Green wave passage planning method, device, equipment, medium and product

Abstract

The invention discloses a green wave traffic planning method, device and equipment, a medium and a product. The method comprises the following steps: receiving real-time signal lamp information sent by one or more signal lamp devices, wherein the signal lamp information comprises position information of signal lamps, orientation of the signal lamps and real-time phase signals; acquiring real-time position information and a course angle of the vehicle; determining whether target signal lamp equipment of the vehicle exists in the one or more signal lamp equipment or not, and if yes, determining the target signal lamp equipment according to the orientation direction in real-time signal lamp information sent by the target signal lamp equipment and the course angle of the vehicle; and according to the real-time phase signal of the target signal lamp equipment, green wave traffic planning is carried out. By means of direct communication between the vehicle and the signal lamps, the vehicle can identify the target signal lamp from the multiple signal lamp signals in a self-adaptive mode, and then green wave detection is carried out according to the target signal lamp.

Description

Technical Field

[0001] The present invention belongs to the technical field of green wave passage detection, and in particular relates to a green wave passage planning method, device, equipment, medium and product. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The green wave algorithm is based on accurate acquisition of vehicle position information and traffic light position information. It calculates the optimal recommended speed or remaining waiting time based on information such as vehicle position, speed and traffic light status to achieve green wave passage, allowing vehicles to pass through a series of traffic lights on the road at the optimal speed, thereby optimizing traffic flow and efficiency and improving driving experience.

[0004] However, the straight lanes on both sides of the intersection in the same direction are not directly opposite due to the number of lanes and other reasons. There will be some deviation or misalignment. For special intersections, such as three-way intersections or five-way intersections. These reasons lead to the traffic lights not being able to face the center line of the road. In addition, there will be multiple lanes on the road, and the direction of the lights will deviate more from the direction of the vehicle. In addition, four-sided combined traffic lights are widely used in places such as busy intersections because they can display signals in multiple directions at the same time. Sometimes temporary mobile traffic lights are set at intersections in traffic congestion sections. Mobile traffic lights are usually also four-sided combined. For this type of traffic lights, the relative positions of the four sides are fixed. Since the road direction discussed above may be skewed or misaligned, or the intersection is not a regular intersection, the lights on each side may not face the intersection. When a vehicle drives to the intersection, the front may face two sides at the same time.

[0005] In the above situation, depending on the position of the vehicle and the signal light, the target signal light may be misidentified due to the directional deviation of the signal light and the road, and the navigation may give wrong instructions due to the misidentification of the red light or green light, causing violations or even traffic accidents.

[0006] Currently, there are also navigation systems that perform green wave detection based on big data learning and algorithm prediction. However, this method is complex to implement and requires a huge amount of basic data. In the case of temporary mobile traffic lights or when the duration of each traffic light is adjusted due to traffic flow, this method cannot be corrected quickly, which may result in false information and affect the driver's driving plan. Summary of the invention

[0007] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a green wave traffic planning method, device, equipment, medium and product. With the help of direct communication between the vehicle and the traffic light, the vehicle can adaptively identify the target traffic light from multiple traffic light signals according to the location and orientation of the traffic light, as well as the vehicle's own location and driving direction, and then perform green wave detection according to the traffic light signal of the target traffic light.

[0008] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0009] A green wave traffic planning method, applied to the vehicle side, comprises the following steps:

[0010] Receiving real-time signal light information sent by one or more signal light devices, the signal light information including the position information of the signal light, the direction of the signal light and the real-time phase signal;

[0011] Obtaining real-time position information and heading angle of the vehicle;

[0012] Determine whether there is a target signal light device of the vehicle among the one or more signal light devices, and if so, determine the target signal light device according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle;

[0013] Green wave traffic planning is performed according to the real-time phase signal of the target traffic light device.

[0014] In some embodiments, the signal light direction is the angle between the signal light direction and the center line of the road.

[0015] In some embodiments, determining whether there is a target signal light device for the vehicle among the one or more signal light devices includes: judging whether there is a target signal light device for the vehicle among the one or more signal light devices based on signal light position information in the signal light information, the current position information of the vehicle and the current driving direction of the vehicle.

[0016] In some embodiments, determining whether there is a target signal light device of the vehicle among the one or more signal light devices comprises:

[0017] Taking the current position of the vehicle as the starting point and the signal light device as the end point, a vector is obtained;

[0018] According to the difference between the vector and the heading angle of the vehicle, it is determined whether a target signal light device of the vehicle exists in the one or more signal light devices.

[0019] In some embodiments, the direction of travel of the vehicle relative to the signal light is determined based on the difference between the angle between the direction of the signal light and the center line of the road and the heading angle of the vehicle.

[0020] In some embodiments, green wave traffic planning includes: obtaining the phase signal corresponding to the driving direction in the real-time phase signal, determining whether the current light is green, and if not, calculating the waiting time; if so, calculating the green wave speed, and further determining whether the green wave speed exceeds the maximum speed limit of the current road. If so, it is considered that the vehicle cannot pass the current intersection with a green wave, and the waiting time is calculated; if not, outputting the green wave speed.

[0021] A second aspect of the present invention provides a green wave traffic planning device, comprising:

[0022] A signal light information receiving module is configured to receive real-time signal light information sent by one or more signal light devices, wherein the signal light information includes the position information of the signal light, the direction of the signal light and the real-time phase signal;

[0023] A vehicle information acquisition module is configured to acquire the real-time position information and heading angle of the vehicle;

[0024] a target signal light determination module, configured to determine whether there is a target signal light device of the vehicle among the one or more signal light devices, and if so, determine the target signal light device according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle;

[0025] The green wave traffic planning module is configured to perform green wave traffic planning according to the real-time phase signal of the target traffic light device.

[0026] A third aspect of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the method described.

[0027] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program implements the method described above when executed by a processor.

[0028] A fifth aspect of the present invention provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the method described is implemented.

[0029] One or more of the above technical solutions rely on direct communication between the vehicle and the traffic light. On the basis of receiving the position information and the direction of the traffic light sent by multiple traffic lights, the vehicle determines the target traffic light according to the angle between the direction of the traffic light and the heading angle in combination with the vehicle heading angle, and then performs green wave traffic planning according to the traffic light signal of the target traffic light. The method is simple to execute, and the target traffic light can be quickly and adaptively determined regardless of which lane the vehicle is traveling on. In addition, since the traffic light signal is directly obtained from the traffic light, the real-time nature of the information is guaranteed, and the accuracy of the green wave traffic planning can also be guaranteed in the case of adding temporary traffic lights or temporarily adjusting the display duration of the traffic lights. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 This is a flow chart of a green wave traffic planning method in an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the angle between the direction of the signal light and the center line of the road in an embodiment of the present invention;

[0033] Figure 3 is an example of a road condition;

[0034] Figure 4 Schematic diagram of error control of vehicle driving direction in an embodiment of the present invention;

[0035] Figure 5 This is a flow chart of green wave vehicle speed calculation in an embodiment of the present invention;

[0036] Figure 6 The present invention is a schematic diagram of an application scenario of an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0038] In the description of the embodiments of the present application, the term “including” and similar terms should be understood as open inclusion, that is, “including but not limited to.” The term “based on” should be understood as “based at least in part on.”

[0039] For the convenience of subsequent description, the following conventions are made for related terms: a signal light device refers to a signal light that is physically set up separately. For a four-sided combined signal light, the signal light on one side is regarded as a separate signal light.

[0040] As described in the background technology, due to the directional deviation between the signal light and the road, when multiple traffic light signals are obtained at the intersection ahead of the vehicle, the wrong target signal light may be identified. In the prior art, in order to determine the target signal light from the numerous signal lights at the intersection, the signal light is associated and bound with the road based on the high-precision map data. After the vehicle's driving road is determined, the target signal light is determined by matching the pre-set binding relationship between the road and the signal light. Although this method solves the technical problems mentioned in the background technology to a certain extent, it is necessary to first determine the road where the vehicle is located based on the positioning and map data, and then perform matching queries based on the binding relationship. The resource overhead required for the calculation is large, and the efficiency of obtaining the target traffic light is low. In addition, it is necessary to perform matching operations between the signal light and the road for all intersections equipped with signal lights in advance to generate a binding relationship library, which requires a large amount of calculation. In addition, due to the delay in the update of the high-precision map, when a new traffic light is deployed or a mobile signal light is temporarily placed, the data cannot be updated in time.

[0041] In order to improve the real-time performance of information acquisition, one or more embodiments of the present invention provide a green wave traffic planning method, which realizes direct and real-time signal transmission between traffic lights and vehicles based on V2I communication or other similar technologies, so that vehicles can transmit information such as position and speed to traffic signal control devices, thereby realizing real-time sharing of traffic information. The vehicle identifies the target traffic light of the vehicle based on the traffic light information acquired in real time, combined with its own positioning and heading angle. There is no need to use map data to determine the road where the vehicle is located, nor is there any need to bind all traffic lights and roads in advance. The calculation is convenient and the accuracy is high.

[0042] Specifically, the method comprises the following steps:

[0043] Step 1: receiving real-time signal light information sent by one or more signal light devices, wherein the signal light information includes the position information of the signal light, the direction of the signal light and the real-time phase signal;

[0044] Step 2: Obtain the real-time position information and heading angle of the vehicle;

[0045] Step 3: Determine whether the target signal light device of the vehicle exists in the one or more signal light devices, if so, execute step 4; if not, do not execute any processing;

[0046] Step 4: Determine the target signal light device according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle;

[0047] Step 5: Perform green wave traffic planning according to the real-time phase signal of the target traffic light device.

[0048] In step 1, based on V2I communication technology, the traffic light sends real-time traffic light information to surrounding vehicles. The traffic light information includes the location information of the traffic light, the angle deviation between the direction of the traffic light and the road, and the real-time phase signal. Among them, the coordinate position of the traffic light and the direction of the traffic light can be determined during the installation stage of the traffic light, and can also be determined after installation. The location information of the traffic light is a two-dimensional coordinate (x, y) in the geodetic coordinate system. The direction of the traffic light is defined as the angle between the direction of the traffic light and the center line of the road. Taking a four-sided combined traffic light as an example, Figure 2 As shown in the figure, the center of the road is taken as the coordinate origin O, the traffic light is installed at the center of the intersection, and the two opposite sides are defined as the N side and the S side. For example, the two sides of the traffic light that first turn green in the initial state of the phase control program are defined. The OA direction in the figure is the direction of the center line of the road, the OB direction is the actual direction of the traffic light controlling the road, and ∠AOB is the angle deviation θ. Based on the same method, the angles between the directions of the traffic lights on the other three sides and the center line of the road can be obtained.

[0049] When the traffic light information is sent to the vehicle based on the V2I communication technology, the position information of the traffic light, the angle deviation between the direction of the traffic light and the road, and the real-time phase signal are all written into the V2I communication code.

[0050] In step 2, in response to the vehicle receiving the signal light information based on step 1, the real-time position information and the heading angle of the vehicle are obtained.

[0051] The heading angle is the angle between the vehicle's driving direction and due north, with the clockwise direction being the positive direction in the range [00, 3600).

[0052] Since the angle of the traditional geodetic coordinate system is the angle between the driving direction and the due east direction, with the counterclockwise direction being the positive direction, the angle needs to be converted. The following is the conversion process, where α replaces the angle in the geodetic coordinate system and β replaces the heading angle:

[0053] α=(90°-β)

[0054] If α<0 at this time, the overall conversion process needs to be changed to the following formula:

[0055] α=(90°-β)+360°

[0056] In addition to the conversion of the heading angle, the longitude and latitude information also need to be converted into two-dimensional geodetic coordinates during the process of acquiring positioning information.

[0057] In step 3, since the signal light device transmits information to surrounding vehicles through V2I communication, all vehicles within the intersection will receive the signal. Figure 3 As shown, vehicles A, B and C will all receive information sent by the roadside unit, but only vehicle B meets the green wave requirement, while vehicles A and C do not. Therefore, the vehicle needs to determine whether the received signal light information comes from the signal light device in front of the vehicle. When it is determined that the signal light information is received from the signal light device in front, the subsequent steps are executed.

[0058] As a specific implementation method, it is determined whether the target signal light device of the vehicle exists in the one or more signal light devices according to the signal light position information in the signal light information, the current position information of the vehicle and the current driving direction of the vehicle.

[0059] Specifically, the center coordinates of the traffic light device are specified as (x, y), the current coordinates of the vehicle are specified as (m, n), and the heading angle of the vehicle after conversion is α. With the vehicle coordinates as the starting point of the vector and a certain traffic light device as the end point of the vector, a new vector is obtained, expressed as (xm, yn). The vector is converted into an angle δ in the geodetic coordinates, and the angle calculation formula is:

[0060] δ = arctan((yn) / (xm))

[0061] By comparing the two angles, when α-δ≈0 is satisfied, the algorithm determines that the vehicle is heading towards the signal light device.

[0062] In step 4, since a road intersection usually has traffic lights in all directions, when it is determined that the front traffic light has sent traffic light information, it is necessary to further determine which traffic light controls the road where the vehicle is located. In particular, for a four-sided combined traffic light, through the calculation in step 3, the entire combined traffic light is in the direction of the vehicle's travel, and it is also necessary to determine which traffic light on which side is the target traffic light.

[0063] Specifically, as a specific implementation method, the target signal light device is determined according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle. Corresponding to the definitions of the two signal light orientations given in step 1, there are also two methods for determining the target signal light device.

[0064] After obtaining the angle deviation θ and the converted heading angle α, the difference between α and θ is calculated to determine the driving direction. The corresponding relationship between the difference and the driving direction is shown in Table 2. In the process of angle comparison, the difference may be negative. In order to adapt to the logical judgment of the algorithm, it is stipulated that when the difference result is negative, 360° is added to the result. Based on the driving direction, the target traffic light can be determined.

[0065] For ease of explanation, the driving direction below is based on one side of the four-sided combination signal light. For example, driving from south to north means driving from the south side of the signal light to the north side, so that it can be known on which side the vehicle's target signal light is and which direction the phase signal is obtained.

[0066] Table 2 Correspondence between difference and driving direction

[0067] Difference Driving Directions 90° From East to West 180° From North to South 270° From West to East 360° From South to North

[0068] In actual situations, since the road has a certain width, vehicles may travel on any lane, such as Figure 4 As shown, the above-mentioned difference calculated is difficult to be absolutely equal to the above-mentioned value. Therefore, a range control is also given, such as ∠MQN in the figure. Deviations are allowed within the specified range when calculating the difference. For example, when the difference is [90°-∠MQN, 90°+∠MQN), the driving direction can be considered to be from east to west.

[0069] In step 5, after determining the target signal light device, the real-time phase state of the target signal light device is obtained. The following table shows eight status codes for two sides of the four-sided combined signal light (G: green, Y: yellow, R: red, for example, status code 0 means: the north-south straight line is green, and other indicator lights are red).

[0070] Table 3 Example of real-time phase status of traffic lights

[0071] 0 1 2 3 4 5 6 7 Go straight north and south G Y R R R R R R Turn left from north to south R R G Y R R R R Go straight east-west R R R R G Y R R Turn left R R R R R R G Y

[0072] The traffic light executes the status codes in the table above cyclically and transmits them to surrounding vehicles through V2I communication. After the target traffic light device is determined, the corresponding phase information can be obtained from the phase information.

[0073] As another specific implementation, the signal light information also includes the true azimuth of the direction of the signal light. The true azimuth is the horizontal angle measured clockwise from the true north direction line to the direction of the direction, and can represent the absolute direction of the signal light. For a four-sided combined signal light, since the relative positions of the four faces are fixed, once the true azimuth of the direction of the signal light on one face is determined, the true azimuths of the directions of the other three faces can also be calculated.

[0074] Since the true azimuth of the direction of the signal light and the heading angle of the vehicle are both referenced to the true north direction, the signal light device facing the vehicle can be determined based on the difference between the true azimuth and the heading angle of the vehicle of each signal light device. Specifically, the difference between the true azimuth and the heading angle of the vehicle of each signal light device is calculated, and the signal light device with the absolute value of the difference closest to 180° is the target signal light device. This method does not require pre-compensation for the angular deviation between the direction of the signal light and the center line of the road, does not consider the road at all, and only uses the direction as the basis for judgment, which makes the calculation simpler.

[0075] It can be understood that high-precision maps and navigation technology can be further combined to determine the vehicle's intention to go straight or turn according to the lane the vehicle is in, and determine which direction of phase information to obtain from the traffic light phase information based on the intention to go straight or turn.

[0076] like Figure 5 As shown, the phase signal corresponding to the driving direction in the real-time phase signal is obtained to determine whether the current light is green. If not, the waiting time is calculated; if so, the green wave speed is calculated. The current driving speed of the vehicle can be calculated based on the real-time positioning of the vehicle, and of course, it can also be obtained through other vehicle-mounted motion sensors.

[0077] After obtaining the green wave speed, further determine whether the green wave speed exceeds the maximum speed limit of the current road. If not, output the green wave speed; if so, it is considered that the vehicle cannot pass the current intersection with a green wave, and calculate the waiting time. The waiting time is the remaining green light time plus the red light time to be waited, and the calculation formula is:

[0078]

[0079] V=S / T

[0080] If the corresponding status ahead is a red light or a yellow light, the waiting time for passing the intersection is provided.

[0081] In one or more of the above embodiments, the real-time V2I communication between the vehicle and the traffic light is used to obtain the vehicle position information through the positioning information device carried by the vehicle, and combined with the position information of the traffic light, the position relationship between the vehicle heading angle and the angle deviation between the direction of the traffic light and the road is analyzed, so as to accurately identify the target light from multiple lights at the intersection in the forward direction. Subsequently, the green wave traffic algorithm calculates the best recommended speed or remaining waiting time based on information such as the vehicle position, speed and light status, so that the vehicle can smoothly pass a series of lights on the road at the optimal speed, thereby optimizing traffic flow and improving traffic efficiency and driving experience.

[0082] One or more embodiments of the present invention further provide a green wave traffic planning device, including:

[0083] A signal light information receiving module is configured to receive real-time signal light information sent by one or more signal light devices, wherein the signal light information includes the position information of the signal light, the direction of the signal light and the real-time phase signal;

[0084] A vehicle information acquisition module is configured to acquire the real-time position information and heading angle of the vehicle;

[0085] a target signal light determination module, configured to determine whether there is a target signal light device of the vehicle among the one or more signal light devices, and if so, determine the target signal light device according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle;

[0086] The green wave traffic planning module is configured to perform green wave traffic planning according to the real-time phase signal of the target traffic light device.

[0087] One or more embodiments of the present invention further provide an electronic device that can be used to implement the green wave traffic planning method in the above embodiments. The electronic device includes one or more processors, one or more memories coupled to the processors, and a communication module coupled to the processors.

[0088] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, hard disk, compact disc (CD), digital video disc (DVD) or other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: random access memory (RAM), or other volatile memories that do not last during the power outage. The computer program may be stored in the ROM. The processor implements the above-mentioned green wave traffic planning method when executing the computer program.

[0089] In some embodiments, the program may be tangibly contained in a computer-readable medium, which may be included in a device (such as in a memory) or other storage device accessible by the device. The program may be loaded from the computer-readable medium to the RAM for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, and the computer-readable storage medium stores a computer program, which implements the above-mentioned green wave traffic planning method when executed by a processor.

[0090] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a server or terminal, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a server or terminal or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, a hard disk and a tape, etc.), an optical medium (such as a digital video disk (digital video disk, DVD), etc.), or a semiconductor medium (such as a solid-state hard disk, etc.).

[0091] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in the specific order shown or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the application. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0092] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A green wave traffic planning method, characterized in that: Applied to the vehicle side, including the following steps: Receiving real-time signal light information sent by one or more signal light devices, the signal light information including the position information of the signal light, the direction of the signal light and the real-time phase signal; Obtaining real-time position information and heading angle of the vehicle; Determine whether there is a target signal light device of the vehicle among the one or more signal light devices, and if so, determine the target signal light device according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle; Green wave traffic planning is performed according to the real-time phase signal of the target traffic light device.

2. The green wave traffic planning method according to claim 1, characterized in that: The signal light direction is the angle between the signal light direction and the center line of the road.

3. The green wave traffic planning method according to claim 2, characterized in that: Determining whether there is a target signal light device for the vehicle among the one or more signal light devices includes: judging whether there is a target signal light device for the vehicle among the one or more signal light devices based on signal light position information in the signal light information, the current position information of the vehicle and the current driving direction of the vehicle.

4. The green wave traffic planning method according to claim 3, characterized in that: Determining whether there is a target signal light device of the vehicle in the one or more signal light devices comprises: Taking the current position of the vehicle as the starting point and the signal light device as the end point, a vector is obtained; According to the difference between the vector and the heading angle of the vehicle, it is determined whether a target signal light device of the vehicle exists in the one or more signal light devices.

5. The green wave traffic planning method according to claim 4, characterized in that: The driving direction of the vehicle relative to the signal light is determined based on the difference between the angle between the direction of the signal light and the center line of the road and the heading angle of the vehicle.

6. The green wave traffic planning method according to claim 5, characterized in that: Green wave traffic planning includes: obtaining the phase signal corresponding to the driving direction in the real-time phase signal, judging whether the current light is green, and if not, calculating the waiting time; if so, calculating the green wave speed, and further judging whether the green wave speed exceeds the maximum speed limit of the current road, and if so, considering that the vehicle cannot pass the current intersection with a green wave, and calculating the waiting time; if not, outputting the green wave speed.

7. A green wave traffic planning device, characterized in that: include: A signal light information receiving module is configured to receive real-time signal light information sent by one or more signal light devices, wherein the signal light information includes the position information of the signal light, the direction of the signal light and the real-time phase signal; A vehicle information acquisition module is configured to acquire the real-time position information and heading angle of the vehicle; a target signal light determination module, configured to determine whether there is a target signal light device of the vehicle among the one or more signal light devices, and if so, determine the target signal light device according to the orientation direction in the real-time signal light information sent by the target signal light device and the heading angle of the vehicle; The green wave traffic planning module is configured to perform green wave traffic planning according to the real-time phase signal of the target traffic light device.

8. An electronic device comprising a processor and a memory, wherein the memory stores computer instructions, characterized in that: When the computer instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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