Vehicle speed control method and device for assisting automatic driving and electronic equipment

Abstract

The invention relates to a vehicle speed control method and device for assisting automatic driving and electronic equipment, and belongs to the technical field of automatic driving. The control method comprises the steps that a safe vehicle speed interval is obtained through the traffic flow speed, the minimum set cruise speed, the maximum set cruise speed and the limited speed; obtaining a passing vehicle speed interval of the ith round of green light through the remaining distance, the ith round of green light starting time point, the ith round of green light ending time point and the current time point, then obtaining a passing vehicle speed interval of n rounds, and adjusting the vehicle speed according to the intersection condition of the safe vehicle speed interval and the passing vehicle speed interval to enable the vehicle to be in a green light passing state when the vehicle reaches the current traffic light. The probability of parking when meeting the red light at the intersection can be effectively reduced, the number of times of vehicle braking and stopping and vehicle starting is further effectively reduced, power consumption of vehicle driving can be reduced, and the riding experience of a user can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle speed control method, device and electronic equipment for assisting autonomous driving. Background Art

[0002] Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, allowing computers to automatically and safely operate motor vehicles without any human intervention. Currently, assisted autonomous driving generally automatically adjusts the desired speed setting according to the speed limit of the road. The speed adjustment strategy rules are simple, and due to the lack of consideration of other factors that affect driving speed, it is easy to cause the car to stop and go, resulting in increased energy consumption and poor riding experience. Summary of the invention

[0003] To this end, the present invention provides a vehicle speed control method, device and electronic device for assisting automatic driving, so as to solve the problem of increased vehicle driving energy consumption and poor riding experience caused by the lack of consideration of other factors affecting driving speed in the prior art.

[0004] In a first aspect, a vehicle speed control method for assisting autonomous driving is provided, the method comprising:

[0005] A safe vehicle speed range is obtained according to the vehicle flow speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit; the vehicle flow speed and the speed limit are the vehicle flow speed of the current road and the speed limit of the current road respectively;

[0006] Obtain the speed range for passing the i-th round of green lights according to the remaining distance, the i-th round of green lights start time point, the i-th round of green lights end time point and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light;

[0007] The speed of the vehicle is adjusted according to the safe speed range and the passing speed range of n rounds, so that the vehicle can pass through the green light when it reaches the current traffic light.

[0008] Furthermore, obtaining the safe speed range according to the traffic speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit includes:

[0009] Obtaining a minimum value of the safe vehicle speed range according to the vehicle flow speed and the minimum set cruising speed;

[0010] Obtaining a maximum value of the safe speed range according to the traffic speed, the maximum set cruising speed and the speed limit;

[0011] The safe vehicle speed interval is obtained according to the minimum value of the interval and the maximum value of the interval.

[0012] Furthermore, obtaining the minimum value of the safe speed range according to the traffic speed and the minimum set cruising speed includes:

[0013] The interval minimum value is obtained by the interval minimum value formula, and the interval minimum value formula is:

[0014] V 区间最小值 =Max{k%×V 车流速度 , V 最小设置巡航车速};

[0015] Among them, V 区间最小值 is the minimum value of the safe speed range; k% is the first preset coefficient of the traffic speed; V 车流速度 is the current traffic speed of the road; V 最小设置巡航车速 Set the vehicle's minimum cruising speed.

[0016] Furthermore, obtaining the maximum value of the safe speed range according to the traffic speed, the maximum set cruising speed and the speed limit includes:

[0017] The interval maximum value is obtained by the interval maximum value formula, and the interval maximum value formula is:

[0018] V 区间最大值 =Min{j%×V 车流速度 , V 最大设置巡航车速， V 限速};

[0019] Among them, V 区间最大值 is the maximum value of the safe speed range; j% is the second preset coefficient of the traffic speed; V 车流速度 is the current traffic speed of the road; V 最大设置巡航车速 The minimum cruising speed of the vehicle; V 限速 The speed limit of the current road.

[0020] Furthermore, the speed range for passing the i-th round of green lights is obtained according to the remaining distance, the start time point of the i-th round of green lights, the end time point of the i-th round of green lights and the current time point, including:

[0021] The maximum passing speed of the passing speed interval of the i-th round of green lights is obtained according to the remaining distance, the starting time point of the i-th round of green lights and the current time point, and the calculation formula is:

[0022] V 最大通过车速 =S 剩余距离 / (T 第i轮绿灯开始时间点 -T 当前时间点 );

[0023] Among them, V 最大通过车速is the maximum passing speed in the passing speed interval of the i-th round of green lights; S 剩余距离 is the distance between the vehicle and the current traffic light; T 第i轮绿灯开始时间点 is the starting time of the i-th round of green light; T 当前时间点 is the current time point;

[0024] The minimum passing speed of the passing speed interval of the i-th round of green lights is obtained according to the remaining distance, the end time point of the i-th round of green lights and the current time point, and the calculation formula is:

[0025] V 最小通过车速 =S 剩余距离 / (T 第i轮绿灯结束时间点 -T 当前时间点 );

[0026] Among them, V 最小通过车速 is the minimum passing speed in the passing speed interval of the i-th round of green lights; S 剩余距离 is the distance between the vehicle and the current traffic light; T 第i轮绿灯结束时间点 is the end time of the i-th round of green light; T 当前时间点 is the current time point;

[0027] The speed range of the vehicle passing the i-th round of green light is [V 最小通过车速 ,V 最大通过车速 ].

[0028] Further, the adjusting the speed of the vehicle according to the safe speed range and the passing speed range of the n wheels includes:

[0029] Compare the safe speed interval with the passing speed interval of the nth round one by one, and if there is an intersection between the safe speed interval and the passing speed interval of the mth round, set the intersection interval as the target passing speed interval; m∈[1,n];

[0030] The current vehicle speed is adjusted so as to be maintained within the target passing speed interval and not higher than the maximum value of the safe speed interval.

[0031] Furthermore, the method further comprises:

[0032] If there are multiple passing speed intervals that intersect with the safe speed interval, the passing speed interval corresponding to the start time point of the green light closest to the current time is used as the interval to be merged; and the intersection interval of the interval to be merged and the safe speed interval is set as the target passing speed interval.

[0033] Furthermore, the method further comprises:

[0034] The safe speed interval is compared with the passing speed interval of n rounds one by one. If the safe speed interval has no intersection with the passing speed interval of n rounds, the vehicle is driven at the current speed, and an acceleration or deceleration operation is performed.

[0035] In a second aspect, a control device for assisting automatic driving is provided, the device comprising:

[0036] A safety module, used to obtain a safe vehicle speed range according to a vehicle flow speed, a minimum set cruising speed, a maximum set cruising speed and a speed limit; the vehicle flow speed and the speed limit are the vehicle flow speed of a current road and the speed limit of the current road respectively;

[0037] The vehicle speed determination module is used to obtain the speed range for passing the i-th round of green lights according to the remaining distance, the starting time point of the i-th round of green lights, the ending time point of the i-th round of green lights and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light;

[0038] The vehicle speed adjustment module is used to adjust the vehicle speed according to the safe speed range and the passing speed range of n rounds, so that the vehicle can pass through the green light when it reaches the current traffic light.

[0039] In a third aspect, an electronic device is provided, including:

[0040] at least one processor; and

[0041] a memory communicatively connected to the at least one processor; wherein,

[0042] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform any of the above-mentioned control methods.

[0043] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0044] Provided are a vehicle speed control method, device and electronic equipment for assisting automatic driving, wherein a safe speed range is obtained through traffic speed, a minimum set cruising speed, a maximum set cruising speed and a speed limit, and a passing speed range of the i-th round of green lights is obtained through the remaining distance, the start time point of the i-th round of green lights, the end time point of the i-th round of green lights and the current time point, and then the passing speed range of the n-th round is obtained, and according to the intersection of the safe speed range and the passing speed range, the vehicle speed is adjusted so that the vehicle is in a green light passing state when it reaches the current traffic light, which can effectively reduce the probability of stopping at a red light at an intersection, and further effectively reduce the number of times the vehicle brakes and starts, which can not only reduce the power consumption of the vehicle while driving, but also improve the riding experience of users.

[0045] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a flow chart of a vehicle speed control method for assisting automatic driving shown in an exemplary embodiment of the present invention;

[0048] Figure 2 is a schematic block diagram of a control device for assisting automatic driving shown in an exemplary embodiment of the present invention;

[0049] Figure 3 It is a schematic block diagram of an electronic device shown in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] Problems with existing technologies: Currently, assisted autonomous driving generally automatically adjusts the desired set speed according to the speed limit of the road. The speed regulation strategy has a single rule. Due to the lack of consideration of other factors that affect driving speed, it is easy for the car to stop and go, resulting in increased energy consumption of car driving and poor riding experience.

[0052] The embodiments of the present application provide a vehicle speed control method, device and electronic device for assisting in automatic driving, which assist in adjusting the desired set speed according to the traffic light status, reduce the probability of stopping at red lights at intersections, and enable the vehicle to maintain a constant speed more often. This can improve the energy-saving performance of the assisted driving system and provide users with a good riding experience.

[0053] The control method and device in this application are described below through specific embodiments.

[0054] See also Figure 1 , Figure 1 is a flow chart of a vehicle speed control method for assisting automatic driving according to an exemplary embodiment of the present invention, see Figure 1 , the method comprising:

[0055] Step S11, obtaining a safe vehicle speed range according to the vehicle flow speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit; the vehicle flow speed and the speed limit are the vehicle flow speed of the current road and the speed limit of the current road respectively;

[0056] Step S12, obtaining the speed range for passing the i-th round of green lights according to the remaining distance, the i-th round of green lights start time point, the i-th round of green lights end time point and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light;

[0057] Step S13: adjusting the vehicle speed according to the safe speed range and the n-wheel passing speed range so that the vehicle is in a green light passing state when it reaches the current traffic light.

[0058] It should be noted that the technical solution provided in this embodiment can realize vehicle speed control in the form of a mini-program or in the form of an independent application in specific practice. Applicable scenarios include but are not limited to: automatic driving assistance functions and other functional scenarios where the vehicle needs to adjust the speed on the road.

[0059] Specifically, the preset number of rounds n can be set according to the current vehicle speed and the distance from the traffic light, or it can be set according to the user's specific setting of the vehicle speed. For example, if the user sets the automatic driving speed to a higher level, the preset number of rounds n will be reduced accordingly.

[0060] It can be understood that the control method provided in this embodiment obtains the safe speed range through the traffic speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit, obtains the passing speed range of the i-th round of green lights through the remaining distance, the start time point of the i-th round of green lights, the end time point of the i-th round of green lights and the current time point, and then obtains the passing speed range of the n-th round. According to the intersection of the safe speed range and the passing speed range, the vehicle speed is adjusted so that the vehicle is in a green light passing state when it reaches the current traffic light, which can effectively reduce the probability of stopping at a red light at an intersection, and then effectively reduce the number of vehicle braking and vehicle starting. This can not only reduce the power consumption of the vehicle, but also improve the user's riding experience.

[0061] In specific practice, step S11 "obtaining a safe speed interval based on the traffic speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit" includes: obtaining the minimum value of the safe speed interval based on the traffic speed and the minimum set cruising speed; obtaining the maximum value of the safe speed interval based on the traffic speed, the maximum set cruising speed and the speed limit; obtaining the safe speed interval based on the minimum value and the maximum value.

[0062] Specifically, the minimum value of the safe speed interval is obtained according to the traffic speed and the minimum set cruising speed, including: obtaining the minimum value of the interval by using the minimum value formula of the interval, the minimum value formula of the interval is:

[0063] V 区间最小值 =Max{k%×V 车流速度 , V 最小设置巡航车速};

[0064] Among them, V 区间最小值 is the minimum value of the safe speed range; k% is the first preset coefficient of the traffic speed; V 车流速度 is the current traffic speed of the road; V 最小设置巡航车速 Set the vehicle's minimum cruising speed.

[0065] Specifically, the maximum value of the safe speed range is obtained according to the traffic speed, the maximum set cruising speed and the speed limit, including: obtaining the maximum value of the range through the maximum value formula of the range, the maximum value formula of the range is:

[0066] V 区间最大值 =Min{j%×V 车流速度 , V 最大设置巡航车速， V 限速};

[0067] Among them, V 区间最大值 is the maximum value of the safe speed range; j% is the second preset coefficient of the traffic speed; V 车流速度 is the current traffic speed of the road; V 最大设置巡航车速 The minimum cruising speed of the vehicle; V 限速 The speed limit of the current road.

[0068] It should be noted that the first preset coefficient k% and the second preset coefficient j% are determined based on the traffic speed, the historical traffic speed of the current road and the speed limit of the current road; the first preset coefficient k% and the second preset coefficient j% can also be set according to specific business requirements.

[0069] Specifically, to ensure traffic safety, the system controls the vehicle speed to meet the following requirements: a. the vehicle speed does not exceed j% of the traffic speed and does not fall below k% of the traffic speed; b. the vehicle speed does not exceed the road speed limit; c. the vehicle speed is within the system's supported control speed range.

[0070] It can be understood that the control method provided in this embodiment obtains a safe speed range based on the traffic speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit, and subsequently adjusts the vehicle speed based on the safe speed range, thereby improving driving safety.

[0071] In specific practice, step S12 "obtaining the passing speed interval of the i-th round of green lights based on the remaining distance, the starting time point of the i-th round of green lights, the ending time point of the i-th round of green lights and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light" includes: obtaining the maximum passing speed of the passing speed interval of the i-th round of green lights based on the remaining distance, the starting time point of the i-th round of green lights and the current time point, and the calculation formula is:

[0072] V 最大通过车速 =S 剩余距离 / (T 第i轮绿灯开始时间点 -T 当前时间点 );

[0073] Among them, V 最大通过车速 is the maximum passing speed in the passing speed interval of the i-th round of green lights; S 剩余距离 is the distance between the vehicle and the current traffic light; T 第i轮绿灯开始时间点 is the starting time of the i-th round of green light; T 当前时间点 is the current time point;

[0074] The minimum passing speed of the passing speed interval of the i-th round of green lights is obtained according to the remaining distance, the end time of the i-th round of green lights and the current time point. The calculation formula is:

[0075] V 最小通过车速 =S 剩余距离 / (T 第i轮绿灯结束时间点 -T 当前时间点 );

[0076] Among them, V 最小通过车速 is the minimum passing speed in the passing speed interval of the i-th round of green lights; S 剩余距离 is the distance between the vehicle and the current traffic light; T 第i轮绿灯结束时间点 is the end time of the i-th round of green light; T 当前时间点 is the current time point; the speed range of the vehicle passing the i-th round of green light is [V 最小通过车速 ,V 最大通过车速 ].

[0077] It should be noted that the vehicle speed control needs to meet the following conditions, and the current intersection does not wait for the red light:

[0078] T 当前时间点 +S 剩余距离 / V 车速 ∈[T 第i轮红绿灯开始时间 ,T 第i轮红绿灯结束时间 ](i≤n); where V 车速 is the target vehicle speed;

[0079] It can be understood that the control method provided in this embodiment can obtain the passing speed range of each round of green light.

[0080] In specific practice, step S13 "adjusting the vehicle speed according to the safe speed interval and the n-th round passing speed interval" includes: comparing the safe speed interval with the n-th round passing speed interval one by one, if there is an intersection interval between the safe speed interval and the m-th round passing speed interval, then setting the intersection interval as the target passing speed interval; m∈[1,n]; adjusting the current vehicle speed to keep it within the target passing speed interval and not higher than the maximum value of the safe speed interval.

[0081] It should be noted that if the safe speed interval and the mth round passing speed interval have an intersection interval, then the intersection interval is set as the target passing speed interval [a, b]; when v 当前 ∈[a,b], the system is at the speed v 当前 Control the vehicle. 当前 <a, the system slowly controls the vehicle to accelerate to speed a and maintains speed a. 当前 >b, the system slowly controls the vehicle to decelerate to speed b and maintains speed b.

[0082] It can be understood that the control method provided in this embodiment adjusts the vehicle speed according to the intersection of the safe speed range and the passing speed range so that the vehicle is in the green light passing state when it reaches the current traffic light, which can effectively reduce the probability of stopping at a red light at an intersection, and thus effectively reduce the number of vehicle braking and starting.

[0083] In specific practice, if there are multiple passing speed intervals that intersect with the safe speed interval, the passing speed interval corresponding to the start time point of the green light closest to the current time will be used as the interval to be merged; and the intersection interval of the interval to be merged and the safe speed interval will be set as the target passing speed interval.

[0084] In specific practice, the safe speed interval is compared with the n-wheel passing speed interval one by one. If the safe speed interval has no intersection with the n-wheel passing speed interval, the vehicle will travel at the current speed, accelerating or decelerating.

[0085] In a specific embodiment, the minimum cruise speed V sminset-SL =30km / h, maximum cruise speed V smaxset-SL =130km / h, current road speed limit V Traffic_limt =60km / h, current road traffic speed V Traffic =50km / h, the vehicle speed does not exceed 120% of the traffic speed, that is, the second preset coefficient is 120%, and is not less than 80% of the traffic speed, that is, the first preset coefficient is 80%. The remaining distance S of the current traffic light cur_retain = 1500m, the preset round number n = 3; the start and end time of the first round of green light of the current traffic light are T cur_start_1 =12:30:22, Tcur_end_i =12:31:02, the start and end time of the second round of green light are T cur_start_1 =12:32:02, T cur_end_i =12:32:42, the start and end time of the third round of green light are T cur_start_1 =12:33:42, T cur_end_i =12:34:22, current time T = 12:30:00, current vehicle speed is v 当前 =50km / h.

[0086] The safe speed range is [35,60] km / h; the three-wheel passing speed ranges are:

[0087] ① i=1, v∈[87,245]km / h;

[0088] ② i=2, v∈[33, 44]km / h;

[0089] ③ i=3, v∈[21, 24]km / h;

[0090] Then the target vehicle speed range is [35,44] km / h; v 当前 =50km / h>44km / h, the vehicle is controlled to decelerate to a speed of 44km / h and maintain this speed until the current traffic light, and then decelerate to pass.

[0091] See also Figure 2 , Figure 2 is a schematic block diagram of a control device for assisting automatic driving according to an exemplary embodiment of the present invention, see Figure 2 , the control device 100 for assisting the automatic driving comprises:

[0092] The safety module 101 is used to obtain a safe vehicle speed range according to the vehicle flow speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit; the vehicle flow speed and the speed limit are the vehicle flow speed of the current road and the speed limit of the current road respectively;

[0093] The vehicle speed determination module 102 is used to obtain the speed range for passing the i-th round of green lights according to the remaining distance, the start time point of the i-th round of green lights, the end time point of the i-th round of green lights and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light;

[0094] The vehicle speed adjustment module 103 is used to adjust the vehicle speed according to the safe speed range and the n-wheel passing speed range, so that the vehicle can pass through the green light when it reaches the current traffic light.

[0095] It should be noted that the technical solution provided in this embodiment can be applied in specific practice to scenarios including but not limited to: automatic driving assistance functions and other functional scenarios where the vehicle needs to adjust the speed on the road.

[0096] Specifically, the preset number of rounds n can be set according to the current vehicle speed and the distance from the traffic light, or it can be set according to the user's specific setting of the vehicle speed. For example, if the user sets the automatic driving speed to a higher level, the preset number of rounds n will be reduced accordingly.

[0097] It can be understood that the device provided in this embodiment obtains the safe speed range through the traffic speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit, obtains the passing speed range of the i-th round of green lights through the remaining distance, the start time point of the i-th round of green lights, the end time point of the i-th round of green lights and the current time point, and then obtains the passing speed range of the n-th round. According to the intersection of the safe speed range and the passing speed range, the vehicle speed is adjusted so that the vehicle is in a green light passing state when it reaches the current traffic light, which can effectively reduce the probability of stopping at a red light at an intersection, and then effectively reduce the number of vehicle braking and vehicle starting. This can not only reduce the power consumption of the vehicle, but also improve the user's riding experience.

[0098] See also Figure 3 , Figure 3 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present invention, see Figure 3 , an electronic device 200, comprising:

[0099] at least one processor 202; and

[0100] A memory 201 is communicatively connected to at least one processor 202; wherein,

[0101] The memory 201 stores instructions that can be executed by at least one processor 202 . The instructions are executed by at least one processor 202 so that the at least one processor 202 can execute any of the above control methods.

[0102] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0103] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0104] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle speed control method for assisting automatic driving, characterized in that: include: A safe vehicle speed range is obtained according to the vehicle flow speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit; the vehicle flow speed and the speed limit are the vehicle flow speed of the current road and the speed limit of the current road respectively; Obtain the speed range for passing the i-th round of green lights according to the remaining distance, the i-th round of green lights start time point, the i-th round of green lights end time point and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light; The speed of the vehicle is adjusted according to the safe speed range and the passing speed range of n rounds, so that the vehicle is in a green light passing state when it reaches the current traffic light.

2. The control method according to claim 1, characterized in that: The safe speed range is obtained according to the traffic speed, the minimum set cruising speed, the maximum set cruising speed and the speed limit, including: Obtaining a minimum value of the safe vehicle speed range according to the vehicle flow speed and the minimum set cruising speed; Obtaining a maximum value of the safe speed range according to the traffic speed, the maximum set cruising speed and the speed limit; The safe vehicle speed interval is obtained according to the minimum value of the interval and the maximum value of the interval.

3. The control method according to claim 2, characterized in that: The step of obtaining the minimum value of the safe speed range according to the traffic speed and the minimum set cruising speed includes: The interval minimum value is obtained by the interval minimum value formula, and the interval minimum value formula is: V 区间最小值 =Max{k%×V 车流速度 ,V 最小设置巡航车速 }; Among them, V 区间最小值 is the minimum value of the safe speed range; k% is the first preset coefficient of the traffic speed; V 车流速度 is the current traffic speed of the road; V 最小设置巡航车速 Set the vehicle's minimum cruising speed.

4. The control method according to claim 2, characterized in that: The step of obtaining the maximum value of the safe speed range according to the traffic speed, the maximum set cruising speed and the speed limit includes: The interval maximum value is obtained by the interval maximum value formula, and the interval maximum value formula is: V 区间最大值 =Min{j%×V 车流速度 ,V 最大设置巡航车速， V 限速 }; Among them, V 区间最大值 is the maximum value of the safe speed range; j% is the second preset coefficient of the traffic speed; V 车流速度 is the current traffic speed of the road; V 最大设置巡航车速 The minimum cruising speed of the vehicle; V 限速 The speed limit of the current road.

5. The control method according to claim 1, characterized in that: The method of obtaining the passing speed range of the i-th round of green lights according to the remaining distance, the starting time point of the i-th round of green lights, the ending time point of the i-th round of green lights and the current time point includes: The maximum passing speed of the passing speed interval of the i-th round of green lights is obtained according to the remaining distance, the starting time point of the i-th round of green lights and the current time point, and the calculation formula is: V 最大通过车速 =S 剩余距离 / (T 第i轮绿灯开始时间点 -T 当前时间点 ); Among them, V 最大通过车速 is the maximum passing speed in the passing speed interval of the i-th round of green lights; S 剩余距离 is the distance between the vehicle and the current traffic light; T 第i轮绿灯开始时间点 is the starting time of the i-th round of green light; T 当前时间点 is the current time point; The minimum passing speed of the passing speed interval of the i-th round of green lights is obtained according to the remaining distance, the end time point of the i-th round of green lights and the current time point, and the calculation formula is: V 最小通过车速 =S 剩余距离 / (T 第i轮绿灯结束时间点 -T 当前时间点 ); Among them, V 最小通过车速 is the minimum passing speed in the passing speed interval of the i-th round of green lights; S 剩余距离 is the distance between the vehicle and the current traffic light; T 第i轮绿灯结束时间点 is the end time of the i-th round of green light; T 当前时间点 is the current time point; The speed range of the vehicle passing the i-th round of green light is [V 最小通过车速 ,V 最大通过车速 ].

6. The control method according to claim 1, characterized in that: The adjusting the speed of the vehicle according to the safe speed range and the passing speed range of n rounds includes: Compare the safe speed interval with the passing speed interval of the nth round one by one, and if there is an intersection between the safe speed interval and the passing speed interval of the mth round, set the intersection interval as the target passing speed interval; m∈[1,n]; The current vehicle speed is adjusted so as to be maintained within the target passing speed interval and not higher than the maximum value of the safe speed interval.

7. The control method according to claim 6, characterized in that: The method further comprises: If there are multiple passing speed intervals that intersect with the safe speed interval, the passing speed interval corresponding to the start time point of the green light closest to the current time is used as the interval to be merged; and the intersection interval of the interval to be merged and the safe speed interval is set as the target passing speed interval.

8. The control method according to claim 1, characterized in that: The method further comprises: The safe speed interval is compared with the passing speed interval of n rounds one by one. If the safe speed interval has no intersection with the passing speed interval of n rounds, the vehicle is driven at the current speed, and an acceleration or deceleration operation is performed.

9. A control device for assisting automatic driving, characterized in that: include: A safety module, used to obtain a safe vehicle speed range according to a vehicle flow speed, a minimum set cruising speed, a maximum set cruising speed and a speed limit; the vehicle flow speed and the speed limit are the vehicle flow speed of a current road and the speed limit of the current road respectively; The vehicle speed determination module is used to obtain the speed range for passing the i-th round of green lights according to the remaining distance, the starting time point of the i-th round of green lights, the ending time point of the i-th round of green lights and the current time point; wherein i≤n, n is the preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light; The vehicle speed adjustment module is used to adjust the vehicle speed according to the safe speed range and the passing speed range of n rounds, so that the vehicle can pass through the green light when it reaches the current traffic light.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method according to any one of claims 1 to 8.

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