Cloud-based traffic light monitoring and vehicle driving instruction methods and systems

Abstract

This invention provides a cloud-based method and system for traffic light monitoring and vehicle driving guidance. Based on vehicle driving path planning information and traffic light operating status data stored on the cloud platform, the system determines the operating status of the traffic light that the vehicle is about to pass through. This provides timely and reliable reminders and instructions for whether the vehicle should proceed directly through the traffic light or slow down and wait, maximizing the safe passage rate of vehicles through traffic lights, avoiding traffic congestion caused by vehicles waiting for a long time at traffic lights, and improving the smoothness of urban traffic flow.

Description

Technical Field

[0001] This invention relates to the technical field of cloud platform traffic management, and in particular to a cloud platform-based method and system for traffic light monitoring and vehicle driving instruction. Background Technology

[0002] The high density of traffic lights within urban road networks, coupled with heavy traffic volume, means that vehicles inevitably encounter sudden red lights when approaching traffic lights. This can lead to vehicles being unable to brake in time, running red lights, and even traffic accidents. Furthermore, vehicles often have to stop and wait at each traffic light, hindering traffic flow and contributing to congestion. Current technologies do not incorporate big data analysis of urban traffic light operations to provide accurate and timely guidance for vehicles, thus failing to maximize traffic flow efficiency at each traffic light location. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a cloud-based traffic light monitoring and vehicle driving guidance method and system. Based on vehicle travel path planning information, it obtains the operational status data of traffic light points the vehicle will pass through during its current journey from the cloud platform. Combining this with the time required for the vehicle to reach the traffic light point, it predicts the traffic light's illumination status upon arrival. Based on the illumination status, it predicts whether the vehicle can pass through the traffic light point without stopping and determines the vehicle's safe driving speed for the current road segment. If the distance between the vehicle and the traffic light point meets preset conditions, it determines the traffic light's illumination status switching information for the future time period, generating a driving reminder message. Based on the vehicle's travel path planning information and the traffic light operational status data stored on the cloud platform, it determines the operational status of the traffic light the vehicle will soon pass through, providing timely and reliable guidance on whether the vehicle should proceed directly through the traffic light or slow down and wait. This maximizes the safe passage rate of vehicles through traffic lights, avoids traffic congestion caused by long waiting times at traffic lights, and improves urban traffic flow.

[0004] This invention provides a cloud-based method for traffic light monitoring and vehicle driving guidance, comprising the following steps:

[0005] Step S1: Based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located, determine the traffic light locations that the vehicle will pass through during its current driving process; and retrieve the corresponding traffic light's working status data from the cloud platform based on the location of the traffic light locations.

[0006] Step S2: Based on the vehicle's current speed, estimate the time required for the vehicle to reach the traffic light location; based on the required time and the operating status data, predict the traffic light status when the vehicle reaches the traffic light location.

[0007] Step S3: Based on the light status, predict whether the vehicle can pass through the traffic light location without stopping; based on the prediction result, determine the safe driving speed of the vehicle on the current road segment.

[0008] Step S4: When the distance between the vehicle and the traffic light setting point meets the preset conditions, the traffic light lighting status switching information of the traffic light setting point in the future time period is determined according to the working status data, and a corresponding driving reminder message is generated.

[0009] Further, in step S1, based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located, the traffic light locations that the vehicle will pass during its current journey are determined; based on the location of the traffic light locations, the corresponding traffic light's operating status data is retrieved from the cloud platform, including:

[0010] The vehicle's driving path location information is extracted from the vehicle's driving path planning information. The driving path location information is then compared with the traffic light distribution location information of the area where the vehicle is currently located to determine the distribution locations of all traffic lights on the vehicle's driving path.

[0011] Based on the distribution of all traffic lights, determine the traffic light locations that the vehicle will pass through in its current direction of travel;

[0012] Based on the location of the traffic light installation point, the lighting cycle data and current lighting status data of the corresponding traffic light are retrieved from the cloud platform and used as the working status data; wherein, the lighting cycle data refers to the lighting sequence and lighting duration of different colored lights in a complete working cycle of the traffic light; the lighting status data refers to the color of the traffic light currently lit and the remaining lighting duration of that color.

[0013] Furthermore, in step S1, based on the distribution locations of all traffic lights, the traffic light locations that the vehicle will pass in its current direction of travel are determined, including:

[0014] Step S101: Establish a Cartesian coordinate system for the area where the vehicle is currently located. Then, the vehicle's position and the traffic light's location will each have a corresponding coordinate point. Using the following formula (1), based on the vehicle's position collected within a preset time and its current position, the vehicle's current driving direction can be obtained.

[0015]

[0016] In the above formula (1), (x,y) represents the direction vector of the vehicle's current driving direction; [X (t-T)→t (a),Y (t-T)→t [a] represents the coordinates of the a-th position of the vehicle collected sequentially from time tT to time t; [X] (t-T)→t (a-1),Y (t-T)→t [a-1] represents the (a-1)th position coordinate of the vehicle collected in chronological order from time tT to time t; n represents the total number of position coordinates collected in chronological order from time tT to time t.

[0017] Step S102: Using formula (2) below, based on the distribution of all traffic lights and the current position of the vehicle, obtain the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel.

[0018]

[0019] In the above formula (2), θ(i) represents the deviation angle between the line connecting the i-th traffic light location and the vehicle and the vehicle's current direction of travel; (X t ,Y t [x(i), y(i)] represents the vehicle position coordinates collected at time t; [x(i), y(i)] represents the position coordinates of the i-th traffic light setting point.

[0020] Step S103: Using the formula (3) below, based on the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel and the distance between each traffic light and the current vehicle, determine the traffic light location that the vehicle will pass in its current direction of travel.

[0021]

[0022] In the above formula (3), I indicates that the traffic light setting point that the vehicle is about to pass in the current driving direction is the I-th traffic light setting point; m indicates the total number of all traffic light distribution locations; θ0 indicates the preset angle threshold. This means substituting the values ​​from 1 to m into θ(i), x(i), and y(i) to obtain the result that satisfies θ(i) < θ0. The value of i when the numerical value is at its minimum is denoted as I.

[0023] Further, in step S2, based on the vehicle's current speed, the estimated time required for the vehicle to reach the traffic light location is determined; based on the estimated time and the operational status data, the predicted lighting status of the traffic light when the vehicle reaches the traffic light location is obtained, including:

[0024] Based on the vehicle's current speed and the distance to the traffic light location, estimate the time required for the vehicle to reach the traffic light location.

[0025] The required time, the traffic light illumination cycle data, and the current illumination status data are compared in a time sequence to predict the illumination status of the traffic light when a vehicle arrives at the traffic light location; wherein, the illumination status refers to the color of the traffic light currently illuminated and the remaining illumination duration of that color.

[0026] Furthermore, in step S3, based on the light status, it is predicted whether the vehicle can pass the traffic light point directly without stopping; based on the prediction result, the safe driving speed of the vehicle on the current road segment is determined, including:

[0027] Based on the lighting status, determine whether the traffic light is already in the green light state and the remaining green light duration is greater than or equal to the preset time length, or whether the traffic light has switched to the green light state after a predetermined time period.

[0028] If so, it is predicted that the vehicle can pass through the traffic light location without stopping; in this case, the vehicle's current speed is taken as the safe driving speed on the current road segment.

[0029] If not, it is predicted that the vehicle cannot pass through the traffic light location without stopping; in this case, the predetermined driving speed is taken as the safe driving speed of the vehicle on the current road segment.

[0030] Furthermore, in step S4, when the distance between the vehicle and the traffic light location meets a preset condition, the traffic light status switching information for the future time period at the traffic light location is determined based on the working status data, thereby generating a corresponding driving reminder message, including:

[0031] If it is predicted that a vehicle cannot pass through the traffic light location without stopping, and the distance between the vehicle and the traffic light location is less than or equal to a preset distance threshold, then based on the traffic light's illumination cycle data and current illumination status data, it is determined whether the traffic light should switch to red light status within a preset time period in the future; if so, a voice-based driving deceleration reminder message is generated.

[0032] This invention also provides a cloud-based traffic light monitoring and vehicle driving guidance system, including:

[0033] The traffic light location and working status determination module is used to determine the traffic light locations that the vehicle will pass during its current journey based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located; and to retrieve the working status data of the corresponding traffic lights from the cloud platform based on the location of the traffic light locations.

[0034] The vehicle driving prediction module is used to estimate the time required for the vehicle to reach the traffic light location based on the vehicle's current driving speed; and to predict the lighting status of the traffic light when the vehicle reaches the traffic light location based on the required time and the working status data.

[0035] The vehicle speed determination module is used to predict whether a vehicle can pass through the traffic light location without stopping based on the light status; and to determine the safe driving speed of the vehicle on the current road segment based on the prediction result.

[0036] The vehicle driving instruction module is used to determine the traffic light status switching information of the traffic light setting point in the future time period based on the working status data when the distance between the vehicle and the traffic light setting point meets the preset conditions, and thereby generate a corresponding driving reminder message.

[0037] Furthermore, the traffic light positioning and operational status determination module is used to determine the traffic light locations that the vehicle will pass during its current journey based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located; and to retrieve the corresponding traffic light operational status data from the cloud platform based on the location of the traffic light locations, including:

[0038] The vehicle's driving path location information is extracted from the vehicle's driving path planning information. The driving path location information is then compared with the traffic light distribution location information of the area where the vehicle is currently located to determine the distribution locations of all traffic lights on the vehicle's driving path.

[0039] Based on the distribution of all traffic lights, determine the traffic light locations that the vehicle will pass through in its current direction of travel;

[0040] Based on the location of the traffic light installation point, the lighting cycle data and current lighting status data of the corresponding traffic light are retrieved from the cloud platform and used as the working status data; wherein, the lighting cycle data refers to the lighting sequence and lighting duration of different colored lights in a complete working cycle of the traffic light; the lighting status data refers to the color of the traffic light currently lit and the remaining lighting duration of that color.

[0041] Furthermore, the vehicle travel prediction module is used to estimate the time required for the vehicle to reach the traffic light location based on the vehicle's current speed; and to predict the traffic light status when the vehicle reaches the traffic light location based on the required time and the operating status data, including:

[0042] Based on the vehicle's current speed and the distance to the traffic light location, estimate the time required for the vehicle to reach the traffic light location.

[0043] The required time, the traffic light illumination cycle data, and the current illumination status data are compared in a time sequence to predict the illumination status of the traffic light when a vehicle arrives at the traffic light location; wherein, the illumination status refers to the color of the traffic light currently illuminated and the remaining illumination duration of that color.

[0044] Furthermore, the vehicle speed determination module is used to predict, based on the traffic light status, whether a vehicle can pass through the traffic light location without stopping; and to determine the safe driving speed of the vehicle on the current road segment based on the prediction result, including:

[0045] Based on the lighting status, determine whether the traffic light is already in the green light state and the remaining green light duration is greater than or equal to the preset time length, or whether the traffic light has switched to the green light state after a predetermined time period.

[0046] If so, it is predicted that the vehicle can pass through the traffic light location without stopping; in this case, the vehicle's current speed is taken as the safe driving speed on the current road segment.

[0047] If not, it is predicted that the vehicle cannot pass through the traffic light location without stopping; in this case, the predetermined driving speed is taken as the safe driving speed of the vehicle on the current road segment.

[0048] Furthermore, the vehicle driving instruction module is used to determine the traffic light status switching information of the traffic light at the traffic light setting point in the future time period based on the working status data when the distance between the vehicle and the traffic light setting point meets the preset conditions, thereby generating a corresponding driving reminder message, including:

[0049] If it is predicted that a vehicle cannot pass through the traffic light location without stopping, and the distance between the vehicle and the traffic light location is less than or equal to a preset distance threshold, then based on the traffic light's illumination cycle data and current illumination status data, it is determined whether the traffic light should switch to red light status within a preset time period in the future; if so, a voice-based driving deceleration reminder message is generated.

[0050] Compared to existing technologies, this cloud-based traffic light monitoring and vehicle driving instruction method and system uses vehicle driving path planning information as a basis. It obtains the working status data of the traffic light points that the vehicle will pass through during the current driving process from the cloud platform, and combines this with the time required for the vehicle to reach the traffic light point to predict the lighting status of the traffic light when the vehicle arrives at the traffic light point. Based on the lighting status, it predicts whether the vehicle can pass through the traffic light point directly without stopping and determines the safe driving speed of the vehicle in the current road segment. If the distance between the vehicle and the traffic light point meets preset conditions, it determines the switching information of the traffic light lighting status in the future time period, thereby generating a driving reminder message. Based on the vehicle's driving path planning information and the traffic light working status data stored in the cloud platform, it determines the working status of the traffic light that the vehicle will pass through, thus providing timely and reliable reminders and instructions for whether the vehicle should directly pass through the traffic light or slow down and stop to wait. This maximizes the safe passage rate of vehicles through traffic lights, avoids traffic congestion caused by vehicles waiting for a long time at traffic lights, and improves the smoothness of urban traffic.

[0051] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0052] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart illustrating the cloud-based traffic light monitoring and vehicle driving instruction method provided by the present invention.

[0055] Figure 2 This is a schematic diagram of the structure of the cloud-based traffic light monitoring and vehicle driving instruction system provided by the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] See Figure 1 This is a flowchart illustrating a cloud-based traffic light monitoring and vehicle driving instruction method provided in an embodiment of the present invention. The cloud-based traffic light monitoring and vehicle driving instruction method includes the following steps:

[0058] Step S1: Based on the vehicle's driving route planning information and the traffic light distribution information of the area where the vehicle is currently located, determine the traffic light locations that the vehicle will pass through during its current journey; and retrieve the corresponding traffic light's working status data from the cloud platform based on the location of the traffic light location.

[0059] Step S2: Based on the vehicle's current speed, estimate the time required for the vehicle to reach the traffic light location; based on the estimated time and the operating status data, predict the traffic light's illumination status when the vehicle reaches the traffic light location.

[0060] Step S3: Based on the light status, predict whether the vehicle can pass through the traffic light location without stopping; based on the prediction result, determine the safe driving speed of the vehicle on the current road segment.

[0061] Step S4: When the distance between the vehicle and the traffic light location meets the preset conditions, the traffic light status switching information of the traffic light location in the future time period is determined based on the working status data, and a corresponding driving reminder message is generated.

[0062] The beneficial effects of the above technical solution are as follows: This cloud-based traffic light monitoring and vehicle driving instruction method uses the vehicle's driving path planning information as a basis, obtains the working status data of the traffic light points that the vehicle will pass through during the current driving process from the cloud platform, and combines it with the time required for the vehicle to reach the traffic light point to predict the lighting status of the traffic light when the vehicle reaches the traffic light point. Based on the lighting status, it predicts whether the vehicle can pass through the traffic light point directly without stopping and determines the safe driving speed of the vehicle in the current road segment. If the distance between the vehicle and the traffic light point meets the preset conditions, it determines the switching information of the traffic light's lighting status in the future time period, thereby generating a driving reminder message. Based on the vehicle's driving path planning information and the traffic light working status data stored in the cloud platform, it determines the working status of the traffic light that the vehicle will pass through, thus providing timely and reliable reminders and instructions for whether the vehicle should directly pass through the traffic light or slow down and stop to wait, maximizing the safe passage rate of vehicles through traffic lights, avoiding traffic congestion caused by vehicles waiting for a long time at traffic lights, and improving the smoothness of urban traffic.

[0063] Preferably, in step S1, based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located, the traffic light locations that the vehicle will pass during its current journey are determined; based on the location of the traffic light locations, the corresponding traffic light's operating status data is retrieved from the cloud platform, including:

[0064] The vehicle's driving path location information is extracted from the vehicle's driving path planning information. This driving path location information is then compared with the traffic light distribution location information of the area where the vehicle is currently located to determine the distribution locations of all traffic lights along the vehicle's driving path.

[0065] Based on the distribution of all traffic lights, determine the traffic light locations that the vehicle will pass through in its current direction of travel;

[0066] Based on the location of the traffic light installation point, the corresponding traffic light's illumination cycle data and current illumination status data are retrieved from the cloud platform, serving as the working status data. The illumination cycle data refers to the lighting sequence and duration of different colored lights within a complete working cycle, i.e., the lighting sequence of red, yellow (if present), and green lights, and the duration each light remains illuminated. The illumination status data refers to the currently illuminated color of the traffic light and its remaining illumination duration, i.e., whether the traffic light is currently in a red, yellow (if present), or green state, and the remaining illumination duration of the currently illuminated light (i.e., how many seconds remain before switching to another color).

[0067] The beneficial effects of the above technical solution are as follows: In practical work, based on the vehicle's current location and its destination, the shortest route or the shortest travel time is selected from several possible routes, and driving route planning information for the finally selected route is generated. This driving route planning information includes the geographical location and name of the routes traversed by the finally selected route. The corresponding driving route location is then extracted from this information and compared with the traffic light distribution information of the vehicle's current location to determine the locations of all traffic lights along the driving route and the next traffic light point the vehicle will pass under the current driving route and direction. The city traffic cloud platform stores the number, location, and working status data of each traffic light. Uploading the location of the next traffic light point to the cloud platform provides the working status data of the traffic light corresponding to that point, facilitating accurate judgment of the actual lighting status of the traffic light point at the time the vehicle arrives.

[0068] Preferably, in step S1, determining the traffic light locations that the vehicle will pass in its current direction of travel, based on the distribution of all traffic lights, includes:

[0069] Step S101: Establish a Cartesian coordinate system for the area where the vehicle is currently located. Then, the vehicle's position and the traffic light's location will each have a corresponding coordinate point. Using the formula (1) below, based on the vehicle's position collected within a preset time and its current position, obtain the vehicle's current driving direction.

[0070]

[0071] In the above formula (1), (x,y) represents the direction vector of the vehicle's current driving direction; [X (t-T)→t (a),Y (t-T)→t [a] represents the coordinates of the a-th position of the vehicle collected sequentially from time tT to time t; [X] (t-T)→t (a-1),Y (t-T)→t [a-1] represents the (a-1)th position coordinate of the vehicle collected in chronological order from time tT to time t; n represents the total number of position coordinates collected in chronological order from time tT to time t.

[0072] Step S102: Using formula (2) below, based on the distribution of all traffic lights and the current position of the vehicle, obtain the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel.

[0073]

[0074] In the above formula (2), θ(i) represents the deviation angle between the line connecting the i-th traffic light location and the vehicle and the vehicle's current direction of travel; (X t ,Y t [x(i), y(i)] represents the vehicle position coordinates collected at time t; [x(i), y(i)] represents the position coordinates of the i-th traffic light setting point.

[0075] Step S103: Using the formula (3) below, based on the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel and the distance between each traffic light and the current vehicle, determine the traffic light location that the vehicle will pass in its current direction of travel.

[0076]

[0077] In the above formula (3), I indicates that the traffic light setting point that the vehicle is about to pass in the current driving direction is the I-th traffic light setting point; m indicates the total number of all traffic light distribution locations; θ0 indicates the preset angle threshold. This means substituting the values ​​from 1 to m into θ(i), x(i), and y(i) to obtain the result that satisfies θ(i) < θ0.

[0078] The beneficial effects of the above technical solution are as follows: Using the above formula (1), the current driving direction of the vehicle is obtained based on the position and current position collected by the vehicle within a preset time, thereby quantifying the driving direction and facilitating subsequent calculation and control; then using the above formula (2), the deviation angle of the line connecting each traffic light and the vehicle relative to the current driving direction of the vehicle is obtained based on the distribution positions of all traffic lights and the current position of the vehicle, thereby eliminating traffic lights with large deviation angles and improving the efficiency of the system; finally using the above formula (3), the deviation angle of the line connecting each traffic light and the vehicle relative to the current driving direction of the vehicle and the distance between each traffic light and the current vehicle are used to determine the traffic light setting point that the vehicle will pass under the current driving direction, thereby intelligently and accurately determining the traffic light setting point that the vehicle will pass under the current driving direction and ensuring the accuracy of the system.

[0079] Preferably, in step S2, the time required for the vehicle to reach the traffic light location is estimated based on the vehicle's current speed; based on the required time and the operating status data, the lighting status of the traffic light when the vehicle reaches the traffic light location is predicted, including:

[0080] Based on the vehicle's current speed and the distance to the traffic light location, estimate the time required for the vehicle to reach the traffic light location.

[0081] The required time, the traffic light's illumination cycle data, and the current illumination status data are compared in a time series to predict the traffic light's illumination status when a vehicle arrives at the traffic light location. The illumination status refers to the color of the traffic light currently illuminated and the remaining duration of that color's illumination.

[0082] The beneficial effects of the above technical solution are as follows: Based on the vehicle's current average speed and the distance between the vehicle and the next traffic light location, the time required for the vehicle to travel from its current location to the next traffic light location can be estimated. Then, by comparing the required time, the lighting cycle data of the traffic light corresponding to the next traffic light location, and the current actual lighting status data in a time-series manner, the lighting status of the traffic light when the vehicle arrives at that location can be predicted. This allows for advance judgment on whether the vehicle can pass through the traffic light location without stopping, thus avoiding vehicles stopping and waiting at the traffic light location even when there is sufficient time to pass, thereby reducing the traffic efficiency at the traffic light location, and preventing vehicles from running red lights when there is insufficient time to pass.

[0083] Preferably, in step S3, based on the light status, it is predicted whether the vehicle can pass through the traffic light location without stopping; based on the prediction result, the safe driving speed of the vehicle on the current road segment is determined, including:

[0084] Based on the lighting status, determine whether the traffic light is already in the green light state and the remaining green light duration is greater than or equal to the preset time length, or whether the traffic light has switched to the green light state after a predetermined time period.

[0085] If so, it is predicted that the vehicle can pass through the traffic light location without stopping; in this case, the vehicle's current speed is taken as the safe driving speed on the current road segment.

[0086] If not, it is predicted that the vehicle cannot pass through the traffic light location without stopping; in this case, the predetermined speed is taken as the safe driving speed of the vehicle on the current road segment.

[0087] The beneficial effects of the above technical solution are as follows: By using the above method, it is possible to determine in advance whether the current lighting status of the traffic light allows a vehicle to pass through the traffic light point without stopping, thus providing reliable driving reference information for drivers. When it is predicted that the vehicle can pass through the traffic light point without stopping, the vehicle's built-in human-machine interface can notify the driver to use the current speed as a safe speed to pass through the traffic light point. When it is predicted that the vehicle cannot pass through the traffic light point without stopping, the vehicle's own control equipment can limit the actual speed of the vehicle to a predetermined speed, thereby preventing the vehicle from running a red light quickly. The predetermined speed can be, but is not limited to, a low speed such as 10 km / h or 5 km / h.

[0088] Preferably, in step S4, when the distance between the vehicle and the traffic light location meets a preset condition, the traffic light status switching information for the future time period at the traffic light location is determined based on the working status data, thereby generating a corresponding driving reminder message, including:

[0089] If it is predicted that a vehicle cannot pass through the traffic light location without stopping, and the distance between the vehicle and the traffic light location is less than or equal to a preset distance threshold, then based on the traffic light's illumination cycle data and current illumination status data, it is determined whether the traffic light should switch to red light status within a preset time period in the future; if so, a voice-based driving slowdown reminder message is generated.

[0090] The beneficial effects of the above technical solution are as follows: By using the above method, when it is predicted that the vehicle cannot pass through the traffic light point directly without stopping, the relationship between the distance between the vehicle and the next traffic light point to be passed and the preset distance threshold is determined in a timely manner. If the distance is less than or equal to the preset distance threshold, that is, the vehicle is already close to the next traffic light point to be passed, the traffic light's lighting cycle data and the current actual lighting status data are used to determine whether the traffic light will switch to red light status in the future preset time period. If it will switch to red light status, a voice-based driving deceleration reminder message is generated through the vehicle's human-machine interaction device. After receiving the driving deceleration reminder message, the driver will decelerate in time, so that the vehicle can stop in time before the traffic light point.

[0091] See Figure 2 This is a schematic diagram of the structure of a cloud-based traffic light monitoring and vehicle driving guidance system provided in an embodiment of the present invention. The cloud-based traffic light monitoring and vehicle driving guidance system includes:

[0092] The traffic light location and working status determination module is used to determine the traffic light locations that the vehicle will pass during its current journey based on the vehicle's driving route planning information and the traffic light distribution information of the area where the vehicle is currently located; and to retrieve the working status data of the corresponding traffic light from the cloud platform based on the location of the traffic light location.

[0093] The vehicle travel prediction module is used to estimate the time required for the vehicle to travel to the traffic light location based on the vehicle's current travel speed; and based on the required time and the working status data, to predict the lighting status of the traffic light when the vehicle arrives at the traffic light location.

[0094] The vehicle speed determination module is used to predict whether a vehicle can pass through the traffic light location without stopping based on the light status; and to determine the safe driving speed of the vehicle on the current road segment based on the prediction result.

[0095] The vehicle driving instruction module is used to determine the traffic light status switching information of the traffic light setting point in the future time period based on the working status data when the distance between the vehicle and the traffic light setting point meets the preset conditions, and thereby generate a corresponding driving reminder message.

[0096] The beneficial effects of the above technical solution are as follows: This cloud-based traffic light monitoring and vehicle driving instruction system uses vehicle driving path planning information as a basis, obtains the working status data of the traffic light points that the vehicle will pass through during the current driving process from the cloud platform, and combines it with the time required for the vehicle to reach the traffic light point to predict the lighting status of the traffic light when the vehicle reaches the traffic light point. Based on the lighting status, it predicts whether the vehicle can pass through the traffic light point directly without stopping and determines the safe driving speed of the vehicle in the current road segment. If the distance between the vehicle and the traffic light point meets the preset conditions, it determines the lighting status switching information of the traffic light in the future time period, thereby generating a driving reminder message. Based on the vehicle driving path planning information and the traffic light working status data stored in the cloud platform, it determines the working status of the traffic light that the vehicle will pass through, thereby providing timely and reliable reminders and instructions for whether the vehicle should directly pass through the traffic light or slow down and stop to wait, maximizing the safe passage rate of vehicles through traffic lights, avoiding traffic congestion caused by vehicles waiting for a long time at traffic lights, and improving the smoothness of urban traffic.

[0097] Preferably, the traffic light positioning and operating status determination module is used to determine the traffic light locations that the vehicle will pass during its current journey based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located; and to retrieve the corresponding traffic light operating status data from the cloud platform based on the location of the traffic light location, including:

[0098] The vehicle's driving path location information is extracted from the vehicle's driving path planning information. This driving path location information is then compared with the traffic light distribution location information of the area where the vehicle is currently located to determine the distribution locations of all traffic lights along the vehicle's driving path.

[0099] Based on the distribution of all traffic lights, determine the traffic light locations that the vehicle will pass through in its current direction of travel;

[0100] Based on the location of the traffic light installation point, the corresponding traffic light's lighting cycle data and current lighting status data are retrieved from the cloud platform and used as the working status data. The lighting cycle data refers to the lighting sequence and duration of different colored lights within a complete working cycle of the traffic light. The lighting status data refers to the color of the traffic light currently lit and the remaining lighting duration of that color.

[0101] The beneficial effects of the above technical solution are as follows: In practical work, based on the vehicle's current location and its destination, the shortest route or the shortest travel time is selected from several possible routes, and driving route planning information for the finally selected route is generated. This driving route planning information includes the geographical location and name of the routes traversed by the finally selected route. The corresponding driving route location is then extracted from this information and compared with the traffic light distribution information of the vehicle's current location to determine the locations of all traffic lights along the driving route and the next traffic light point the vehicle will pass under the current driving route and direction. The city traffic cloud platform stores the number, location, and working status data of each traffic light. Uploading the location of the next traffic light point to the cloud platform provides the working status data of the traffic light corresponding to that point, facilitating accurate judgment of the actual lighting status of the traffic light point at the time the vehicle arrives.

[0102] Preferably, the vehicle travel prediction module is used to estimate the time required for the vehicle to reach the traffic light location based on the vehicle's current travel speed; and to predict the traffic light status when the vehicle reaches the traffic light location based on the required time and the operating status data, including:

[0103] Based on the vehicle's current speed and the distance to the traffic light location, estimate the time required for the vehicle to reach the traffic light location.

[0104] The required time, the traffic light's illumination cycle data, and the current illumination status data are compared in a time series to predict the traffic light's illumination status when a vehicle arrives at the traffic light location. The illumination status refers to the color of the traffic light currently illuminated and the remaining duration of that color's illumination.

[0105] The beneficial effects of the above technical solution are as follows: Based on the vehicle's current average speed and the distance between the vehicle and the next traffic light location, the time required for the vehicle to travel from its current location to the next traffic light location can be estimated. Then, by comparing the required time, the lighting cycle data of the traffic light corresponding to the next traffic light location, and the current actual lighting status data in a time-series manner, the lighting status of the traffic light when the vehicle arrives at that location can be predicted. This allows for advance judgment on whether the vehicle can pass through the traffic light location without stopping, thus avoiding vehicles stopping and waiting at the traffic light location even when there is sufficient time to pass, thereby reducing the traffic efficiency at the traffic light location, and preventing vehicles from running red lights when there is insufficient time to pass.

[0106] Preferably, the vehicle speed determination module is used to predict, based on the traffic light status, whether a vehicle can pass through the traffic light location without stopping; and to determine the safe driving speed of the vehicle on the current road segment based on the prediction result, including:

[0107] Based on the lighting status, determine whether the traffic light is already in the green light state and the remaining green light duration is greater than or equal to the preset time length, or whether the traffic light has switched to the green light state after a predetermined time period.

[0108] If so, it is predicted that the vehicle can pass through the traffic light location without stopping; in this case, the vehicle's current speed is taken as the safe driving speed on the current road segment.

[0109] If not, it is predicted that the vehicle cannot pass through the traffic light location without stopping; in this case, the predetermined speed is taken as the safe driving speed of the vehicle on the current road segment.

[0110] The beneficial effects of the above technical solution are as follows: By using the above method, it is possible to determine in advance whether the current lighting status of the traffic light allows a vehicle to pass through the traffic light point without stopping, thus providing reliable driving reference information for drivers. When it is predicted that the vehicle can pass through the traffic light point without stopping, the vehicle's built-in human-machine interface can notify the driver to use the current speed as a safe speed to pass through the traffic light point. When it is predicted that the vehicle cannot pass through the traffic light point without stopping, the vehicle's own control equipment can limit the actual speed of the vehicle to a predetermined speed, thereby preventing the vehicle from running a red light quickly. The predetermined speed can be, but is not limited to, a low speed such as 10 km / h or 5 km / h.

[0111] Preferably, the vehicle driving instruction module is used to determine the traffic light status switching information of the traffic light at the traffic light location in the future time period based on the working status data when the distance between the vehicle and the traffic light location meets the preset conditions, thereby generating a corresponding driving reminder message, including:

[0112] If it is predicted that a vehicle cannot pass through the traffic light location without stopping, and the distance between the vehicle and the traffic light location is less than or equal to a preset distance threshold, then based on the traffic light's illumination cycle data and current illumination status data, it is determined whether the traffic light should switch to red light status within a preset time period in the future; if so, a voice-based driving slowdown reminder message is generated.

[0113] The beneficial effects of the above technical solution are as follows: By using the above method, when it is predicted that the vehicle cannot pass through the traffic light point directly without stopping, the relationship between the distance between the vehicle and the next traffic light point to be passed and the preset distance threshold is determined in a timely manner. If the distance is less than or equal to the preset distance threshold, that is, the vehicle is already close to the next traffic light point to be passed, the traffic light's lighting cycle data and the current actual lighting status data are used to determine whether the traffic light will switch to red light status in the future preset time period. If it will switch to red light status, a voice-based driving deceleration reminder message is generated through the vehicle's human-machine interaction device. After receiving the driving deceleration reminder message, the driver will decelerate in time, so that the vehicle can stop in time before the traffic light point.

[0114] As can be seen from the above embodiments, this cloud-based traffic light monitoring and vehicle driving instruction method and system uses vehicle driving path planning information as a basis. It obtains the working status data of the traffic light points that the vehicle will pass through during the current driving process from the cloud platform, and combines it with the time required for the vehicle to reach the traffic light point to predict the lighting status of the traffic light when the vehicle reaches the traffic light point. Based on the lighting status, it predicts whether the vehicle can pass through the traffic light point directly without stopping, and determines the safe driving speed of the vehicle in the current road segment. If the distance between the vehicle and the traffic light point meets the preset conditions, it determines the lighting status switching information of the traffic light in the future time period, thereby generating a driving reminder message. Based on the vehicle's driving path planning information and the traffic light working status data stored in the cloud platform, it determines the working status of the traffic light that the vehicle will pass through, thereby providing timely and reliable reminders and instructions for whether the vehicle should directly pass through the traffic light or slow down and stop to wait. This maximizes the safe passage rate of vehicles through traffic lights, avoids traffic congestion caused by vehicles waiting for a long time at traffic lights, and improves the smoothness of urban traffic.

[0115] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for traffic light monitoring and vehicle driving instruction based on a cloud platform, characterized in that, Includes the following steps: Step S1: Based on the vehicle's driving route planning information and the traffic light distribution information of the area where the vehicle is currently located, determine the traffic light locations that the vehicle will pass through during its current driving process. Based on the location of the traffic light installation point, retrieve the corresponding traffic light's working status data from the cloud platform; Step S2: Based on the vehicle's current speed, estimate the time required for the vehicle to reach the traffic light location; based on the required time and the operating status data, predict the traffic light status when the vehicle reaches the traffic light location. Step S3: Based on the light status, predict whether the vehicle can pass through the traffic light location without stopping; based on the prediction result, determine the safe driving speed of the vehicle on the current road segment. Step S4: When the distance between the vehicle and the traffic light setting point meets the preset conditions, the traffic light lighting status switching information of the traffic light setting point in the future time period is determined according to the working status data, so as to generate a corresponding driving reminder message. In step S1, based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located, the traffic light locations that the vehicle will pass during its current journey are determined; based on the location of the traffic light locations, the corresponding traffic light's operating status data is retrieved from the cloud platform, including: The vehicle's driving path location information is extracted from the vehicle's driving path planning information. The driving path location information is then compared with the traffic light distribution location information of the area where the vehicle is currently located to determine the distribution locations of all traffic lights on the vehicle's driving path. Based on the distribution of all traffic lights, determine the traffic light locations that the vehicle will pass through in its current direction of travel; Based on the location of the traffic light installation point, the lighting cycle data and current lighting status data of the corresponding traffic light are retrieved from the cloud platform and used as the working status data; wherein, the lighting cycle data refers to the lighting sequence and lighting duration of different colored lights in a complete working cycle of the traffic light; the lighting status data refers to the color of the light currently lit by the traffic light and the remaining lighting duration of that color. In step S1, determining the traffic light locations that the vehicle will pass in its current direction of travel, based on the distribution of all traffic lights, includes: Step S101: Establish a Cartesian coordinate system for the area where the vehicle is currently located. Then, the vehicle's position and the traffic light's location will each have a corresponding coordinate point. Using the following formula (1), based on the vehicle's position collected within a preset time and its current position, the vehicle's current driving direction can be obtained. （1） In the above formula (1), The direction vector representing the current direction of travel of the vehicle; Indicates from Time's up Vehicles collected in chronological order Location coordinates; Indicates from Time's up Vehicles collected in chronological order Location coordinates; Indicates from Time's up The total number of location coordinates collected in chronological order at any given moment; Step S102: Using the formula (2) below, based on the distribution of all traffic lights and the current position of the vehicle, obtain the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel. （2） In the above formula (2), Indicates the first The deviation angle of the traffic light installation point from the line connecting the vehicle to the vehicle's current direction of travel; express Vehicle location coordinates collected in real time; Indicates the first The coordinates of the location of each traffic light installation point; Step S103: Using the formula (3) below, based on the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel and the distance between each traffic light and the current vehicle, determine the traffic light point that the vehicle will pass in its current direction of travel. （3） In the above formula (3), This indicates the traffic light point that the vehicle is about to pass in its current direction of travel. Traffic light locations; This represents the total number of locations where all traffic lights are located; Indicates the preset angle threshold; This means taking the value of i from 1 to... Substitute into , and In the middle, we obtain the satisfaction Under the conditions that make When the value is at its smallest Value, and record it as .

2. The traffic light monitoring and vehicle driving instruction method based on a cloud platform as described in claim 1, characterized in that: In step S2, the time required for the vehicle to reach the traffic light location is estimated based on the vehicle's current speed. Based on the required time and the operating status data, the lighting status of the traffic lights when the vehicle arrives at the traffic light location is predicted, including: Based on the vehicle's current speed and the distance to the traffic light location, estimate the time required for the vehicle to reach the traffic light location. The required time, the traffic light illumination cycle data, and the current illumination status data are compared in a time sequence to predict the illumination status of the traffic light when a vehicle arrives at the traffic light location; wherein, the illumination status refers to the color of the traffic light currently illuminated and the remaining illumination duration of that color.

3. The traffic light monitoring and vehicle driving instruction method based on a cloud platform as described in claim 2, characterized in that: In step S3, based on the light status, it is predicted whether the vehicle can pass through the traffic light location without stopping. Based on the prediction results, determining the safe driving speed of the vehicle on the current road segment includes: Based on the lighting status, determine whether the traffic light is already in the green light state and the remaining green light duration is greater than or equal to the preset time length, or whether the traffic light has switched to the green light state after a predetermined time period. If so, it is predicted that the vehicle can pass through the traffic light location without stopping; in this case, the vehicle's current speed is taken as the safe driving speed on the current road segment. If not, it is predicted that the vehicle cannot pass through the traffic light location without stopping; in this case, the predetermined driving speed is taken as the safe driving speed of the vehicle on the current road segment.

4. The traffic light monitoring and vehicle driving instruction method based on a cloud platform as described in claim 3, characterized in that: In step S4, when the distance between the vehicle and the traffic light location meets a preset condition, the traffic light status switching information for the future time period at the traffic light location is determined based on the working status data, thereby generating a corresponding driving reminder message, including: If it is predicted that a vehicle cannot pass through the traffic light location without stopping, and the distance between the vehicle and the traffic light location is less than or equal to a preset distance threshold, then based on the traffic light's illumination cycle data and current illumination status data, it is determined whether the traffic light should switch to red light status within a preset time period in the future; if so, a voice-based driving deceleration reminder message is generated.

5. A traffic light monitoring and vehicle driving instruction system based on a cloud platform, characterized in that: include: The traffic light location and working status determination module is used to determine the traffic light locations that the vehicle will pass during its current journey based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located; and to retrieve the working status data of the corresponding traffic lights from the cloud platform based on the location of the traffic light locations. The vehicle driving prediction module is used to estimate the time required for the vehicle to reach the traffic light location based on the vehicle's current driving speed; and to predict the lighting status of the traffic light when the vehicle reaches the traffic light location based on the required time and the working status data. The vehicle speed determination module is used to predict whether a vehicle can pass through the traffic light location without stopping based on the light status; and to determine the safe driving speed of the vehicle on the current road segment based on the prediction result. The vehicle driving instruction module is used to determine the traffic light lighting status switching information of the traffic light setting point in the future time period based on the working status data when the distance between the vehicle and the traffic light setting point meets the preset conditions, thereby generating a corresponding driving reminder message. The traffic light positioning and working status determination module is used to determine the traffic light locations that the vehicle will pass through during its current journey, based on the vehicle's driving path planning information and the traffic light distribution information of the area where the vehicle is currently located. Based on the location of the traffic light installation point, the corresponding traffic light's operating status data is retrieved from the cloud platform, including: The vehicle's driving path location information is extracted from the vehicle's driving path planning information. The driving path location information is then compared with the traffic light distribution location information of the area where the vehicle is currently located to determine the distribution locations of all traffic lights on the vehicle's driving path. Based on the distribution of all traffic lights, determine the traffic light locations that the vehicle will pass through in its current direction of travel; Based on the location of the traffic light installation point, the lighting cycle data and current lighting status data of the corresponding traffic light are retrieved from the cloud platform and used as the working status data; wherein, the lighting cycle data refers to the lighting sequence and lighting duration of different colored lights in a complete working cycle of the traffic light; the lighting status data refers to the color of the light currently lit by the traffic light and the remaining lighting duration of that color. The step of determining the traffic light locations that a vehicle will pass in its current direction of travel, based on the distribution of all traffic lights, includes: Step S101: Establish a Cartesian coordinate system for the area where the vehicle is currently located. Then, the vehicle's position and the traffic light's location will each have a corresponding coordinate point. Using the following formula (1), based on the vehicle's position collected within a preset time and its current position, the vehicle's current driving direction can be obtained. （1） In the above formula (1), The direction vector representing the current direction of travel of the vehicle; Indicates from Time's up Vehicles collected in chronological order Location coordinates; Indicates from Time's up Vehicles collected in chronological order Location coordinates; Indicates from Time's up The total number of location coordinates collected in chronological order at any given moment; Step S102: Using the formula (2) below, based on the distribution of all traffic lights and the current position of the vehicle, obtain the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel. （2） In the above formula (2), Indicates the first The deviation angle of the traffic light installation point from the line connecting the vehicle to the vehicle's current direction of travel; express Vehicle location coordinates collected in real time; Indicates the first The coordinates of the location of each traffic light installation point; Step S103: Using the formula (3) below, based on the deviation angle of the line connecting each traffic light and the vehicle relative to the vehicle's current direction of travel and the distance between each traffic light and the current vehicle, determine the traffic light point that the vehicle will pass in its current direction of travel. （3） In the above formula (3), This indicates the traffic light point that the vehicle is about to pass in its current direction of travel. Traffic light locations; This represents the total number of locations where all traffic lights are located; Indicates the preset angle threshold; This means taking the value of i from 1 to... Substitute into , and In the middle, we obtain the satisfaction Under the conditions that make When the value is at its smallest Value, and record it as .

6. The traffic light monitoring and vehicle driving instruction system based on a cloud platform as described in claim 5, characterized in that: The vehicle driving prediction module is used to estimate the time required for the vehicle to travel to the traffic light location based on the vehicle's current driving speed. Based on the required time and the operating status data, the lighting status of the traffic lights when the vehicle arrives at the traffic light location is predicted, including: Based on the vehicle's current speed and the distance to the traffic light location, estimate the time required for the vehicle to reach the traffic light location. The required time, the traffic light illumination cycle data, and the current illumination status data are compared in a time sequence to predict the illumination status of the traffic light when a vehicle arrives at the traffic light location; wherein, the illumination status refers to the color of the traffic light currently illuminated and the remaining illumination duration of that color.

7. The traffic light monitoring and vehicle driving instruction system based on a cloud platform as described in claim 6, characterized in that: The vehicle speed determination module is used to predict, based on the traffic light status, whether a vehicle can pass through the traffic light location without stopping; and to determine the safe driving speed of the vehicle on the current road segment based on the prediction result, including: Based on the lighting status, determine whether the traffic light is already in the green light state and the remaining green light duration is greater than or equal to the preset time length, or whether the traffic light has switched to the green light state after a predetermined time period. If so, it is predicted that the vehicle can pass through the traffic light location without stopping; in this case, the vehicle's current speed is taken as the safe driving speed on the current road segment. If not, it is predicted that the vehicle cannot pass through the traffic light location without stopping; in this case, the predetermined driving speed is taken as the safe driving speed of the vehicle on the current road segment. The vehicle driving instruction module is used to determine the traffic light status switching information of the traffic light setting point in the future time period based on the working status data when the distance between the vehicle and the traffic light setting point meets the preset conditions, and thereby generate a corresponding driving reminder message, including: If it is predicted that a vehicle cannot pass through the traffic light location without stopping, and the distance between the vehicle and the traffic light location is less than or equal to a preset distance threshold, then based on the traffic light's illumination cycle data and current illumination status data, it is determined whether the traffic light should switch to red light status within a preset time period in the future; if so, a voice-based driving deceleration reminder message is generated.

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