A traffic flow speed calculation method and a calculation system

Abstract

The application provides a vehicle flow speed calculation method and a calculation system, and relates to the technical field of vehicle flow detection.The speed of a vehicle and the length of a target area are acquired, and the number of target vehicles passing through the target area within a preset time, the distance of each target vehicle driving in the target area, and the time of each target vehicle staying in the target area are acquired, and then the vehicle flow speed of a target lane is calculated according to the speed of the vehicle, the length of the target area, the number of target vehicles passing through the target area within the preset time, the distance of each target vehicle driving in the target area, and the time of each target vehicle staying in the target area.The above technical scheme is based on the vehicles driving in the target area within the preset time, rather than the speed of the vehicles at a certain moment, and is based on the multiple vehicles in the target area, rather than only the front vehicle, so that the vehicle flow speed in the target lane can be obtained more accurately.

Description

Technical Field

[0001] This invention relates to the field of traffic flow detection technology, and in particular to a method and system for calculating traffic flow speed. Background Technology

[0002] As assisted driving functions become increasingly sophisticated, more and more cars are equipped with lane-changing capabilities. To improve traffic efficiency, the road with the fastest traffic flow is typically chosen as the primary route. This necessitates the ability to calculate traffic flow speed based on the vehicle's existing sensors. Traditionally, the speed of traffic in the lane ahead is calculated by selecting the vehicle in front as the target vehicle. However, this method does not accurately reflect the speed of traffic in the target lane, meaning it cannot accurately calculate the speed of traffic flow. For example, the vehicle in front may be traveling faster than the vehicle in front of that vehicle.

[0003] Current technologies for lane changing to increase traffic efficiency only calculate the speed based on the speed of one or two vehicles ahead or to the side. This calculation method cannot fully reflect the traffic efficiency of the lane. Other solutions often involve adding equipment at the roadside to count traffic flow speed, which cannot be applied to current vehicles, and adding equipment at the roadside increases costs. Summary of the Invention

[0004] One objective of the first aspect of this invention is to provide a method for calculating traffic flow speed, thereby solving the technical problem of low accuracy in calculating traffic flow speed in the prior art.

[0005] Another objective of the first aspect of the present invention is to reduce the cost of devices for calculating traffic flow speed.

[0006] The second objective of this invention is to provide a system for calculating traffic flow speed.

[0007] According to a first aspect of the present invention, the present invention provides a method for calculating traffic flow speed, comprising the following steps:

[0008] The vehicle's speed and the length of the target area are obtained, and the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area are obtained. The target area is the area between the target lane and the first preset distance in front of the vehicle and the second preset distance behind the vehicle.

[0009] The traffic flow speed of the target lane is calculated based on the speed of the vehicle, the length of the target area, the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area.

[0010] Optionally, the steps of obtaining the vehicle's speed and the length of the target area, and obtaining the number of target vehicles passing through the target area within a preset time, the distance traveled by each target vehicle within the target area, and the time each target vehicle stays in the target area, specifically include the following steps:

[0011] The scene of the target vehicle in the target area is divided into multiple scenes based on the target vehicle's entry or initial position, exit or final position;

[0012] The number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle in the target area, and the time spent by each target vehicle in the target area are obtained.

[0013] Optionally, the step of calculating the traffic flow speed of the target lane based on the vehicle's speed, the length of the target area, the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area specifically includes the following steps:

[0014] The weighted speed of traffic flow relative to the vehicle in each scenario is calculated based on the length of the target area, the number of target vehicles corresponding to each scenario within the preset time, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle in the target area.

[0015] The traffic flow speed of the target lane is calculated based on the weighted speed of the traffic flow relative to the vehicle in each scenario and the speed of the vehicle.

[0016] Optionally, the steps of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area specifically include:

[0017] The number of first target vehicles entering from directly behind the target area and exiting from directly in front of the target area within the preset time period is obtained, as well as the first time each first target vehicle stays within the target area; and

[0018] The number of second target vehicles that enter the target area from the front and exit the target area from the rear within the preset time period is obtained, as well as the second time each second target vehicle stays in the target area.

[0019] Optionally, the step of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle in the target area, and the time spent by each target vehicle in the target area further includes:

[0020] The number of third target vehicles whose initial position is within the target area and which exit directly in front of the target area within the preset time period is obtained; the first distance traveled by each third target vehicle within the target area; and the third time each third target vehicle stays within the target area; and

[0021] The number of fourth target vehicles whose initial position is within the target area and which drive out from directly behind the target area within the preset time period is obtained, the second distance traveled by each fourth target vehicle within the target area, and the fourth time each fourth target vehicle stays within the target area.

[0022] Optionally, the step of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle in the target area, and the time spent by each target vehicle in the target area further includes:

[0023] The number of fifth target vehicles that enter and remain in the target area from directly in front of it and those that change lanes to other lanes from directly in front of it within the preset time period, the third distance traveled by each fifth target vehicle in the target area, and the fifth time each fifth target vehicle remains in the target area; and

[0024] The number of sixth target vehicles that enter and remain in the target area from directly behind the target area and change lanes to other lanes from directly behind the target area within the preset time period is obtained, the fourth distance traveled by each sixth target vehicle in the target area, and the sixth time of each sixth target vehicle remaining in the target area.

[0025] Optionally, the step of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle in the target area, and the time spent by each target vehicle in the target area further includes:

[0026] The number of seventh target vehicles whose initial position is within the target area and which ultimately stay within the target area, whose initial position is within the target area and which change lanes from the target area to other lanes, and which change lanes from other lanes to the target area and ultimately stay within the target area, are obtained within the preset time period; the fifth distance traveled by each seventh target vehicle within the target area; and the seventh time stayed by each seventh target vehicle within the target area.

[0027] Optionally, the step of calculating the weighted speed of traffic flow relative to the vehicle for each scenario based on the length of the target area, the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area specifically includes:

[0028] The speed weighted value for each scene is calculated based on the number of the first target vehicles, the number of the second target vehicles, the first distance of each of the third target vehicles, the second distance of each of the fourth target vehicles, the third distance of each of the fifth target vehicles, the fourth distance of each of the sixth target vehicles, the fifth distance of each of the seventh target vehicles, and the length of the target area.

[0029] The total speed of the target vehicles in each scenario is calculated based on the length of the target area or the distance traveled by each target vehicle in the target area for each scenario, and the duration of stay of each target vehicle in the target area for each scenario.

[0030] The weighted speed of traffic flow relative to the vehicle is calculated for each scenario based on the number of target vehicles corresponding to each scenario, the speed weighting value of each scenario, and the total speed of the target vehicles corresponding to each scenario.

[0031] Optionally, the step of calculating the speed weighted value of each scene based on the number of the first target vehicles, the number of the second target vehicles, the first distance of each of the third target vehicles, the second distance of each of the fourth target vehicles, the third distance of each of the fifth target vehicles, the fourth distance of each of the sixth target vehicles, the fifth distance of each of the seventh target vehicles, and the length of the target area specifically includes the following steps:

[0032] The total number of vehicles is obtained by calculating the sum of the following: the number of the first target vehicles, the number of the second target vehicles, the first sum of the ratio of the first distance of each third target vehicle to the length of the target area, the second sum of the ratio of the second distance of each fourth target vehicle to the length of the target area, the third sum of the ratio of the third distance of each fifth target vehicle to the length of the target area, the fourth sum of the ratio of the fourth distance of each sixth target vehicle to the length of the target area, and the fifth sum of the ratio of the fifth distance of each seventh target vehicle to the length of the target area.

[0033] Calculate the ratio of the number of the first target vehicles to the total number of vehicles, the ratio of the number of the second target vehicles to the total number of vehicles, the ratio of the first summed value to the total number of vehicles, the ratio of the second summed value to the total number of vehicles, the ratio of the third summed value to the total number of vehicles, the ratio of the fourth summed value to the total number of vehicles, and the ratio of the fifth summed value to the total number of vehicles to obtain the speed weighted value for each scenario.

[0034] According to a second aspect of the present invention, the present invention also provides a system for calculating traffic flow speed, comprising:

[0035] The control module includes a memory and a processor. The memory stores a calculation program, which, when executed by the processor, is used to implement the above-described calculation method.

[0036] This invention first obtains the vehicle's speed and the length of the target area, and then obtains the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area. The target area is the region between a first preset distance in front of the vehicle and a second preset distance behind the vehicle, located within the target lane. Then, based on the vehicle's speed, the length of the target area, the number of target vehicles passing through the target area within the preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area, the traffic flow speed of the target lane is calculated. This technical solution relies on vehicles that have traveled within the target area within a preset time, rather than the speed at a specific moment, and it considers multiple vehicles within the target area, not just the vehicle to the side and front. This allows for a more accurate assessment of the traffic flow speed within the target lane, preventing a single vehicle's misjudgment of the traffic flow speed from reducing the accuracy of the vehicle's own speed assessment.

[0037] Furthermore, the present invention only needs to identify vehicles in the target area using existing sensors on the vehicle, without relying on the traffic flow speed detected by the roadside device, thus eliminating the need to install the roadside device and reducing costs.

[0038] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0039] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0040] Figure 1 This is a schematic flowchart of a method for calculating traffic flow speed according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the target area according to the present invention;

[0042] Figure 3 This is a schematic flowchart of a method for calculating traffic flow speed according to another embodiment of the present invention;

[0043] Figure 4 This is a schematic flowchart of a method for calculating traffic flow speed according to yet another embodiment of the present invention;

[0044] Figure 5 This is a schematic connection block diagram of a traffic flow speed calculation system according to an embodiment of the present invention. Detailed Implementation

[0045] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0046] Figure 1 This is a schematic flowchart illustrating a method for calculating traffic flow speed according to an embodiment of the present invention. Figure 1 As shown, in this embodiment, the method for calculating traffic flow speed includes the following steps:

[0047] Step S100: Obtain the speed of the vehicle and the length of the target area, and obtain the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area. The target area is the area between the first preset distance in front of the vehicle and the second preset distance behind the vehicle, which is the target lane.

[0048] Step S200: Calculate the traffic flow speed of the target lane based on the vehicle's speed, the length of the target area, the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area.

[0049] This embodiment is based on the vehicles that have traveled within the target area within a preset time, rather than the vehicle speed at a certain moment, and it is based on multiple vehicles within the target area, not just the vehicle to the side and in front. This allows for a more accurate assessment of the traffic flow speed within the target lane and prevents the vehicle's own assessment of the traffic flow speed from being reduced due to a vehicle to the side and in front misjudging the traffic flow speed.

[0050] This embodiment only needs to identify vehicles in the target area using the vehicle's existing sensors, without relying on the traffic flow speed detected by the roadside device, thus eliminating the need to install the roadside device and reducing costs.

[0051] Figure 2 This is a schematic diagram of the target area according to the present invention. For example... Figure 2 As shown, in step S100, the target lane can be an adjacent lane to the lane where the vehicle is located, for example, the lane to the left or right of the vehicle. In this embodiment, the first preset distance d2 is any value between 90m and 110m, and the second preset distance d1 is any value between 30m and 50m. In a preferred embodiment, the first preset distance d2 is 100m, and the second preset distance d1 is 40m. The first preset distance d2 and the second preset distance d1 can also be set according to specific design requirements. The length D of the target area is the sum of the length of the vehicle and the first preset distance d2 and the second preset distance d1.

[0052] Figure 3 This is a schematic flowchart of a method for calculating traffic flow speed according to another embodiment of the present invention.

[0053] like Figure 3 As shown, in this embodiment, step S100 specifically includes the following steps:

[0054] Step S110: Divide the scene of the target vehicle in the target area into multiple scenes according to the target vehicle's entry position or initial position, exit position or final position;

[0055] Step S120: Obtain the number of target vehicles corresponding to each scenario within a preset time period, the distance traveled by each target vehicle in the target area, and the time spent by each target vehicle in the target area.

[0056] In this embodiment, step S200 specifically includes the following steps:

[0057] Step S210: Calculate the weighted speed of traffic flow relative to the vehicle in each scenario based on the length of the target area, the number of target vehicles in each scenario within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area.

[0058] Step S220: Calculate the traffic flow speed of the target lane based on the weighted speed of the traffic flow relative to the vehicle and the vehicle's speed in each scenario.

[0059] In step S110, the scenario of the target vehicle within the target area is divided into seven scenarios: the first scenario is: the target vehicle enters from directly behind the target area and exits from directly in front of the target area; the second scenario is: the target vehicle enters from directly in front of the target area and exits from directly behind the target area; the third scenario is: the target vehicle's initial position is within the target area and it exits from directly in front of the target area; the fourth scenario is: the target vehicle's initial position is within the target area and it exits from directly behind the target area; the fifth scenario is: the target vehicle enters from directly in front of the target area and remains within the target area, and the target vehicle enters from directly in front of the target area and changes lanes to other lanes. This can be understood as the target vehicle entering from directly in front of the target area and then remaining within it. The fifth scenario includes scenarios where the target vehicle enters or changes lanes from within the target area. The sixth scenario includes scenarios where the target vehicle enters from directly behind the target area and remains within it, and scenarios where the target vehicle enters from directly behind the target area and changes lanes from it. This can be understood as scenarios where the target vehicle enters from directly behind the target area and then remains within it or changes lanes from it. The seventh scenario includes scenarios where the target vehicle's initial position is within the target area and ultimately remains within it, and scenarios where the target vehicle's initial position is within the target area and then changes lanes from it. This can be understood as scenarios where the target vehicle's initial position is within the target area and ultimately remains within it or changes lanes from it. In other embodiments, the scenarios can also be set according to specific design requirements.

[0060] This embodiment divides the situation of vehicles passing through the target area into multiple different scenarios, calculates the weighted speed of traffic flow relative to the vehicle for each scenario, and finally combines multiple scenarios to calculate the traffic flow speed of the target lane. This weighted calculation method can improve the accuracy of traffic flow speed calculation.

[0061] In step S120, the preset time is any value between 1.5 min and 3 min, for example, it can be 1.5 min, 2 min, or 3 min. In a preferred embodiment, the preset time is 2 min. In other embodiments, the preset time can also be set according to specific design requirements.

[0062] In this embodiment, step S120 specifically includes the following steps:

[0063] Step S121: Obtain the number n1 of first target vehicles that enter from the rear of the target area and exit from the front of the target area within a preset time, and the first time t1 of each first target vehicle staying in the target area; here, it represents the first scenario.

[0064] Step S122: Obtain the number n2 of second target vehicles that enter the target area from the front and exit the target area from the rear within a preset time, and the second time t2 of each second target vehicle staying in the target area; here, it represents the second scenario.

[0065] Step S123: Obtain the number n3 of third target vehicles whose initial position is within the target area and which drive out from the front of the target area within a preset time, the first distance L1 traveled by each third target vehicle within the target area, and the third time t3 for each third target vehicle to stay within the target area; here, the initial position refers to the position after the vehicle has completely entered the target area. If the target vehicle changes lanes from other lanes to the target area and eventually drives out from the front of the target area, it is also considered a third target vehicle; this represents the second scenario.

[0066] Step S124: Obtain the number n4 of fourth target vehicles whose initial position is within the target area and which exits directly behind the target area within a preset time, the second distance L2 traveled by each fourth target vehicle within the target area, and the fourth time t4 for each fourth target vehicle to stay within the target area; here, if a target vehicle changes lanes from other lanes to the target area and eventually exits directly behind the target area, it is also considered a fourth target vehicle; this represents the fourth scenario.

[0067] Step S125: Obtain the number n5 of fifth target vehicles that enter and remain in the target area from the front of the target area and those that enter and change lanes to other lanes from the front of the target area within a preset time, the third distance L3 of each fifth target vehicle in the target area, and the fifth time t5 of each fifth target vehicle in the target area; here, it represents the fifth scenario.

[0068] Step S126: Obtain the number n6 of sixth target vehicles that enter and remain in the target area from directly behind the target area and those that enter and change lanes to other lanes from directly behind the target area within a preset time, the fourth distance L4 traveled by each sixth target vehicle in the target area, and the sixth time t6 for each sixth target vehicle to remain in the target area; here, it represents the sixth scenario.

[0069] Step S127: Obtain the number n7 of seventh target vehicles within a preset time period: those initially located within the target area and ultimately remaining within the target area, those initially located within the target area and changing lanes from the target area to other lanes, and those changing lanes from other lanes to the target area and ultimately remaining within the target area; the fifth distance L5 traveled by each seventh target vehicle within the target area; and the seventh time t7 for each seventh target vehicle to remain within the target area. Here, L5 represents the distance traveled within the target area by vehicles initially located within the target area and ultimately remaining within the target area. If the initial position is after the final position, L5 is a negative value; if the initial position is before the final position, L5 is a positive value. For vehicles changing lanes from other lanes to the target area, the starting point is when the vehicle has completely entered the target area.

[0070] It should be noted that steps S121, S122, S123, S124, S125, S126 and S127 represent seven scenarios, and there is no sequential relationship between the seven steps.

[0071] Figure 4 This is a schematic flowchart of a method for calculating traffic flow speed according to yet another embodiment of the present invention.

[0072] like Figure 4 As shown, in this embodiment, step S210 specifically includes the following steps:

[0073] Step S211: Calculate the speed weighted value for each scene based on the number of first target vehicles n1, the number of second target vehicles n2, the first distance L1 of each third target vehicle, the second distance L2 of each fourth target vehicle, the third distance L3 of each fifth target vehicle, the fourth distance L4 of each sixth target vehicle, the fifth distance L5 of each seventh target vehicle, and the length D of the target area.

[0074] Step S212: Calculate the total speed of the target vehicles in each scenario based on the length D of the target area or the distance traveled by each target vehicle in the target area for each scenario and the duration of stay of each target vehicle in the target area for each scenario.

[0075] Step S213: Calculate the weighted speed of traffic flow relative to the vehicle in each scenario based on the number of target vehicles in each scenario, the speed weighting value of each scenario, and the total speed of the target vehicles in each scenario.

[0076] This embodiment can calculate traffic flow speed by weighting the speed of target vehicles according to different scenarios, thus providing a more accurate calculation. Furthermore, it calculates traffic flow speed by considering the speeds of multiple vehicles from the front, rear, and sides of the vehicle, rather than relying on the speed of any single vehicle. This approach, based on the speeds of all vehicles passing through within a given time period, yields a relatively accurate traffic flow speed.

[0077] In this embodiment, step S211 specifically includes the following steps:

[0078] Step S2111: Calculate the sum of the following: the number of first target vehicles n1, the number of second target vehicles n2, the first sum of the ratio of the first distance L1 of each third target vehicle to the length D of the target area, the second sum of the ratio of the second distance L2 of each fourth target vehicle to the length D of the target area, the third sum of the ratio of the third distance L3 of each fifth target vehicle to the length D of the target area, the fourth sum of the ratio of the fourth distance L4 of each sixth target vehicle to the length D of the target area, and the fifth sum of the ratio of the fifth distance L5 of each seventh target vehicle to the length D of the target area, thereby obtaining the total number of vehicles N;

[0079] Step S2112: Calculate the ratio of the number of first target vehicles n1 to the total number of vehicles, the ratio of the number of second target vehicles n2 to the total number of vehicles, the ratio of the first sum to the total number of vehicles, the ratio of the second sum to the total number of vehicles, the ratio of the third sum to the total number of vehicles, the ratio of the fourth sum to the total number of vehicles, and the ratio of the fifth sum to the total number of vehicles, to obtain the speed weighted value for each scenario.

[0080] In step S2111, the total value N of the vehicle is calculated according to formula (1):

[0081]

[0082] Where N represents the total number of vehicles, n1 represents the number of the first target vehicles, n2 represents the number of the second target vehicles, n3 represents the number of the third target vehicles, n4 represents the number of the fourth target vehicles, n5 represents the number of the fifth target vehicles, n6 represents the number of the sixth target vehicles, n7 represents the number of the seventh target vehicles, D represents the length of the target area, L1 represents the first distance of the third target vehicles, L2 represents the second distance of the fourth target vehicles, L3 represents the third distance of the fifth target vehicles, L4 represents the third distance of the sixth target vehicles, and L5 represents the fifth distance of the seventh target vehicles.

[0083] This embodiment uses the length of the target area traversed by each vehicle as the weight of the number of target vehicles to more accurately determine the number and speed of target vehicles.

[0084] In step S2112, the speed weighted values ​​for the first scene, the second scene, the third scene, the fourth scene, the fifth scene, the sixth scene, and the seventh scene are calculated according to formulas (2), (3), (4), (5), (6), (7), and (8), respectively:

[0085]

[0086]

[0087]

[0088]

[0089]

[0090]

[0091]

[0092] Wherein, B1 represents the speed weighting value of the first scene, B2 represents the speed weighting value of the second scene, B3 represents the speed weighting value of the third scene, B4 represents the speed weighting value of the fourth scene, B5 represents the speed weighting value of the fifth scene, B6 represents the speed weighting value of the sixth scene, and B7 represents the speed weighting value of the seventh scene.

[0093] In step S212, the total speed of the target vehicle for each scenario is calculated according to formulas (9), (10), (11), (12), (13), (14), and (15):

[0094]

[0095]

[0096]

[0097]

[0098]

[0099]

[0100]

[0101] Where C1 represents the total speed of all first target vehicles in the first scenario, C2 represents the total speed of all second target vehicles in the second scenario, C3 represents the total speed of all third target vehicles in the third scenario, C4 represents the total speed of all fourth target vehicles in the fourth scenario, C5 represents the total speed of all fifth target vehicles in the fifth scenario, C6 represents the total speed of all sixth target vehicles in the sixth scenario, C7 represents the total speed of all seventh target vehicles in the seventh scenario, t1 represents the first time the first target vehicle stays in the target area, t2 represents the second time the second target vehicle stays in the target area, t3 represents the third time the third target vehicle stays in the target area, t4 represents the fourth time the fourth target vehicle stays in the target area, t5 represents the fifth time the fifth target vehicle stays in the target area, t6 represents the sixth time the sixth target vehicle stays in the target area, and t7 represents the seventh time the seventh target vehicle stays in the target area.

[0102] In step S213, the weighted speed of traffic flow relative to the vehicle in each scenario is calculated according to formulas (16), (17), (18), (19), (20), (21), and (22):

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109]

[0110] Wherein, A1 represents the weighted speed of traffic flow relative to the vehicle in the first scenario, A2 represents the weighted speed of traffic flow relative to the vehicle in the second scenario, A3 represents the weighted speed of traffic flow relative to the vehicle in the third scenario, A4 represents the weighted speed of traffic flow relative to the vehicle in the fourth scenario, A5 represents the weighted speed of traffic flow relative to the vehicle in the fifth scenario, A6 represents the weighted speed of traffic flow relative to the vehicle in the sixth scenario, and A7 represents the weighted speed of traffic flow relative to the vehicle in the seventh scenario.

[0111] Assuming the vehicle's speed is V1, then the traffic flow speed V in the target lane is:

[0112] V=A1-A2+A3-A4-A5+A6+A7+V1.

[0113] It should be noted that, in each scenario, the traffic flow relative to the average speed of the vehicle is marked with a plus sign if it is greater than the vehicle's speed, and a minus sign if it is less than the vehicle's speed.

[0114] This embodiment uses existing onboard sensors with auxiliary functions to identify target vehicles and calculates the vehicle speed in the areas in front of and behind the vehicle to identify the traffic flow speed in the target lane. Based on the traffic flow speed within a specific time period, a relatively accurate traffic flow speed is calculated.

[0115] Figure 5 This is a schematic connection block diagram of a traffic flow speed calculation system according to an embodiment of the present invention. Figure 5 As shown, in a specific embodiment, the traffic flow speed calculation system 100 includes a control module 10. The control module 10 includes a memory 11 and a processor 12. The memory 11 stores a calculation program, which is executed by the processor to implement the above-described calculation method. The processor 12 can be a central processing unit (CPU), a digital processing unit, etc. The processor 12 sends and receives data through a communication interface. The memory 11 is used to store the program executed by the processor 12. The memory 11 can be any medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, or it can be a combination of multiple memories 11. The above-described calculation program can be downloaded from a computer-readable storage medium to a corresponding computing / processing device or downloaded to a computer or external storage device via a network (e.g., the Internet, a local area network, a wide area network, and / or a wireless network). Here, the control module 10 can be a vehicle body controller.

[0116] For the purposes of this embodiment, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples of computer-readable media (a non-exhaustive list) include: an electrical connection (electronic device) having one or more wires, a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, a computer-readable medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory 11.

[0117] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A method for calculating traffic flow speed, characterized in that, Includes the following steps: The vehicle's speed and the length of the target area are obtained, and the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area are obtained. The target area is the area between the target lane and the first preset distance in front of the vehicle and the second preset distance behind the vehicle. The traffic flow speed of the target lane is calculated based on the speed of the vehicle, the length of the target area, the number of target vehicles passing through the target area within a preset time, the distance traveled by each target vehicle within the target area, and the time each target vehicle stays in the target area. The steps of obtaining the vehicle's speed and the length of the target area, and obtaining the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays in the target area, specifically include the following steps: The scene of the target vehicle in the target area is divided into multiple scenes based on the target vehicle's entry or initial position, exit or final position; The number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle in the target area, and the time spent by each target vehicle in the target area are obtained.

2. The calculation method according to claim 1, characterized in that, The step of calculating the traffic flow speed of the target lane based on the vehicle's speed, the length of the target area, the number of target vehicles passing through the target area within a preset time, the distance each target vehicle travels within the target area, and the time each target vehicle stays within the target area specifically includes the following steps: The weighted speed of traffic flow relative to the vehicle in each scenario is calculated based on the length of the target area, the number of target vehicles corresponding to each scenario within the preset time, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle in the target area. The traffic flow speed of the target lane is calculated based on the weighted speed of the traffic flow relative to the vehicle in each scenario and the speed of the vehicle.

3. The calculation method according to claim 2, characterized in that, The steps of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area specifically include: The number of first target vehicles entering from directly behind the target area and exiting from directly in front of the target area within the preset time period is obtained, as well as the first time each first target vehicle stays within the target area; and The number of second target vehicles that enter the target area from the front and exit the target area from the rear within the preset time period is obtained, as well as the second time each second target vehicle stays in the target area.

4. The calculation method according to claim 3, characterized in that, The steps of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area, further include: The number of third target vehicles whose initial position is within the target area and which exit directly in front of the target area within the preset time period is obtained; the first distance traveled by each third target vehicle within the target area; and the third time each third target vehicle stays within the target area; and The number of fourth target vehicles whose initial position is within the target area and which drive out from directly behind the target area within the preset time period is obtained, the second distance traveled by each fourth target vehicle within the target area, and the fourth time each fourth target vehicle stays within the target area.

5. The calculation method according to claim 4, characterized in that, The steps of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area, further include: The number of fifth target vehicles that enter and remain in the target area from directly in front of it and those that change lanes to other lanes from directly in front of it within the preset time period, the third distance traveled by each fifth target vehicle in the target area, and the fifth time each fifth target vehicle remains in the target area; and The number of sixth target vehicles that enter and remain in the target area from directly behind the target area and change lanes to other lanes from directly behind the target area within the preset time period is obtained, the fourth distance traveled by each sixth target vehicle in the target area, and the sixth time of each sixth target vehicle remaining in the target area.

6. The calculation method according to claim 5, characterized in that, The steps of obtaining the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area, further include: The number of seventh target vehicles whose initial position is within the target area and which ultimately stay within the target area, whose initial position is within the target area and which change lanes from the target area to other lanes, and which change lanes from other lanes to the target area and ultimately stay within the target area, are obtained within the preset time period; the fifth distance traveled by each seventh target vehicle within the target area; and the seventh time stayed by each seventh target vehicle within the target area.

7. The calculation method according to claim 6, characterized in that, The step of calculating the weighted speed of traffic flow relative to the vehicle for each scenario based on the length of the target area, the number of target vehicles corresponding to each scenario within the preset time period, the distance traveled by each target vehicle within the target area, and the time spent by each target vehicle within the target area specifically includes: The speed weighted value for each scene is calculated based on the number of the first target vehicles, the number of the second target vehicles, the first distance of each of the third target vehicles, the second distance of each of the fourth target vehicles, the third distance of each of the fifth target vehicles, the fourth distance of each of the sixth target vehicles, the fifth distance of each of the seventh target vehicles, and the length of the target area. The total speed of the target vehicles in each scenario is calculated based on the length of the target area or the distance traveled by each target vehicle in the target area for each scenario, and the duration of stay of each target vehicle in the target area for each scenario. The weighted speed of traffic flow relative to the vehicle is calculated for each scenario based on the number of target vehicles corresponding to each scenario, the speed weighting value of each scenario, and the total speed of the target vehicles corresponding to each scenario.

8. The calculation method according to claim 7, characterized in that, The step of calculating the speed weighted value of each scene based on the number of the first target vehicles, the number of the second target vehicles, the first distance of each of the third target vehicles, the second distance of each of the fourth target vehicles, the third distance of each of the fifth target vehicles, the fourth distance of each of the sixth target vehicles, the fifth distance of each of the seventh target vehicles, and the length of the target area specifically includes the following steps: The total number of vehicles is obtained by calculating the sum of the following: the number of the first target vehicles, the number of the second target vehicles, the first sum of the ratio of the first distance of each third target vehicle to the length of the target area, the second sum of the ratio of the second distance of each fourth target vehicle to the length of the target area, the third sum of the ratio of the third distance of each fifth target vehicle to the length of the target area, the fourth sum of the ratio of the fourth distance of each sixth target vehicle to the length of the target area, and the fifth sum of the ratio of the fifth distance of each seventh target vehicle to the length of the target area. Calculate the ratio of the number of the first target vehicles to the total number of vehicles, the ratio of the number of the second target vehicles to the total number of vehicles, the ratio of the first summed value to the total number of vehicles, the ratio of the second summed value to the total number of vehicles, the ratio of the third summed value to the total number of vehicles, the ratio of the fourth summed value to the total number of vehicles, and the ratio of the fifth summed value to the total number of vehicles to obtain the speed weighted value for each scenario.

9. A system for calculating traffic flow speed, characterized in that, include: A control module, comprising a memory and a processor, wherein the memory stores a calculation program, which, when executed by the processor, is used to implement the calculation method according to any one of claims 1-8.

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