A method and device for realizing intersection signal control guidance using high-gain antenna radar

Abstract

This application provides a method and apparatus for implementing intersection signal control guidance using a high-gain antenna radar, comprising: obtaining convoy distance and convoy speed; using the convoy distance and convoy speed to determine whether the multiple vehicles are traveling in a platoon; and if so, guiding the vehicles based on the convoy distance and convoy speed. Because vehicles in a traffic flow often appear in convoys, a radar with a high-gain antenna is used to determine whether multiple vehicles at a distance are traveling in a platoon. The system then guides the vehicles in advance based on the convoy distance and convoy speed, providing ample time for the convoy to adjust its driving state, ensuring that the convoy can pass through the signalized intersection in a timely manner upon reaching it, and reducing delays caused by forced interruptions of the convoy.

Description

Technical Field

[0001] The present application relates to the technical field of signal control and guidance technology, and in particular to a method and device for implementing signal control and guidance at intersections using a high-gain antenna radar. Background Art

[0002] Traffic control, also known as traffic signal control, relies on traffic police or traffic signal control equipment to direct the flow of vehicles and pedestrians according to changing traffic conditions. Traffic signal control includes timing control, sensor control, and adaptive control. With the advent of the era of smart transportation, radar has become an effective means of signal control and guidance at traffic intersections.

[0003] Most existing technologies rely on conventional radar for signal control. However, conventional radar has a very limited detection range. Therefore, using conventional radar to detect vehicle movement and perform signal control can result in vehicles not having sufficient time to adjust their driving state to the signal control by the time the signal control is issued. In particular, when vehicles are traveling in a convoy, if a vehicle in the convoy stops at an intersection due to insufficient time to adjust its driving state to the signal control, the convoy will be interrupted at that intersection, and this interruption can cause significant delays for subsequent vehicles in the convoy.

[0004] Therefore, how to avoid the interruption of the convoy at the intersection and reduce the time delay caused to the vehicles is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In view of this, an embodiment of the present application provides a method and apparatus for implementing intersection signal control guidance using a high-gain antenna radar, aiming to reduce the time delay caused to vehicles.

[0006] In a first aspect, an embodiment of the present application provides a method for implementing intersection signal control guidance using a high-gain antenna radar, comprising:

[0007] Obtaining a convoy distance and a convoy speed, wherein the convoy distance includes the distance between a plurality of vehicles within a detection range of a radar with a high-gain antenna and a stop line at an intersection, and the convoy speed includes the speeds of the plurality of vehicles within the detection range of the radar with a high-gain antenna;

[0008] Determining whether the plurality of vehicles form a platoon by using the platoon distance and the platoon speed;

[0009] If so, the vehicle driving is guided according to the convoy distance and the convoy speed.

[0010] Optionally, obtaining the convoy distance and convoy speed includes:

[0011] Obtaining a first distance, where the first distance is the distance between a first vehicle and the stop line at the intersection, and the first vehicle is the vehicle having the shortest distance from the stop line at the intersection among the multiple vehicles;

[0012] obtaining a first speed, where the first speed is the speed of the first vehicle;

[0013] Obtaining a second distance, where the second distance is a distance between a second vehicle and the stop line at the intersection, the second vehicle being the vehicle with the shortest distance from the first vehicle among the multiple vehicles;

[0014] A second speed is obtained, where the second speed is the speed of the second vehicle.

[0015] Optionally, the determining whether the plurality of vehicles form a platoon by using the platoon distance and the platoon speed includes:

[0016] determining whether a first difference is not greater than a speed difference threshold, the first difference being a difference between the first speed and the second speed;

[0017] If yes, calculating a catching-up time based on the first distance, the second distance, and the second speed, the catching-up time being an estimated time required for the distance between the first vehicle and the second vehicle to reach zero;

[0018] It is determined whether the catching-up time is not greater than a preset time threshold.

[0019] Optionally, the performing vehicle driving guidance according to the convoy distance and the convoy speed includes:

[0020] Calculating a first arrival time and a second arrival time, wherein the first arrival time is an estimated time required for the first vehicle to reach the stop line at the intersection, and the second arrival time is an estimated time required for the second vehicle to reach the stop line at the intersection;

[0021] Get the flashing status of the intersection signal light;

[0022] According to the first arrival time, the second arrival time and the flashing state of the intersection signal light, the flashing duration of the intersection signal light is adjusted or a guiding speed is output, where the guiding speed is used to guide the multiple vehicles to travel at the guiding speed.

[0023] In a second aspect, an embodiment of the present application provides a vehicle guidance device at an intersection, comprising:

[0024] an acquisition module, configured to acquire a convoy distance and a convoy speed, wherein the convoy distance includes the distance between a plurality of vehicles within a detection range of a radar with a high-gain antenna and a stop line at an intersection, and the convoy speed includes the speeds of the plurality of vehicles within the detection range of the radar with a high-gain antenna;

[0025] a determination module, configured to determine whether the plurality of vehicles form a platoon based on the platoon distance and the platoon speed;

[0026] The guidance module is used to guide the vehicle driving according to the distance of the convoy and the speed of the convoy.

[0027] Optionally, the acquisition module includes:

[0028] A first distance acquisition unit is configured to acquire a first distance, where the first distance is the distance between a first vehicle and the stop line at the intersection, and the first vehicle is the vehicle having the shortest distance from the stop line at the intersection among the multiple vehicles;

[0029] a first speed acquiring unit, configured to acquire a first speed, where the first speed is the speed of the first vehicle;

[0030] a second distance acquiring unit, configured to acquire a second distance, where the second distance is a distance between a second vehicle and the stop line at the intersection, the second vehicle being the vehicle with the shortest distance from the first vehicle among the plurality of vehicles;

[0031] The second speed acquiring unit is configured to acquire a second speed, where the second speed is the speed of the second vehicle.

[0032] Optionally, the judgment module includes:

[0033] a first determining unit, configured to determine whether a first difference is not greater than a speed difference threshold, the first difference being a difference between the first speed and the second speed;

[0034] a calculation unit, configured to calculate a catching-up time based on the first distance, the second distance, and the second speed, the catching-up time being a time estimated to be required for the distance between the first vehicle and the second vehicle to reach zero;

[0035] The second judging unit is configured to judge whether the catching-up time is not greater than a preset time threshold.

[0036] Optionally, the guiding module includes:

[0037] An arrival time calculation unit, configured to calculate a first arrival time and a second arrival time, wherein the first arrival time is an estimated time required for the first vehicle to reach the stop line at the intersection, and the second arrival time is an estimated time required for the second vehicle to reach the stop line at the intersection;

[0038] A flashing acquisition unit, used to acquire the flashing status of the traffic lights at the intersection;

[0039] A guiding unit is used to adjust the flashing duration of the intersection signal light or output a guiding speed according to the first arrival time, the second arrival time and the flashing state of the intersection signal light, where the guiding speed is used to guide the multiple vehicles to travel at the guiding speed.

[0040] In a third aspect, an embodiment of the present application provides a device comprising a memory and a processor, wherein the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the method for realizing intersection signal control guidance using a high-gain antenna radar as described in any one of the first aspects above.

[0041] In a fourth aspect, an embodiment of the present application provides a computer storage medium having a code stored therein. When the code is executed, the device executing the code implements the method for realizing intersection signal control guidance using a high-gain antenna radar as described in any one of the first aspects above.

[0042] The present application provides a method and apparatus for implementing intersection signal control guidance using a high-gain antenna radar. When executing the method, the method first obtains the convoy distance and convoy speed. The convoy distance comprises the distance between multiple vehicles within the detection range of a radar equipped with a high-gain antenna and the stop line of the intersection, and the convoy speed comprises the speed of multiple vehicles within the detection range of the radar equipped with a high-gain antenna. The convoy distance and convoy speed are then used to determine whether the multiple vehicles are traveling in a platoon. If so, vehicle travel guidance is performed based on the convoy distance and convoy speed. Because vehicles in a traffic flow often appear in platoons, the method uses the radar equipped with a high-gain antenna to determine whether multiple vehicles at a greater distance are traveling in a platoon. Preemptive guidance is then provided based on the convoy distance and convoy speed, providing the convoy with sufficient time to adjust its driving state, ensuring that the convoy can pass through the signalized intersection in a timely manner upon arrival, and minimizing delays caused by forced convoy interruptions. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the following briefly introduces the drawings required for use in the embodiment or the prior art description. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1A flow chart of a method for implementing intersection signal control guidance using a high-gain antenna radar provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of an intersection illustrating a method for implementing intersection signal control guidance using a high-gain antenna radar provided in an embodiment of the present application;

[0046] Figure 3 Another method flow chart of the method for implementing intersection signal control guidance using a high-gain antenna radar provided in an embodiment of the present application;

[0047] Figure 4 A schematic structural diagram of a vehicle guidance device for an intersection provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] Conventional technology typically uses sensor control to guide and direct traffic at intersections that are far from surrounding intersections and have weak traffic correlation. The basic form of sensor control is single-point control, often referred to as single-point control. This involves installing vehicle detectors at the intersection entrances. Traffic signal timing is calculated by a computer or intelligent signal controller, and can be adjusted based on traffic flow information detected by the detectors. Because this signal control mode is unaffected by surrounding upstream and downstream intersections, it often causes many convoys to be interrupted at this intersection, causing significant delays for vehicles in the following convoys.

[0049] The method provided in the embodiment of the present application is executed by a computer device to reduce the time delay caused to the vehicle.

[0050] Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] See also Figure 1 , Figure 1 A method flow chart of a method for implementing intersection signal control guidance using a high-gain antenna radar provided in an embodiment of the present application includes:

[0052] Step S101: Acquire the convoy distance and convoy speed.

[0053] See also Figure 2 , Figure 2A schematic diagram of an intersection illustrating the method for implementing intersection signal control and guidance using a high-gain antenna radar, as provided in an embodiment of the present application. The dashed line in the figure represents the intersection stop line. Both the convoy distance and convoy speed assume that multiple vehicles are in the same lane. To improve intersection guidance accuracy, the convoy distance includes the distance between multiple vehicles within the detection range of the high-gain antenna radar and the intersection stop line. The convoy speed includes the speed of multiple vehicles within the detection range of the high-gain antenna radar.

[0054] When acquiring convoy distance and speed, radar detectors must utilize high-gain antennas to enhance the performance of long-range traffic detection. Specifically, high-gain waveguide antennas, such as waveguide horn array antennas, or high-gain microstrip antennas can be used. High-gain antennas offer superior radiation and matching characteristics, significantly improving long-range radar detection performance and enabling traffic detection at distances exceeding 500 meters. Furthermore, the antenna must fully cover the 5 GHz bandwidth of 76 GHz to 81 GHz (conventional microstrip antennas only have approximately 1 GHz bandwidth). This greater detection bandwidth supports higher distance resolution, enabling more accurate long-range traffic flow detection.

[0055] Step S102: using the convoy distance and the convoy speed, determining whether the multiple vehicles form a convoy.

[0056] After obtaining the platoon distance and speed, the system can determine whether the vehicles are traveling in a platoon based on pre-set rules for platoon formation. Because over 70% of vehicles in urban traffic flow travel in platoons, traffic signal control based on whether vehicles are traveling in a platoon can effectively control the driving patterns of most vehicles.

[0057] Step S103: If yes, guide the vehicle according to the convoy distance and the convoy speed.

[0058] As a possible implementation, when multiple vehicles form a platoon, the flashing duration of the intersection signal lights or the output of the guide speed can be adjusted to ensure smooth passage of the platoon through the intersection, thereby preventing platoon interruptions and delays for some vehicles in the platoon. The guide speed is used to guide the multiple vehicles to travel at the guide speed.

[0059] Specifically, when the intersection light is green, the green light flashing time can be extended if a small number of vehicles in the convoy cannot pass; and the guidance speed can be output when all vehicles cannot pass at the first green light. When the intersection light is red, the guidance speed can be output when all vehicles cannot reach the intersection stop line when the light turns green at their current speed. This allows vehicles to travel in a queue by slowly decelerating and pass the intersection without stopping, ensuring the efficiency of the convoy. The red light flashing time can be shortened if some vehicles cannot reach the intersection stop line when the light turns green at their current speed. The green light flashing time can be extended if some vehicles cannot pass after the intersection light turns green.

[0060] In summary, since most vehicles in traffic flow appear in the form of convoys, radar with high-gain antennas can be used to determine whether multiple vehicles at a distance form a queue. Vehicles can be guided in advance based on the convoy distance and speed, providing sufficient time for the convoy to adjust its driving status. This ensures that the convoy can pass through the signalized intersection in a timely manner, reducing time delays caused by forced interruptions of the convoy.

[0061] In the embodiment of the present application, the above Figure 1 There are many possible implementations of the steps, which are described below. It should be noted that the implementations given in the following description are only for illustrative purposes and do not represent all implementations of the embodiments of the present application.

[0062] See also Figure 3 , which is another method flow chart of a method for implementing intersection signal control guidance using a high-gain antenna radar provided in an embodiment of the present application, including:

[0063] Step S301: Acquire a first distance, a first speed, a second distance, and a second distance.

[0064] The first distance is the distance between the first vehicle and the stop line at the intersection. The first vehicle is the vehicle with the smallest distance from the stop line at the intersection among the multiple vehicles within the detection range of the high-gain antenna radar. For example, the first distance is Figure 2 The distance d1 between the leftmost car and the corresponding stop line at the intersection.

[0065] The first speed is the speed of the first vehicle. For example, the first speed is Figure 2 The speed of the leftmost car is v1.

[0066] The second distance is the distance between the second vehicle and the stop line of the intersection. The second vehicle is the vehicle with the shortest distance to the first vehicle among the multiple vehicles within the detection range of the high-gain antenna radar, that is, the vehicle behind the first vehicle. For example, the second distance is Figure 2 The distance d2 between the second car from left to right and its corresponding stop line at the intersection.

[0067] The second speed is the speed of the second vehicle. For example, the first speed is Figure 2 The speed v2 of the second car from left to right.

[0068] As a possible implementation, the third distance d3, the fourth distance d4, ... the nth distance d can be obtained by analogy with the above process. n ; The third speed v3, the fourth speed v4...the nth speed v n Among them, n is the nth vehicle within the detection range of the vehicle detector, and the arrangement order is arranged from small to large based on the distance between the current vehicle and the stop line of the intersection corresponding to the vehicle's travel direction.

[0069] Step S302: Determine whether the first difference is not greater than a speed difference threshold.

[0070] The first difference is the difference between the first and second speeds. When the first speed exceeds the second speed by a certain threshold, the distance between the two vehicles gradually increases, and the two vehicles are definitely not traveling in platoon. Therefore, by determining whether the first difference is less than the speed difference threshold, a preliminary judgment is made to exclude the situation where the first speed is greater than the second speed, indicating that the vehicles are not traveling in platoon. The speed difference threshold is a positive number and can be set according to actual conditions and is not limited here.

[0071] As a possible implementation method, the above process can be analogized to obtain the speed difference between each two adjacent vehicles, and determine whether it is not greater than the speed difference threshold, thereby excluding the situation where the vehicles do not travel in a queue when the speed of the latter vehicle is greater than the speed of the previous vehicle.

[0072] Step S303: If yes, calculate the catching-up time according to the first distance, the second distance and the second speed.

[0073] The catching-up time is the estimated time required for the distance between the first vehicle and the second vehicle to reach zero, that is, the time required for the second vehicle to catch up with the first vehicle. As a possible implementation, the catching-up time can be obtained by dividing the second speed by the difference between the second distance and the first distance.

[0074] As a possible implementation, the above process can be analogized to obtain the catching-up time between every two adjacent vehicles.

[0075] Step S304: Determine whether the catching-up time is not greater than a preset time threshold.

[0076] If the catch-up time is no greater than the preset time threshold, it indicates that the second vehicle can catch up with the first vehicle within the preset time, and there is a certain connection between the two vehicles, indicating platooning. As a possible implementation, the preset time threshold can be set based on actual conditions. Preferably, the preset time threshold can be set between 2.2 seconds and 3.0 seconds.

[0077] As a possible implementation method, the above process can be analogized to determine whether the chasing time between each two adjacent vehicles is no greater than a preset time threshold, so as to determine whether there is a certain connection between the two vehicles and whether they are traveling in a platoon.

[0078] It should be noted that if the first vehicle and the second vehicle travel in a queue, and the second vehicle and the third vehicle travel in a queue, then the first vehicle, the second vehicle, and the third vehicle travel in the same queue, and so on.

[0079] If the first vehicle and the second vehicle are traveling in a queue, but the second vehicle and the third vehicle are not traveling in a queue, then the first vehicle and the second vehicle are arranged in a queue, and then it is determined again whether the third vehicle and subsequent vehicles are traveling in a queue, and so on.

[0080] Step S305: If yes, calculate the first arrival time and the second arrival time.

[0081] If so, the first and second vehicles are traveling in a platoon. A first arrival time and a second arrival time are then calculated. The first arrival time is the estimated time required for the first vehicle to reach the stop line at the intersection, and the second arrival time is the estimated time required for the second vehicle to reach the stop line at the intersection. It should be noted that the first and second arrival times are estimated arrival times; if the vehicle speeds change, the arrival times will change. As a possible implementation, the first arrival time can be calculated by dividing the first speed by the first distance, and the second arrival time can be calculated by dividing the second speed by the second distance.

[0082] As a possible implementation method, the above process can be analogized to calculate the arrival time of the first vehicle in the queue (i.e., the first vehicle) and the arrival time of the last vehicle in the queue (i.e., the vehicle determined according to the above method).

[0083] Step S306: Obtain the flashing status of the traffic light at the intersection.

[0084] Traffic lights at intersections can flash in three states: red, green, and yellow. Because the yellow light lasts for a shorter time, the yellow light flashing state is not described in detail. Obtaining the flashing state of a traffic light at an intersection includes the color of the intersection light, the remaining time of the current color, and the duration after the color change.

[0085] Step S307: adjusting the flashing duration of the intersection signal light or outputting the guidance speed according to the first arrival time, the second arrival time and the flashing state of the intersection signal light.

[0086] The guiding speed is used to guide the multiple vehicles to travel at the guiding speed. When multiple vehicles form a queue, the flashing duration of the intersection signal light can be adjusted or the guiding speed can be output to ensure that the convoy passes through the intersection smoothly, so as to avoid convoy interruption and time delay for some vehicles in the convoy.

[0087] As a possible implementation, when only the first vehicle and the second vehicle are traveling in a queue, the first arrival time and the second arrival time can be calculated, that is, the time required for the first vehicle and the last vehicle in the queue to reach the stop line of the intersection at the current speed.

[0088] When the flashing state of the intersection signal light is green, the remaining time of the green light is G q , the duration after color change is R q When the second arrival time is not greater than G q , then no adjustment is required and the convoy can pass smoothly; if the second arrival time is greater than G q , the first arrival time is no greater than G q , then extend the green light duration, as a preferred method, the extended time can be the second arrival time and the remaining time G q If the first arrival time is greater than G q And the second arrival time is not greater than G q With R q When the sum of the first distance and the second distance is G, the guiding speed is output. As a preference, the guiding speed can be the first distance divided by G q With R q sum.

[0089] When the flashing state of the intersection signal light is red, the remaining time of the red light is R q , the duration after color change is G q When the second arrival time is not greater than R q , then output the guiding speed. As a preference, the guiding speed can be the first distance divided by G q With R q If the second arrival time is greater than R q And the first arrival time is not greater than R q , then shorten the red light duration. As a preferred method, the shortened time can be the remaining red light time R q The difference between the first arrival time and the second arrival time; if the second arrival time is greater than G q With R q The sum of the first arrival time is not greater than G q With R q The sum of the first arrival time is greater than Rq , then extend the green light duration. As a preferred option, the extended time can be the second arrival time and the remaining red light time R q The difference minus the duration after color change G q .

[0090] As a possible implementation, when multiple vehicles are traveling in a queue, the above process can be analogous to the above process, and the second arrival time can be replaced by the arrival time of the rear vehicle (i.e., the vehicle determined according to the above method), and the flashing duration of the intersection signal light can be adjusted or the guide speed can be output. The guide speed is used to guide the multiple vehicles to travel at the guide speed.

[0091] In summary, this embodiment provides multi-dimensional guidance for vehicles in response to complex situations at intersections, ensuring that vehicles traveling in a platoon can travel in a platoon by slowly decelerating and passing through the intersection without stopping, thereby ensuring the efficiency of the platoon. At the same time, it reduces the interruption of the platoon at signalized intersections, which may cause delays in the travel time of some vehicles in the platoon.

[0092] The above are some specific implementations of the method for realizing intersection signal control guidance using high-gain antenna radar provided in the embodiments of this application. Based on this, the present application also provides a corresponding device. The device provided in the embodiments of this application will be introduced from the perspective of functional modularization.

[0093] See also Figure 3 The schematic structural diagram of the intersection vehicle guiding device shown in FIG. 3 includes an acquisition module 301 , a judgment module 302 and a guidance module 303 .

[0094] An acquisition module 301 is configured to acquire a convoy distance and a convoy speed, wherein the convoy distance includes the distance between a plurality of vehicles within a detection range of a radar with a high-gain antenna and a stop line at an intersection, and the convoy speed includes the speed of the plurality of vehicles within the detection range of the radar with a high-gain antenna;

[0095] A determination module 302 is configured to determine whether the plurality of vehicles form a platoon based on the platoon distance and the platoon speed;

[0096] The guidance module 303 is used to guide the vehicle according to the convoy distance and the convoy speed.

[0097] As a possible implementation, the acquisition module 301 includes:

[0098] A first distance acquisition unit is configured to acquire a first distance, where the first distance is the distance between a first vehicle and the stop line at the intersection, and the first vehicle is the vehicle having the shortest distance from the stop line at the intersection among the multiple vehicles;

[0099] a first speed acquiring unit, configured to acquire a first speed, where the first speed is the speed of the first vehicle;

[0100] a second distance acquiring unit, configured to acquire a second distance, where the second distance is a distance between a second vehicle and the stop line at the intersection, the second vehicle being the vehicle with the shortest distance from the first vehicle among the plurality of vehicles;

[0101] The second speed acquiring unit is configured to acquire a second speed, where the second speed is the speed of the second vehicle.

[0102] As a possible implementation, the determination module 302 includes:

[0103] a first determining unit, configured to determine whether a first difference is not greater than a speed difference threshold, the first difference being a difference between the first speed and the second speed;

[0104] a calculation unit, configured to calculate a catching-up time based on the first distance, the second distance, and the second speed, the catching-up time being a time estimated to be required for the distance between the first vehicle and the second vehicle to reach zero;

[0105] The second judging unit is configured to judge whether the catching-up time is not greater than a preset time threshold.

[0106] As a possible implementation, the guiding module 303 includes:

[0107] An arrival time calculation unit, configured to calculate a first arrival time and a second arrival time, wherein the first arrival time is an estimated time required for the first vehicle to reach the stop line at the intersection, and the second arrival time is an estimated time required for the second vehicle to reach the stop line at the intersection;

[0108] A flashing acquisition unit, used to acquire the flashing status of the traffic lights at the intersection;

[0109] A guiding unit is used to adjust the flashing duration of the intersection signal light or output a guiding speed according to the first arrival time, the second arrival time and the flashing state of the intersection signal light, where the guiding speed is used to guide the multiple vehicles to travel at the guiding speed.

[0110] The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

[0111] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the method of realizing intersection signal control guidance using high-gain antenna radar as described in any embodiment of the present application.

[0112] The computer storage medium stores code. When the code is executed, the device executing the code implements the method for realizing intersection signal control guidance by using high-gain antenna radar as described in any embodiment of the present application.

[0113] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of this application are only used as name identifiers and do not represent the first or second in order.

[0114] Through the description of the above embodiments, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by means of software plus a general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment or certain parts of the embodiments of the present application.

[0115] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment. Those of ordinary skill in the art can understand and implement it without paying any creative work.

[0116] The above description is merely an exemplary embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A method for realizing intersection signal control guidance using high-gain antenna radar, characterized in that: The method comprises: Obtaining a convoy distance and a convoy speed, wherein the convoy distance includes the distance between a plurality of vehicles within a detection range of a radar with a high-gain antenna and a stop line at an intersection, and the convoy speed includes the speeds of the plurality of vehicles within the detection range of the radar with a high-gain antenna; Determining whether the plurality of vehicles form a platoon by using the platoon distance and the platoon speed; If yes, guiding the vehicle according to the convoy distance and the convoy speed; When only the first vehicle and the second vehicle form a platoon and travel, guiding the vehicles according to the platoon distance and the platoon speed includes: Calculating a first arrival time and a second arrival time, wherein the first arrival time is an estimated time required for the first vehicle to reach the stop line at the intersection, and the second arrival time is an estimated time required for the second vehicle to reach the stop line at the intersection; Get the flashing status of the intersection signal light; adjusting the flashing duration of the intersection signal light or outputting a guiding speed according to the first arrival time, the second arrival time, and the flashing state of the intersection signal light, wherein the guiding speed is used to guide the multiple vehicles to travel at the guiding speed; The adjusting the flashing duration of the intersection signal light or the output guidance speed according to the first arrival time, the second arrival time and the flashing state of the intersection signal light includes: When the flashing state of the intersection signal light is green, the remaining green light time is T1, and the duration after the color change is T2, if the second arrival time is not greater than T1, no adjustment is required; if the second arrival time is greater than T1 and the first arrival time is not greater than T1, the green light duration is extended by the difference between the second arrival time and the remaining green light time T1; if the first arrival time is greater than T1 and the second arrival time is not greater than the sum of T1 and T2, a first guide speed is output, which is the distance between the first vehicle and the stop line of the intersection divided by the sum of T1 and T2; When the flashing state of the traffic light at the intersection is red, the remaining time of the red light is T3, and the duration after the color change is T4, if the second arrival time is not greater than T3, the second guide speed is output, and the second guide speed is the distance between the first vehicle and the stop line of the intersection divided by the sum of T4 and T3; if the second arrival time is greater than T3 and the first arrival time is not greater than T3, the red light duration is shortened, and the shortened time is the difference between the remaining time of the red light T3 and the first arrival time; if the second arrival time is greater than the sum of T4 and T3, the first arrival time is not greater than the sum of T4 and T3, and the first arrival time is greater than T3, the green light duration is extended, and the extended time is the difference between the second arrival time and the remaining time of the red light T3 minus the duration T4 after the color change.

2. The method according to claim 1, characterized in that The obtaining of the convoy distance and convoy speed includes: Obtaining a first distance, where the first distance is the distance between a first vehicle and the stop line at the intersection, and the first vehicle is the vehicle having the shortest distance from the stop line at the intersection among the multiple vehicles; obtaining a first speed, where the first speed is the speed of the first vehicle; Obtaining a second distance, where the second distance is a distance between a second vehicle and the stop line at the intersection, the second vehicle being the vehicle with the shortest distance from the first vehicle among the multiple vehicles; A second speed is obtained, where the second speed is the speed of the second vehicle.

3. The method according to claim 2, characterized in that The determining whether the plurality of vehicles form a platoon by using the platoon distance and the platoon speed includes: determining whether a first difference is not greater than a speed difference threshold, the first difference being a difference between the first speed and the second speed; If yes, calculating a catching-up time based on the first distance, the second distance, and the second speed, the catching-up time being an estimated time required for the distance between the first vehicle and the second vehicle to reach zero; It is determined whether the catching-up time is not greater than a preset time threshold.

4. A vehicle guiding device at an intersection, characterized in that: The device comprises: an acquisition module, configured to acquire a convoy distance and a convoy speed, wherein the convoy distance includes the distance between a plurality of vehicles within a detection range of a radar with a high-gain antenna and a stop line at an intersection, and the convoy speed includes the speeds of the plurality of vehicles within the detection range of the radar with a high-gain antenna; a determination module, configured to determine whether the plurality of vehicles form a platoon based on the platoon distance and the platoon speed; A guidance module, configured to guide the vehicles according to the convoy distance and the convoy speed; The guiding module includes: an arrival time calculation unit, a flash acquisition unit and a guiding unit; when only the first vehicle and the second vehicle form a platoon and travel; The arrival time calculation unit is used to calculate a first arrival time and a second arrival time, the first arrival time being the estimated time required for the first vehicle to reach the stop line at the intersection, and the second arrival time being the estimated time required for the second vehicle to reach the stop line at the intersection; The flashing acquisition unit is used to acquire the flashing status of the traffic light at the intersection; The guiding unit is configured to adjust the flashing duration of the intersection signal light or output a guiding speed according to the first arrival time, the second arrival time, and the flashing state of the intersection signal light, wherein the guiding speed is used to guide the multiple vehicles to travel at the guiding speed; The guiding unit is specifically used for, when the flashing state of the intersection signal light is green, the remaining time of the green light is T1, and the duration after the color change is T2, if the second arrival time is not greater than T1, then no adjustment is required; if the second arrival time is greater than T1 and the first arrival time is not greater than T1, then the green light duration is extended, and the extended time is the difference between the second arrival time and the remaining time T1 of the green light; if the first arrival time is greater than T1 and the second arrival time is not greater than the sum of T1 and T2, outputting a first guiding speed, the first guiding speed being the distance between the first vehicle and the stop line of the intersection divided by the sum of T1 and T2; when the flashing state of the intersection signal light is red, the remaining time of the red light is When the red light is T3 and the duration after the color change is T4, if the second arrival time is not greater than T3, the second guidance speed is output, and the second guidance speed is the distance between the first vehicle and the stop line of the intersection divided by the sum of T4 and T3; if the second arrival time is greater than T3 and the first arrival time is not greater than T3, the red light duration is shortened, and the shortened time is the difference between the remaining red light time T3 and the first arrival time; if the second arrival time is greater than the sum of T4 and T3, the first arrival time is not greater than the sum of T4 and T3, and the first arrival time is greater than T3, the green light duration is extended, and the extended time is the difference between the second arrival time and the remaining red light time T3 minus the duration T4 after the color change.

5. The device according to claim 4, characterized in that The acquisition module includes: A first distance acquisition unit is configured to acquire a first distance, where the first distance is the distance between a first vehicle and the stop line at the intersection, and the first vehicle is the vehicle having the shortest distance from the stop line at the intersection among the multiple vehicles; a first speed acquiring unit, configured to acquire a first speed, where the first speed is the speed of the first vehicle; a second distance acquiring unit, configured to acquire a second distance, where the second distance is a distance between a second vehicle and the stop line at the intersection, the second vehicle being the vehicle with the shortest distance from the first vehicle among the plurality of vehicles; The second speed acquiring unit is configured to acquire a second speed, where the second speed is the speed of the second vehicle.

6. The device according to claim 5, characterized in that The judgment module includes: a first determining unit, configured to determine whether a first difference is not greater than a speed difference threshold, the first difference being a difference between the first speed and the second speed; a calculation unit, configured to calculate a catching-up time based on the first distance, the second distance, and the second speed, the catching-up time being a time estimated to be required for the distance between the first vehicle and the second vehicle to reach zero; The second judging unit is configured to judge whether the catching-up time is not greater than a preset time threshold.

7. A device, characterized in that The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the method for realizing intersection signal control guidance using high-gain antenna radar as described in any one of claims 1 to 3.

8. A computer storage medium, characterized in that The computer storage medium stores code. When the code is executed, the computer storage device executing the code implements the method for realizing intersection signal control guidance by using a high-gain antenna radar as described in any one of claims 1 to 3.

Images