, selecting an optimal intersection traffic model from all intersection traffic models obtained by the matching unit based on the maximum speed and the average speed of the process of passing the traffic light intersection;

[0050] The sending unit sends the optimal intersection traffic model to the vehicle control unit.

[0051] According to one embodiment of the present invention, in the calculation unit, if the traffic light at the current intersection is yellow, the state of the previous traffic light is determined. If the previous traffic light is green, the process is performed according to the current traffic light at the intersection being green. The first calculation module calculates the travel time range [t min ,t max ];

[0052] If the previous traffic light is red, the current traffic light at the intersection is processed as if it is red. The second calculation module calculates the travel time range [t min ,t max ].

[0053] The present invention also provides an intelligent driving passage device at a traffic light intersection, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the aforementioned intelligent driving passage method at a traffic light intersection are implemented.

[0054] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned intelligent driving method for passing through a traffic light intersection.

[0055] The present invention provides an intelligent driving passage method, passage system, passage equipment and computer-readable storage medium for traffic light intersections, which establish a passage model group for traffic light passage scenarios, obtain the optimal matching model for traffic light intersections, and improve the safety and comfort of vehicle passage at intersections.

[0056] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings are included to provide further explanation of the present invention and are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with the description serve to explain the principle of the present invention.

[0058] In the attached figure:

[0059] Figure 1 A flowchart of a method for intelligent driving at a traffic light intersection according to an embodiment of the present invention is shown.

[0060] Figure 2 A schematic structural diagram of an intelligent driving system for traffic light intersections according to an embodiment of the present invention is shown.

[0061] The above drawings include the following reference numerals:

[0062] Traffic light intersection intelligent driving system 200

[0063] Establishment Unit 201

[0064] Computing unit 202

[0065] Matching unit 203

[0066] Get the optimal unit 204

[0067] Sending unit 205 DETAILED DESCRIPTION

[0068] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0069] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0071] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0072] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0073] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0074] Figure 1 A flowchart of a method for intelligent driving at a traffic light intersection according to an embodiment of the present invention is shown. As shown in the figure, the method for intelligent driving at a traffic light intersection provided by the present invention includes the following steps:

[0075] S1. Establish an intersection traffic model, including multiple green light intersection traffic models and red light intersection traffic models. The green light intersection traffic model applies to traffic scenarios where the current traffic light at the intersection is green, while the red light intersection traffic model applies to traffic scenarios where the current traffic light at the intersection is red. In other words, mathematically abstracting the traffic scenarios can yield corresponding intersection traffic models.

[0076] S2, calculates travel time based on the intersection traffic model. When the vehicle is within the traffic light scenario, obtain the traffic light color, current time, and distance from the stop line at the intersection based on the vehicle's lane information and pre-travel information. Substitute this information into the intersection traffic model to calculate the travel time range. This includes:

[0077] If the traffic light at the current intersection is green, the travel time range [t min ,t max ], where Δt is the preset adjustment value, t min is the minimum time to pass the intersection, t max is the maximum time to pass through the intersection;

[0078] If the traffic light at the current intersection is red, the travel time range [t min ,t max ];

[0079] S3, find the matching intersection traffic model, if the remaining time of the green light is t-Δt∈[t min ,t max ] or the remaining time of red light t+Δt∈[t min ,t max ], it is considered that the corresponding intersection traffic model meets the current traffic scene, and all matching intersection traffic models are found, and the process goes to step S4; otherwise, the process goes to step S5;

[0080] S4: Based on the maximum speed and average speed at the intersection, the optimal intersection traffic model is selected. The driver then passes through the current intersection using this optimal intersection traffic model, and the process ends. Specifically, when the current intersection light is green, the driver typically chooses to pass through as quickly as possible, prioritizing efficiency with a higher target speed. When the current intersection light is red, the driver can extend the arrival time to cover the time it takes for the light to turn green. Therefore, the traffic model selection strategies for green and red intersections differ, and a preferred strategy can be set based on the driver's driving habits.

[0081] S5, the vehicle stops before the stop line of the current intersection, indicating that the vehicle does not have a matching intersection traffic model and can pass the current intersection traffic light.

[0082] This invention provides an intelligent driving method for traffic light intersections. This method uses traffic light scenarios to establish an intersection model, selects a matching intersection model based on lane information and pre-travel information, and executes the optimal intersection model to navigate the current intersection. This method avoids sudden braking caused by switching between red and green lights, improving the safety and comfort of intelligent driving vehicles at traffic light intersections.

[0083] Preferably, in step S2, if the current intersection's traffic light is yellow, the previous traffic light status is determined. If the previous traffic light was green, the current intersection's traffic light status is processed accordingly; if the previous traffic light was red, the current intersection's traffic light status is processed accordingly. This step includes the yellow light within the green or red light range, and the corresponding green light intersection traffic model or red light intersection traffic model is selected to calculate the travel time.

[0084] Preferably, the green light intersection passing models include at least the following six types, which basically cover all control models suitable for intelligent driving through green lights at intersections, specifically including:

[0085] The uniform speed model satisfies the requirement to pass the current intersection at the current speed v0, and the current speed v0 is not higher than the road speed limit v limit ;

[0086] The constant acceleration model satisfies the requirement to accelerate to the target speed v1 to pass the current intersection, and the target speed v1 is not higher than the road speed limit v limit ;

[0087] The first acceleration and then constant speed model satisfies the requirement of first accelerating to the target speed v2 and then maintaining a constant speed to pass the current intersection. The target speed v2 is not higher than the road speed limit v limit ;

[0088] The model first accelerates and then maintains a constant speed before decelerating. It satisfies the requirement of accelerating to the target speed v3, maintaining the target speed v3 at a constant speed for a period of time, and then decelerating to the target speed v4 to pass the current intersection. The target speed v3 is not higher than the road speed limit v limit ;

[0089] Constant deceleration model, the current vehicle speed v0 exceeds the road speed limit v limit , first decelerate to the road speed limit v limit Pass the current intersection;

[0090] First decelerate and then maintain constant speed model, the current speed v0 exceeds the road speed limit v limit, first decelerate to the road speed limit v limit , then maintain a constant speed through the current intersection;

[0091] The red light intersection passing models include at least the following seven types, which basically cover all the control models suitable for intelligent driving through red lights at intersections, including:

[0092] The uniform speed model satisfies the requirement to pass the current intersection at the current speed v0, and the current speed v0 is not higher than the road speed limit v limit ;

[0093] The constant acceleration model satisfies the requirement to accelerate to the target speed v1 to pass the current intersection, and the target speed v1 is not higher than the road speed limit v limit ;

[0094] The first acceleration and then constant speed model satisfies the requirement of first accelerating to the target speed v2 and then maintaining a constant speed to pass the current intersection. The target speed v2 is not higher than the road speed limit v limit ;

[0095] The model first accelerates and then maintains a constant speed before decelerating. It satisfies the requirement of accelerating to the target speed v3, maintaining the target speed v3 at a constant speed for a period of time, and then decelerating to the target speed v4 to pass the current intersection. The target speed v3 is not higher than the road speed limit v limit ;

[0096] The constant deceleration model satisfies the requirement to decelerate to the target speed v5 to pass the current intersection, and the target speed v5 is not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v min ;

[0097] The model of first decelerating and then maintaining a constant speed satisfies the requirement of first decelerating to the target speed v6 and then maintaining a constant speed to pass the current intersection. The target speed v6 is not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v min ;

[0098] The model first decelerates, then maintains a constant speed, and then accelerates. It satisfies the requirement of first decelerating to the target speed v6, then maintaining a constant speed, and then accelerating to the target speed v7 to pass the current intersection. The target speeds v6 and v7 are not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v limit .

[0099] Preferably, the model formula corresponding to the green light intersection traffic model includes:

[0100] The model formula of the uniform speed model is: v0*t=s;

[0101] The model formula of the constant acceleration model is: v0*t+0.5*a1*t 2 =s, where a1 is the fixed acceleration of the model;

[0102] The model formula of the acceleration-first-and-constant-speed model is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*(t-t1)=s, t1 is the acceleration time;

[0103] The model formula of the model of accelerating first, then maintaining a constant speed, and then decelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1*t2+v0+a1*t1*t3+0.5*a2*t32=s, a2 is the fixed deceleration of the model, t2 is the uniform speed time, t3 is the deceleration time, and t1+t2+t3=t;

[0104] The model formula of the constant deceleration model is: v0*t+0.5*a2*t 2 =s;

[0105] The model formula of the deceleration-then-constant speed model is: v0*t2+0.5*a2*t2 2 +(v0+a2*t2)*(t-t2)=s.

[0106] Preferably, the model formula corresponding to the red light intersection traffic model includes:

[0107] The model formula of the uniform speed model is: v0*t=s;

[0108] The model formula of the constant acceleration model is: v0*t+0.5*a1*t 2 =s, where a1 is the fixed acceleration of the model;

[0109] The model formula of the acceleration-first-and-constant-speed model is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*(t-t1)=s, t1 is the acceleration time;

[0110] The model formula of the model of accelerating first, then maintaining a constant speed, and then decelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1*t2+v0+a1*t1*t3+0.5*a2*t32=s, a2 is the fixed deceleration of the model, t2 is the uniform speed time, t3 is the deceleration time, and t1+t2+t3=t;

[0111] The model formula of the constant deceleration model is: v0*t+0.5*a2*t 2 =s;

[0112] The model formula of the deceleration-then-constant speed model is: v0*t2+0.5*a2*t2 2 +(v0+a2*t2)*(t-t2)=s.

[0113] The model formula for the model of first decelerating, then maintaining a constant speed, and then accelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1*t2+v0+a1*t1*t3+0.5*a2*t32=s.

[0114] Preferably, in step S3, if the calculation result of only one intersection traffic model matches the green light remaining time t-Δt or the red light remaining time t+Δt, then in step S4, there is no need to select the optimal model and the current intersection is passed according to the matched intersection traffic model.

[0115] Figure 2 A schematic diagram of the structure of an intelligent driving system for traffic light intersections according to one embodiment of the present invention is shown. Preferably, the present invention also provides an intelligent driving system 200 for traffic light intersections. This system 200 is used to implement the aforementioned intelligent driving method for traffic light intersections. This system 200 primarily includes a model building unit 201, a calculation unit 202, a matching unit 203, an optimal acquisition unit 204, and a sending unit 205.

[0116] Among them, the model building unit 201 is used to establish an intersection traffic model, including multiple green light intersection traffic models and red light intersection traffic models. The green light intersection traffic model is applicable to the traffic scenario when the current traffic light at the intersection is green, and the red light intersection traffic model is applicable to the traffic scenario when the current traffic light at the intersection is red.

[0117] The calculation unit 202 includes a first calculation module and a second calculation module. When the traffic light at the current intersection is green, the first calculation module calculates the travel time range [t min ,t max ], where Δt is the preset adjustment value, t min is the minimum time to pass the intersection, t max is the maximum time to pass the intersection; when the traffic light at the current intersection is red, the second calculation module calculates the travel time range [t min ,t max ].

[0118] The matching unit 203 is used to obtain a traffic model for an intersection that meets the set conditions. The set conditions are the remaining time of the green light t-Δt∈[t min ,t max ] or the remaining time of red light t+Δt∈[t min ,t max ].

[0119] The optimal acquisition unit 204 selects the optimal intersection traffic model from all intersection traffic models acquired by the matching unit 203 based on the maximum speed and the average speed of the process of passing the traffic light intersection.

[0120] The sending unit 205 is used to send the optimal intersection traffic model to the vehicle control unit. The vehicle control unit can be a vehicle ECU, which performs intelligent driving according to the selected optimal intersection traffic model.

[0121] Preferably, in the calculation unit 202, if the traffic light at the current intersection is yellow, the state of the previous traffic light is determined. If the previous traffic light is green, the process is performed according to the current traffic light at the intersection being green. The first calculation module calculates the travel time range [t min ,t max ];

[0122] If the previous traffic light is red, the current traffic light at the intersection is processed as if it is red. The second calculation module calculates the travel time range [t min ,t max ].

[0123] The present invention also provides an intelligent driving passage device at a traffic light intersection, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any of the aforementioned intelligent driving passage methods at a traffic light intersection are implemented.

[0124] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the aforementioned methods for intelligent driving at traffic light intersections.

[0125] Among them, the specific implementation methods and technical effects of the intelligent driving passage system at traffic light intersections, passage equipment and computer-readable storage media can all be referred to the embodiments of the intelligent driving passage method at traffic light intersections provided by the present invention above, and will not be repeated here.

[0126] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. A skilled person may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0127] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0128] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read and write information from / to the storage medium. In an alternative, the storage medium may be integrated into the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and storage medium may reside in a user terminal as discrete components.

[0129] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any media that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks typically reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0130] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention cover modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A method for intelligent driving at a traffic light intersection, comprising the steps of: S1, establishing an intersection traffic model, including multiple green light intersection traffic models and red light intersection traffic models, wherein the green light intersection traffic model is applicable to a traffic scenario when the current traffic light at the intersection is green, and the red light intersection traffic model is applicable to a traffic scenario when the current traffic light at the intersection is red; S2, calculating the travel time based on the intersection traffic model; If the traffic light at the current intersection is green, the travel time range [t min ,t max ],in, Δt is the preset adjustment value, t min is the minimum time to pass the intersection, t max is the maximum time to pass through the intersection; If the traffic light at the current intersection is red, the travel time range [t min ,t max ]; S3, find the matching intersection traffic model, if the remaining time of the green light is t-Δt∈[t min ,t max ] or the remaining time of red light t+Δt∈[t min ,t max ], it is considered that the corresponding intersection traffic model meets the current traffic scene, and all matching intersection traffic models are found, and the process goes to step S4; otherwise, the process goes to step S5; S4, selecting an optimal intersection traffic model based on the maximum speed and the average speed of the process of passing the traffic light intersection, passing the current intersection according to the optimal intersection traffic model, and ending; S5, the vehicle stops before the stop line at the current intersection; The green light intersection traffic model includes: The uniform speed model satisfies the requirement to pass the current intersection at the current speed v0, and the current speed v0 is not higher than the road speed limit v limit ; The constant acceleration model satisfies the requirement to accelerate to the target speed v1 to pass the current intersection, and the target speed v1 is not higher than the road speed limit v limit ; The first acceleration and then constant speed model satisfies the requirement of first accelerating to the target speed v2 and then maintaining a constant speed to pass the current intersection. The target speed v2 is not higher than the road speed limit v limit ; The model first accelerates and then maintains a constant speed before decelerating. It satisfies the requirement of accelerating to the target speed v3, maintaining the target speed v3 at a constant speed for a period of time, and then decelerating to the target speed v4 to pass the current intersection. The target speed v3 is not higher than the road speed limit v limit ; Constant deceleration model, the current vehicle speed v0 exceeds the road speed limit v limit , first decelerate to the road speed limit v limit Pass the current intersection; First decelerate and then maintain constant speed model, the current speed v0 exceeds the road speed limit v limit , first decelerate to the road speed limit v limit , then maintain a constant speed through the current intersection; The red light intersection traffic model includes: The uniform speed model satisfies the requirement to pass the current intersection at the current speed v0, and the current speed v0 is not higher than the road speed limit v limit ; The constant acceleration model satisfies the requirement to accelerate to the target speed v1 to pass the current intersection, and the target speed v1 is not higher than the road speed limit v limit ; The first acceleration and then constant speed model satisfies the requirement of first accelerating to the target speed v2 and then maintaining a constant speed to pass the current intersection. The target speed v2 is not higher than the road speed limit v limit ; The model first accelerates and then maintains a constant speed before decelerating. It satisfies the requirement of accelerating to the target speed v3, maintaining the target speed v3 at a constant speed for a period of time, and then decelerating to the target speed v4 to pass the current intersection. The target speed v3 is not higher than the road speed limit v limit ; The constant deceleration model satisfies the requirement to decelerate to the target speed v5 to pass the current intersection, and the target speed v5 is not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v min ; The model of first decelerating and then maintaining a constant speed satisfies the requirement of first decelerating to the target speed v6 and then maintaining a constant speed to pass the current intersection. The target speed v6 is not higher than the road speed limit v limit , and not less than the vehicle's minimum speed v min ; The model first decelerates, then maintains a constant speed, and then accelerates. It satisfies the requirement of first decelerating to the target speed v6, then maintaining a constant speed, and then accelerating to the target speed v7 to pass the current intersection. The target speeds v6 and v7 are not higher than the road speed limit v 1imit , and not less than the vehicle's minimum speed v limit .

2. The intelligent driving method for passing through a traffic light intersection according to claim 1, characterized in that: In step S2, if the traffic light at the current intersection is yellow, the state of the previous traffic light is determined. If the previous traffic light is green, the process is performed according to the current traffic light being green; if the previous traffic light is red, the process is performed according to the current traffic light being red.

3. The intelligent driving method for passing through a traffic light intersection as claimed in claim 2, characterized in that: The model formula corresponding to the green light intersection traffic model includes: The model formula of the uniform speed model is: v0*t=s; The model formula of the constant acceleration model is: v0*t+0.5*a1*t 2 =s, where a1 is the fixed acceleration of the model; The model formula of the acceleration-first-and-constant-speed model is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*(t-t1)=s, t1 is the acceleration time; The model formula of the model of accelerating first, then maintaining a constant speed, and then decelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*t2+(v0+a1*t1)*t3+0.5*a2*t3 2 =s, a2 is the fixed deceleration of the model, t2 is the uniform speed time, t3 is the deceleration time, and t1+t2+t3=t; The model formula of the constant deceleration model is: v0*t+0.5*a2*t 2 =s; The model formula of the deceleration-then-constant speed model is: v0*t2+0.5*a2*t2 2 +(v0+a2*t2)*(t-t2)=s.

4. The intelligent driving method for passing through a traffic light intersection as claimed in claim 3, characterized in that: The model formula corresponding to the red light intersection traffic model includes: The model formula of the uniform speed model is: v0*t=s; The model formula of the constant acceleration model is: v0*t+0.5*a1*t 2 =s, where a1 is the fixed acceleration of the model; The model formula of the acceleration-first-and-constant-speed model is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*(t-t1)=s, t1 is the acceleration time; The model formula of the model of accelerating first, then maintaining a constant speed, and then decelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*t2+(v0+a1*t1)*t3+0.5*a2*t3 2 =s, a2 is the fixed deceleration of the model, t2 is the uniform speed time, t3 is the deceleration time, and t1+t2+t3=t; The model formula of the constant deceleration model is: v0*t+0.5*a2*t 2 =s; The model formula of the deceleration-then-constant speed model is: v0*t2+0.5*a2*t2 2 +(v0+a2*t2)*(t-t2)=s; The model formula for the model of first decelerating, then maintaining a constant speed, and then accelerating is: v0*t1+0.5*a1*t1 2 +(v0+a1*t1)*t2+(v0+a1*t1)*t3+0.5*a2*t3 2 =s.

5. The intelligent driving method for passing through a traffic light intersection according to claim 1, characterized in that: In step S3, if the calculation result of only one intersection traffic model matches the remaining green light time t-Δt or the remaining red light time t+Δt, then in step S4, there is no need to select the optimal model and the current intersection is passed according to the matching intersection traffic model.

6. A traffic light intersection intelligent driving system, configured to implement the traffic light intersection intelligent driving method according to claim 1, comprising: A model building unit is used to build an intersection traffic model, including multiple green light intersection traffic models and red light intersection traffic models, wherein the green light intersection traffic model is applicable to the traffic scene when the current traffic light at the intersection is green, and the red light intersection traffic model is applicable to the traffic scene when the current traffic light at the intersection is red; The calculation unit includes a first calculation module and a second calculation module. When the traffic light at the current intersection is green, the first calculation module calculates the travel time range [t min ,t max ], where Δt is the preset adjustment value, t min is the minimum time to pass the intersection, t max is the maximum time to pass the intersection; when the traffic light at the current intersection is red, the second calculation module calculates the travel time range [t min ,t max ]; The matching unit obtains the intersection traffic model that meets the set conditions, where the set conditions are the remaining time of the green light t-Δt∈[t min ,t max ] or the remaining time of red light t+Δt∈[t min ,t max ]; Obtaining an optimal unit, selecting an optimal intersection traffic model from all intersection traffic models obtained by the matching unit based on the maximum speed and the average speed of the process of passing the traffic light intersection; The sending unit sends the optimal intersection traffic model to the vehicle control unit.

7. The intelligent driving system for traffic light intersections according to claim 6, characterized in that: In the calculation unit, if the traffic light at the current intersection is yellow, the state of the previous traffic light is determined. If the previous traffic light is green, the process is performed according to the current traffic light at the intersection being green. The first calculation module calculates the travel time range [t min ,t max ]; If the previous traffic light is red, the current traffic light at the intersection is processed as if it is red. The second calculation module calculates the travel time range [t min ,t max ].

8. A traffic light intersection intelligent driving device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the intelligent driving method for traffic light intersections as described in any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the intelligent driving method for traffic light intersections as described in any one of claims 1 to 5 are implemented.

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