A vehicle speed control method, device and electronic equipment for assisting autonomous driving

Abstract

The application 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 following steps: obtaining a safe vehicle speed interval through a vehicle flow speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit; obtaining a passing vehicle speed interval of the i-th round of green light through a remaining distance, an i-th round of green light starting time point, an i-th round of green light ending time point and a current time point; then obtaining passing vehicle speed intervals of n rounds of green light; and adjusting the vehicle speed according to the intersection of the safe vehicle speed interval and the passing vehicle speed interval, so that the vehicle reaches a green light passing state when reaching the current red and green light, the probability of stopping at the intersection when encountering a red light is effectively reduced, the number of vehicle stopping and starting is effectively reduced, the power consumption of vehicle driving is reduced, and the user's riding experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a vehicle speed control method and device for assisting automatic driving and electronic equipment. BACKGROUND

[0002] An automatic driving car is a motor vehicle that can be automatically and safely operated without any human initiative operation by means of artificial intelligence, visual calculation, radar, monitoring device and global positioning system. At present, the speed of an automatic driving car is generally automatically adjusted according to the speed limit of a road to set a desired speed. However, this speed adjustment strategy is single, and since other factors affecting the driving speed are not considered, the car is likely to stop and start frequently, which results in the problems of increased energy consumption and poor riding experience. SUMMARY

[0003] Therefore, the present application provides a vehicle speed control method and device for assisting automatic driving and electronic equipment to solve the problems of increased energy consumption and poor riding experience caused by the lack of consideration of other factors affecting the driving speed in the prior art.

[0004] In a first aspect, a vehicle speed control method for assisting automatic driving is provided, and the method comprises the following steps:

[0005] obtaining a safe speed interval according to a traffic speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit; the traffic speed and the speed limit are the traffic speed of a current road and the speed limit of the current road in sequence;

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

[0007] adjusting the speed of the vehicle according to the safe speed interval and the n passing speed intervals of the rounds of green light, so that the vehicle reaches the current traffic light when the traffic light is green.

[0008] Further, the step of obtaining the safe speed interval according to the traffic speed, the minimum set cruise speed, the maximum set cruise speed and the speed limit comprises the following steps:

[0009] obtaining an interval minimum value of the safe speed interval according to the traffic speed and the minimum set cruise speed;

[0010] obtaining an interval maximum value of the safe speed interval according to the traffic speed, the maximum set cruise speed and the speed limit;

[0011] obtaining the safe speed interval according to the interval minimum value and the interval maximum value.

[0012] Further, the interval minimum value of the safety speed interval is obtained according to the traffic speed and the minimum set cruise speed, comprising:

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

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

[0015] Wherein, V 区间最小值 is the interval minimum value of the safety speed interval; k% is the first preset coefficient of the traffic speed; V 车流速度 is the traffic speed of the current road; V 最小设置巡航车速 is the minimum set cruise speed of the vehicle.

[0016] Further, the interval maximum value of the safety speed interval is obtained according to the traffic speed, the maximum set cruise speed and the speed limit, comprising:

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

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

[0019] Wherein, V 区间最大值 is the interval maximum value of the safety speed interval; j% is the second preset coefficient of the traffic speed; V 车流速度 is the traffic speed of the current road; V 最大设置巡航车速 is the minimum set cruise speed of the vehicle; V 限速 is the speed limit of the current road.

[0020] Further, the passing speed interval of the i-th green light is obtained according to the remaining distance, the start time point of the i-th green light, the end time point of the i-th green light and the current time point, comprising:

[0021] The maximum passing speed of the passing speed interval of the i-th green light is obtained according to the remaining distance, the start time point of the i-th green light 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] Wherein, V 最大通过车速is the maximum passing speed of the passing speed interval of the ith round green light; 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 point of the ith round 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 ith round green light is obtained according to the remaining distance, the ending time point of the ith round green light 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] wherein, V 最小通过车速 is the minimum passing speed of the passing speed interval of the ith round green light; 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 ending time point of the ith round green light; T 当前时间点 is the current time point;

[0027] The passing speed interval of the ith round 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 safety speed interval and n rounds of the passing speed interval comprises:

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

[0030] Adjusting the current vehicle speed to keep it within the target passing speed interval, and not higher than the maximum value of the safety speed interval.

[0031] Further, the method further comprises:

[0032] If there are multiple passing speed intervals intersecting with the safety speed interval, the passing speed interval corresponding to the starting time point of the round of green light closest to the current time is set as the to-be-merged interval; and the intersection interval between the to-be-merged interval and the safety speed interval is set as the target passing speed interval.

[0033] Further, the method further comprises:

[0034] The safety vehicle speed interval is compared with the n rounds of the passing vehicle speed intervals one by one, and if the safety vehicle speed interval has no intersection with the n rounds of the passing vehicle speed intervals, the current vehicle speed is maintained, accelerated or decelerated.

[0035] In a second aspect, a control device for assisting autonomous driving is provided, and the device comprises:

[0036] a safety module configured to obtain a safety vehicle speed interval according to a traffic speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit, wherein the traffic speed and the speed limit are a traffic speed of a current road and a speed limit of the current road respectively;

[0037] a passing vehicle speed determination module configured to obtain a passing vehicle speed interval of an i-th round of a green light according to a remaining distance, a start time point of the i-th round of the green light, an end time point of the i-th round of the green light and a current time point, wherein i≤n, n is a preset number of rounds, and the remaining distance is a distance between the vehicle and a current traffic light;

[0038] a vehicle speed adjustment module configured to adjust a vehicle speed of the vehicle according to the safety vehicle speed interval and the n rounds of the passing vehicle speed intervals, so that the vehicle reaches the current traffic light when the green light is on.

[0039] In a third aspect, an electronic device is provided, and the device comprises:

[0040] at least one processor; and

[0041] a memory connected to the at least one processor in communication; wherein

[0042] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any of the above control methods.

[0043] The above technical solution has at least the following beneficial effects:

[0044] A vehicle speed control method and device for assisting autonomous driving and an electronic device are provided, a safety vehicle speed interval is obtained according to a traffic speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit, a passing vehicle speed interval of an i-th round of a green light is obtained according to a remaining distance, a start time point of the i-th round of the green light, an end time point of the i-th round of the green light and a current time point, then n rounds of passing vehicle speed intervals are obtained, the vehicle speed is adjusted according to an intersection of the safety vehicle speed interval and the passing vehicle speed intervals, so that the vehicle reaches the current traffic light when the green light is on, which can effectively reduce the probability of stopping at a red light at an intersection, and in turn effectively reduce the number of times of stopping and starting the vehicle, thereby reducing the power consumption of the vehicle and improving the user's riding experience.

[0045] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings required to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

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

[0048] Figure 2 is a schematic block diagram of a control device for assisting automatic driving according to an exemplary embodiment of the present application;

[0049] Figure 3 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

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

[0051] Problems existing in the prior art: At present, the assisted automatic driving generally automatically adjusts the expected set vehicle speed according to the speed limit of the road. This speed adjustment strategy is single, and due to the lack of consideration of other factors affecting the driving speed, it is easy to make the car stop and start frequently, resulting in the problem of aggravating the energy consumption of the 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 automatic driving, which adjusts the expected set vehicle speed according to the traffic light state, reduces the probability of stopping at a red light at an intersection, makes the vehicle more keep driving at a constant speed, can improve the energy saving performance of the assisted driving system, and brings good riding experience to the user.

[0053] The control method and device in the present application will be described below through specific embodiments.

[0054] Please refer to 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 application, please refer to Figure 1 , the method comprises:

[0055] Step S11, obtaining a safe vehicle speed interval according to a vehicle flow speed, a minimum set cruise speed, a maximum set cruise 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 in sequence;

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

[0057] Step S13, adjusting a vehicle speed of the vehicle according to the safe vehicle speed interval and the n passing vehicle speed intervals, so that the vehicle reaches the current traffic light when the current traffic light is in a green light passing state.

[0058] It should be noted that the technical scheme provided in the embodiment can be implemented in the form of a small program or in the form of an independent application to control the vehicle speed, and the applicable scenarios include but are not limited to: automatic driving auxiliary functions and other functional scenarios in which the vehicle needs to be speed-regulated 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 can be set according to the specific setting of the vehicle speed by the user, for example, if the user sets a large automatic driving speed, the preset number of rounds n will be reduced accordingly.

[0060] It can be understood that the control method provided in the embodiment obtains a safe vehicle speed interval according to a vehicle flow speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit, obtains a passing vehicle speed interval of the i-th green light according to a remaining distance, a start time point of the i-th green light, an end time point of the i-th green light and a current time point, and then obtains the passing vehicle speed interval of n rounds, adjusts the vehicle speed of the vehicle according to the intersection of the safe vehicle speed interval and the passing vehicle speed interval, so that the vehicle reaches the current traffic light when the current traffic light is in a green light passing state, which can effectively reduce the probability of stopping at a red light at an intersection, and in turn effectively reduce the number of times of stopping and starting the vehicle, which not only reduces the power consumption of the vehicle during driving, but also improves the user's riding experience.

[0061] In specific practice, the step S11 of "obtaining a safe vehicle speed interval according to a vehicle flow speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit" includes: obtaining an interval minimum value of the safe vehicle speed interval according to the vehicle flow speed and the minimum set cruise speed; obtaining an interval maximum value of the safe vehicle speed interval according to the vehicle flow speed, the maximum set cruise speed and the speed limit; and obtaining the safe vehicle speed interval according to the interval minimum value and the interval maximum value.

[0062] Specifically, obtaining the interval minimum value of the safe vehicle speed interval according to the vehicle flow speed and the minimum set cruise speed includes: obtaining the interval minimum value by an interval minimum value formula, the interval minimum value formula being:

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

[0064] wherein, V 区间最小值 is the interval minimum value of the safety speed interval; k% is the first preset coefficient of the traffic speed; V 车流速度 is the traffic speed of the current road; V 最小设置巡航车速 is the minimum set cruise speed of the vehicle.

[0065] Specifically, the interval maximum value of the safety speed interval is obtained according to the traffic speed, the maximum set cruise speed and the speed limit, comprising: obtaining the interval maximum value through the interval maximum value formula, the interval maximum value formula is:

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

[0067] wherein, V 区间最大值 is the interval maximum value of the safety speed interval; j% is the second preset coefficient of the traffic speed; V 车流速度 is the traffic speed of the current road; V 最大设置巡航车速 is the minimum set cruise speed of the vehicle; V 限速 is 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 needs to control the vehicle speed to meet: a. The speed is not more than j% of the traffic speed, and not less than k% of the traffic speed; b. Not more than the speed limit of the road; c. In the system's support control speed interval.

[0070] It can be understood that the control method provided in the embodiment obtains the safety speed interval based on the traffic speed, the minimum set cruise speed, the maximum set cruise speed and the speed limit, and adjusts the vehicle speed based on the safety speed interval in the later period, thereby improving the driving safety.

[0071] In the specific implementation, the step S12 includes: obtaining a maximum passing speed of the passing speed interval of the i-th round green light according to the remaining distance, the start time point of the i-th round green light 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] wherein, V 最大通过车速 is the maximum passing speed of the passing speed interval of the i-th round green light; 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 start time point of the i-th round green light; T 当前时间点 is the current time point.

[0074] obtaining a minimum passing speed of the passing speed interval of the i-th round green light according to the remaining distance, the end time point of the i-th round green light and the current time point, and 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] wherein, V 最小通过车速 is the minimum passing speed of the passing speed interval of the i-th round green light; 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 point of the i-th round green light; T 当前时间点 is the current time point; and the passing speed interval of the i-th round green light is [V 最小通过车速 , V 最大通过车速 ].

[0077] It should be noted that the current intersection is not equal to the red light when the control vehicle speed needs to meet the following conditions:

[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); wherein, V 车速 is the target speed.

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

[0080] In a specific implementation, the step S13 of adjusting the vehicle speed according to the safe speed interval and the n rounds of passing speed intervals comprises: comparing the safe speed interval with the n rounds of passing speed intervals one by one, if there is an intersection interval between the safe speed interval and the mth round of passing speed intervals, setting the intersection interval as a target passing speed interval; m ∈ [1, n]; and 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 there is an intersection interval between the safe speed interval and the mth round of passing speed intervals, the intersection interval is set as the target passing speed interval [a, b]; when v 当前 ∈ [a, b], the system controls the vehicle to travel at the speed v 当前 . When v 当前 < a, the system controls the vehicle to accelerate slowly to the speed a and keep traveling at the speed a. When v 当前 > b, the system controls the vehicle to decelerate slowly to the speed b and keep traveling at the speed b.

[0082] It can be understood that the control method provided in the embodiment can adjust the vehicle speed according to the intersection of the safe speed interval and the passing speed interval, so that the vehicle reaches the green light passing state when passing the current red light, which can effectively reduce the probability of stopping at the intersection when encountering a red light, and further effectively reduce the number of stopping and starting of the vehicle.

[0083] In a specific implementation, if there are multiple passing speed intervals that have intersections with the safe speed interval, the passing speed interval corresponding to the time point of the start of the green light of the round closest to the current time is taken as a to-be-merged interval; and the intersection interval between the to-be-merged interval and the safe speed interval is set as a target passing speed interval.

[0084] In a specific implementation, the safe speed interval is compared with the n rounds of passing speed intervals one by one, if there is no intersection interval between the safe speed interval and the n rounds of passing speed intervals, the vehicle travels at the current vehicle speed, accelerates or decelerates.

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

[0086] The safety vehicle speed interval is [35, 60] km / h; the passing vehicle speed intervals of the three rounds 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 passing vehicle speed interval is [35, 44] km / h; v 当前 = 50 km / h > 44 km / h, the vehicle is controlled to slow down to a speed of 44 km / h, and keeps driving at the speed until the current red light, and slows down to pass.

[0091] Please refer to Figure 2 , Figure 2 is a schematic block diagram of an auxiliary automatic driving control device shown in an exemplary embodiment of the present application, referring to Figure 2 , the auxiliary automatic driving control device 100 comprises:

[0092] A safety module 101 is configured to obtain a safety vehicle speed interval according to a vehicle flow speed, a minimum set cruise speed, a maximum set cruise 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;

[0093] A passing vehicle speed determination module 102 is configured to obtain a passing vehicle speed interval of the i-th round green light according to a remaining distance, a start time point of the i-th round green light, an end time point of the i-th round green light and a current time point; wherein i ≤ n, n is a preset number of rounds; the remaining distance is the distance between the vehicle and the current red light;

[0094] A vehicle speed adjustment module 103 is configured to adjust the vehicle speed according to the safety vehicle speed interval and the n round passing vehicle speed intervals, so as to make the vehicle reach the current red light when the light is green.

[0095] It should be noted that the technical solutions provided in the embodiments can be applied to scenarios including but not limited to automatic driving auxiliary functions and other function scenarios in which a vehicle needs to be speed-regulated on a road.

[0096] Specifically, the preset number of rounds n can be set according to the current vehicle speed and the distance to the traffic light, or can be set according to the specific setting of the vehicle speed by the user, for example, if the user sets a large automatic driving speed, the preset number of rounds n will be reduced accordingly.

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

[0098] Please refer to Figure 3 , Figure 3 is a schematic block diagram of an electronic device according to an example embodiment of the present application, referring to Figure 3 , the electronic device 200 comprises:

[0099] at least one processor 202; and

[0100] a memory 201 connected in communication with the at least one processor 202; wherein

[0101] The memory 201 stores instructions executable by the at least one processor 202, and the instructions are executed by the at least one processor 202 to enable the at least one processor 202 to perform any of the above control methods.

[0102] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended 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. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in the embodiments provided by the present 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 but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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), etc.

[0104] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0105] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent protection of the present application should be subject to the appended claims.

Claims

1. A vehicle speed control method for assisting automatic driving, characterized by, The method comprises the following steps: obtaining a safe speed interval according to a traffic speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit; the traffic speed and the speed limit are the traffic speed of a current road and the speed limit of the current road respectively; obtaining a passing speed interval of the ith green light according to a remaining distance, a start time point of the ith green light, an end time point of the ith green light and a current time point; wherein, i≤n, n is a preset number of rounds; the remaining distance is the distance between the vehicle and the current traffic light; adjusting the speed of the vehicle according to the safe speed interval and n passing speed intervals of the green light, so that the vehicle reaches the current traffic light when the green light is in a passing state; the step of obtaining the passing speed interval of the ith green light according to the remaining distance, the start time point of the ith green light, the end time point of the ith green light and the current time point comprises: obtaining a maximum passing speed of the passing speed interval of the ith green light according to the remaining distance, the start time point of the ith green light 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 ); Wherein, V 最大通过车速 is the maximum passing speed of the passing speed interval of the ith round green light; 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 ith round green light start time point; T 当前时间点 is the current time point; obtaining a minimum passing speed of the passing speed interval of the ith green light according to the remaining distance, the end time point of the ith green light 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 ); Wherein, V 最小通过车速 is the minimum passing speed of the passing vehicle speed interval of the ith round green light; 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 ith round green light end time point; T 当前时间点 is the current time point; The passing vehicle speed interval of the ith round green light is [V 最小通过车速 , V 最大通过车速 ] the step of adjusting the speed of the vehicle according to the safe speed interval and n passing speed intervals of the green light comprises: comparing the safe speed interval with n passing speed intervals of the green light one by one, if there is an intersection interval between the safe speed interval and the mth passing speed interval of the green light, the intersection interval is set as a 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.

2. The control method according to claim 1, characterized by, the step of obtaining the safe speed interval according to the traffic speed, the minimum set cruise speed, the maximum set cruise speed and the speed limit comprises: obtaining a minimum value of the safe speed interval according to the traffic speed and the minimum set cruise speed; obtaining a maximum value of the safe speed interval according to the traffic speed, the maximum set cruise speed and the speed limit; obtaining the safe speed interval according to the minimum value and the maximum value.

3. The control method according to claim 2, characterized by, the step of obtaining the minimum value of the safe speed interval according to the traffic speed and the minimum set cruise speed comprises: obtaining the minimum value by a minimum value formula, and the 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}; Wherein, V 区间最小值 is the interval minimum value of the safe vehicle speed interval; k is the first preset coefficient of the vehicle flow speed; V 车流速度 is the vehicle flow speed of the current road; V 最小设置巡航车速 is the minimum set cruise speed of the vehicle.

4. The control method according to claim 2, characterized by, the step of obtaining the maximum value of the safe speed interval according to the traffic speed, the maximum set cruise speed and the speed limit comprises: obtaining the maximum value by a maximum value formula, and the 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}; V 区间最大值 is an interval maximum value of the safe vehicle speed interval; j is a second preset coefficient of the traffic speed; V 车流速度 is the traffic speed of the current road; V 最大设置巡航车速 is the minimum set cruise speed of the vehicle; V 限速 is the speed limit of the current road.

5. The control method according to claim 1, characterized by, the method further comprises: if there are multiple passing speed intervals of the green light and the safe speed interval have intersections, taking the passing speed interval corresponding to the start time point of the green light of the round closest to the current time as a to-be-merged interval; and taking the intersection interval between the to-be-merged interval and the safe speed interval as the target passing speed interval.

6. The control method according to claim 1, characterized by, the method further comprises: comparing the safe speed interval with n passing speed intervals of the green light one by one, if there is no intersection between the safe speed interval and n passing speed intervals of the green light, driving at the current vehicle speed, accelerating or decelerating.

7. A control device for assisting automatic driving, characterized by The control method comprises the following steps: a safety module is configured to obtain a safety speed interval according to a traffic flow speed, a minimum set cruise speed, a maximum set cruise speed and a speed limit; the traffic flow speed and the speed limit are the traffic flow speed of a current road and the speed limit of the current road, respectively; The passing vehicle speed interval of the ith round of green light is obtained according to the remaining distance, the starting time point of the ith round of green light, the ending time point of the ith round of green light and the current time point; wherein, i≤n, n is a preset round number; the remaining distance is the distance between the vehicle and the current traffic light; the maximum passing vehicle speed of the passing vehicle speed interval of the ith round of green light is obtained according to the remaining distance, the starting time point of the ith round of green light and the current time point, and the calculation formula is: 最大通过车速 剩余距离 第i轮绿灯开始时间点 当前时间点 ​​​​ V 最大通过车速 is the maximum passing speed of the passing speed interval of the ith round green light; 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 point of the ith round green light; T 当前时间点 is the current time point; the minimum passing speed of the passing speed interval of the ith round green light is obtained according to the remaining distance, the ending time point of the ith round green light 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 ); Wherein, V 最小通过车速 is the minimum passing speed of the passing speed interval of the ith round green light; 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 point of the ith round green light; T 当前时间点 is the current time point; the passing speed interval of the ith round green light is [V 最小通过车速 , V 最大通过车速 ]. a vehicle speed adjustment module is configured to adjust a vehicle speed of a vehicle according to the safety speed interval and n rounds of the passing speed interval, so that the vehicle reaches a green light when passing through a current traffic light; the safety speed interval and n rounds of the passing speed interval are compared one by one, if there is an intersection interval between the safety speed interval and the mth round of the passing speed interval, the intersection interval is set as a target passing speed interval; m∈[1,n]; the current vehicle speed is adjusted to keep in the target passing speed interval, and is not higher than the maximum value of the safety speed interval.

8. An electronic device, comprising: The control method comprises the following steps: at least one processor; and a memory connected with the at least one processor in communication; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the control method of any one of claims 1-6.

Images