A lane-level green wave vehicle speed guiding method, device and terminal

Abstract

Embodiments of the present application disclose a lane-level green wave vehicle speed guiding method, device and terminal, the method comprising: performing path planning according to a starting point and a destination to obtain path planning information; identifying two adjacent same-direction lanes included in the path planning information; if signal lights are arranged in the two adjacent same-direction lanes, taking a lane with a long green light duration as a fast lane and taking a lane with a short green light duration as a slow lane; performing lane-level positioning when a current vehicle travels to a preset position; calculating a green wave passing probability of the fast lane and a green wave passing probability of the slow lane according to first signal light timing information, first vehicle speed information, second signal light timing information, second vehicle speed information and the preset position; and performing lane-level green wave vehicle speed guiding according to a lane-level positioning result, the green wave passing probability of the fast lane and the green wave passing probability of the slow lane. The method can plan a scheme that can pass through a green wave and has a relatively high passing speed, thereby improving passing efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a lane-level green wave speed guidance method, device, and terminal. Background Technology

[0002] Green wave speed guidance system is an intelligent traffic management system that coordinates the control of traffic lights to provide optimal speed suggestions for vehicles in motion, in order to achieve smooth and safe traffic flow.

[0003] Urban roads are complex, and even two lanes in the same direction often use different traffic light timing schemes to adapt to lane characteristics. While the green wave speed guidance system can provide suggestions on when to pass through when the light is green, the speed is too slow and does not improve traffic efficiency for drivers. Summary of the Invention

[0004] Based on this, the present invention provides a lane-level green wave speed guidance method, device and terminal, which can improve traffic efficiency and user experience.

[0005] Firstly, a lane-level green wave speed guidance method is provided, including:

[0006] Based on the origin and destination, route planning is performed to obtain route planning information;

[0007] Identify road segments in the route planning information that include two adjacent lanes traveling in the same direction;

[0008] If traffic lights are installed in the two adjacent lanes traveling in the same direction, the lane with the longer green light duration will be designated as the fast lane, and the lane with the shorter green light duration will be designated as the slow lane.

[0009] When the vehicle reaches the preset position, lane-level positioning is performed, and the first traffic light timing information and first vehicle speed information of the fast lane, as well as the second traffic light timing information and second vehicle speed information of the slow lane are obtained.

[0010] The green wave probability of the fast lane and the green wave probability of the slow lane are calculated based on the first traffic light timing information, the first vehicle speed information, the second traffic light timing information, the second vehicle speed information, and the preset position.

[0011] Lane-level green wave speed guidance is performed based on lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane.

[0012] Optionally, green wave speed guidance is implemented based on lane-level positioning results, the green wave probability of the fast lane, and the green wave probability of the slow lane, including:

[0013] If the current vehicle is in the fast lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is greater than that of the slow lane, then the vehicle is prompted to go straight and green wave speed guidance is provided for the fast lane.

[0014] If the current vehicle is in the fast lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is less than or equal to the green wave passage probability of the slow lane, then a lane change is prompted, and green wave speed guidance is performed in the slow lane.

[0015] If the current vehicle is in the slow lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is greater than that of the slow lane, then a lane change is prompted, and green wave speed guidance is provided for the fast lane.

[0016] If the current vehicle is in the slow lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is less than or equal to the green wave passage probability of the slow lane, then the vehicle is prompted to go straight and green wave speed guidance is provided for the slow lane.

[0017] Optionally, calculating the green wave probability of the fast lane includes:

[0018] Read the first moment when the current vehicle reaches the preset position;

[0019] The second moment when the current vehicle reaches the first traffic light stop line is predicted by using the distance between the preset position and the first traffic light stop line, and the first vehicle speed information;

[0020] The timing information of the first traffic light is extracted based on the difference between the first and second moments, and the green light duration in the extracted timing information is used to calculate the green wave passage probability of the fast lane.

[0021] Calculating the green wave probability of the slow lane includes:

[0022] Read the first moment when the current vehicle reaches the preset position;

[0023] The third moment when the current vehicle reaches the second traffic light stop line is predicted by using the distance between the preset position and the second traffic light stop line, as well as the second vehicle speed information;

[0024] The timing information of the first traffic light is extracted based on the difference between the first and third time points, and the green light duration in the extracted timing information of the second traffic light is used to calculate the green wave passage probability of the slow lane.

[0025] Optionally, it also includes:

[0026] If the current vehicle is in the fast lane, the third moment when the current vehicle reaches the second traffic light stop line is predicted by the distance between the preset position and the second traffic light stop line and the second vehicle speed information, and the third moment is delayed by a preset time.

[0027] If the current vehicle is in the slow lane, the second moment when the current vehicle reaches the first traffic light stop line is predicted by the distance between the preset position and the first traffic light stop line and the first vehicle speed information, and the second moment is delayed by a preset time.

[0028] Optionally, the first traffic light timing information and the second traffic light timing information include phase information and duration information.

[0029] Optionally, the first vehicle speed information is obtained, including:

[0030] Based on roadside equipment near the first target traffic light, the vehicle's entry time and exit time across the target stop line are obtained;

[0031] The median speed of multiple vehicles is calculated based on the entry time, exit time, and the relative distance between the target stop line and the roadside equipment.

[0032] The first vehicle speed information is obtained by averaging the median speeds of multiple vehicles.

[0033] The acquisition of the second vehicle speed information is the same as the acquisition of the first vehicle speed information.

[0034] Optionally, the first vehicle speed information is obtained, including:

[0035] The guide lane information is extracted based on the guide distance; the guide lane information is input into the navigation software to obtain the average vehicle speed passing through the stop line of the first target traffic light, which is used as the first vehicle speed information;

[0036] The acquisition of the second vehicle speed information is the same as the acquisition of the first vehicle speed information.

[0037] The second aspect provides a lane-level green wave speed guidance device, comprising:

[0038] The route planning module is used to plan routes based on the origin and destination, and obtain route planning information.

[0039] The lane recognition module is used to identify road segments in the route planning information that include two adjacent lanes traveling in the same direction;

[0040] The lane setting module is used to designate the lane with the longer green light duration as the fast lane and the lane with the shorter green light duration as the slow lane if there are traffic lights in the two adjacent lanes in the same direction.

[0041] The lane positioning module is used to perform lane-level positioning when the current vehicle travels to the preset position, and to obtain the first traffic light timing information and first vehicle speed information of the fast lane, as well as the second traffic light timing information and second vehicle speed information of the slow lane.

[0042] The green wave traffic probability calculation module is used to calculate the green wave traffic probability of the fast lane and the green wave traffic probability of the slow lane based on the first traffic light timing information, the first vehicle speed information, the second traffic light timing information, the second vehicle speed information, and the preset position.

[0043] The green wave speed guidance module is used to perform lane-level green wave speed guidance based on lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane.

[0044] Thirdly, a chip is provided, including a first processor for calling and running a computer program from a first memory, causing a device equipped with the chip to perform the various steps of the lane-level green wave speed guidance method described above.

[0045] Fourthly, a terminal is provided, including a second memory, a second processor, and a computer program stored in the second memory and executable on the second processor. When the second processor executes the computer program, it implements the various steps of the lane-level green wave speed guidance method described above.

[0046] The aforementioned lane-level green wave speed guidance method, device, and terminal perform route planning during travel. They pre-identify road segments with two adjacent lanes traveling in the same direction and equipped with traffic lights, and divide these segments into fast and slow lanes based on lane attributes. Upon reaching a preset location near these lanes, lane-level positioning is performed, relevant information is acquired, and the green wave passage probability of the two lanes is calculated. Based on the lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane, a determination is made as to whether it is possible to choose the faster lane while still allowing green wave passage, thereby improving traffic efficiency and user experience. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the basic process of the lane-level green wave speed guidance method according to an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the vehicle condition according to an embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the first and second traffic light timing information according to an embodiment of the present invention;

[0051] Figure 4 This is a basic structural block diagram of the lane-level green wave speed guidance device according to an embodiment of the present invention;

[0052] Figure 5 This is a basic structural block diagram of a terminal according to an embodiment of the present invention. Detailed Implementation

[0053] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0054] In some of the processes described in the specification, claims, and accompanying drawings of this invention, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0057] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0058] Please refer to the details. Figure 1 , Figure 1 This is a schematic diagram of the basic process of the lane-level green wave speed guidance method in this embodiment.

[0059] like Figure 1 As shown, a lane-level green wave speed guidance method includes:

[0060] S101. Based on the origin and destination, perform route planning to obtain route planning information;

[0061] S102. Identify road segments in the route planning information that include two adjacent lanes traveling in the same direction;

[0062] S103. If traffic lights are installed in the two adjacent lanes traveling in the same direction, the lane with the longer green light duration shall be designated as the fast lane, and the lane with the shorter green light duration shall be designated as the slow lane.

[0063] like Figure 2 As shown in the embodiment of the present invention, the road conditions described in steps S101 to S103 above are illustrated. In practical applications, the green light duration of the slow lane is short, but there are usually fewer vehicles, making it relatively smooth and the speed is relatively fast; while the green light duration of the fast lane is long, but there are usually more vehicles in the queue, making it relatively congested and the speed is relatively slow.

[0064] Therefore, when faced with adjacent lanes traveling in the same direction, this embodiment of the invention utilizes the traffic light timing information of the two lanes to simultaneously attempt green wave speed guidance, planning a scheme that allows for green wave passage with a relatively fast speed, thus completing lane-level green wave speed guidance. Specifically, steps S101 to S103 are used to verify whether the aforementioned adjacent lanes traveling in the same direction exist in the route planning information, and whether traffic lights are installed on the adjacent lanes. Steps S104 to S106 are used to implement lane-level green wave speed guidance.

[0065] It should be noted that the settings for fast lanes and slow lanes are based on vehicle speed. For example, in practical applications, this may include, but is not limited to, one lane being the main lane and the other being the secondary lane, where the secondary lane must yield to the main lane, and therefore the green light duration for the secondary lane is shorter than that for the main lane; or, one lane being a straight-ahead lane and the other being a straight-ahead and turning lane, where the straight-ahead and turning lane must yield to other lanes, and therefore its green light duration is shorter than that for the straight-ahead lane.

[0066] S104. When the current vehicle reaches the preset position, lane-level positioning is performed, and the first traffic light timing information and first vehicle speed information of the fast lane, as well as the second traffic light timing information and second vehicle speed information of the slow lane are obtained.

[0067] In step S104 above, the preset position can be the location of the roadside sensing device. After determining the preset position, the distance between the preset position and the stop line ahead can be obtained.

[0068] like Figure 2 As shown, A is a preset position, for example, at which time the distance between the preset position and the stop line on the fast lane and the slow lane is 250m.

[0069] It is understood that, in this embodiment of the invention, the stop line located under the first traffic light in the fast lane is referred to as the first traffic light stop line, and the stop line located under the second traffic light in the slow lane is referred to as the second traffic light stop line.

[0070] Furthermore, embodiments of the present invention provide two implementation methods for calculating average vehicle speed. One method for calculating average vehicle speed includes: obtaining the vehicle's entry time and exit time at the target stop line based on roadside equipment near the first target traffic light; calculating the median speed of multiple vehicles based on the entry time, exit time, and the relative distance between the target stop line and the roadside equipment; and averaging the median speeds of the multiple vehicles to obtain the first vehicle speed information; wherein, the acquisition of the second vehicle speed information is the same as the acquisition of the first vehicle speed information.

[0071] One method involves using an algorithm in navigation software to calculate the average vehicle speed passing through a target stop line, comprising: extracting guide lane information based on the guide distance; inputting the guide lane information into the navigation software to obtain the average vehicle speed passing through a first target traffic light stop line, which is used as the first vehicle speed information; wherein, the acquisition of the second vehicle speed information is the same as the acquisition of the first vehicle speed information.

[0072] S105. Calculate the green wave probability of the fast lane and the green wave probability of the slow lane based on the first traffic light timing information, the first vehicle speed information, the second traffic light timing information, the second vehicle speed information, and the preset position.

[0073] The timing information for the first and second traffic lights includes phase information and duration information.

[0074] In practical applications, traffic light timing information can be represented as: Figure 3 The strip chart shown, Figure 3(a) shows the first traffic light timing information for the fast lane, and (b) shows the second traffic light timing information for the slow lane. The vertical axis represents time, while the stripes simultaneously represent phase and duration information. Specifically, the white-filled stripes represent the red light duration, the diagonally filled stripes represent the green light duration, and the vertically filled stripes represent the yellow light duration. Furthermore, the green light duration in the first traffic light timing information is longer than the green light duration in the second traffic light timing information. These three distinct stripes are then connected to form a loop, which, combined with the time information, constitutes the traffic light timing information.

[0075] It should be noted that, in this embodiment of the invention, the first traffic light timing information and the first traffic light timing information do not include special cases such as continuous green light and continuous yellow light.

[0076] Based on this, in this embodiment of the invention, step S105 is implemented as follows:

[0077] Calculating the green wave probability of the fast lane includes:

[0078] Read the first moment when the current vehicle reaches the preset position;

[0079] The second moment when the current vehicle reaches the first traffic light stop line is predicted by using the distance between the preset position and the first traffic light stop line, and the first vehicle speed information;

[0080] The timing information of the first traffic light is extracted based on the difference between the first and second moments, and the green light duration in the extracted timing information is used to calculate the green wave passage probability of the fast lane.

[0081] Calculating the green wave probability of the slow lane includes:

[0082] Read the first moment when the current vehicle reaches the preset position;

[0083] The third moment when the current vehicle reaches the second traffic light stop line is predicted by using the distance between the preset position and the second traffic light stop line, as well as the second vehicle speed information;

[0084] The timing information of the first traffic light is extracted based on the difference between the first and third time points, and the green light duration in the extracted timing information of the second traffic light is used to calculate the green wave passage probability of the slow lane.

[0085] Therefore, the probability of green wave passage for the fast lane is calculated as the proportion of the green light duration in the difference between the first and second time points in the first traffic light timing information captured. Similarly, the probability of green wave passage for the slow lane is calculated as the proportion of the green light duration in the difference between the first and third time points in the second traffic light timing information captured.

[0086] In one embodiment, if a lane change is required, a preset lane change time is added to the difference between the first and second time points, or the difference between the first and third time points. Therefore, the lane-level green wave speed guidance method further includes:

[0087] If the current vehicle is in the fast lane, the third moment when the current vehicle reaches the second traffic light stop line is predicted by the distance between the preset position and the second traffic light stop line and the second vehicle speed information, and the third moment is delayed by a preset time.

[0088] If the current vehicle is in the slow lane, the second moment when the current vehicle reaches the first traffic light stop line is predicted by the distance between the preset position and the first traffic light stop line and the first vehicle speed information, and the second moment is delayed by a preset time.

[0089] S106. Based on the lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane, lane-level green wave speed guidance is performed.

[0090] In practical applications, step S106 above includes the following four cases:

[0091] If the current vehicle is in the fast lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is greater than that of the slow lane, then the vehicle is prompted to go straight and green wave speed guidance is provided for the fast lane.

[0092] If the current vehicle is in the fast lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is less than or equal to the green wave passage probability of the slow lane, then a lane change is prompted, and green wave speed guidance is performed in the slow lane.

[0093] If the current vehicle is in the slow lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is greater than that of the slow lane, then a lane change is prompted, and green wave speed guidance is provided for the fast lane.

[0094] If the current vehicle is in the slow lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is less than or equal to the green wave passage probability of the slow lane, then the vehicle is prompted to go straight and green wave speed guidance is provided for the slow lane.

[0095] For example, the strategy for green wave speed guidance can be as follows: First traffic light timing information, first vehicle speed information, second traffic light timing information, second vehicle speed information, and the distance between a preset location and the first or second traffic light stop line are packaged into green wave speed guidance parameter information. This parameter information is then used as input to call the green wave speed guidance system to output the desired speed range and desired speed. Specifically, when performing green wave speed guidance for the fast lane, the desired speed range and desired speed for the fast lane are output; when performing green wave speed guidance for the slow lane, the desired speed range and desired speed for the slow lane are output. Simultaneously, the frequency of issuing suggested speeds is adjusted based on the frequency of current vehicle-reported driving data. The Green Light Optimal Speed ​​Advisory (GLOSA) system is an intelligent transportation system that provides drivers with optimal speed suggestions by monitoring the status of traffic lights and traffic flow in real time, enabling drivers to pass through green lights continuously.

[0096] To address the aforementioned technical problems, embodiments of the present invention also provide a lane-level green wave speed guidance device. Please refer to [link / reference] for details. Figure 4 , Figure 4 The basic structural block diagram of the lane-level green wave speed guidance device 40 implemented in this embodiment includes:

[0097] The route planning module 41 is used to perform route planning based on the origin and destination and obtain route planning information.

[0098] Lane recognition module 42 is used to identify road segments that include two adjacent lanes traveling in the same direction in the route planning information;

[0099] The lane setting module 43 is used to designate the lane with the longer green light duration as the fast lane and the lane with the shorter green light duration as the slow lane if there are traffic lights in the two adjacent lanes in the same direction.

[0100] The lane positioning module 44 is used to perform lane-level positioning when the current vehicle travels to the preset position, and to obtain the first traffic light timing information and the first vehicle speed information of the fast lane, as well as the second traffic light timing information and the second vehicle speed information of the slow lane.

[0101] The green wave traffic probability calculation module 45 is used to calculate the green wave traffic probability of the fast lane and the green wave traffic probability of the slow lane based on the first traffic light timing information, the first vehicle speed information, the second traffic light timing information, the second vehicle speed information, and the preset position.

[0102] The green wave speed guidance module 46 is used to perform lane-level green wave speed guidance based on the lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane.

[0103] To address the aforementioned technical problems, embodiments of the present invention also provide a chip, which can be a general-purpose processor or a dedicated processor. The chip includes a processor that supports the terminal in executing the aforementioned related steps, such as retrieving and running a computer program from memory, causing the device equipped with the chip to execute, thereby implementing the lane-level green wave speed guidance method in the various embodiments described above.

[0104] Optionally, in some examples, the chip may also include a transceiver for receiving control from the processor to support the terminal in performing the aforementioned steps to implement the lane-level green wave speed guidance method in the various embodiments described above.

[0105] Optionally, the chip may also include a storage medium.

[0106] It should be noted that the chip can be implemented using the following circuits or devices: one or more field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout this application.

[0107] The present invention also provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the lane-level green wave speed guidance method as described in any one of claims 1 to 7.

[0108] Please refer to details. Figure 5 , Figure 5The diagram illustrates a basic structural block diagram of a terminal, which includes a processor, a non-volatile storage medium, a memory, and a network interface connected via a system bus. The non-volatile storage medium stores an operating system, a database, and computer-readable instructions. The database may store a sequence of control information. When executed by the processor, the computer-readable instructions enable the processor to implement a lane-level green wave speed guidance method. The processor provides computational and control capabilities to support the operation of the entire terminal. The memory stores computer-readable instructions, which, when executed by the processor, enable the processor to implement the lane-level green wave speed guidance method. The network interface is used for communication with the terminal. Those skilled in the art will understand that the structure shown in the diagram is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the terminal to which the present application is applied. A specific terminal may include more or fewer components than shown in the diagram, or combine certain components, or have different component arrangements.

[0109] Those skilled in the art will understand that the terms "terminal" and "terminal device" as used herein include both devices that receive wireless signals, devices that only possess wireless signal receiver capabilities without transmission capabilities, and devices with receiving and transmitting hardware, electronic devices having receiving and transmitting hardware capable of performing bidirectional communication on a bidirectional communication link. Such electronic devices may include: cellular or other communication devices having a single-line display, a multi-line display, or a cellular or other communication device without a multi-line display; PCS (Personal Communications Service) that can combine voice, data processing, fax, and / or data communication capabilities; PDA (Personal Digital Assistant) that may include a radio frequency receiver, pager, Internet / intranet access, web browser, notepad, calendar, and / or GPS (Global Positioning System) receiver; and conventional laptop and / or handheld computers or other devices that have and / or include radio frequency receivers. As used herein, "terminal" or "terminal device" can be portable, transportable, installed in a means of transportation (air, sea, and / or land), or suitable and / or configured to operate locally and / or in a distributed manner, operating in any other location on Earth and / or in space. "Terminal" or "terminal device" as used herein can also be a communication terminal, an internet access terminal, or a music / video playback terminal, such as a PDA, a MID (Mobile Internet Device), and / or a mobile phone with music / video playback capabilities, or a smart TV, set-top box, etc.

[0110] The present invention also provides a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of the lane-level green wave speed guidance method described in any of the above embodiments.

[0111] This embodiment also provides a computer program that can be distributed on a computer-readable medium and executed by a computing device to implement at least one step of the lane-level green wave speed guidance method described above; and in some cases, at least one step shown or described may be executed in a different order than that described in the above embodiments.

[0112] This embodiment also provides a computer program product, including a computer-readable device on which the computer program as shown above is stored. In this embodiment, the computer-readable device may include the computer-readable storage medium as shown above.

[0113] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0114] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A lane-level green wave speed guidance method, characterized in that, include: Based on the origin and destination, route planning is performed to obtain route planning information; Identify road segments in the route planning information that include two adjacent lanes traveling in the same direction; If traffic lights are installed in the two adjacent lanes traveling in the same direction, the lane with the longer green light duration will be designated as the fast lane, and the lane with the shorter green light duration will be designated as the slow lane. When the vehicle reaches the preset position, lane-level positioning is performed, and the first traffic light timing information and first vehicle speed information of the fast lane, as well as the second traffic light timing information and second vehicle speed information of the slow lane are obtained. The green wave probability of the fast lane and the green wave probability of the slow lane are calculated based on the first traffic light timing information, the first vehicle speed information, the second traffic light timing information, the second vehicle speed information, and the preset position. Lane-level green wave speed guidance is performed based on lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane.

2. The lane-level green wave speed guidance method as described in claim 1, characterized in that, Lane-level green wave speed guidance is implemented based on lane-level positioning results, the green wave probability of the fast lane, and the green wave probability of the slow lane, including: If the current vehicle is in the fast lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is greater than that of the slow lane, then the vehicle is prompted to go straight and green wave speed guidance is provided for the fast lane. If the current vehicle is in the fast lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is less than or equal to the green wave passage probability of the slow lane, then a lane change is prompted, and green wave speed guidance is provided for the slow lane. If the current vehicle is in the slow lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is greater than that of the slow lane, then a lane change is prompted, and green wave speed guidance is provided for the fast lane. If the current vehicle is in the slow lane according to the lane-level positioning result, and the green wave passage probability of the fast lane is less than or equal to the green wave passage probability of the slow lane, then the vehicle is prompted to go straight and green wave speed guidance is provided for the slow lane.

3. The lane-level green wave speed guidance method as described in claim 1 or 2, characterized in that, Calculating the green wave probability of the fast lane includes: Read the first moment when the current vehicle reaches the preset position; The second moment when the current vehicle reaches the first traffic light stop line is predicted by using the distance between the preset position and the first traffic light stop line, and the first vehicle speed information; The timing information of the first traffic light is extracted based on the difference between the first and second moments, and the green light duration in the extracted timing information is used to calculate the green wave passage probability of the fast lane. Calculating the green wave probability of the slow lane includes: Read the first moment when the current vehicle reaches the preset position; The third moment when the current vehicle reaches the second traffic light stop line is predicted by using the distance between the preset position and the second traffic light stop line, as well as the second vehicle speed information; The timing information of the first traffic light is extracted based on the difference between the first and third time points, and the green light duration in the extracted timing information of the second traffic light is used to calculate the green wave passage probability of the slow lane.

4. The lane-level green wave speed guidance method as described in claim 3, characterized in that, Also includes: If the current vehicle is in the fast lane, the third moment when the current vehicle reaches the second traffic light stop line is predicted by the distance between the preset position and the second traffic light stop line and the second vehicle speed information, and the third moment is delayed by a preset time. If the current vehicle is in the slow lane, the second moment when the current vehicle reaches the first traffic light stop line is predicted by the distance between the preset position and the first traffic light stop line and the first vehicle speed information, and the second moment is delayed by a preset time.

5. The lane-level green wave speed guidance method as described in claim 3, characterized in that, The first and second traffic light timing information include phase information and duration information.

6. The lane-level green wave speed guidance method as described in claim 1, characterized in that, Obtain first vehicle speed information, including: The vehicle's entry time and exit time across the target stop line are obtained using roadside equipment located near the first traffic light. The median speed of multiple vehicles is calculated based on the entry time, exit time, and the relative distance between the target stop line and the roadside equipment. The first vehicle speed information is obtained by averaging the median speeds of multiple vehicles. The acquisition of the second vehicle speed information is the same as the acquisition of the first vehicle speed information.

7. The lane-level green wave speed guidance method as described in claim 1, characterized in that, Obtain the first vehicle speed information, including: Extract guide lane information based on guide distance; input the guide lane information into navigation software to obtain the average vehicle speed passing the first traffic light stop line, and use it as the first vehicle speed information; The acquisition of the second vehicle speed information is the same as the acquisition of the first vehicle speed information.

8. A lane-level green wave speed guidance device, characterized in that, include: The route planning module is used to plan routes based on the origin and destination, and obtain route planning information. The lane recognition module is used to identify road segments in the route planning information that include two adjacent lanes traveling in the same direction; The lane setting module is used to designate the lane with the longer green light duration as the fast lane and the lane with the shorter green light duration as the slow lane if there are traffic lights in the two adjacent lanes in the same direction. The lane positioning module is used to perform lane-level positioning when the current vehicle travels to the preset position, and to obtain the first traffic light timing information and first vehicle speed information of the fast lane, as well as the second traffic light timing information and second vehicle speed information of the slow lane. The green wave traffic probability calculation module is used to calculate the green wave traffic probability of the fast lane and the green wave traffic probability of the slow lane based on the first traffic light timing information, the first vehicle speed information, the second traffic light timing information, the second vehicle speed information, and the preset position. The green wave speed guidance module is used to perform lane-level green wave speed guidance based on lane-level positioning results, the green wave passage probability of the fast lane, and the green wave passage probability of the slow lane.

9. A chip, characterized in that, include: A first processor is configured to call and run a computer program from a first memory, causing a device with the chip mounted thereon to perform the steps of the lane-level green wave speed guidance method as described in any one of claims 1 to 7.

10. A terminal, characterized in that, The method includes a second memory, a second processor, and a computer program stored in the second memory and running on the second processor, characterized in that the second processor executes the computer program to implement the steps of the lane-level green wave speed guidance method as described in any one of claims 1 to 7.

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