Data processing method, apparatus, device, medium, and product

Abstract

This application provides a data processing method, apparatus, device, medium, and product applied to an in-vehicle unit, including: acquiring real-time location information and planned route information of a first vehicle, as well as roadside information of a target intersection; determining the traffic light information of a target lane from traffic light information of multiple lanes, and determining the traffic condition information of the target lane from traffic condition information of multiple lanes, based on the real-time location information and planned route information; and determining a guiding speed based on the traffic condition information and traffic light information of the target lane, as well as the real-time location information. This application embodiment improves road utilization while reducing vehicle energy consumption.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a data processing method, apparatus, equipment, medium and product. Background Technology

[0002] In real life, it's common to see vehicles waiting at intersections. Because vehicles are stopped at intersections, it causes traffic congestion and leads to low road utilization. Furthermore, vehicles consume more energy and produce more exhaust fumes when starting or idling compared to normal driving. Therefore, when vehicles finish waiting and begin to move, their energy consumption is also high. Thus, how to improve road utilization while reducing vehicle energy consumption is a pressing issue that needs to be addressed. Summary of the Invention

[0003] This application provides a data processing method, apparatus, device, medium, and product that improves road utilization while reducing vehicle energy consumption.

[0004] In a first aspect, embodiments of this application provide a data processing method applied to an in-vehicle unit, the method comprising:

[0005] The system obtains the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection. The roadside information includes traffic light information and traffic condition information for multiple lanes. The traffic light information is determined by the cloud device based on the traffic light status information and the first traffic condition information within a preset period.

[0006] Based on real-time location information and planned route information, the traffic light information of the target lane is determined from the traffic light information of multiple lanes, and the traffic condition information of the target lane is determined from the traffic condition information of multiple lanes.

[0007] Based on the traffic conditions and traffic light information of the target lane, as well as the real-time location information, a guiding speed is determined. The guiding speed is the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow.

[0008] In one optional implementation of the first aspect, the traffic condition information of the target lane includes the number of vehicles queuing, which is the number of second vehicles in the target lane between the first vehicle and the target intersection; the traffic light information of the target lane includes the green light duration, the yellow light duration, and the red light duration.

[0009] Based on traffic condition information and traffic light information for the target lane, as well as real-time location information, a guiding speed is determined, including:

[0010] The speed of the first vehicle and the first distance between the first vehicle and the stop line of the target lane are obtained. The first distance is obtained based on the real-time location information of the first vehicle.

[0011] If the first distance is less than a preset distance threshold, based on the first distance and the speed of the first vehicle, determine the first travel time required for the first vehicle to reach the stop line of the target lane.

[0012] Based on the number of vehicles in the queue, determine the second travel time for the second vehicle to pass through the target intersection;

[0013] The guiding speed is determined based on the first and second travel times, as well as the traffic light information of the target lane.

[0014] In an optional implementation of the first aspect, when the first vehicle reaches the stop line of the target lane and the traffic light is green, a guiding speed is determined based on a first travel time and a second travel time, as well as traffic light information for the target lane, including:

[0015] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0016] If the first travel time is less than the remaining time of the current green light, the sum of the remaining time of the current green light and the second travel time is determined as the target travel time;

[0017] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0018] In an optional implementation of the first aspect, when the first vehicle reaches the stop line of the target lane and the traffic light is green, a guiding speed is determined based on a first travel time and a second travel time, as well as traffic light information for the target lane, including:

[0019] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0020] If the difference between the first travel time and the current remaining green light time is greater than the sum of the yellow light duration and the red light duration, but less than the traffic light cycle duration, the remaining green light time when the first vehicle arrives at the stop line of the target lane is determined based on the first travel time, the current remaining green light time, and the traffic light cycle duration. The traffic light cycle duration is equal to the sum of the green light duration, the yellow light duration, and the red light duration.

[0021] The target travel time is determined by the sum of the first travel time, the second travel time, the remaining green light time when the first vehicle reaches the stop line of the target lane, and the first preset duration.

[0022] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0023] In an optional implementation of the first aspect, when the first vehicle reaches the stop line of the target lane and the traffic light is yellow, a guiding speed is determined based on a first travel time and a second travel time, as well as traffic light information for the target lane, including:

[0024] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0025] If the first travel time is greater than the remaining time of the current green light, and the difference between the first travel time and the current green light travel time is less than the yellow light duration, the sum of the remaining time of the current green light and the yellow light duration is determined as the red light start time when the first vehicle reaches the stop line of the target lane.

[0026] The target travel time is the difference between the start time of the red light when the first vehicle arrives at the stop line of the target lane and the sum of the current time and the second preset duration.

[0027] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0028] In an optional implementation of the first aspect, the traffic condition information for the target lane further includes the average road speed and the road speed limit; the method further includes:

[0029] When the average speed on the road is greater than or equal to the speed limit, and the speed of the guiding vehicle is greater than the speed limit, the first vehicle is controlled to travel at the speed limit.

[0030] When the average speed on the road is greater than or equal to the speed limit, and the speed of the guiding vehicle is less than or equal to the speed limit, the first vehicle is controlled to travel at the guiding speed.

[0031] When the average road speed is less than the road speed limit and the guide vehicle speed is greater than the average road speed, control the first vehicle to travel at the average road speed.

[0032] When the average road speed is less than the road speed limit and the guide vehicle speed is less than or equal to the average road speed, the first vehicle is controlled to travel at the guide speed.

[0033] Secondly, embodiments of this application provide a data processing method applied to a cloud device, the method comprising:

[0034] Obtain the traffic light status information and the first traffic condition information of the target intersection within a preset period;

[0035] Based on the traffic light status information and the first traffic condition information, the total vehicle delay value is determined;

[0036] The total vehicle delay value is input into the objective function, and the traffic light information is calculated with the minimum vehicle delay value as the objective. The traffic light information includes the green light duration, yellow light duration, and red light duration.

[0037] The traffic light information is sent to the roadside equipment so that the roadside equipment can send the traffic light information to the on-board unit so that the on-board unit can determine the guiding speed based on the traffic light information.

[0038] Thirdly, embodiments of this application provide a data processing apparatus applied to an in-vehicle unit, the apparatus comprising:

[0039] The acquisition module is used to acquire the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection. The roadside information includes traffic light information and traffic condition information of multiple lanes. The traffic light information is determined by the cloud device based on the traffic light status information and the first traffic condition information within a preset period.

[0040] The determination module is used to determine the traffic light information of the target lane from the traffic light information of multiple lanes based on real-time location information and planned route information, and to determine the traffic condition information of the target lane from the traffic condition information of multiple lanes.

[0041] The determination module is used to determine the guiding speed based on the traffic condition information and traffic light information of the target lane, as well as the real-time location information. The guiding speed is the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow.

[0042] Fourthly, embodiments of this application provide a data processing apparatus applied to a cloud device, the apparatus comprising:

[0043] The acquisition module is used to acquire the traffic light status information of the target intersection within a preset period and the first traffic condition information within a preset period.

[0044] The determination module is used to determine the total vehicle delay value based on the traffic light status information and the first traffic condition information;

[0045] The calculation module is used to input the total vehicle delay value into the objective function, and calculate the traffic light information with the goal of minimizing the vehicle delay value. The traffic light information includes the green light duration, yellow light duration, and red light duration.

[0046] The transmitting module is used to transmit the traffic light information to the roadside equipment, so that the roadside equipment can transmit the traffic light information to the vehicle-mounted unit, so that the vehicle-mounted unit can determine the guiding speed based on the traffic light information.

[0047] Fifthly, an electronic device is provided, comprising: a memory for storing computer program instructions; and a processor for reading and executing the computer program instructions stored in the memory to perform a data processing method provided by any optional embodiment of the first and second aspects.

[0048] In a sixth aspect, a computer storage medium is provided, on which computer program instructions are stored, wherein when the computer program instructions are executed by a processor, the data processing method provided by any optional embodiment of the first and second aspects is implemented.

[0049] In a seventh aspect, a computer program product is provided, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform a data processing method provided by any optional embodiment of the first aspect and the second aspect.

[0050] In this embodiment, after obtaining the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection, the traffic light information and traffic condition information of the target lane can be determined from the traffic light information and traffic condition information of multiple lanes included in the roadside information, based on the obtained real-time location information and planned route information. Based on this, a guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or yellow can be determined, using the traffic condition information and traffic light information of the target lane, and the real-time location information of the first vehicle. Thus, by determining the guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or red, the waiting time at the target intersection can be reduced, thereby not only improving road utilization but also avoiding high energy consumption during vehicle start-up or idling, thus reducing vehicle energy consumption. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is an architecture diagram of a data processing system provided in an embodiment of this application;

[0053] Figure 2 This is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0054] Figure 3 This is a flowchart illustrating another data processing method provided in an embodiment of this application;

[0055] Figure 4This is a flowchart illustrating another data processing method provided in an embodiment of this application;

[0056] Figure 5 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0057] Figure 6 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0059] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0061] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0062] To address the problems of low road utilization and high energy consumption during vehicle start-up or idling in existing technologies, this application provides a data processing method, apparatus, device, medium, and product. After acquiring the real-time location information and planned route information of a first vehicle, as well as roadside information of the target intersection, the method determines the traffic light information and traffic condition information of the target lane from the traffic light information and traffic condition information of multiple lanes included in the roadside information, based on the acquired real-time location information and planned route information. Based on this, and using the traffic condition information and traffic light information of the target lane, along with the real-time location information of the first vehicle, a guiding speed can be determined that allows the first vehicle to pass through the target intersection when the traffic light is green or yellow. Thus, by determining the guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or red, the waiting time at the target intersection can be reduced, thereby not only improving road utilization but also avoiding high energy consumption during vehicle start-up or idling, thus reducing vehicle energy consumption.

[0063] The data processing method provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] Figure 1 This is an architecture diagram of a data processing system provided in an embodiment of this application.

[0065] like Figure 1 As shown, the data processing system 10 includes an on-board unit 11, a cloud device 12, a roadside device 13, a traffic light signal controller 14, an edge computing unit 15, a roadside sensing device 16, and a vehicle display device 17.

[0066] The vehicle-mounted unit 11 interacts with the cloud device 12 via C-V2X uu communication, and with the roadside device 13 via C-V2X direct communication. Data transmission between the vehicle-mounted unit 11 and the vehicle display device 17, the cloud device 12 and the roadside device 13, the roadside device 13 and the traffic light signal controller 14, the roadside device 13 and the edge computing unit 15, and the edge computing unit 15 and the roadside sensing device 16 is all based on optical fiber.

[0067] Based on the above structure, the roadside sensing device detects the first traffic condition information of the current intersection in real time and sends this information to the edge computing unit. The edge computing unit then sends this first traffic condition information back to the roadside device at a certain period. This period can be a pre-set period based on actual experience or circumstances, for example, 10 minutes per period. Additionally, the traffic light signal controller can send traffic light status information to the roadside device at a preset frequency. This preset frequency can also be a pre-set frequency based on actual experience or circumstances, and is not specifically limited here. The roadside device can send the received first traffic condition information and traffic light status information to the cloud device, which then calculates traffic light information and sends the calculated traffic light information back to the roadside device.

[0068] Based on this, after the onboard unit sends vehicle driving intention information to the cloud device, the cloud device generates the vehicle's planned route information. The vehicle can also obtain traffic light information from roadside equipment to calculate the speed at which it can pass through the intersection when the traffic light is green or yellow. This guided speed can be displayed on the vehicle's display device, and the display can be combined with a high-precision map, vehicle driving direction, and lane lines. The vehicle driving intention information can include the vehicle's starting position and ending position.

[0069] Additionally, it should be noted that roadside sensing devices can be installed on crossbars at intersections where traffic lights are placed. Roadside sensing devices can also include data acquisition equipment such as cameras, millimeter-wave radar, and lidar.

[0070] Based on the architecture diagram of the data processing system described above, the following section will combine... Figure 2 and Figure 3 The data processing method provided in the embodiments of this application will be described in detail.

[0071] Figure 2 This is a flowchart illustrating a data processing method provided in an embodiment of this application.

[0072] like Figure 2 As shown, the execution entity of this data processing method can be an on-board unit, and the method can specifically include the following steps:

[0073] S210: Obtain the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection.

[0074] Specifically, the vehicle-mounted unit can obtain the real-time location information of the first vehicle through the positioning device in the first vehicle, obtain the planned route information of the first vehicle through the cloud device, and obtain the roadside information of the target intersection through the roadside device at the target intersection.

[0075] The real-time location information of the first vehicle can be obtained from the vehicle's positioning device. The planned route information can be determined by cloud devices based on the first vehicle's driving intention information.

[0076] Roadside information can include traffic light information for multiple lanes and traffic condition information for multiple lanes. The traffic light information is determined by cloud devices based on traffic light status information and initial traffic condition information within a preset period.

[0077] In some embodiments, the on-board unit may first send the vehicle's driving intention information to the cloud device, so that the cloud device can plan a corresponding route for the first vehicle based on the first vehicle's driving intention information and traffic condition information uploaded by multiple roadside devices within the cloud device's control range, thereby obtaining the planned route information of the first vehicle. The vehicle driving intention information includes the first vehicle's starting point location information and ending point location information.

[0078] It should be noted that the on-board unit can also send the real-time location information of the first vehicle to the cloud device, so that the planned path information obtained by the cloud device can be updated in real time according to the real-time location information of the first vehicle. For example, if the first vehicle enters the wrong lane, the cloud device can replan the path according to the real-time location information of the first vehicle at the current moment, so as to ensure the accuracy of subsequent guidance speed.

[0079] S220 determines the traffic light information of the target lane from traffic light information of multiple lanes based on real-time location information and planned route information, and determines the traffic condition information of the target lane from traffic condition information of multiple lanes.

[0080] After acquiring the real-time location information and planned route information of the first vehicle, the on-board unit can determine the traffic light information of the target lane from the traffic light information of multiple lanes included in the roadside information, and can also determine the traffic condition information of the target lane from the traffic condition information of multiple lanes included in the roadside information.

[0081] S230 determines the guiding speed based on traffic condition information and traffic light information of the target lane, as well as real-time location information.

[0082] The guiding speed can be the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow.

[0083] Specifically, after determining the traffic condition information and traffic light information of the target lane, the on-board unit can determine the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow, based on the traffic condition information and traffic light information of the target lane, as well as the real-time location information of the first vehicle.

[0084] In this embodiment, after obtaining the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection, the traffic light information and traffic condition information of the target lane can be determined from the traffic light information and traffic condition information of multiple lanes included in the roadside information, based on the obtained real-time location information and planned route information. Based on this, a guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or yellow can be determined, using the traffic condition information and traffic light information of the target lane, and the real-time location information of the first vehicle. Thus, by determining the guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or red, the waiting time at the target intersection can be reduced, thereby not only improving road utilization but also avoiding high energy consumption during vehicle start-up or idling, thus reducing vehicle energy consumption.

[0085] To accurately determine the guiding speed and thus reduce vehicle waiting time at the target intersection, thereby improving road utilization while reducing vehicle energy consumption, in one embodiment, when the traffic conditions of the target lane include the number of vehicles in queue, and the traffic light information of the target lane includes the duration of green, yellow, and red lights, the specific steps can be as follows: Figure 3 As shown, the above-mentioned S230 may specifically include the following steps:

[0086] S310, obtain the speed of the first vehicle and the first distance between the first vehicle and the stop line of the target lane.

[0087] Specifically, the on-board unit can obtain the speed of the first vehicle and the first distance between the first vehicle and the stop line of the target lane based on the real-time location information of the first vehicle.

[0088] In some embodiments, the first distance can be obtained based on the real-time location information of the first vehicle. Specifically, since the high-precision map in the roadside information can contain information such as road equations and target lane stop line position information, the on-board unit needs to combine the real-time location information of the first vehicle, the target lane stop line position information, and the road equation to calculate the first distance between the first vehicle and the target lane stop line on the target lane. The road equation can be represented by y = ax² + bx + c, i.e., y' = 2ax + b. Based on this, the first distance can be calculated using the following formula (1):

[0089]

[0090] Where dist_v2sl is the first distance, (x, y) is the real-time location information of the first vehicle, (x1, y1) is the location information of the stop line of the target lane, and a and b are coefficients that need to be determined according to the actual road conditions, which will not be elaborated on here.

[0091] S320, if the first distance is less than a preset distance threshold, based on the first distance and the speed of the first vehicle, determines the first travel time required for the first vehicle to reach the stop line of the target lane.

[0092] The preset distance threshold can be set in advance based on actual experience or circumstances, for example, it can be 200 meters, but no further restrictions are made here.

[0093] Specifically, if the first distance is less than a preset distance threshold, the on-board unit can determine the first travel time required for the first vehicle to reach the stop line of the target lane based on the first distance and the travel speed of the first vehicle.

[0094] The specific calculation formula is shown in formula (2):

[0095] t_predict_s=dist_v2sl / (hv_spd / 3.6) (2)

[0096] Where t_predict_s is the first travel time and hv_spd is the travel speed of the first vehicle, in km / h.

[0097] S330 determines the second travel time for the second vehicle to pass through the target intersection based on the number of vehicles in the queue.

[0098] The number of vehicles in the queue can be the number of vehicles in the target lane between the first vehicle and the target intersection.

[0099] Specifically, the on-board unit can calculate the second travel time of the second vehicle through the target intersection based on the number of vehicles queuing in the traffic information of the target lane. This can be illustrated by formula (3):

[0100] t_dissipate=veh_num / 0.5+c (3)

[0101] Where t_dissipate is the second driving time, veh_num is the number of vehicles in the queue, and c is the preset vehicle start time, which is usually 2 to 3 seconds, but can be set to 2 seconds here.

[0102] S340 determines the guiding speed based on the first and second travel times, as well as the traffic light information of the target lane.

[0103] Specifically, the on-board unit can calculate the first travel time required for the first vehicle to reach the target stop line on the target lane, the second travel time for the second vehicle to pass through the target intersection, and the traffic light information of the target lane, and determine the guiding speed that enables the first vehicle to pass through the target intersection when the traffic light is green or yellow.

[0104] In this embodiment, the on-board unit can acquire the speed of the first vehicle and the first distance between the first vehicle and the stop line of the target lane. If the first distance is less than a preset distance threshold, the unit determines the first travel time required for the first vehicle to reach the stop line of the target lane based on the first distance and the speed of the first vehicle. Furthermore, based on the number of vehicles queuing in the traffic information of the target lane, the unit determines the second travel time required for the second vehicle to pass through the target intersection. Based on this, the on-board unit can determine the guiding speed based on the first and second travel times and the traffic light information of the target lane. Thus, by combining the traffic information of the target intersection at the current moment with the traffic light information, the guiding speed of the first vehicle can be calculated more accurately.

[0105] To describe the data processing method provided in the embodiments of this application in more detail and accurately, we can first take the example of a first vehicle traveling straight at a target intersection.

[0106] Let's take a detailed look at the scenario where the traffic light is currently in a green phase:

[0107] 1. If the first travel time is less than the remaining time of the current green light, it means that the first vehicle can reach the target intersection within the green light time. The phase in which the first vehicle reaches the target intersection is the green light phase. Therefore, the green light start time = green light duration - the remaining time of the current green light, and the remaining time of the green light = the remaining time of the current green light.

[0108] 2. If the first travel time is not less than the remaining time of the current green light, and the difference between the first travel time and the remaining time of the current green light is less than the duration of the yellow light, it means that the first vehicle can reach the target intersection within the yellow time. That is, the phase when the first vehicle reaches the target intersection is the yellow light phase. Therefore, the start time of the yellow light = the remaining time of the current green light, and the remaining time of the yellow light = the duration of the yellow light - (first travel time - remaining time of the current green light).

[0109] 3. If the difference between the first travel time and the remaining time of the current green light is greater than the yellow light duration but less than the sum of the yellow light duration and the red light duration, it means that the first vehicle can reach the stop line of the target lane when the traffic light is red. That is, the phase when the first vehicle arrives at the target intersection is the red light phase. Therefore, the red light start time = the remaining time of the current green light + the yellow light duration, and the remaining time of the red light = the red light duration - (first travel time - the remaining time of the current green light - the yellow light duration).

[0110] 4. If the difference between the first travel time and the remaining time of the current green light is greater than the sum of the yellow light and red light durations, but less than the sum of the yellow light, green light, and red light durations, it means the vehicle can only proceed at the next green light. Therefore, the first vehicle should reach the stop line of the target lane when the traffic light is green. Consequently, the start time of the next green light = the remaining time of the current green light + the yellow light duration + the red light duration, and the remaining time of the next green light = the green light duration - (first travel time - remaining time of the current green light - yellow light duration - red light duration).

[0111] Based on the above, in one embodiment, when the first vehicle reaches the stop line of the target lane and the traffic light is green, the aforementioned S340 may include the following steps:

[0112] Obtain the second distance that the first vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0113] If the first travel time is less than the remaining time of the current green light, the sum of the remaining time of the current green light and the second travel time is determined as the target travel time;

[0114] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0115] The second distance is the distance the first vehicle needs to travel from its current position to the target intersection, and the remaining green light time is the remaining duration of the green light displayed by the traffic light at the current moment.

[0116] In this embodiment, the on-board unit can obtain the second distance the first vehicle needs to travel to pass the target intersection and the remaining time of the current green light. Then, if the first travel time is less than the remaining time of the current green light, the unit can determine the sum of the remaining time of the current green light and the second travel time as the target travel time. Furthermore, the ratio of the second distance to the target travel time can be determined as the guiding speed of the first vehicle. In this way, the guiding speed of the first vehicle when the traffic light is currently green can be accurately calculated, facilitating vehicle control based on this guiding speed.

[0117] In another embodiment, when the first vehicle reaches the stop line of the target lane and the traffic light is green, the aforementioned S340 may further include the following steps:

[0118] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0119] If the difference between the first travel time and the current remaining green light time is greater than the sum of the yellow light duration and the red light duration, but less than the traffic light cycle duration, the remaining green light time when the first vehicle arrives at the stop line is determined based on the first travel time, the current remaining green light time, and the traffic light cycle duration. The traffic light cycle duration is equal to the sum of the green light duration, the yellow light duration, and the red light duration.

[0120] The target driving time is determined by the sum of the first driving time, the second driving time, the remaining green light time when the first vehicle arrives at the stop line, and the first preset duration.

[0121] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0122] The second distance is the distance the first vehicle needs to travel from its current position to pass the target intersection. The remaining green light time is also the remaining duration of the green light displayed by the traffic light at the current moment. The traffic light cycle length can be equal to the sum of the green light duration, the yellow light duration, and the red light duration.

[0123] The first preset duration is a value set in advance based on actual experience or actual conditions. It can be characterized as the time required for the first vehicle to decelerate from its current speed to the first preset speed. The first preset speed can also be a value set in accordance with actual conditions, and no specific limitation is made here.

[0124] In this embodiment, the on-board unit can obtain the second distance the first vehicle needs to travel to pass the target intersection and the remaining time of the current green light. If the difference between the first travel time and the remaining time of the current green light is greater than the sum of the yellow and red light durations, but less than the sum of the green, yellow, and red light durations, the unit determines that the remaining time of the green light when the first vehicle reaches the stop line of the target lane is the green light duration minus (first travel time - remaining time of the current green light - yellow light duration - red light duration). Furthermore, the unit can determine that the sum of the first travel time, the second travel time, the remaining time of the green light when the first vehicle reaches the stop line of the target lane, and the first preset duration constitutes the target travel time. Finally, the ratio of the second distance to the target travel time is determined as the guiding speed of the first vehicle. Thus, the guiding speed of the first vehicle when the traffic light turns green again can be calculated, facilitating vehicle control based on this guiding speed.

[0125] In yet another embodiment, when the first vehicle reaches the stop line of the target lane and the traffic light is yellow, the aforementioned S340 may further include the following steps:

[0126] Obtain the second distance that the first vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0127] If the first travel time is greater than the remaining time of the current green light, and the difference between the first travel time and the current green light travel time is less than the yellow light duration, then the sum of the remaining time of the current green light and the yellow light duration is determined as the red light start time when the first vehicle reaches the stop line.

[0128] The target travel time is the difference between the red light start time when the first vehicle arrives at the stop line and the sum of the current time and the second preset duration.

[0129] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0130] The second distance is the distance the first vehicle needs to travel from its current position to the target intersection. The remaining green light time is the remaining duration of the green light displayed by the traffic light at the current moment. The second preset time is a value preset based on actual experience or actual conditions. It can represent the time required for the first vehicle to accelerate from its current speed to the second preset speed. The second preset speed can also be a value set based on actual conditions, and is not specifically limited here.

[0131] In this embodiment, after acquiring the second distance the first vehicle needs to travel to pass the target intersection and the remaining time of the current green light, the on-board unit determines, if the first travel time is greater than the remaining time of the current green light and the difference between the first travel time and the remaining time of the current green light is less than the yellow light duration, that the sum of the remaining time of the current green light and the yellow light duration is the red light start time for the first vehicle to reach the stop line of the target lane. This allows the determination of the red light start time when the first vehicle reaches the stop line of the target lane, and the difference between this red light start time and the sum of the current time and the second preset duration is the target travel time. Furthermore, the ratio of the second distance to the target travel time can be determined as the guiding speed of the first vehicle. Thus, the guiding speed for the first vehicle to pass through the target intersection when the traffic light is yellow can be calculated, facilitating vehicle control based on this guiding speed.

[0132] It should be noted that when the traffic light is currently in yellow or red, the calculation method for the guiding speed of the first vehicle is the same as described above, and will not be elaborated further here.

[0133] It should also be noted that in some embodiments, the phase of the traffic light can be represented by numbers such as 1, 2, 3, etc. For example, 1 represents the green light, 2 represents the yellow light, 3 represents the red light, 4 represents the green light, and so on. When the phase of the traffic light is greater than 3, it needs to be moduloed. If the modulo result is 0, it is assigned the value 3. If it is not 0, the phase of the traffic light is equal to the modulo value.

[0134] In one embodiment, if the traffic condition information for the target lane also includes the average road speed and the road speed limit, the aforementioned S240 may further include the following steps:

[0135] When the average speed on the road is greater than or equal to the speed limit, and the speed of the guiding vehicle is greater than the speed limit, the first vehicle is controlled to travel at the speed limit.

[0136] When the average speed on the road is greater than or equal to the speed limit, and the speed of the guiding vehicle is less than or equal to the speed limit, the first vehicle is controlled to travel at the guiding speed.

[0137] When the average road speed is less than the road speed limit and the guide vehicle speed is greater than the average road speed, control the first vehicle to travel at the average road speed.

[0138] When the average road speed is less than the road speed limit and the guide vehicle speed is less than or equal to the average road speed, the first vehicle is controlled to travel at the guide vehicle speed.

[0139] The average road speed can be the average speed of vehicles traveling from the target vehicle to the road it is on, and the corresponding speed limit can be the maximum speed that vehicles can travel on the road where the target lane is located.

[0140] Specifically, after the on-board unit determines the guide speed, if the average road speed is greater than or equal to the road speed limit and the guide speed is greater than the road speed limit, the on-board unit can control the first vehicle to travel at the road speed limit; if the average road speed is greater than or equal to the road speed limit and the guide speed is less than or equal to the road speed limit, the on-board unit can control the first vehicle to travel at the guide speed; if the average road speed is less than the road speed limit and the guide speed is greater than the average road speed, the on-board unit can control the first vehicle to travel at the average road speed; if the average road speed is less than the road speed limit and the guide speed is less than or equal to the average road speed, the on-board unit can control the first vehicle to travel at the guide speed.

[0141] In this embodiment, after determining the guiding speed, the on-board unit can better control the vehicle's movement based on the guiding speed and the average road speed and road speed limit included in the traffic condition information of the target lane.

[0142] In order to accurately obtain roadside information of the target intersection, in one embodiment, obtaining the roadside information of the target intersection includes:

[0143] Receive roadside information from multiple roadside devices;

[0144] Obtain the vehicle heading information when the first vehicle reaches the position corresponding to the real-time location information;

[0145] Based on the real-time location information, vehicle heading information, and planned route information of the first vehicle, the target intersection that the first vehicle is about to reach is determined, and the roadside information of the target intersection is obtained from multiple roadside information sources.

[0146] Among them, vehicle heading information can be used to characterize the direction of travel of the first vehicle.

[0147] Specifically, the on-board unit can receive roadside information from multiple roadside devices and obtain the vehicle heading information when the first vehicle reaches the position corresponding to the real-time location information. Based on this, the on-board unit can determine the target intersection that the first vehicle is about to reach based on the real-time location information, vehicle heading information, and planned route information of the first vehicle, and obtain the roadside information of the target intersection from multiple roadside information sources.

[0148] In one example, roadside devices can broadcast map information corresponding to the device, traffic light information at the intersection where the device is located, and traffic condition information at the intersection, such as lane-level average speed, road congestion, and number of vehicles in queue, at a certain frequency. Based on this, the onboard unit can receive roadside information from multiple nearby roadside devices during the first vehicle's journey. Therefore, the onboard unit needs to filter the received roadside information to identify the target roadside information based on the first vehicle's real-time location, heading, and planned route, and delete other roadside information besides the target information.

[0149] In this embodiment, the on-board unit can receive roadside information from multiple roadside devices while the first vehicle is in motion, and obtain the vehicle's heading information when the first vehicle reaches a position corresponding to its real-time location. Based on the first vehicle's real-time location, heading information, and planned route information, it can determine the target intersection and obtain the roadside information of the target intersection from the multiple roadside information sources. This allows the on-board unit to determine the guiding speed of the first vehicle based on the determined roadside information of the target intersection. By considering the roadside information of the target intersection the first vehicle is about to reach, the accuracy of subsequent guiding speed calculations can be improved.

[0150] Figure 4 This is a flowchart illustrating the data processing method provided in the embodiments of this application.

[0151] like Figure 4 As shown, the data processing method can be executed by a cloud device, and the method can specifically include the following steps:

[0152] S410 acquires the traffic light status information of the target intersection within a preset period and the first traffic condition information within the preset period.

[0153] The preset cycle can be a cycle pre-set based on actual conditions or experience; for example, the preset cycle can be 5 to 10 seconds, without further limitation. The traffic light status information can be green, yellow, or red.

[0154] Specifically, cloud devices can obtain traffic light status information of the target intersection within a preset period, as well as the first traffic condition information within the preset period, by receiving roadside information sent by roadside devices.

[0155] S420 determines the total vehicle delay value based on traffic light status information and first traffic condition information.

[0156] Specifically, after acquiring traffic status information and initial traffic condition information from cloud devices, the total vehicle delay value can be calculated based on the acquired traffic status information and initial traffic condition information. The total vehicle delay value is the time that vehicles passing through the target intersection are delayed at the target intersection.

[0157] S430: Input the total vehicle delay value into the objective function, and calculate the traffic light information with the goal of minimizing the vehicle delay value.

[0158] Specifically, after the total vehicle delay value is calculated by the cloud device, it can be input into the objective function. By aiming at the minimum vehicle delay value, traffic light information is calculated. The traffic light information includes the duration of the green light, yellow light, and red light. The objective function G = {startj, endj} represents the start and end times of each phase (green, yellow, and red) of the traffic light. The objective function is obtained during the calculation of the minimum vehicle delay value.

[0159] S440 sends traffic light information to roadside equipment so that the roadside equipment can send traffic light information to the on-board unit so that the on-board unit can determine the guiding speed based on the traffic light information.

[0160] After calculating the traffic light information, the cloud device can send the traffic light information to the roadside device, which then sends the traffic light information to the on-board unit. The on-board unit can then determine the guiding speed of the first vehicle based on the traffic light information.

[0161] Additionally, it should be noted that after the cloud device calculates the traffic light information, it can also send the traffic light information to the traffic signal controller so that the traffic signal controller can operate according to the traffic light information.

[0162] In this embodiment, after obtaining the traffic light status information and the first traffic condition information of the target intersection within a preset period, the total vehicle delay value is determined based on the traffic light status information and the first traffic condition information. This total vehicle delay value is then input into an objective function to calculate the traffic light information with the goal of minimizing the vehicle delay. This traffic light information can then be sent to roadside equipment, which in turn sends it to the on-board unit, allowing the on-board unit to determine the guiding speed based on the traffic light information. Since the traffic light information is determined based on the traffic light status information and the first traffic condition information, it better reflects the traffic conditions of the target intersection and facilitates the subsequent calculation of a more accurate guiding speed.

[0163] In some embodiments, the first traffic condition information may include the vehicle turning ratio, average road speed, number of queued vehicles, and number of arriving vehicles for each lane in each approach direction at the target intersection. The vehicle turning ratio is the ratio between the number of departing vehicles and the number of entering vehicles.

[0164] In some embodiments, the cloud device can obtain the number of vehicles leaving each lane in each approach direction of the target intersection, such as the straight lane and the left-turn lane, and add them to the original values ​​respectively. It also obtains the number of vehicles entering each lane in each approach direction of the target intersection and adds them to the original values. The turning ratio of each lane in each approach direction of the target intersection is determined based on the ratio of the two accumulated values.

[0165] Additionally, it is important to know that vehicles entering from each direction come from straight-through vehicles from the same direction at the upstream intersection and left-turn or right-turn vehicles from intersecting directions. For example, the traffic flow at the south entrance of the target intersection comes from straight-through vehicles at the south entrance of the upstream intersection, right-turning vehicles at the east entrance, and left-turning vehicles at the west entrance.

[0166] In some embodiments, the average vehicle speed within a preset period is obtained by acquiring the number of vehicles passing through adjacent detection sections and the average travel time within a preset period from the roadside equipment in the middle of the road segment. The average vehicle speed within the preset period is the distance between adjacent detection sections divided by the average travel time.

[0167] Based on this, the total vehicle delay value of the S420 mentioned above can be calculated using the following formula (4):

[0168]

[0169] Where D can be the total vehicle delay value, T is the preset period, I can be the various entrance directions of the target intersection, and Q... i,s,t-1 / Q i,l,t-1 These can be the number of vehicles queuing at time t-1 in the direction of entry i (straight ahead) or l (left turn). It should be noted that right turns are not included here, as right turns generally do not involve queuing.

[0170] d i,s This can be the saturation traffic flow rate in the import direction i, typically 1400 pcu / h to 1500 pcu / h, with parameter adjustments made based on factors such as actual road width, gradient, and channelization. i,s,t / sg i,l,t These can be the traffic light status at time t, indicating either straight ahead (i) or left turn (s) at the entrance direction. λ i,s / λ i,l These can be the steering ratios for either the import direction (i) for going straight (s) or turning left (l). q i,tIt can be the number of vehicles arriving at time t in the direction i of the entrance.

[0171] Additionally, it's necessary to know the preset cycle:

[0172] The number of vehicles queuing at time t-1, Qi,s,t-1 / Qi,l,t-1, can be represented by formulas (5) and (6):

[0173] Q i,s,t-1 =max(0,Q) i,s,t-2 -d i,s ×sg i,s,t +λ i,s *q i,t (5)

[0174] Q i,l,t-1 =max(0,Q) i,l,t-2 -d i,l ×sg i,l,t +λ i,l *q i,t (6)

[0175] Among them, Q i,s,t-1 / Q i,l,t-1 The initial value is the real-time queue number Q at the initial optimization time, i.e., t=0. i,s,0 / Q i,l,0

[0176] Time t Import direction i Turning traffic light status sg i,s,t / sg i,l,t :

[0177] The direction of travel (straight or left turn) at different entrances can be determined from G = {startj, endj} by mapping the directions and phases of each entrance. At time t, the traffic light status is 1 for green / yellow lights and 0 for red lights.

[0178] The arriving vehicle q at time t in the direction of import i i,t :

[0179] First, determine the queue length Q_leni,t of the import direction i at time t. Its value is the number of vehicles in the queue at time t-1, Qi,t-1, multiplied by the queue interval Q_int, where Qi,t-1 = max(Qi,s,t-1, Qi,s,t-1), and Q_int can be taken as 7 meters.

[0180] Secondly, update the number of vehicles not in the queue at time t in the direction of entry i, which is the set of vehicles in the direction of entry i whose distance from the intersection is greater than the queue length.

[0181] Then, predict the position (distance from the intersection) of each non-queuing vehicle in the direction i at time t. n,i,t Its value is calculated as follows: distn n,i,t =distn n,i,t-1 -spd_avg i Among them, distn n,i,t Let be the distance between vehicle n (entering direction i) and the intersection at time t-1. The initial value is the distance distn between the vehicle and the intersection at the initial optimization time, i.e., t=0. n,i,0 spd_avg i The average operating speed of inbound lane i;

[0182] Furthermore, when distn n,i,t When q is less than or equal to Q_leni,t i,t Perform an accumulation (q) i,t The initial value is 0).

[0183] Additionally, it should be noted that the location updates for vehicles entering from each direction are as follows: For connected vehicles, their location and speed can be obtained in real time via C-V2X wireless communication between OBU-RSU for updates; for non-connected vehicles, the vehicle location is updated based on the location and average operating speed of the previous predicted step. If the predicted location coincides with the current queue location, the vehicle's location will not be updated again.

[0184] Additionally, it should be noted that, in one embodiment, the data processing method described above may further include the following steps:

[0185] It acquires vehicle driving intention information sent by the on-board unit at the current moment, as well as traffic condition information sent by multiple roadside devices;

[0186] Based on the vehicle's starting point location information and ending point location information included in the vehicle's driving intention information, as well as the traffic condition information sent by multiple roadside devices, the planned route information of the first vehicle is calculated.

[0187] The vehicle sends the planned route information of the first vehicle to the on-board unit so that the on-board unit can determine the guiding speed based on the planned route information of the first vehicle.

[0188] The vehicle driving intention information may include the vehicle's starting point location information and the vehicle's ending point location information.

[0189] In this embodiment, the cloud device can obtain the vehicle's starting and ending position information at the current moment, sent by the on-board unit, as well as traffic condition information sent by multiple roadside devices. Based on the vehicle's starting and ending position information included in the vehicle's driving intention information, and the traffic condition information sent by the multiple roadside devices, the cloud device can plan the planned route information of the first vehicle. By sending the planned route information of the first vehicle to the on-board unit, the on-board unit can determine the guiding speed based on the planned route information. Thus, by accurately obtaining the planned route information of the first vehicle, the on-board unit can accurately determine the guiding speed based on the planned route information of the first vehicle.

[0190] Based on the same inventive concept, this application also provides a data processing device. This data processing device can be applied to an in-vehicle unit, specifically in conjunction with… Figure 5 The data processing apparatus provided in the embodiments of this application will be described in detail.

[0191] Figure 5 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application.

[0192] like Figure 5 As shown, the data processing device 500 may include an acquisition module 510 and a determination module 520.

[0193] The acquisition module 510 is used to acquire the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection. The roadside information includes traffic light information and traffic condition information of multiple lanes. The traffic light information is determined by the cloud device based on the traffic light status information and the first traffic condition information within a preset period.

[0194] The determination module 520 is used to determine the traffic light information of the target lane from the traffic light information of multiple lanes based on real-time location information and planned route information, and to determine the traffic condition information of the target lane from the traffic condition information of multiple lanes.

[0195] The determination module 520 is used to determine the guiding speed based on the traffic condition information and traffic light information of the target lane, as well as the real-time location information. The guiding speed is the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow.

[0196] In one embodiment, the traffic condition information for the target lane includes the number of vehicles queuing, which is the number of second vehicles in the target lane between the first vehicle and the target intersection; and the traffic light information for the target lane includes the duration of the green light, the duration of the yellow light, and the duration of the red light.

[0197] The acquisition module is also used to acquire the driving speed of the first vehicle and the first distance between the first vehicle and the stop line of the target lane, the first distance being acquired based on the real-time location information of the first vehicle;

[0198] The determining module is also used to determine, based on the first distance and the speed of the first vehicle, the first travel time required for the first vehicle to reach the stop line of the target lane in the target lane when the first distance is less than a preset distance threshold.

[0199] The determination module is also used to determine the second travel time of the second vehicle to pass through the target intersection based on the number of vehicles in the queue;

[0200] The determination module is also used to determine the guiding speed based on the first travel time, the second travel time, and the traffic light information of the target lane.

[0201] In one embodiment, when the first vehicle reaches the stop line of the target lane and the traffic light is green, the determining module can specifically be used for:

[0202] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0203] If the first travel time is less than the remaining time of the current green light, the sum of the remaining time of the current green light and the second travel time is determined as the target travel time;

[0204] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0205] In one embodiment, when the first vehicle reaches the stop line of the target lane and the traffic light is green, the determining module can also be specifically used for:

[0206] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0207] If the difference between the first travel time and the current remaining green light time is greater than the sum of the yellow light duration and the red light duration, but less than the traffic light cycle duration, the remaining green light time when the first vehicle arrives at the stop line of the target lane is determined based on the first travel time, the current remaining green light time, and the traffic light cycle duration. The traffic light cycle duration is equal to the sum of the green light duration, the yellow light duration, and the red light duration.

[0208] The target travel time is determined by the sum of the first travel time, the second travel time, the remaining green light time when the first vehicle reaches the stop line of the target lane, and the first preset duration.

[0209] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0210] In one embodiment, when the first vehicle reaches the stop line of the target lane and the traffic light is yellow, the determining module can also be specifically used for:

[0211] Obtain the second distance the vehicle needs to travel to pass the target intersection, as well as the remaining time of the current green light;

[0212] If the first travel time is greater than the remaining time of the current green light, and the difference between the first travel time and the current green light travel time is less than the yellow light duration, the sum of the remaining time of the current green light and the yellow light duration is determined as the red light start time when the first vehicle reaches the stop line of the target lane.

[0213] The target travel time is the difference between the start time of the red light when the first vehicle arrives at the stop line of the target lane and the sum of the current time and the second preset duration.

[0214] The ratio of the second distance to the target travel time is determined as the guiding speed.

[0215] In one embodiment, where the traffic condition information for the target lane also includes the average road speed and the road speed limit,

[0216] The control module is also used to control the first vehicle to travel at the road speed limit when the average road speed is greater than or equal to the road speed limit and the guide vehicle speed is greater than the road speed limit.

[0217] The control module is also used to control the first vehicle to travel at the guide speed when the average road speed is greater than or equal to the road speed limit and the guide vehicle speed is less than or equal to the road speed limit.

[0218] The control module is also used to control the first vehicle to travel at the average road speed when the average road speed is less than the road speed limit and the guide vehicle speed is greater than the average road speed.

[0219] The control module is also used to control the first vehicle to travel at the guide speed when the average road speed is less than the road speed limit and the guide vehicle speed is less than or equal to the average road speed.

[0220] In this embodiment, after obtaining the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection, the traffic light information and traffic condition information of the target lane can be determined from the traffic light information and traffic condition information of multiple lanes included in the roadside information, based on the obtained real-time location information and planned route information. Based on this, a guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or yellow can be determined, using the traffic condition information and traffic light information of the target lane, and the real-time location information of the first vehicle. Thus, by determining the guiding speed that allows the first vehicle to pass through the target intersection when the traffic light is green or red, the waiting time at the target intersection can be reduced, thereby not only improving road utilization but also avoiding high energy consumption during vehicle start-up or idling, thus reducing vehicle energy consumption.

[0221] The various modules in the data processing apparatus provided in the embodiments of this application can achieve... Figure 2 or Figure 3 The method steps of the embodiments shown in the figure, and the corresponding technical effects they achieve, will not be described in detail here for the sake of brevity.

[0222] Based on the same inventive concept, this application also provides a data processing apparatus. This data processing apparatus can be applied to cloud devices, specifically in conjunction with… Figure 6 The data processing apparatus provided in the embodiments of this application will be described in detail.

[0223] Figure 6 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application.

[0224] like Figure 6 As shown, the data processing device 600 may include: an acquisition module 610, a determination module 620, a calculation module 630, and a transmission module 640.

[0225] The acquisition module 610 is used to acquire the traffic light status information of the target intersection within a preset period and the first traffic condition information within a preset period.

[0226] The determination module 620 is used to determine the total vehicle delay value based on traffic light status information and first traffic condition information;

[0227] The calculation module 630 is used to input the total vehicle delay value into the objective function, and calculate the traffic light information with the goal of minimizing the vehicle delay value. The traffic light information includes the green light duration, yellow light duration, and red light duration.

[0228] The transmitting module 640 is used to send traffic light information to the roadside equipment, so that the roadside equipment can send traffic light information to the on-board unit, so that the on-board unit can determine the guiding speed based on the traffic light information.

[0229] In this embodiment, after obtaining the traffic light status information and the first traffic condition information of the target intersection within a preset period, the total vehicle delay value is determined based on the traffic light status information and the first traffic condition information. This total vehicle delay value is then input into an objective function to calculate the traffic light information with the goal of minimizing the vehicle delay. This traffic light information can then be sent to roadside equipment, which in turn sends it to the on-board unit, allowing the on-board unit to determine the guiding speed based on the traffic light information. Since the traffic light information is determined based on the traffic light status information and the first traffic condition information, it better reflects the traffic conditions of the target intersection and facilitates the subsequent calculation of a more accurate guiding speed.

[0230] The various modules in the data processing apparatus provided in the embodiments of this application can achieve... Figure 4 The method steps of the illustrated embodiment, and the corresponding technical effects they achieve, will not be described in detail here for the sake of brevity.

[0231] Figure 7 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0232] An electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0233] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0234] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory.

[0235] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0236] The processor 701 implements any of the data processing methods described in the above embodiments by reading and executing computer program instructions stored in the memory 702.

[0237] In one example, the electronic device may also include a communication interface 703 and a bus 710. For example, Figure 7 To establish communication between them.

[0238] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0239] Bus 710 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0240] Furthermore, in conjunction with the data processing methods described in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement the data processing method provided in this application embodiment.

[0241] This application also provides a computer program product in which instructions, when executed by the processor of an electronic device, cause the electronic device to perform the data processing method provided in this application.

[0242] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0243] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0244] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0245] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0246] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A data processing method, characterized in that, Applied to an on-board unit, the method includes: The system acquires the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection. The roadside information includes traffic light information for multiple lanes and traffic condition information for multiple lanes. The traffic light information is determined by the cloud device based on the traffic light status information and the first traffic condition information within a preset period. Based on the real-time location information and the planned route information, the traffic light information of the target lane is determined from the traffic light information of multiple lanes, and the traffic condition information of the target lane is determined from the traffic condition information of the multiple lanes. Based on the traffic condition information of the target lane, the traffic light information of the target lane, and the real-time location information, a guiding speed is determined. The guiding speed is the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow. The traffic condition information for the target lane includes the number of vehicles queuing, which is the number of second vehicles in the target lane between the first vehicle and the target intersection; the traffic light information for the target lane includes the duration of the green light, the duration of the yellow light, and the duration of the red light. Determining the guiding speed based on the traffic condition information of the target lane, the traffic light information of the target lane, and the real-time location information includes: The speed of the first vehicle is obtained, and the first distance between the first vehicle and the stop line of the target lane is obtained, the first distance being obtained based on the real-time location information of the first vehicle; If the first distance is less than a preset distance threshold, the first travel time required for the first vehicle to reach the stop line of the target lane is determined based on the ratio of the first distance to the travel speed of the first vehicle. Based on the number of vehicles in the queue, determine the second travel time for the second vehicle to pass through the target intersection; The guiding speed is determined based on the first travel time, the second travel time, and the traffic light information of the target lane; Determining the guiding speed based on the first travel time, the second travel time, and the traffic light information of the target lane includes: The system obtains the remaining time of the current green light. If the first travel time is less than the remaining time of the current green light, it indicates that the first vehicle has reached the stop line of the target lane and the traffic light is green. The system obtains the second distance that the first vehicle needs to travel to pass the target intersection. The system determines the sum of the remaining time of the current green light and the second travel time as the target travel time. The system determines the ratio of the second distance to the target travel time as the guide speed. or, The system obtains the remaining time of the current green light. If the difference between the first travel time and the remaining time of the current green light is greater than the sum of the yellow light duration and the red light duration, but less than the traffic light cycle length, it indicates that the first vehicle has reached the stop line of the target lane and the traffic light is green. It then obtains the second distance the first vehicle needs to travel to pass the target intersection. Based on the first travel time, the remaining time of the current green light, and the traffic light cycle length, it determines the remaining time of the green light when the first vehicle reaches the stop line of the target lane. The traffic light cycle length is equal to the sum of the green light duration, the yellow light duration, and the red light duration. It determines the target travel time as the sum of the first travel time, the second travel time, the remaining time of the green light when the first vehicle reaches the stop line of the target lane, and the first preset duration. Finally, it determines the guiding speed as the ratio of the second distance to the target travel time. or, The system obtains the remaining time of the current green light. If the first travel time is greater than the remaining time of the current green light, and the difference between the first travel time and the current green light travel time is less than the yellow light duration, it indicates that the first vehicle has reached the stop line of the target lane and the traffic light is yellow. The system then obtains the second distance that the first vehicle needs to travel to pass through the target intersection. The system determines the sum of the remaining time of the current green light and the yellow light duration as the red light start time when the first vehicle reaches the stop line of the target lane. The system determines the difference between the red light start time when the first vehicle reaches the stop line of the target lane and the sum of the current time and the second preset duration as the target travel time. The system determines the ratio of the second distance to the target travel time as the guide speed.

2. The method according to claim 1, characterized in that, The traffic condition information for the target lane also includes the average road speed and the road speed limit; the method further includes: When the average road speed is greater than or equal to the road speed limit, and the guide vehicle speed is greater than the road speed limit, the first vehicle is controlled to travel at the road speed limit. When the average road speed is greater than or equal to the road speed limit and the guide vehicle speed is less than or equal to the road speed limit, the first vehicle is controlled to travel at the guide vehicle speed. If the average road speed is less than the road speed limit and the guide vehicle speed is greater than the average road speed, the first vehicle is controlled to travel at the average road speed. When the average road speed is less than the road speed limit and the guide vehicle speed is less than or equal to the average road speed, the first vehicle is controlled to travel at the guide speed.

3. A data processing method, characterized in that, The method, which utilizes cloud-based devices, includes: Obtain the traffic light status information and the first traffic condition information of the target intersection within a preset period; Based on the traffic light status information and the first traffic condition information, the total vehicle delay value is determined; The total vehicle delay value is input into the objective function, and the traffic light information is calculated with the minimum vehicle delay value as the objective. The traffic light information includes the green light duration, yellow light duration, and red light duration. The traffic light information is sent to the roadside equipment so that the roadside equipment can send the traffic light information to the on-board unit so that the on-board unit can determine the guiding speed according to the method of any one of claims 1-2.

4. A data processing apparatus, characterized in that, Applied to an in-vehicle unit, the device includes: The acquisition module is used to acquire the real-time location information and planned route information of the first vehicle, as well as the roadside information of the target intersection. The roadside information includes traffic light information and traffic condition information of multiple lanes. The traffic light information is determined by the cloud device based on the traffic light status information and the first traffic condition information within a preset period. The determination module is used to determine the traffic light information of the target lane from the traffic light information of multiple lanes based on the real-time location information and the planned route information, and to determine the traffic condition information of the target lane from the traffic condition information of the multiple lanes. The determining module is used to determine the guiding speed based on the traffic condition information of the target lane, the traffic light information of the target lane, and the real-time location information. The guiding speed is the speed at which the first vehicle can pass through the target intersection when the traffic light is green or yellow. The traffic condition information for the target lane includes the number of vehicles queuing, which is the number of second vehicles in the target lane between the first vehicle and the target intersection; the traffic light information for the target lane includes the duration of the green light, the duration of the yellow light, and the duration of the red light. The determining module is specifically used for: The speed of the first vehicle is obtained, and the first distance between the first vehicle and the stop line of the target lane is obtained, the first distance being obtained based on the real-time location information of the first vehicle; If the first distance is less than a preset distance threshold, the first travel time required for the first vehicle to reach the stop line of the target lane is determined based on the ratio of the first distance to the travel speed of the first vehicle. Based on the number of vehicles in the queue, determine the second travel time for the second vehicle to pass through the target intersection; The guiding speed is determined based on the first travel time, the second travel time, and the traffic light information of the target lane; The determining module is specifically used for: The system obtains the remaining time of the current green light. If the first travel time is less than the remaining time of the current green light, it indicates that the first vehicle has reached the stop line of the target lane and the traffic light is green. The system obtains the second distance that the first vehicle needs to travel to pass the target intersection. The system determines the sum of the remaining time of the current green light and the second travel time as the target travel time. The system determines the ratio of the second distance to the target travel time as the guide speed. or, The system obtains the remaining time of the current green light. If the difference between the first travel time and the remaining time of the current green light is greater than the sum of the yellow light duration and the red light duration, but less than the traffic light cycle length, it indicates that the first vehicle has reached the stop line of the target lane and the traffic light is green. It then obtains the second distance the first vehicle needs to travel to pass the target intersection. Based on the first travel time, the remaining time of the current green light, and the traffic light cycle length, it determines the remaining time of the green light when the first vehicle reaches the stop line of the target lane. The traffic light cycle length is equal to the sum of the green light duration, the yellow light duration, and the red light duration. It determines the target travel time as the sum of the first travel time, the second travel time, the remaining time of the green light when the first vehicle reaches the stop line of the target lane, and the first preset duration. Finally, it determines the guiding speed as the ratio of the second distance to the target travel time. or, The system obtains the remaining time of the current green light. If the first travel time is greater than the remaining time of the current green light, and the difference between the first travel time and the current green light travel time is less than the yellow light duration, it indicates that the first vehicle has reached the stop line of the target lane and the traffic light is yellow. The system then obtains the second distance that the first vehicle needs to travel to pass through the target intersection. The system determines the sum of the remaining time of the current green light and the yellow light duration as the red light start time when the first vehicle reaches the stop line of the target lane. The system determines the difference between the red light start time when the first vehicle reaches the stop line of the target lane and the sum of the current time and the second preset duration as the target travel time. The system determines the ratio of the second distance to the target travel time as the guide speed.

5. A data processing apparatus, characterized in that, The device is applied to cloud devices and includes: The acquisition module is used to acquire the traffic light status information of the target intersection within a preset period and the first traffic condition information within a preset period. The determination module is used to determine the total vehicle delay value based on the traffic light status information and the first traffic condition information; The calculation module is used to input the total vehicle delay value into the objective function, and calculate the traffic light information with the goal of minimizing the vehicle delay value. The traffic light information includes the green light duration, yellow light duration, and red light duration. A sending module is configured to send the traffic light information to roadside equipment, so that the roadside equipment can send the traffic light information to an on-board unit, so that the on-board unit can determine the guiding speed according to the method described in any one of claims 1-2.

6. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the data processing method as described in any one of claims 1-3.

7. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the data processing method as described in any one of claims 1-3.

8. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the data processing method as described in any one of claims 1-3.

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