Ecological road networking construction vehicle-oriented speed response strategy

Abstract

The invention discloses a speed response strategy for an ecological road networking construction vehicle, and the strategy completes the information collection of the animal crossing behavior in an ecological road through a roadside sensing recognition device based on an Internet of Vehicles environment, builds an optimization strategy of a virtual signal lamp, and achieves the timely response to the animal crossing behavior. According to the invention, the animal crossing behavior information in the ecological road can be obtained in advance, the state adjustment of the road construction vehicle is completed, the risk of traffic accidents is reduced, and the traffic safety of people, vehicles and animals is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control in a vehicle networking environment, and in particular to a speed response strategy for ecological road networking construction vehicles. Background Art

[0002] Since the beginning of the 21st century, the rapid development of Internet technology has changed all walks of life; the transportation industry has gradually entered a high tide of intelligent, information-based, and Internet-based construction; with the increasing maturity of autonomous driving technology, vehicle-road collaboration technology, wireless communication technology, perception and recognition technology, etc., a complete Internet of Vehicles environment, high-level autonomous driving, interconnection and information sharing between traffic elements have become possible; traffic operation control modes have also gradually transitioned from passive and static to active and dynamic interactive modes; more possibilities have emerged in the field of transportation.

[0003] Ecological roads are roads for vehicles to pass and animals to live and move around. In the control of urban ecological roads, it is often necessary to take into account both ecological concepts and vehicle accessibility. In the past ecological road traffic control mode, warning signs were often set up to remind passing vehicles that animals are ahead. Due to the subjective reasons of some drivers and the objective conditions of the external environment, collisions between vehicles and animals cannot be effectively avoided, resulting in unnecessary casualties.

[0004] The increasing development of high-tech and the creation of a connected vehicle environment have brought new possibilities for ecological road traffic control based on animal crossing behavior. How to properly integrate the construction and operation of smart transportation with the management and operation of ecological roads to better solve objective and practical problems has become the focus of current research. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a speed response strategy for ecological road networking construction vehicles, which can obtain animal crossing behavior information on ecological roads in advance, complete the state adjustment of road construction vehicles, reduce the risk of traffic accidents, and ensure the safety of people, vehicles and animals. In order to achieve the above-mentioned purpose and other advantages of the present invention, a speed response strategy for ecological road networking construction vehicles is provided, including the following steps:

[0006] S1. Build a vehicle networking environment, which includes vehicle-road collaboration, networked construction vehicles, and roadside sensing and recognition facilities;

[0007] S2. Deploy roadside sensing and recognition facilities;

[0008] S3, traffic delay analysis of animal crossing behavior;

[0009] S4, build a virtual traffic light strategy;

[0010] S5. Adjust the driving status of networked construction vehicles.

[0011] Preferably, the vehicle-road collaboration in step S1 is to use advanced wireless communication and new generation Internet technology to realize all-round dynamic real-time information interaction between vehicles and roads, and to carry out vehicle-road collaboration safety and road collaboration control based on the collection and integration of dynamic traffic information in all time and space, so as to fully realize the effective collaboration between people, vehicles and roads;

[0012] The networked construction vehicle is an intelligent entity equipped with multiple sensor fusion perception, planning decision-making and intelligent control functions, combined with high-precision positioning maps. It can conduct comprehensive judgment and analysis on the information received and perceived to determine whether there is a possibility of animals crossing the road; and adjust the vehicle's driving status based on the virtual traffic light optimization strategy.

[0013] Preferably, the roadside sensing and identification facilities in step S1 include infrared cameras, radars and sensors to perform all-weather uninterrupted monitoring, identification and data storage within the roadside area, and record the type, movement speed and number of animals.

[0014] Preferably, in step S3, when the animal crosses the road, the right of way of the road changes, and the moving vehicle may need to go through a speed change process of deceleration-stopping-acceleration when passing through the area, and the acceleration and deceleration process will increase the travel time of the vehicle;

[0015] Assuming that vehicles arrive at the animal crossing area according to Poisson distribution and the time when animals cross the road is known, the specific vehicle delay can be expressed as follows: During the animal crossing process, the vehicle delay consists of two parts: one is the delay caused by the vehicle stopping and waiting when encountering animals occupying the road (D sc ), and the second is the delay caused by the dispersal of the convoy after the animal crossed the road (D tc ); From the moment the animal crosses the road to the moment the queue of vehicles completely dissipates, the dissipation time of the convoy is (t sc ); After the convoy dissipates, vehicles can pass freely for a period of time without causing vehicle delays; During the time when the animals occupy the road, vehicles begin to queue up, and the accumulated queue time includes the time when the animals are close to the edge of the road (t yc ) and the time the animal actually occupies the road (t rc );

[0016] In summary, the total vehicle delay is:

[0017]

[0018] The average vehicle delay is:

[0019]

[0020] Among them, D c is the total vehicle delay(s);

[0021] d c is the average vehicle delay (s);

[0022] D sc , D tc They are the delay caused by vehicle parking and waiting, and the delay caused by the dissipation of the convoy (s);

[0023] t sc is the vehicle evacuation time (s),

[0024] S is the vehicle saturation flow rate (vehicles / s);

[0025] λ is the vehicle arrival rate (vehicles / s);

[0026] y tc ,t rc The loss time of animals approaching the road edge and the waiting time during which animals actually occupied the road (s), respectively;

[0027] C is the duration (s) of the entire process of the animal crossing the road, which is not fixed.

[0028] Preferably, in step S4, for networked construction vehicles, animal crossing behavior is regarded as virtual traffic light control; wherein the virtual traffic lights include virtual red lights, virtual yellow lights, and virtual green lights, the virtual red light indicates that animals are preparing to or are crossing the road, and motor vehicles are prohibited from passing; the virtual yellow light indicates that animals are about to cross the road, and for vehicles traveling on ecological roads, they are now located in a "vehicle buffer zone" on the road. Vehicles in this area do not have time to slow down and stop, and it is recommended to directly drive off the road section at a constant speed or accelerate; the virtual green light indicates that no animal crossing behavior is detected and identified, and motor vehicles can pass directly.

[0029] Preferably, according to the type, number and direction of the moving animals, the “virtual red light time” can be calculated in the following four scenarios:

[0030] Scenario 1: An animal is walking alone, and the red light time is Where W: is the road width, m; v a : is the real-time speed of the animal, km / h;

[0031] Scenario 2: Two animals are walking in opposite directions, and the red light is on for in are the moments when the second and first animals are detected, represents the minimum speed of the two animals;

[0032] Scenario 3: A group of animals travel in a single direction, and the red light lasts for in are the moments when the second and first animals are detected, represents the minimum speed of the two animals;

[0033] Scenario 4: An animal and a group of animals are crossing in opposite directions, and the red light time is in They are the starting time of the animal's movement in the two movement directions respectively.

[0034] Preferably, a virtual yellow light: based on the setting of the above-mentioned animal detection starting point position, when an animal is detected, there are three situations for vehicles traveling on the road section: first, some vehicles do not have time to slow down to ensure that the vehicles stop at the boundary position where the animal crossing area intersects the road; second, the vehicle can ensure that the animal stops when it reaches the edge of the road and waits for the animal to cross the road; third, the vehicle does not need to stop, and the animal has crossed the road when it reaches the boundary; for the first situation, consider setting a vehicle buffer zone, which is a "virtual yellow light". The function of this area is: when the roadside animal detector recognizes the crossing behavior of the animal, the vehicle located in this area accelerates to pass through the animal crossing road area without slowing down and stopping; for the latter two situations, you can drive normally, slow down and stop, or drive away at a constant speed; considering that the road vehicles are networked construction vehicles in the vehicle networking environment, there is no need to consider the driver's reaction time, and animal crossing safety is the top priority. It is considered that the shortest time required for the speed limit of the road section vehicle to slow down to 0 As a "virtual yellow light time", the buffer zone extends upstream from the animal crossing area boundary. The virtual green light time is the difference between the two virtual red light times.

[0035] Compared with the prior art, the present invention has the following beneficial effects: by obtaining the animal crossing behavior information in advance, the networked construction vehicles adjust the driving state and running trajectory of the networked construction vehicles based on the virtual signal light strategy, starting from the overall minimum system traffic delay, to ensure the safety of animals crossing the road. And simplify the animal crossing behavior. "Animal crossing road behavior" is regarded as a "virtual signal light", and the past networked construction vehicles adjust their own driving state based on the virtual signal light control. Reduce the risk of collision between vehicles and animals. Combined with real-time sensor detection and wireless communication technology, the animal crossing road information is sent to nearby networked construction vehicles in advance. The networked construction vehicles learn the information in advance, and can adjust their own driving state in real time according to the data information to reduce the possibility of collision between vehicles and animals. Improve the traffic efficiency of the road network: the traditional traffic control mode in this scenario often causes a lot of delays due to waiting in line for vehicles. Through this strategy, the real-time running state adjustment of vehicles can be realized; and combined with the vehicle-to-vehicle communication in the vehicle networking environment, the road section vehicle information can be interactively shared in real time, allowing distant vehicles to make autonomous decisions in advance, detour or slow down, thereby improving the communication efficiency of the entire road network. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flow chart of a speed response strategy for ecological road networking construction vehicles according to the present invention;

[0037] Figure 2 A schematic diagram of a vehicle delay formation process according to the speed response strategy for ecological road networking construction vehicles of the present invention;

[0038] Figure 3 This is a simplified diagram of the animal crossing-virtual traffic light strategy for the speed response strategy of ecological road networking construction vehicles according to the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Reference Figure 1-3 , a speed response strategy for ecological road network construction vehicles, including the following steps:

[0041] S1. Build a vehicle networking environment, which includes vehicle-road collaboration, networked construction vehicles and roadside sensing and identification facilities; ecological roads, which are urban or suburban roads that can take into account the needs of animal ecological habitat activities and realize the accessible function of road vehicles, mainly referring to roads where animals pass. Vehicle-road collaboration is to use advanced wireless communications and new generation Internet technologies to realize dynamic real-time information interaction between vehicles and roads in all directions, and to carry out vehicle-road collaborative safety and road collaborative control based on the collection and integration of dynamic traffic information in all time and space, so as to fully realize the effective collaboration of people, vehicles and roads; among them, vehicle wireless communication technology (V2X, vehicle to everything) is the basic platform for vehicle-road collaboration; by connecting vehicles, pedestrians and road infrastructure, vehicles have stronger perception capabilities, and realize high-precision positioning combined with the traffic environment, real-time dynamic operation information interaction of vehicles, collaborative control and collaborative safety functions. The networked construction vehicle is an intelligent entity equipped with multiple sensor fusion perception, planning decision-making and intelligent control functions, combined with high-precision positioning maps; it can receive and perceive the identified information (animal behavior information, location trajectory information), conduct comprehensive analysis to determine whether there is a possibility of animals crossing the road; and adjust the vehicle driving status based on the virtual traffic light optimization strategy. Roadside perception and identification facilities include infrared cameras, radars and sensors, which can conduct all-weather uninterrupted monitoring, identification and data storage within a certain area on the roadside, and record the type, movement speed and number of animals.

[0042] S2. Deploy roadside sensing and identification facilities. The deployment of roadside sensing and identification facilities is to ensure that when animals cross, the networked construction vehicles and the networked intersection signal control platform have sufficient "reaction" and adjustment time. The layout of roadside sensing monitoring equipment should be at a certain distance from the edge of the road. Since the maximum speed of a vehicle on a road section cannot exceed the speed limit of the road section, that is, v max ≤v limit , where v max is the maximum speed of the vehicle on the eco-road, km / h, where v limit is the speed limit of the section of the ecological road, km / h. The vehicle is a networked construction vehicle, which can rely on the system to perform braking operations with a small delay. Therefore, the impact of the driver's reaction time on vehicle braking is ignored. The shortest time required for vehicle braking is Where a is the upper limit of the vehicle acceleration value, m / s 2 . Assume that the movement speed of animals in the animal crossing area is In the range, is the minimum and maximum speeds for animals to cross the road, then the distance from the starting point of animal detection to the edge of the road

[0043] S3. Traffic delay analysis of animal crossing behavior. Assuming that vehicles arrive at the animal crossing area according to Poisson distribution and the time when the animal crosses the road is known, the specific vehicle delay can be expressed as:

[0044] During animal crossing, vehicle delays consist of two parts: one is the delay caused by vehicles stopping and waiting when encountering animals occupying the road (D sc ), and the second is the delay caused by the dispersal of the convoy after the animal crossed the road (D tc The dissipation time of the convoy is (t sc ); After the convoy dissipates, vehicles can pass freely for a period of time without causing vehicle delays; During the time when the animals occupy the road, vehicles begin to queue up, and the accumulated queue time includes the time when the animals are close to the edge of the road (t yc ) and the time the animal actually occupies the road (t rc );

[0045] In summary, the total vehicle delay is:

[0046]

[0047] The average vehicle delay is:

[0048]

[0049] Among them, D c is the total vehicle delay(s);

[0050] d c is the average vehicle delay (s);

[0051] D sc , D tc They are the delay caused by vehicle parking and waiting, and the delay caused by the dissipation of the convoy (s);

[0052] t sc is the vehicle evacuation time (s),

[0053] S is the vehicle saturation flow rate (vehicles / s);

[0054] λ is the vehicle arrival rate (vehicles / s);

[0055] t yc ,t rc The loss time of animals approaching the road edge and the waiting time during which animals actually occupied the road (s), respectively;

[0056] C is the duration (s) of the entire process of the animal crossing the road, which is not fixed.

[0057] S4. Build a virtual traffic light strategy. Build a virtual traffic light strategy. Specifically for networked construction vehicles, treat animal crossing behavior as virtual traffic light control. Virtual traffic lights include virtual red lights, virtual yellow lights, and virtual green lights. A virtual red light indicates that an animal is about to cross the road or is in the process of crossing, and motor vehicles are prohibited from passing. A virtual yellow light indicates that an animal is about to cross the road. For vehicles traveling on ecological roads, they are now in a "vehicle buffer zone" on the road. Vehicles in this area do not have time to slow down and stop, and it is recommended to drive off the road at a constant speed or accelerate. A virtual green light indicates that no animal crossing behavior has been detected and identified, and motor vehicles can pass directly. According to the type, number, and direction of the crossing animals, the "virtual red light time" can be divided into the following four scenarios for calculation:

[0058] Scenario 1: An animal is walking alone, and the red light time is Where w is the road width, m; v is the road width, m; a : is the real-time speed of the animal, km / h;

[0059] Scenario 2: Two animals are walking in opposite directions, and the red light is on for in are the moments when the second and first animals are detected, represents the minimum speed of the two animals;

[0060] Scenario 3: A group of animals travel in a single direction, and the red light lasts for in are the moments when the second and first animals are detected, represents the minimum speed of the two animals;

[0061] Scenario 4: An animal and a group of animals are crossing in opposite directions, and the red light time is in are the starting moments of the animals’ crossing in two crossing directions respectively;

[0062] Virtual yellow light: Based on the settings of the above-mentioned animal detection starting point, when an animal is detected, there are three situations for vehicles traveling on the road: first, some vehicles do not have time to slow down to ensure that the vehicles stop at the boundary where the animal crossing area intersects the road; second, the vehicle can ensure that the animal stops when it reaches the edge of the road and waits for the animal to cross the road; third, the vehicle does not need to stop, and the animal has already crossed the road when it reaches the boundary. For the first situation, consider setting up a vehicle buffer zone ("virtual yellow light"). The function of this area is: when the roadside animal detector recognizes the crossing behavior of the animal, the vehicle in this area accelerates to pass through the animal crossing road area without slowing down and stopping; for the latter two situations, you can drive normally, slow down and stop, or drive away at a constant speed. Considering that road vehicles are networked construction vehicles in a vehicle networking environment, there is no need to consider the driver's reaction time. Animal crossing safety is the top priority. It is considered that the shortest time required for the speed limit of the road section vehicle to slow down to 0 As a "virtual yellow light time", the buffer zone extends upstream from the animal crossing area boundary. The virtual green light time is the difference between the two virtual red light times.

[0063] S5. Adjust the driving state of the networked construction vehicle. The networked construction vehicle adjusts the driving state of the networked construction vehicle based on the animal crossing behavior information collected in step 2, the traffic delay minimum calculation concept in step 3, and the virtual traffic light control strategy in step 3, according to the intelligent analysis and decision-making function inside the networked construction vehicle.

[0064] Example 1

[0065] Step 1: Building the Internet of Vehicles environment. Assume that the roadside traffic infrastructure on the road can realize the functions of perception, recognition, detection and communication; the networked construction vehicles also have powerful functions of information interaction, intelligent decision-making, perception and recognition;

[0066] Step 2: Deployment of roadside sensing and identification facilities. Conduct field research on sections of urban ecological roads where animals need to cross roads, read yearbooks, and refer to relevant reports and papers to determine the sections and animal types where animals often cross roads in the area, as well as the specific circumstances of past animal crossings, identify road traffic accident black spots, and deploy roadside sensing and identification facilities near road traffic accident black spots.

[0067] Step 3: Delay analysis of animal crossing behavior. According to the delay calculation formula:

[0068] In summary, the total vehicle delay is:

[0069]

[0070] The average vehicle delay is:

[0071]

[0072] Among them, D c is the total vehicle delay(s);

[0073] d c is the average vehicle delay (s);

[0074] D sc , D tc They are the delay caused by vehicle parking and waiting, and the delay caused by the dissipation of the convoy (s);

[0075] t sc is the vehicle evacuation time (s),

[0076] S is the vehicle saturation flow rate (vehicles / s);

[0077] λ is the vehicle arrival rate (vehicles / s);

[0078] t yc ,t rc The loss time of animals approaching the road edge and the waiting time during which animals actually occupied the road (s), respectively;

[0079] C is the duration (s) of the entire process of the animal crossing the road, which is not fixed.

[0080] Solve the total vehicle delay of the identified vehicles and draw a schematic diagram of the vehicle delay formation process. Figure 2 .

[0081] Step 4: Building a virtual traffic light strategy; see the schematic diagram Figure 3 The networked construction vehicles make autonomous decisions based on the animal crossing information (animal type, movement speed, number of animals, specific location) obtained, analyze the time required for the animals to complete the crossing behavior and the time required for the networked construction vehicles to leave the animal crossing area from their current location, and scientifically judge when the "virtual traffic light" ahead is running. The networked construction vehicles must achieve safe passage and adjust to the optimal driving state from the perspective of minimizing system delays.

[0082] Specifically, animals 1 and 2 are crossing the road, and vehicle 1 regards the prohibited area ahead as a virtual traffic light. By calculating the duration of the animal crossing behavior and comparing it with the time required for the vehicle to maintain its current state and reach the prohibited area ahead where the animal is crossing, it is found that safe passage cannot be achieved by adjusting the vehicle speed, so it is assumed that the light ahead is red, and vehicle 1 slows down and stops; vehicle 1 transmits the information to vehicle 2, and vehicle 2 calculates and analyzes and finds that if it maintains a normal uniform speed, the light will be red when it reaches the animal crossing area ahead. If it reduces the speed and then maintains the speed, the animal crossing in the prohibited area ahead has been completed, and the virtual traffic light is green, allowing passage.

[0083] Step 5: Based on the virtual traffic light strategy, networked construction vehicles use systematic thinking to achieve system optimization and minimize overall delays. They adjust their driving status according to the animal crossing behavior information and share the driving information with surrounding vehicles to ensure the safety of animals crossing the road. Vehicle 1 slows down and stops in front of the vehicle-restricted zone, and then starts to pass after the animal crossing behavior is completed; Vehicle 2 first slows down and then maintains a constant speed. Before arriving at the vehicle-restricted zone, the animal crossing behavior has been completed and it can pass directly.

[0084] In summary, the present invention is simple and reliable. Through this invention, dynamic and timely adjustment of animal walking behavior can be achieved, and system optimization can be achieved to ensure the safety of people, vehicles and animals.

[0085] The number of devices and processing scales described here are used to simplify the description of the present invention, and the application, modification and variation of the present invention will be obvious to those skilled in the art.

[0086] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A speed response strategy for ecological road networking construction vehicles, characterized in that: The following steps are involved: S1. Build a vehicle networking environment, which includes vehicle-road collaboration, networked construction vehicles, and roadside sensing and recognition facilities; S2. Deploy roadside sensing and recognition facilities; S3, traffic delay analysis of animal crossing behavior; S4, build a virtual traffic light strategy; S5. Adjust the driving status of networked construction vehicles.

2. A speed response strategy for ecological road networking construction vehicles as claimed in claim 1, characterized in that: In step S1, the vehicle-road collaboration adopts advanced wireless communication and new generation Internet technology to realize all-round dynamic real-time information interaction between vehicles and roads, and carries out vehicle-road collaboration safety and road collaboration control based on the collection and integration of dynamic traffic information in all time and space, so as to fully realize the effective collaboration between people, vehicles and roads; The networked construction vehicle is an intelligent entity equipped with multiple sensor fusion perception, planning decision-making and intelligent control functions, combined with high-precision positioning maps. It can conduct comprehensive judgment and analysis on the information received and perceived to determine whether there is a possibility of animals crossing the road; and adjust the vehicle's driving status based on the virtual traffic light optimization strategy.

3. A speed response strategy for ecological road networking construction vehicles as claimed in claim 2, characterized in that: The roadside sensing and identification facilities in step S1 include infrared cameras, radars and sensors, which perform all-weather uninterrupted monitoring, identification and data storage within the roadside area, and record the type, movement speed and number of animals.

4. A speed response strategy for ecological road networking construction vehicles as claimed in claim 3, characterized in that: In step S3, when the animal crosses the road, the right of way of the road changes, and the moving vehicle may need to go through a speed change process of deceleration-stop-acceleration when passing through the area, and the acceleration and deceleration process will increase the travel time of the vehicle; Assuming that vehicles arrive at the animal crossing area according to Poisson distribution and the time when animals cross the road is known, the specific vehicle delay can be expressed as follows: During the animal crossing process, the vehicle delay consists of two parts: one is the delay caused by the vehicle stopping and waiting when encountering animals occupying the road (D sc ), and the second is the delay caused by the dispersal of the convoy after the animal crossed the road (D tc ); From the moment the animal crosses the road to the moment the queue of vehicles completely dissipates, the dissipation time of the convoy is (t sc ); After the convoy dissipates, vehicles can pass freely for a period of time without causing vehicle delays; During the time when the animals occupy the road, vehicles begin to queue up, and the accumulated queue time includes the time when the animals are close to the edge of the road (t yc ) and the time the animal actually occupies the road (t rc ); In summary, the total vehicle delay is: The average vehicle delay is: Among them, D c is the total vehicle delay(s); d c is the average vehicle delay (s); D sc , D te They are the delay caused by vehicle parking and waiting, and the delay caused by the dissipation of the convoy (s); t sc is the vehicle evacuation time (s), S is the vehicle saturation flow rate (vehicles / s); λ is the vehicle arrival rate (vehicles / s); t yc ,t rc The loss time of animals approaching the road edge and the waiting time during which animals actually occupied the road (s), respectively; C is the duration (s) of the entire process of the animal crossing the road, which is not fixed.

5. The speed response strategy for ecological road networking construction vehicles as claimed in claim 1, characterized in that: Specifically, in step S4, for networked construction vehicles, animal crossing behavior is regarded as virtual traffic light control; the virtual traffic lights include virtual red lights, virtual yellow lights, and virtual green lights. The virtual red light indicates that animals are preparing to or are crossing the road, and motor vehicles are prohibited from passing; the virtual yellow light indicates that animals are about to cross the road. For vehicles traveling on ecological roads, they are now in a "vehicle buffer zone" on the road. Vehicles in this area do not have time to slow down and stop, and it is recommended to directly drive off the road section at a constant speed or accelerate; the virtual green light indicates that no animal crossing behavior is detected and identified, and motor vehicles can pass directly.

6. A speed response strategy for ecological road networking construction vehicles as claimed in claim 5, characterized in that: According to the type, number and direction of the animals moving, the "virtual red light time" can be divided into the following four scenarios: Scenario 1: An animal is walking alone, and the red light time is Where W: is the road width, m; v a : is the real-time speed of the animal, km / h; Scenario 2: Two animals are walking in opposite directions, and the red light is on for in are the moments when the second and first animals are detected, represents the minimum speed of the two animals; Scenario 3: A group of animals travel in a single direction, and the red light lasts for in are the moments when the second and first animals are detected, represents the minimum speed of the two animals; Scenario 4: An animal and a group of animals are crossing in opposite directions, and the red light time is in They are the starting time of the animal's movement in the two movement directions respectively.

7. A speed response strategy for ecological road networking construction vehicles as claimed in claim 6, characterized in that: Virtual yellow light: Based on the setting of the above-mentioned animal detection starting point position, when an animal is detected, there are three situations for vehicles traveling on the road section: first, some vehicles do not have time to slow down to ensure that the vehicles stop at the boundary where the animal crossing area intersects the road; second, the vehicle can ensure that the animal stops when it reaches the edge of the road and waits for the animal to cross the road; third, the vehicle does not need to stop, and the animal has crossed the road when it reaches the boundary; for the first situation, consider setting a vehicle buffer zone, which is the "virtual yellow light". The function of this area is: when the roadside animal detector recognizes the crossing behavior of the animal, the vehicle in this area accelerates to pass through the animal crossing road area without slowing down and stopping; for the latter two situations, you can drive normally, slow down and stop, or drive away at a constant speed; considering that the road vehicles are networked construction vehicles in the vehicle networking environment, there is no need to consider the driver's reaction time, and animal crossing safety is the top priority. It is considered that the shortest time required for the speed limit of the road section vehicle to slow down to 0 As a "virtual yellow light time", the buffer zone extends upstream from the animal crossing area boundary. The virtual green light time is the difference between the two virtual red light times.

Images