Traffic light green wave vehicle speed induction method and system fusing V2X and ADAS

Abstract

The invention discloses a traffic light green wave vehicle speed induction method and system fusing V2X and ADAS, and relates to the technical field of intelligent navigation, and the method comprises the steps: obtaining the passing related information of a current vehicle; executing judgment according to the acquired passing related information: if the current state of the traffic light at the front intersection is green light, performing deceleration waiting or intersection passing suggestion on the current vehicle based on a set safe distance threshold value, a set green light passing time threshold value and the relative distance between the front vehicle and the current vehicle; if the traffic lights at the front intersection are red lights or yellow lights at present, suggestions for waiting for passing through the intersection in the next green light period are made for the current vehicle based on the countdown of the traffic lights at the front intersection and the time when the current vehicle arrives at the front intersection, or suggestions related to passing through the intersection are made for the current vehicle based on the driving information of the front vehicle. The traffic light green wave passing efficiency can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent navigation technology, and specifically to a traffic light green wave vehicle speed induction method and system integrating V2X and ADAS. Background Art

[0002] V2X vehicle-to-everything (V2X) refers to the communication system between vehicles, vehicles and roadside pedestrians, and vehicles and infrastructure. V2X is the information exchange between vehicles and the outside world. Vehicles can communicate with each other, vehicles with base stations, and vehicles with pedestrians, thereby obtaining a series of traffic information such as real-time road conditions, road information, and pedestrian information.

[0003] The Advanced Driving Assistance System (ADAS) uses a variety of sensors installed on the vehicle (such as millimeter-wave radar, lidar, monocular / binocular cameras, satellite navigation, etc.) to sense the environment around the vehicle at any time during driving, collect data, identify, detect and track static / dynamic objects, and combine navigation map data to perform systematic calculations and analysis, so as to allow the driver to be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0004] In urban road networks, trunk line collaborative control schemes are often adopted to improve the efficiency of trunk road traffic operation, that is, a brief red and green display status of the intersection is issued to vehicle drivers through fixed roadside guidance screens or other display devices, or a fixed green wave speed is used to guide the vehicle speed; at the same time, traffic light green wave guidance can also be achieved through V2X's V2I (Vehicle-to-Infrastructure) technology. Through V2X communication, traffic light information is sent to the on-board equipment, which receives the red and green light data and calculates the green wave speed based on the vehicle's movement information. However, this scheme does not take into account the impact of actual traffic flow on the vehicle's movement and operation, resulting in the green wave speed not being feasible.

[0005] It can be seen that the existing trunk line collaborative control scheme is easily affected by a variety of uncertain factors, and it is difficult for vehicles to always stay within the green wave band, resulting in poor green wave application effect. Such information release or vehicle speed induction means have certain defects, and most of the current fixed display induction equipment only releases consistent signal warnings and speed induction information to vehicle drivers, lacking flexibility; for the existing traffic light green wave induction scheme implemented by V2I technology, it only obtains the traffic light information of road test, combines the vehicle movement information, and obtains the green wave recommended speed, without considering the impact of actual traffic flow, that is, without considering the obstacles of other vehicles on the road to the movement of the vehicle, resulting in the vehicle being unable to travel at the green wave recommended speed and unable to achieve the purpose of green wave passage. Summary of the invention

[0006] The present application provides a traffic light green wave vehicle speed induction method and system integrating V2X and ADAS, which can effectively improve the traffic efficiency of traffic lights green wave.

[0007] In a first aspect, an embodiment of the present application provides a traffic light green wave vehicle speed induction method integrating V2X and ADAS, and the traffic light green wave vehicle speed induction method integrating V2X and ADAS includes:

[0008] Obtaining the traffic-related information of the current vehicle, the traffic-related information including the current vehicle driving information, the traffic light information at the intersection ahead, and the driving information of the vehicle ahead;

[0009] According to the obtained traffic-related information, make a judgment:

[0010] If the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection;

[0011] If the current status of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass through the intersection while waiting for the next green light cycle, or based on the driving information of the vehicle ahead, the current vehicle is advised to pass through the intersection.

[0012] In combination with the first aspect, in one implementation,

[0013] The current vehicle driving information includes the current vehicle driving speed and the distance from the current vehicle to the traffic light at the intersection ahead;

[0014] The traffic light information at the intersection ahead includes the status of the traffic light at the intersection ahead and the countdown of the traffic light at the intersection ahead;

[0015] The front vehicle driving information includes the driving speed of the front vehicle and the relative distance between the front vehicle and the current vehicle.

[0016] In combination with the first aspect, in one implementation, if the current state of the traffic light at the intersection ahead is green, then based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection, specifically including:

[0017] When the current state of the traffic light at the intersection ahead is green, determine whether the set conditions are met:

[0018] If so, it is determined that the vehicle ahead may affect the current vehicle's ability to pass the intersection ahead, and a suggestion is made to the current vehicle to slow down or stop and wait;

[0019] If not, it is determined that the current vehicle can pass the intersection ahead under the green light state, and a suggestion is given to the current vehicle that it can pass the intersection, and a recommended speed range is given;

[0020] Among them, the set condition is that the relative distance between the front vehicle and the current vehicle is less than the set safety distance threshold, or the relative distance between the front vehicle and the current vehicle is less than the product of the front vehicle's driving speed and the set green light passing time threshold.

[0021] In combination with the first aspect, in one implementation, if the current state of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, a suggestion is given to the current vehicle to pass through the intersection while waiting for the next green light cycle, or based on the driving information of the vehicle ahead, a suggestion related to passing the intersection is given to the current vehicle, specifically including:

[0022] When the current state of the traffic light at the intersection ahead is red or yellow, obtain the countdown of the traffic light at the intersection ahead and determine:

[0023] If the countdown of the traffic light at the intersection ahead is less than the time it takes for the current vehicle to reach the intersection ahead, the current vehicle is advised to wait for the next green light cycle to pass through the intersection;

[0024] If the countdown of the traffic light at the intersection ahead is greater than or equal to the time it takes for the current vehicle to arrive at the intersection ahead, then make suggestions for the current vehicle to pass the intersection based on the driving information of the vehicle ahead;

[0025] Among them, the calculation method of the time when the current vehicle arrives at the intersection ahead is:

[0026] time_to_intersection=distance_to_intersection / speed_car

[0027] Among them, time_to_intersection indicates the time when the current vehicle arrives at the intersection ahead, distance_to_intersection indicates the distance from the current vehicle to the traffic light at the intersection ahead, and speed_car indicates the current vehicle speed.

[0028] In combination with the first aspect, in one implementation, providing the current vehicle with intersection-related suggestions based on the driving information of the vehicle ahead specifically includes:

[0029] Calculate the time it takes for the vehicle ahead to arrive at the intersection ahead, and determine:

[0030] If the time it takes for the vehicle ahead to arrive at the intersection ahead is less than the countdown of the traffic light at the intersection ahead, it means that the vehicle ahead will not affect the current vehicle's ability to pass through the intersection during the next green light cycle. The current vehicle is advised to wait for the next green light cycle to pass through the intersection and a recommended speed range is given;

[0031] If the time it takes for the vehicle ahead to arrive at the intersection ahead is not less than the countdown of the traffic light at the intersection ahead, the vehicle ahead may affect the current vehicle's ability to pass through the intersection during the next green light cycle. Based on the traffic environment around the current vehicle, it is determined whether lane changing is supported, and relevant suggestions for intersection passage are made to the current vehicle.

[0032] In combination with the first aspect, in one implementation, judging whether lane change is supported based on the current traffic environment around the vehicle, thereby providing the current vehicle with suggestions related to intersection passage, specifically includes:

[0033] Get the traffic environment around the current vehicle, and determine whether the current vehicle can change lanes based on the relative distance between the vehicle in front and the current vehicle, the speed of the vehicle in front, and the traffic flow in the adjacent lanes:

[0034] If yes, a lane change suggestion is given to the current vehicle, and a recommended speed range is given so that the vehicle can pass the intersection in the next green light cycle;

[0035] If not, the current vehicle is advised to slow down or stop and wait.

[0036] In combination with the first aspect, in one implementation, the time it takes for the front vehicle to arrive at the front intersection is calculated as follows:

[0037] time_front_car_to_intersection=(distance_to_intersection-distance_to_front_car) / speed_front_car

[0038] Among them, time_front_car_to_intersection indicates the time when the front vehicle arrives at the front intersection, distance_to_intersection indicates the distance from the current vehicle to the traffic light at the front intersection, distance_to_front_car indicates the relative distance between the front vehicle and the current vehicle, and speed_front_car indicates the driving speed of the front vehicle.

[0039] In a second aspect, an embodiment of the present application provides a traffic light green wave vehicle speed induction system integrating V2X and ADAS, which is used to implement the above-mentioned traffic light green wave vehicle speed induction method integrating V2X and ADAS. The traffic light green wave vehicle speed induction system integrating V2X and ADAS includes a V2X on-board unit, an ADAS unit, a V2X road test unit and a display unit;

[0040] The ADAS unit is used to provide the V2X vehicle-mounted unit with vehicle surrounding environment perception data;

[0041] The V2X road test unit is used to connect to the V2X vehicle-mounted unit through wireless communication to achieve real-time two-way communication, and provide the V2X vehicle-mounted unit with the status and countdown information of the traffic light at the intersection ahead, as well as the position information of the stop line at the intersection ahead;

[0042] The display unit is connected to the V2X vehicle-mounted unit and is used to display the status and countdown information of the traffic light at the intersection ahead, the distance information between the traffic light at the intersection ahead and the vehicle, the real-time driving speed of the vehicle, and the recommended vehicle speed obtained by the V2X vehicle-mounted unit;

[0043] The V2X on-board unit is used to obtain the vehicle's latitude and longitude, speed and heading angle information in real time through positioning signals, and based on the vehicle's surrounding environment perception data obtained by the ADAS unit and the traffic light status and countdown information at the intersection ahead obtained by the V2X road test unit, calculate the green wave speed induction information and send it to the display unit for display.

[0044] In combination with the second aspect, in one implementation, the vehicle surrounding environment perception data includes vehicle relative distance, vehicle attributes, vehicle movement speed, and relative position relationship between surrounding vehicles and the current vehicle.

[0045] In combination with the second aspect, in one implementation, the green wave vehicle speed induction information is calculated based on the vehicle surrounding environment perception data acquired by the ADAS unit and the traffic light status and countdown information at the front intersection acquired by the V2X road test unit, specifically:

[0046] If the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection;

[0047] If the current status of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass through the intersection while waiting for the next green light cycle, or based on the driving information of the vehicle ahead, the current vehicle is advised to pass through the intersection.

[0048] The beneficial effects brought by the technical solution provided by the embodiments of the present application include:

[0049] It can improve traffic efficiency by inducing vehicles to pass through intersections at the optimal speed in real time, reducing parking waiting time and improving road capacity; it can reduce fuel consumption and emissions, reduce frequent acceleration and parking, and help reduce vehicle fuel consumption and emissions; it can improve driving safety. The addition of ADAS enables vehicles to perceive the surrounding environment more accurately and avoid potential safety hazards; it can enhance user experience, provide drivers with real-time and accurate vehicle speed guidance information, and improve driving comfort and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a flow chart of a traffic light green wave vehicle speed induction method integrating V2X and ADAS in this application;

[0051] Figure 2 This is a functional module diagram of the traffic light green wave vehicle speed induction system that integrates V2X and ADAS in this application;

[0052] Figure 3 This is a hardware structure diagram of the traffic light green wave vehicle speed induction device that integrates V2X and ADAS in this application. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0055] On the first aspect, the embodiments of the present application provide a traffic light green wave vehicle speed induction method that integrates V2X and ADAS, which improves test efficiency and data reliability by optimizing test procedures and data processing algorithms. At the same time, combined with ADAS technology, it improves the safety and comfort of the vehicle during driving, provides the driver with a more intelligent and convenient driving experience, and achieves the purpose of green wave passage.

[0056] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the traffic light green wave vehicle speed induction method integrating V2X and ADAS in this application. Figure 1 As shown, the traffic light green wave vehicle speed induction method integrating V2X and ADAS includes:

[0057] S1: Obtain the traffic-related information of the current vehicle, which includes the current vehicle driving information, traffic light information at the intersection ahead, and driving information of the vehicle ahead; the intersection ahead in this application refers to the intersection that the current vehicle is about to pass, that is, the first intersection ahead of the current vehicle.

[0058] S2: Execute judgment based on the acquired traffic-related information. If the current state of the traffic light at the intersection ahead is green, go to S3; if the current state of the traffic light at the intersection ahead is red or yellow, go to S4;

[0059] S3: Based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle in front and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection. The set safety distance threshold is used to determine whether the vehicle in front is too close. At the same time, since the minimum passing time must be considered even when the light is green, in order to prevent the vehicle in front from stopping suddenly, the set green light passing time threshold is set.

[0060] S4: Based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass through the intersection while waiting for the next green light cycle, or the current vehicle is advised to pass the intersection based on the driving information of the vehicle ahead.

[0061] Specifically, the current vehicle driving information includes the current vehicle driving speed and the distance from the current vehicle to the traffic light at the intersection ahead. The traffic light information at the intersection ahead includes the status of the traffic light at the intersection ahead and the countdown of the traffic light at the intersection ahead; the status of the traffic light at the intersection ahead includes red light, green light, and yellow light. The unit of the countdown of the traffic light at the intersection ahead is seconds. In actual application, the countdown of the traffic light at the intersection ahead is only obtained when the status of the traffic light at the intersection ahead is red light or yellow light. The driving information of the vehicle ahead includes the driving speed of the vehicle ahead and the relative distance between the vehicle ahead and the current vehicle.

[0062] In actual application, traffic light information at the intersection ahead is obtained through V2X related components, and driving information of the vehicle ahead is obtained through ADAS related components.

[0063] Furthermore, in one embodiment, if the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection, specifically including:

[0064] When the current state of the traffic light at the intersection ahead is green, determine whether the set conditions are met:

[0065] If so, it is determined that the vehicle ahead may affect the current vehicle's ability to pass the intersection ahead, and a suggestion is made to the current vehicle to slow down or stop and wait;

[0066] If not, it is determined that the current vehicle can pass the intersection ahead under the green light state, and a suggestion is given to the current vehicle that it can pass the intersection, and a recommended speed range is given;

[0067] Among them, the set condition is that the relative distance between the front vehicle and the current vehicle is less than the set safety distance threshold, or the relative distance between the front vehicle and the current vehicle is less than the product of the front vehicle's driving speed and the set green light passing time threshold.

[0068] Furthermore, in one embodiment, if the current state of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, a suggestion is given to the current vehicle to pass through the intersection while waiting for the next green light cycle, or a suggestion related to passing the intersection is given to the current vehicle based on the driving information of the vehicle ahead, specifically including:

[0069] When the current state of the traffic light at the intersection ahead is red or yellow, obtain the countdown of the traffic light at the intersection ahead and determine:

[0070] If the countdown of the traffic light at the intersection ahead is less than the time it takes for the current vehicle to reach the intersection ahead, the current vehicle is advised to wait for the next green light cycle to pass through the intersection;

[0071] If the countdown of the traffic light at the intersection ahead is greater than or equal to the time when the current vehicle arrives at the intersection ahead, then suggestions for the current vehicle to pass the intersection will be made based on the driving information of the vehicle ahead. That is, when the countdown of the traffic light at the intersection ahead is greater than or equal to the time when the current vehicle arrives at the intersection ahead, the driving conditions of the vehicle ahead need to be considered, so as to make suggestions for the current vehicle to drive;

[0072] Among them, the calculation method of the time when the current vehicle arrives at the intersection ahead is:

[0073] time_to_intersection=distance_to_intersection / speed_car

[0074] Among them, time_to_intersection indicates the time when the current vehicle arrives at the intersection ahead, distance_to_intersection indicates the distance from the current vehicle to the traffic light at the intersection ahead, and speed_car indicates the current vehicle speed.

[0075] Furthermore, in one embodiment, the following suggestions are made to the current vehicle based on the driving information of the vehicle ahead:

[0076] Calculate the time it takes for the vehicle ahead to arrive at the intersection ahead, and determine:

[0077] If the time it takes for the vehicle ahead to arrive at the intersection ahead is less than the countdown of the traffic light at the intersection ahead, it means that the vehicle ahead will not affect the current vehicle's ability to pass through the intersection during the next green light cycle. The current vehicle is advised to wait for the next green light cycle to pass through the intersection and a recommended speed range is given;

[0078] If the time it takes for the vehicle ahead to arrive at the intersection ahead is not less than the countdown of the traffic light at the intersection ahead, the vehicle ahead may affect the current vehicle's ability to pass through the intersection during the next green light cycle. Based on the traffic environment around the current vehicle, it is determined whether lane changing is supported, and relevant suggestions for intersection passage are made to the current vehicle.

[0079] Furthermore, in one embodiment, based on the current traffic environment around the vehicle, it is determined whether lane change is supported, so as to provide the current vehicle with relevant suggestions for passing the intersection, specifically including:

[0080] Get the traffic environment around the current vehicle, and determine whether the current vehicle can change lanes based on the relative distance between the vehicle in front and the current vehicle, the speed of the vehicle in front, and the traffic flow in the adjacent lanes:

[0081] If yes, a lane change suggestion is given to the current vehicle, and a recommended speed range is given so that the vehicle can pass the intersection in the next green light cycle;

[0082] If not, the current vehicle is advised to slow down or stop and wait.

[0083] Furthermore, in one embodiment, the time it takes for a vehicle to arrive at the next intersection is calculated as follows:

[0084] time_front_car_to_intersection=(distance_to_intersection-distance_to_front_car) / speed_front_car

[0085] Among them, time_front_car_to_intersection indicates the time when the front vehicle arrives at the front intersection, distance_to_intersection indicates the distance from the current vehicle to the traffic light at the front intersection, distance_to_front_car indicates the relative distance between the front vehicle and the current vehicle, and speed_front_car indicates the driving speed of the front vehicle.

[0086] This application deeply integrates V2X and ADAS to achieve seamless connection between V2X and ADAS technologies and give full play to the synergistic advantages of the two. It can improve the accuracy of the vehicle speed induction algorithm and ensure that in complex traffic environments, the vehicle speed induction algorithm can accurately calculate the optimal speed for vehicles to pass through intersections.

[0087] On the second aspect, the embodiments of the present application also provide a traffic light green wave vehicle speed induction system that integrates V2X and ADAS.

[0088] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of the traffic light green wave vehicle speed induction system that integrates V2X and ADAS in this application. Figure 2 As shown, the traffic light green wave speed induction system integrating V2X and ADAS includes: a V2X on-board unit, an ADAS unit, a V2X road test unit and a display unit.

[0089] The ADAS unit is used to provide the V2X vehicle-mounted unit with vehicle surrounding environment perception data, wherein the vehicle surrounding environment perception data includes vehicle relative distance, vehicle attributes, vehicle movement speed, and the relative position relationship between surrounding vehicles and the current vehicle;

[0090] The V2X road test unit is used to connect to the V2X vehicle-mounted unit through wireless communication to achieve real-time two-way communication, and provide the V2X vehicle-mounted unit with the status and countdown information of the traffic light at the intersection ahead, as well as the location information of the stop line at the intersection ahead;

[0091] The display unit is connected to the V2X vehicle-mounted unit and is used to display the status and countdown information of the traffic light at the intersection ahead, the distance information between the traffic light at the intersection ahead and the vehicle, the real-time driving speed of the vehicle, and the recommended vehicle speed obtained by the V2X vehicle-mounted unit;

[0092] The V2X vehicle-mounted unit is used to obtain the vehicle's latitude and longitude, speed and heading angle information in real time through positioning signals, and based on the vehicle's surrounding environment perception data obtained by the ADAS unit and the traffic light status and countdown information at the intersection ahead obtained by the V2X road test unit, calculate the green wave vehicle speed induction information and send it to the display unit for display. The positioning signal can be a GPS (Global Positioning System) signal.

[0093] In this application, based on the vehicle surrounding environment perception data obtained by the ADAS unit and the traffic light status and countdown information at the intersection ahead obtained by the V2X road test unit, the green wave speed induction information is calculated, specifically:

[0094] If the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection;

[0095] If the current status of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass through the intersection while waiting for the next green light cycle, or based on the driving information of the vehicle ahead, the current vehicle is advised to pass through the intersection.

[0096] The traffic light green wave speed induction system that integrates V2X and ADAS in the embodiment of the present application is based on V2X technology, collects traffic light information, vehicle distance information, and vehicle speed information, and combines the movement information of vehicles around the current vehicle obtained by ADAS to obtain the recommended speed value or range for the current vehicle to safely pass through the intersection, that is, the green wave speed.

[0097] On the third aspect, an embodiment of the present application provides a traffic light green wave vehicle speed induction device that integrates V2X and ADAS. The traffic light green wave vehicle speed induction device that integrates V2X and ADAS can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0098] Reference Figure 3 , Figure 3 The hardware structure diagram of the traffic light green wave vehicle speed induction device integrating V2X and ADAS involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the traffic light green wave vehicle speed induction device integrating V2X and ADAS may include a processor, a memory, a communication interface, and a communication bus.

[0099] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0100] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the traffic light green wave vehicle speed induction device integrating V2X and ADAS, and the interface used to realize the interconnection between the traffic light green wave vehicle speed induction device integrating V2X and ADAS and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0101] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0102] The processor may be a general-purpose processor, which may call the green wave speed induction program of the traffic light integrating V2X and ADAS stored in the memory, and execute the green wave speed induction method of the traffic light integrating V2X and ADAS provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the green wave speed induction program of the traffic light integrating V2X and ADAS is called may refer to the various embodiments of the green wave speed induction method of the traffic light integrating V2X and ADAS in the present application, which will not be repeated here.

[0103] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0104] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0105] The computer-readable storage medium of the present application stores a traffic light green wave vehicle speed induction program that integrates V2X and ADAS, wherein when the traffic light green wave vehicle speed induction program that integrates V2X and ADAS is executed by a processor, the steps of the traffic light green wave vehicle speed induction method that integrates V2X and ADAS as described above are implemented.

[0106] Among them, the method implemented when the traffic light green wave vehicle speed induction program integrating V2X and ADAS is executed can refer to the various embodiments of the traffic light green wave vehicle speed induction method integrating V2X and ADAS in this application, and will not be repeated here.

[0107] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0108] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0109] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0110] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0111] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0113] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A traffic light green wave vehicle speed induction method integrating V2X and ADAS, characterized in that: The traffic light green wave vehicle speed induction method integrating V2X and ADAS includes: Obtaining the traffic-related information of the current vehicle, the traffic-related information including the current vehicle driving information, the traffic light information at the intersection ahead, and the driving information of the vehicle ahead; According to the obtained traffic-related information, make a judgment: If the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection; If the current status of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass through the intersection while waiting for the next green light cycle, or based on the driving information of the vehicle ahead, the current vehicle is advised to pass through the intersection.

2. A traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in claim 1, characterized in that: The current vehicle driving information includes the current vehicle driving speed and the distance from the current vehicle to the traffic light at the intersection ahead; The traffic light information at the intersection ahead includes the status of the traffic light at the intersection ahead and the countdown of the traffic light at the intersection ahead; The front vehicle driving information includes the driving speed of the front vehicle and the relative distance between the front vehicle and the current vehicle.

3. A traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in claim 2, characterized in that: If the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection, specifically including: When the current state of the traffic light at the intersection ahead is green, determine whether the set conditions are met: If so, it is determined that the vehicle ahead may affect the current vehicle's ability to pass the intersection ahead, and a suggestion is made to slow down or stop the vehicle and wait; If not, it is determined that the current vehicle can pass the intersection ahead under the green light state, and a suggestion is given to the current vehicle that it can pass the intersection, and a recommended speed range is given; Among them, the set condition is that the relative distance between the front vehicle and the current vehicle is less than the set safety distance threshold, or the relative distance between the front vehicle and the current vehicle is less than the product of the front vehicle's driving speed and the set green light passing time threshold.

4. A traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in claim 2, characterized in that: If the current state of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass the intersection while waiting for the next green light cycle, or the current vehicle is advised to pass the intersection based on the driving information of the vehicle ahead, specifically including: When the current state of the traffic light at the intersection ahead is red or yellow, obtain the countdown of the traffic light at the intersection ahead and determine: If the countdown of the traffic light at the intersection ahead is less than the time it takes for the current vehicle to reach the intersection ahead, the current vehicle is advised to wait for the next green light cycle to pass through the intersection; If the countdown of the traffic light at the intersection ahead is greater than or equal to the time it takes for the current vehicle to arrive at the intersection ahead, then make suggestions for the current vehicle to pass the intersection based on the driving information of the vehicle ahead; Among them, the calculation method of the time when the current vehicle arrives at the intersection ahead is: time_to_intersection=distance_to_intersection / speed_car Among them, time_to_intersection indicates the time when the current vehicle arrives at the intersection ahead, distance_to_intersection indicates the distance from the current vehicle to the traffic light at the intersection ahead, and speed_car indicates the current vehicle speed.

5. A traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in claim 4, characterized in that: The suggestion for the current vehicle to pass the intersection based on the driving information of the vehicle ahead specifically includes: Calculate the time it takes for the vehicle ahead to arrive at the intersection ahead, and determine: If the time it takes for the vehicle ahead to arrive at the intersection ahead is less than the countdown of the traffic light at the intersection ahead, it means that the vehicle ahead will not affect the current vehicle's ability to pass through the intersection during the next green light cycle. The current vehicle is advised to wait for the next green light cycle to pass through the intersection and a recommended speed range is given; If the time it takes for the vehicle ahead to arrive at the intersection ahead is not less than the countdown of the traffic light at the intersection ahead, the vehicle ahead may affect the current vehicle's ability to pass through the intersection during the next green light cycle. Based on the traffic environment around the current vehicle, it is determined whether lane changing is supported, and relevant suggestions for intersection passage are made to the current vehicle.

6. A traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in claim 5, characterized in that: The method of judging whether lane change is supported based on the current traffic environment around the vehicle, thereby providing the current vehicle with suggestions for passing through the intersection, specifically includes: Get the traffic environment around the current vehicle, and determine whether the current vehicle can change lanes based on the relative distance between the vehicle in front and the current vehicle, the speed of the vehicle in front, and the traffic flow in the adjacent lanes: If yes, a lane change suggestion is given to the current vehicle, and a recommended speed range is given so that the vehicle can pass the intersection in the next green light cycle; If not, the current vehicle is advised to slow down or stop and wait.

7. A traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in claim 5, characterized in that: The time it takes for the vehicle ahead to reach the intersection ahead is calculated as follows: time_front_car_to_intersection=(distance_to_intersection-distance_to_front_car) / speed_front_car Among them, time_front_car_to_intersection indicates the time when the front vehicle arrives at the front intersection, distance_to_intersection indicates the distance from the current vehicle to the traffic light at the front intersection, distance_to_front_car indicates the relative distance between the front vehicle and the current vehicle, and speed_front_car indicates the driving speed of the front vehicle.

8. A traffic light green wave vehicle speed induction system integrating V2X and ADAS, used to implement the traffic light green wave vehicle speed induction method integrating V2X and ADAS as claimed in any one of claims 1 to 7, characterized in that: The traffic light green wave vehicle speed induction system integrating V2X and ADAS includes a V2X vehicle-mounted unit, an ADAS unit, a V2X road test unit and a display unit; The ADAS unit is used to provide the V2X vehicle-mounted unit with vehicle surrounding environment perception data; The V2X road test unit is used to connect to the V2X vehicle-mounted unit through wireless communication to achieve real-time two-way communication, and provide the V2X vehicle-mounted unit with the status and countdown information of the traffic light at the intersection ahead, as well as the position information of the stop line at the intersection ahead; The display unit is connected to the V2X vehicle-mounted unit and is used to display the status and countdown information of the traffic light at the intersection ahead, the distance information between the traffic light at the intersection ahead and the vehicle, the real-time driving speed of the vehicle, and the recommended vehicle speed obtained by the V2X vehicle-mounted unit; The V2X on-board unit is used to obtain the vehicle's latitude and longitude, speed and heading angle information in real time through positioning signals, and based on the vehicle's surrounding environment perception data obtained by the ADAS unit and the traffic light status and countdown information at the intersection ahead obtained by the V2X road test unit, calculate the green wave speed induction information and send it to the display unit for display.

9. A traffic light green wave vehicle speed induction system integrating V2X and ADAS as claimed in claim 8, characterized in that: The vehicle surrounding environment perception data includes vehicle relative distance, vehicle attributes, vehicle movement speed, and the relative position relationship between surrounding vehicles and the current vehicle.

10. A traffic light green wave vehicle speed induction system integrating V2X and ADAS as claimed in claim 8, characterized in that: The vehicle surrounding environment perception data obtained based on the ADAS unit, and The V2X road test unit obtains the traffic light status and countdown information at the intersection ahead, and calculates the green wave vehicle speed induction information, specifically: If the current state of the traffic light at the intersection ahead is green, based on the set safety distance threshold, the set green light passing time threshold, and the relative distance between the vehicle ahead and the current vehicle, the current vehicle is advised to slow down and wait or pass the intersection; If the current status of the traffic light at the intersection ahead is red or yellow, based on the countdown of the traffic light at the intersection ahead and the time when the current vehicle arrives at the intersection ahead, the current vehicle is advised to pass through the intersection while waiting for the next green light cycle, or based on the driving information of the vehicle ahead, the current vehicle is advised to pass through the intersection.

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