Green wave passing method and device, green wave passing controller and readable storage medium

Abstract

The invention discloses a green wave passing method and device, a green wave passing controller and a readable storage medium, and the method comprises the steps: obtaining the road speed limit of a road on which a target vehicle runs and the vehicle flow velocity of the road, and determining the maximum vehicle speed according to the road speed limit and the vehicle flow velocity; acquiring the state information of traffic lights in front of the target vehicle and the distance to the traffic lights, and determining the green wave speed of the target vehicle according to the distance and the state information; and if the green wave speed does not exceed the maximum vehicle speed, determining that the target vehicle can pass the traffic light and the green wave speed is a reasonable vehicle speed, and controlling the target vehicle to run according to the green wave speed. According to the technical scheme disclosed by the invention, when the green wave speed does not exceed the maximum vehicle speed, the target vehicle is controlled to run according to the green wave speed, so that the target vehicle can pass through the intersection of the road with the green light as much as possible, the scene of waiting for the red light when a user travels by using the vehicle is reduced, the user passing efficiency is improved, and traffic congestion is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving technology, and in particular to a green wave passage method, device, green wave passage controller and readable storage medium. Background Art

[0002] In order to ensure safe passage, traffic lights are generally used at road intersections to indicate the passage of vehicles and pedestrians.

[0003] When users drive their cars, they may pass through multiple traffic lights from the starting point to the destination. Currently, since users are unaware of the traffic lights and traffic conditions at the intersection ahead, they are unable to accurately control the speed of the car, which often results in wasted time and slow traffic.

[0004] In summary, how to improve user traffic efficiency and reduce traffic congestion is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] In view of this, the purpose of this application is to provide a green wave passage method, device, green wave passage controller and readable storage medium, which are used to improve user passage efficiency and reduce traffic congestion.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A green wave passage method, comprising:

[0008] Obtaining a road speed limit of a road on which the target vehicle is traveling and a vehicle flow speed of the road, and determining a maximum vehicle speed according to the road speed limit and the vehicle flow speed;

[0009] Acquire the state information of the traffic light in front of the target vehicle and the distance to the traffic light, and determine the green wave speed of the target vehicle according to the distance and the state information;

[0010] If the green wave speed does not exceed the maximum vehicle speed, it is determined that the target vehicle can pass through the traffic light and the green wave speed is a reasonable vehicle speed, and the target vehicle is controlled to travel according to the green wave speed.

[0011] Optionally, obtaining status information of a traffic light in front of the target vehicle and a distance from the traffic light, and determining a green wave speed of the target vehicle according to the distance and the status information includes:

[0012] Obtaining status information of N traffic lights ahead of the target vehicle and the distance between the target vehicle and each of the N traffic lights; wherein N≥1;

[0013] According to the distance between the target vehicle and each of the N traffic lights and the status information of the corresponding traffic lights, respectively determine the green wave speed of the target vehicle in the road section corresponding to each of the N traffic lights;

[0014] According to the maximum vehicle speed and the green wave speed of the target vehicle on the road section corresponding to each of the N traffic lights, a green wave speed range of the target vehicle on the road section corresponding to each of the N traffic lights is correspondingly determined;

[0015] Determine a target green wave speed range corresponding to the target vehicle according to the green wave speed range of the target vehicle on the road section corresponding to each of the N traffic lights;

[0016] Controlling the target vehicle to travel according to the green wave speed includes:

[0017] The target vehicle is controlled to travel according to the target green wave speed range.

[0018] Optionally, controlling the target vehicle to travel according to the target green wave speed range includes:

[0019] Determine whether assisted driving is turned on and whether the current speed of the target vehicle is within the target green wave speed range;

[0020] If the assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, the assisted driving is used to adjust the current speed of the target vehicle to the target green wave speed according to the current speed of the target vehicle, the target green wave speed of the target vehicle and the speed change setting time, and the target vehicle is controlled to travel at the target green wave speed; wherein the target green wave speed is within the target green wave speed range.

[0021] Optionally, if the assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, the method further includes:

[0022] Displaying the target green wave speed range;

[0023] If the assisted driving is not turned on and the current speed of the target vehicle is not within the target green wave speed range, the following further includes:

[0024] A prompt for starting the assisted driving is output, and the target green wave speed range is displayed.

[0025] Optionally, after determining the target green wave speed range corresponding to the target vehicle according to the green wave speed range corresponding to each of the traffic lights, the method further includes:

[0026] The recommended target green wave speed and / or the target green wave speed range is output.

[0027] Optionally, before determining the green wave speed of the target vehicle according to the distance and the state information, the method further includes:

[0028] Acquiring traffic condition information of the road, and judging whether the target vehicle can pass the traffic light according to the traffic condition information and the state information of the traffic light;

[0029] If yes, then executing the step of determining the green wave speed of the target vehicle according to the distance and the status information;

[0030] If not, the estimated number of red light rounds and / or the estimated waiting time are obtained, and at least one of the estimated number of red light rounds, the estimated waiting time, and the red wave reminder is output.

[0031] Optionally, it also includes:

[0032] If the green wave speed exceeds the maximum vehicle speed, it is determined that the target vehicle can pass through the traffic light and the green wave speed is an unreasonable vehicle speed, and a yellow wave reminder is output.

[0033] A green wave passage device, comprising:

[0034] A first acquisition module is used to acquire a road speed limit of a road on which a target vehicle is traveling and a vehicle flow speed of the road, and determine a maximum vehicle speed according to the road speed limit and the vehicle flow speed;

[0035] A second acquisition module is used to obtain the state information of the traffic light in front of the target vehicle and the distance to the traffic light, and determine the green wave speed of the target vehicle according to the distance and the state information;

[0036] The control module is used to determine that the target vehicle can pass through the traffic light and the green wave speed is a reasonable speed if the green wave speed does not exceed the maximum vehicle speed, and control the target vehicle to travel according to the green wave speed.

[0037] A green wave traffic controller, comprising:

[0038] Memory for storing computer programs;

[0039] A processor is used to implement the steps of the green wave traffic control method as described in any one of the above when executing the computer program.

[0040] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the green wave traffic control method as described in any one of the above items are implemented.

[0041] The present application provides a green wave passage method, device, green wave passage controller and readable storage medium, wherein the method comprises: obtaining the road speed limit and the vehicle flow speed of the road on which the target vehicle is traveling, and determining the maximum speed according to the road speed limit and the vehicle flow speed; obtaining the status information of the traffic light in front of the target vehicle and the distance from the traffic light, and determining the green wave speed of the target vehicle according to the distance and status information; if the green wave speed does not exceed the maximum speed, it is determined that the target vehicle can pass the traffic light and the green wave speed is a reasonable speed, and the target vehicle is controlled to travel according to the green wave speed.

[0042] The above-mentioned technical scheme disclosed in the present application determines the maximum vehicle speed according to the road speed limit of the road on which the target vehicle is traveling and the vehicle flow speed of the road, and determines the green wave speed of the target vehicle according to the distance and status information between the target vehicle and the traffic light ahead. When the green wave speed does not exceed the maximum vehicle speed, it is determined that the target vehicle can not only pass the traffic light ahead with a green wave but also the green wave speed is a reasonable speed. Then, the target vehicle can be controlled to travel according to the determined green wave speed, so that the target vehicle can pass the intersection of the road with a green light as much as possible, reducing the scene of users waiting for red lights when traveling by car, thereby improving the user's travel efficiency and user driving experience, reducing traffic congestion, and improving traffic safety.

[0043] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A flow chart of a green wave passage method provided in an embodiment of the present application;

[0045] Figure 2 A system architecture diagram of green wave passage provided in an embodiment of the present application;

[0046] Figure 3 Another system architecture diagram of green wave passage provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of a green wave speed calculation method provided in an embodiment of the present application;

[0048] Figure 5 A process of another green wave passage method provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of a green wave passage device provided in an embodiment of the present application;

[0050] Figure 7 A schematic diagram of the structure of a green wave passage device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] At present, in the scenario of car travel, from the starting point to the destination, the traffic lights and traffic conditions at the intersection ahead are unknown, so the speed of the vehicle cannot be accurately controlled, which often leads to wasted time and slow traffic, greatly reducing the comfort and convenience of the user's driving experience.

[0052] To this end, the present application provides a green wave passage method, device, green wave passage controller and readable storage medium, which are used to improve user passage efficiency and reduce traffic congestion.

[0053] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0054] See also Figure 1 , which shows a flow chart of a green wave passage method provided in an embodiment of the present application. A green wave passage method provided in an embodiment of the present application may include:

[0055] S11: Obtain the road speed limit and the vehicle flow speed of the road on which the target vehicle is traveling, and determine the maximum vehicle speed according to the road speed limit and the vehicle flow speed.

[0056] It should be noted that the execution subject of the green wave passage method provided in the embodiment of the present application can be a green wave passage controller, a green wave module or a target vehicle. The green wave communication controller and the green wave module are arranged in the target vehicle. The embodiment of the present application is described by taking the execution subject as the target vehicle as an example. Among them, the target vehicle is any vehicle that needs to pass the green wave. In addition, a green wave passage switch can be added to the navigation setting item of the target vehicle to turn on or off the green wave communication function, and the green wave passage function is turned on by default.

[0057] First, the target vehicle can obtain traffic data from Gaode Cloud Data or by using technologies such as sensors, cameras, radars, and vehicle-mounted devices. The traffic data mentioned here may include the speed limit of the road on which the target vehicle is traveling and the vehicle flow rate of the road on which the target vehicle is traveling.

[0058] That is to say, the target vehicle can obtain the road speed limit and the vehicle flow speed of the road on which it is traveling. Among them, the road speed limit is the maximum speed of the vehicles traveling on the road. The vehicle flow speed of the road indicates the speed of the traffic flow, specifically refers to the speed of the vehicles in the traffic flow at a certain section or intersection. The vehicle flow speed is affected by factors such as road design, vehicle type, traffic light control, road conditions, weather, etc. Considering that the vehicle flow speed of the road may change dynamically, the vehicle flow speed of the road can be obtained in real time or at a fixed time.

[0059] After obtaining the road speed limit and the vehicle flow speed of the road on which the target vehicle is traveling, the maximum vehicle speed can be determined according to the road speed limit and the vehicle flow speed, for example, the minimum of the road speed limit and the vehicle flow speed can be used as the maximum vehicle speed. The speed of the vehicle traveling on the road cannot exceed the maximum vehicle speed.

[0060] S12: Obtain the status information of the traffic light in front of the target vehicle and the distance to the traffic light, and determine the green wave speed of the target vehicle according to the distance and status information.

[0061] The traffic data acquired by the target vehicle may also include the state information of the traffic light in front of the target vehicle, the distance between the target vehicle and the traffic light in front, the current speed of the target vehicle, etc. That is, while the target vehicle acquires the road speed limit of the road it is traveling on and the vehicle flow rate of the road, it may also acquire the state information of the traffic light in front of the target vehicle and the distance between the target vehicle and the traffic light in front. Of course, the acquisition data in step S11 and the acquisition data in step S12 may not be performed simultaneously. Among them, the state information of the traffic light may specifically include the current state of the traffic light (such as red light state, green light state or yellow light state) and the remaining time of the current state (i.e., traffic light description). Among them, after acquiring the traffic data, the target vehicle may display the traffic data on the HMI (Human Machine Interface) of the target vehicle. Specifically, all the traffic data may be displayed, or the traffic data may be selectively displayed (specifically, it may be selected according to user needs, etc.), for example, the state information of the traffic light and the distance from the traffic light may be displayed.

[0062] After obtaining the status information of the traffic light in front of the target vehicle and the distance between the target vehicle and the traffic light in front, the green wave speed of the target vehicle that allows it to pass the traffic light in front with a green light without waiting for the red light can be calculated based on the distance between the target vehicle and the traffic light in front and the status information of the traffic light in front. It should be noted that the target vehicle itself can calculate the green wave speed of the target vehicle based on the distance between the target vehicle and the traffic light in front and the status information of the traffic light in front. Of course, the target vehicle can also upload the distance between the target vehicle and the traffic light in front and the status information of the traffic light in front to the cloud through the Internet of Vehicles, and the cloud will calculate the green wave speed based on the distance between the target vehicle and the traffic light in front and the status information of the traffic light in front, and send the calculated green wave speed to the target vehicle through the vehicle network to reduce the resource consumption of the target vehicle. For details, please refer to Figure 2 and Figure 3 , Figure 2 A system architecture diagram of green wave traffic provided by an embodiment of the present application is shown. Figure 3 Another system architecture diagram of green wave traffic provided by an embodiment of the present application is shown. Figure 2 Take the example of the Green Wave module obtaining traffic data and using the cloud corresponding to the target vehicle to calculate the Green Wave speed. Specifically, 1. The Green Wave module requests intersection traffic light data and intersection distance, etc. from AUTO SDK (a software development kit designed specifically for the automotive industry that provides a series of APIs (application programming interfaces) and tools for developing in-vehicle applications and intelligent driving functions); 2. AUTO SDK requests AutoNavi cloud data from the cloud; 3. The Green Wave module uploads the traffic light data and intersection distance light to the cloud corresponding to the target vehicle, which calculates the Green Wave speed; 4. The cloud sends the calculation results to the Green Wave module, which sends them to the Green Wave HMI, which is responsible for displaying and reminding the user of the traffic light data and filtered speed. Among them, Figure 2 The AUTO SDK, green wave module and green wave HMI can all be included in the vehicle map, and the vehicle map is included in the DHU (head-up display interface). Figure 3Take the green wave module to obtain traffic data and use the cloud computing corresponding to the target vehicle to calculate the green wave speed as an example. Specifically, 1. The green wave module requests the intersection traffic light data from the AUTO SDK; 2. The AUTO SDK cloud requests the AutoNavi cloud data; 3. The navigation in the target vehicle uploads the traffic light data and the intersection distance light data to the cloud computing corresponding to the target vehicle; 4. The cloud computing corresponding to the target vehicle sends the calculation results to the navigation, and displays the traffic light data and green wave speed to the user on the map page. For example, the traffic light data and green wave speed can be displayed to the user on the HUD (head-up display) and CSD (vehicle central information display interface); 5. If it is confirmed that the assisted driving is turned on, the assisted driving is used to adjust the vehicle speed dynamically. Specifically, if it is confirmed that ACC (adaptive cruise control) is turned on, the green wave speed is sent to the ADCU (autonomous driving domain controller), and the ADCU performs dynamic vehicle speed adjustment.

[0063] Among them, the green wave speed is the speed at which the traffic light is green when the vehicle drives to the traffic light. Therefore, the corresponding intersection can be passed without waiting for the red light, that is, the green wave speed is the speed value at which the intersection ahead can be passed without waiting for the red light. By determining the green wave speed, the situation of target vehicles waiting for red lights can be reduced, so as to improve the target vehicle's traffic capacity and user traffic efficiency, and reduce traffic congestion caused by waiting for red lights. In other words, the target vehicle can obtain the number of seconds of the traffic light at the intersection ahead, the current road speed limit, and the current road flow rate, and calculate the speed value for passing without waiting for the red light based on the distance to the next intersection. For example, for the traffic light at the next intersection, please refer to Figure 4 , which shows a schematic diagram of a green wave speed calculation method provided by an embodiment of the present application, which can obtain the distance L from the target vehicle to the next intersection and the remaining green light time t of the traffic light at the intersection, and use V 绿波 =L / tThe green wave speed of the target vehicle is calculated.

[0064] Among them, the target vehicle can obtain the status information of the traffic light ahead and the distance to the traffic light in real time or at a fixed time, so as to determine the latest green wave speed, and dynamically adjust the speed of the target vehicle according to the green wave speed, so that the target vehicle can pass the traffic light ahead with a green light as much as possible.

[0065] S13: If the green wave speed does not exceed the maximum vehicle speed, it is determined that the target vehicle can pass the traffic light and the green wave speed is a reasonable vehicle speed, and the target vehicle is controlled to travel according to the green wave speed.

[0066] After the green wave speed of the target vehicle is determined, the green wave speed of the target vehicle can be compared with the maximum speed determined in step S11. If the green wave speed does not exceed the maximum speed, it is determined that the target vehicle can not only pass the traffic light in front of the target vehicle, but also the green wave speed determined in step S12 is a reasonable speed (the reasonable speed is not more than the maximum speed determined according to the road speed limit and the vehicle flow speed of the road), which means that the target vehicle can travel at the determined green wave speed and can pass the traffic light in front without waiting for the red light when driving to the traffic light in front. Afterwards, the target vehicle can be controlled to travel according to the green wave speed. For example, when the traffic flow and road conditions are good (for example, when the traffic flow is less than the preset value and there is no congestion on the road, the traffic flow and road conditions are considered to be good), the target vehicle can be controlled to travel at the determined green wave speed. When the traffic flow and road conditions are not good, the green wave speed range can be determined according to the green wave speed and the maximum vehicle speed (for example, the green wave speed range can be formed by the green wave speed and the maximum speed), and then the target vehicle can be controlled to travel within the green wave speed range, etc.

[0067] If the green wave speed exceeds the maximum speed, it means that the target vehicle can pass the traffic light ahead but the green wave speed exceeds the speed limit. In this case, the cycle of the traffic light state change can be taken into account, that is, the green lights in the subsequent N cycles (N is a positive integer, such as 1, 2, etc.) can be used as the target to calculate the green wave speed until the calculated green wave speed does not exceed the maximum speed and the target vehicle does not need to stop, but passes the traffic light with a green light. For example, the traffic light cycle is T, the green light duration is T1, the yellow light duration is T2, and the green light duration is T3, then T=T1+T2+T3, the current green light and the remaining green light time is t1, then t=t1+m*T, when m=0, when the calculated green wave speed exceeds the maximum speed, m=1 can be taken first, and V 绿波 =L / t to calculate the green wave speed of the target vehicle. If the green wave speed at this time still exceeds the maximum vehicle speed, take m=2 until the calculated green wave speed does not exceed the maximum vehicle speed.

[0068] It should be noted that when determining the green wave speed, the maximum green wave speed is first determined. If the maximum green wave speed does not exceed the maximum vehicle speed, it is determined that the target vehicle can pass the traffic light and the green wave speed is a reasonable speed, and the target vehicle is controlled to travel according to the green wave speed. If the maximum green wave speed exceeds the maximum vehicle speed, the green wave speed is calculated with the green lights in the subsequent N cycles as the target.

[0069] Through the above, the target vehicle does not need to wait for the red light when driving to the traffic light ahead, but can pass the traffic light ahead with a green light, that is, the target vehicle can achieve green wave travel, thereby reducing the scene of the target vehicle waiting for the red light, so as to improve the traffic efficiency and user driving experience, and also reduce traffic congestion, improve traffic efficiency and traffic smoothness, improve traffic safety, and better achieve energy conservation and emission reduction. It should be noted that the target vehicle can execute the above steps S11-S13 every time it passes a traffic light, so as to realize dynamic adjustment of the green wave speed and timing, and adapt to changes in road conditions to the greatest extent.

[0070] The above-mentioned technical scheme disclosed in the present application determines the maximum vehicle speed according to the road speed limit of the road on which the target vehicle is traveling and the vehicle flow speed of the road, and determines the green wave speed of the target vehicle according to the distance and status information between the target vehicle and the traffic light ahead. When the green wave speed does not exceed the maximum vehicle speed, it is determined that the target vehicle can not only pass the traffic light ahead with a green wave but also the green wave speed is a reasonable speed. Then, the target vehicle can be controlled to travel according to the determined green wave speed, so that the target vehicle can pass the intersection of the road with a green light as much as possible, reducing the scene of users waiting for red lights when traveling by car, thereby improving the user's travel efficiency and user driving experience, reducing traffic congestion, and improving traffic safety.

[0071] A green wave passing method provided in an embodiment of the present application obtains status information of a traffic light in front of a target vehicle and the distance to the traffic light, and determines the green wave speed of the target vehicle according to the distance and status information, which may include:

[0072] Obtain the status information of the N traffic lights ahead of the target vehicle and the distance between the target vehicle and each of the N traffic lights; where N ≥ 1;

[0073] According to the distance between the target vehicle and each of the N traffic lights and the status information of the corresponding traffic lights, the green wave speed of the target vehicle at the road section corresponding to each of the N traffic lights is determined respectively;

[0074] According to the maximum vehicle speed and the green wave speed of the target vehicle on the road section corresponding to each of the N traffic lights, the green wave speed range of the target vehicle on the road section corresponding to each of the N traffic lights is correspondingly determined;

[0075] Controlling the target vehicle to travel according to the green wave speed may include:

[0076] The target vehicle is controlled to travel according to the target green wave speed range.

[0077] In the embodiment of the present application, the state information of the N traffic lights ahead of the target vehicle and the distance between the target vehicle and each of the N traffic lights can be obtained. Wherein, N is greater than or equal to 1, that is, the state information of at least one traffic light ahead of the target vehicle and the distance between the target vehicle and each of the traffic lights can be obtained. It should be noted that, considering that the more traffic lights are included in the calculation at one time, the more influencing factors there will be, and this may result in the inability to determine the effective green wave speed and cause the target vehicle to drive through the traffic light ahead with a green wave. Therefore, N can be set not to exceed a preset threshold value, and the preset threshold value is greater than 1. Its specific size can be set according to actual conditions. For example, the size of the preset threshold value can be specifically 3, and N can be specifically equal to 3. At this time, the green wave speed of the target vehicle on the road section corresponding to each traffic light can be calculated in a sliding manner by grouping every 3 traffic lights ahead of the target vehicle.

[0078] After obtaining the status information of the N traffic lights ahead of the target vehicle and the distance between the target vehicle and each of the N traffic lights, the green wave speed of the target vehicle in the road section corresponding to each red and green light of the N traffic lights can be calculated based on the distance between the target vehicle and each of the N traffic lights and the status information of the corresponding traffic lights of the N traffic lights, with the target vehicle not having to wait for the red light of the corresponding traffic light (that is, the traffic light is in the green light state when the target vehicle drives to the corresponding traffic light). Among them, the road section corresponding to the current traffic light of the target vehicle is specifically the road section from the previous traffic light of the current traffic light to the current traffic light, that is, the road section that the target vehicle passes through from the previous traffic light to the current traffic light.

[0079] If the green wave speed of each of the N traffic lights ahead is calculated to be less than the maximum vehicle speed, the green wave speed range of the target vehicle in the road section corresponding to each of the N traffic lights can be determined according to the maximum vehicle speed and the green wave speed of the target vehicle in the road section corresponding to each of the N traffic lights. Specifically, for the road section corresponding to each of the N traffic lights, its green wave speed and the maximum vehicle speed can be used as the lower boundary and upper boundary of the green wave speed range to obtain the corresponding green wave speed range (that is, green wave speed range = [green wave speed, maximum vehicle speed]). Then, according to the green wave speed range of the target vehicle in the road section corresponding to each of the N traffic lights, the overlapping green wave speed range is determined, and the overlapping green wave speed range is determined as the target green wave speed range corresponding to the target vehicle, wherein, when N = 1, the green wave speed range of the target vehicle in the road section corresponding to the traffic light is directly determined as the target green wave speed range corresponding to the target vehicle. Afterwards, the target vehicle can be controlled to travel according to the target green wave speed range corresponding to the determined target vehicle (for example, the target vehicle can be controlled to travel at any speed within the target green wave speed range, etc.), so that the target vehicle can continuously pass the N traffic lights ahead with green lights, thereby improving the travel efficiency of the target vehicle and reducing traffic congestion.

[0080] See also Figure 5 , which shows a flow chart of another green wave passage method provided by an embodiment of the present application. A green wave passage method provided by an embodiment of the present application controls a target vehicle to travel according to a target green wave speed range, which may include:

[0081] Determine whether assisted driving is turned on and whether the current speed of the target vehicle is within the target green wave speed range;

[0082] If assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, the current speed of the target vehicle is adjusted to the target green wave speed using assisted driving based on the current speed of the target vehicle, the target green wave speed of the target vehicle and the speed change setting time, and the target vehicle is controlled to travel at the target green wave speed; wherein the target green wave speed is within the target green wave speed range.

[0083] In an embodiment of the present application, after the green wave passage function is turned on, when the target vehicle is controlled to travel according to the target green wave speed range, first, it can be determined whether the assisted driving is turned on (specifically, whether ACC and ADCU are turned on), and whether the current speed of the target vehicle is within the target green wave speed range. If it is determined that the assisted driving is turned on and it is determined that the current speed of the target vehicle is not within the target green wave speed range, the assisted driving can actively adjust the current speed of the target vehicle to the target green wave speed (the target green wave speed is any speed in the target green wave speed range or the speed recommended by the target vehicle) so as to pass through the intersection without waiting for the red light. That is, when the assisted driving is turned on, the target vehicle can adjust its speed to the recommended green wave speed by itself to greatly improve driving efficiency and comfort.

[0084] In the above process, in order to ensure a smooth transition of the speed of the target vehicle and improve the user's riding experience, the assisted driving can determine the speed change rate according to the current speed of the target vehicle, the target green wave speed of the target vehicle and the speed change setting time, and adjust the current speed of the target vehicle to the target green wave speed according to the speed change rate, and control the target vehicle to travel at the target green wave speed. Among them, the speed change setting time is obtained by calibration, which can be specifically obtained according to user experience and experience.

[0085] Through the above process, assisted driving can be combined to dynamically help users adjust the vehicle speed to the target speed, improve driving comfort, optimize flight scenarios, and improve driving efficiency.

[0086] It should be noted that if assisted driving is not turned on and the current speed of the target vehicle is not within the target green wave speed range, the target green wave speed or the target green wave speed range can be displayed so that the user can drive the target vehicle for green wave travel by himself.

[0087] A green wave passing method provided in an embodiment of the present application may further include: if assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range:

[0088] Display the target green wave speed range;

[0089] If assisted driving is not enabled and the current speed of the target vehicle is not within the target green wave speed range, it may also include:

[0090] Output a prompt to turn on assisted driving and display the target green wave speed range.

[0091] When judging whether to turn on assisted driving and the current speed of the target vehicle is not within the target green wave speed range, if it is determined that assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, the target green wave speed range can be displayed. Specifically, the target green wave speed range can be displayed on the CSD and / or HUD with the background color as the first color, and when the target green wave speed range is displayed in the first color, the user can be reminded in a flashing reminder manner, wherein the first color can be red, and of course, other colors can also be used. It should be noted that if the traffic flow and road conditions are good, the green wave specific value can be displayed (the green wave specific value is specifically the above-mentioned target green wave speed), and if the traffic flow and road conditions are not good, the target green wave speed range can be displayed.

[0092] If it is determined that the assisted driving is not turned on and the current speed of the target vehicle is not within the target green wave speed range, a prompt to turn on the assisted driving can be output for the case where the assisted driving is not turned on, for example, a pop-up bar plus voice can be used to remind the user to turn on the assisted driving, and the user can choose to manually turn on the assisted driving after receiving the prompt. For the case where the current speed is not within the target green wave speed range, the target green wave speed range can be displayed in the same manner as above, which will not be repeated here.

[0093] In addition, if it is determined that the assisted driving is turned on and the current speed of the target vehicle is within the green wave speed range, the target green wave speed range can be displayed. Specifically, the target green wave speed range can be displayed on the CSD and / or HUD with the background color as the second color, wherein the second color is different from the first color, and when the first color is red, the second color can be green. And similar to the current speed of the target vehicle not being within the green wave speed range, if the traffic flow and road conditions are good, the green wave specific value (the green wave specific value is specifically the above-mentioned target green wave speed) can be displayed, and if the traffic flow and road conditions are not good, the target green wave speed range can be displayed. If it is determined that the assisted driving is not turned on and the current speed of the target vehicle is within the target green wave speed range, a prompt to turn on the assisted driving can be output for the case where the assisted driving is not turned on. For the case where the current speed is within the target green wave speed range, the target green wave speed range can be displayed in the same manner as above, which will not be repeated here.

[0094] Through the above method, the user in the target vehicle can timely understand the activation status of assisted driving and whether the current vehicle speed is within the target green wave speed range.

[0095] A green wave passing method provided in an embodiment of the present application may further include, after determining a target green wave speed range corresponding to a target vehicle according to the green wave speed range corresponding to each traffic light:

[0096] A recommended target green wave speed and / or a target green wave speed range is output.

[0097] In an embodiment of the present application, after determining the target green wave speed range corresponding to the target vehicle based on the green wave speed range corresponding to each traffic light, the recommended target green wave speed and / or target green wave speed range can be output. Specifically, it can be output to the CSD and / or HUD of the target vehicle, so that the user can obtain the speed required for green wave passage in a timely manner, and it is convenient for the user to travel by green wave according to the target green wave speed or target green wave speed range when assisted driving is not turned on.

[0098] See also Figure 5 , a green wave passage method provided in an embodiment of the present application may further include:

[0099] Obtain road condition information, and determine whether the target vehicle can pass the traffic light based on the road condition information and the status information of the traffic light;

[0100] If not, the estimated number of red light rounds and / or the estimated waiting time are obtained, and at least one of the estimated number of red light rounds, the estimated waiting time, and the red wave reminder is output.

[0101] In the present application, after or before determining the green wave speed of the target vehicle according to the distance between the target vehicle and the traffic light and the status information of the traffic light, the road condition information of the road can also be obtained. For example, the road condition information can include the road congestion, whether the road is unobstructed (for example, whether there is an accident, construction, etc.), etc. Afterwards, it can be determined whether the target vehicle can pass the traffic light ahead according to the intersection information and the status information of the traffic light ahead of the target vehicle. If it is determined that the target vehicle can pass the traffic light ahead, subsequent related steps can be executed. For example, if a judgment is made before determining the green wave speed of the target vehicle based on the distance between the target vehicle and the traffic light and the status information of the traffic light and it is determined that the target vehicle can pass the traffic light ahead, the step of determining the green wave speed of the target vehicle based on the distance between the target vehicle and the traffic light and the status information of the traffic light can be executed. If a judgment is made after determining the green wave speed of the target vehicle based on the distance between the target vehicle and the traffic light and the status information of the traffic light and it is determined that the target vehicle can pass the traffic light ahead, the step of determining that the target vehicle can pass the traffic light and the green wave speed is a reasonable speed if the green wave speed does not exceed the maximum speed and controlling the target vehicle to travel according to the green wave speed can be executed. If it is determined that the target vehicle cannot pass the traffic light ahead due to road construction, etc., the estimated number of red lights and / or the estimated waiting time can be obtained from Gaode Cloud, etc., and at least one of the estimated number of red lights, the estimated waiting time, and the red wave reminder can be output, so that the user can optimize the driving strategy according to the output information (such as re-planning the route or waiting, etc.), thereby improving travel and traffic safety and bringing users an efficient and pleasant travel experience.

[0102] Specifically, the navigation in the target vehicle can prompt the estimated time and number of rounds of congestion, that is, in severely congested sections, green wave travel can remind users of the remaining waiting time and number of red light rounds, so that users can better understand the traffic status ahead. In addition, the navigation in the target vehicle can also prompt the status of the traffic light ahead and the green wave speed, so that users can understand the status of the traffic light ahead in advance, and provide users with recommended speeds, reduce red light scenes during user travel, and improve travel efficiency.

[0103] See also Figure 5 , a green wave passage method provided in an embodiment of the present application may further include:

[0104] If the green wave speed exceeds the maximum vehicle speed, it is determined that the target vehicle can pass the traffic light and the green wave speed is an unreasonable speed, and a yellow wave reminder is output.

[0105] After the green wave speed of the target vehicle is determined based on the distance between the target vehicle and the traffic light ahead and the status information of the traffic light ahead, when the determined green wave speed is compared with the maximum vehicle speed, if the green wave speed exceeds the maximum vehicle speed, it is determined that the target vehicle can pass the traffic light ahead but the determined green wave speed is an unreasonable speed, and a yellow wave reminder can be output, so that the user can optimize the driving strategy (such as changing the travel route, etc.) according to the yellow wave reminder, thereby improving travel and traffic safety and bringing users an efficient and pleasant travel experience.

[0106] The present application also provides a green wave passing device, see Figure 6 , which shows a schematic structural diagram of a green wave passage device provided in an embodiment of the present application, which may include:

[0107] A first acquisition module 61 is used to acquire the road speed limit and the vehicle flow speed of the road on which the target vehicle is traveling, and determine the maximum vehicle speed according to the road speed limit and the vehicle flow speed;

[0108] The second acquisition module 62 is used to obtain the state information of the traffic light in front of the target vehicle and the distance to the traffic light, and determine the green wave speed of the target vehicle according to the distance and state information;

[0109] The control module 63 is used to determine that the target vehicle can pass the traffic light and the green wave speed is a reasonable speed if the green wave speed does not exceed the maximum speed, and control the target vehicle to travel according to the green wave speed.

[0110] In a green wave passage device provided in an embodiment of the present application, the second acquisition module 62 may include:

[0111] An acquisition unit, used to acquire status information of N traffic lights ahead of the target vehicle and the distance between the target vehicle and each of the N traffic lights; wherein N≥1;

[0112] The first determination unit is used to determine the green wave speed of the target vehicle at the road section corresponding to each of the N traffic lights according to the distance between the target vehicle and each of the N traffic lights and the state information of the corresponding traffic lights;

[0113] The second determining unit is used to determine the green wave speed range of the target vehicle on the road section corresponding to each of the N traffic lights according to the maximum vehicle speed and the green wave speed of the target vehicle on the road section corresponding to each of the N traffic lights;

[0114] A third determining unit is used to determine a target green wave speed range corresponding to the target vehicle according to the green wave speed range of the target vehicle on the road section corresponding to each traffic light among the N traffic lights;

[0115] The control module 63 may include:

[0116] The control unit is used for controlling the target vehicle to travel according to the target green wave speed range.

[0117] An embodiment of the present application provides a green wave passage device, and the control unit may include:

[0118] A judgment subunit, used to judge whether the assisted driving is turned on and whether the current speed of the target vehicle is within the target green wave speed range;

[0119] The control subunit is used for adjusting the current speed of the target vehicle to the target green wave speed by using assisted driving according to the current speed of the target vehicle, the target green wave speed of the target vehicle and the speed change setting time if assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, and controlling the target vehicle to travel at the target green wave speed; wherein the target green wave speed is within the target green wave speed range.

[0120] In a green wave passage device provided in an embodiment of the present application, the control unit may further include:

[0121] A first display subunit is used to display the target green wave speed range if the assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range;

[0122] The second display subunit is used to output a prompt to turn on the assisted driving and display the target green wave speed range if the assisted driving is not turned on and the current speed of the target vehicle is not within the target green wave speed range.

[0123] In a green wave passage device provided in an embodiment of the present application, the second acquisition module 62 may further include:

[0124] The output unit is used to output a recommended target green wave speed and / or target green wave speed range after determining a target green wave speed range corresponding to a target vehicle according to the green wave speed ranges corresponding to each traffic light.

[0125] A green wave passage device provided in an embodiment of the present application may further include:

[0126] The judgment module is used to obtain the road condition information of the road and judge whether the target vehicle can pass the traffic light according to the road condition information and the status information of the traffic light;

[0127] The first output module is used to obtain the estimated number of red light rounds and / or the estimated waiting time if it is determined that the target vehicle cannot pass the traffic light, and output at least one of the estimated number of red light rounds, the estimated waiting time, and the red wave reminder.

[0128] A green wave passage device provided in an embodiment of the present application may further include:

[0129] The second output module is used to determine that the target vehicle can pass the traffic light and the green wave speed is an unreasonable speed if the green wave speed exceeds the maximum speed, and output a yellow wave reminder.

[0130] The present application also provides a green wave traffic controller, see Figure 7 , which shows a schematic structural diagram of a green wave passage device provided in an embodiment of the present application, which may include:

[0131] A memory 71, used for storing computer programs;

[0132] The processor 72, when used to execute the computer program stored in the memory 71, can implement the following steps:

[0133] The road speed limit and the vehicle flow speed of the road on which the target vehicle is traveling are obtained, and the maximum speed is determined based on the road speed limit and the vehicle flow speed; the status information of the traffic light in front of the target vehicle and the distance from the traffic light are obtained, and the green wave speed of the target vehicle is determined based on the distance and status information; if the green wave speed does not exceed the maximum speed, it is determined that the target vehicle can pass the traffic light and the green wave speed is a reasonable speed, and the target vehicle is controlled to travel based on the green wave speed.

[0134] The present application also provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:

[0135] The road speed limit and the vehicle flow speed of the road on which the target vehicle is traveling are obtained, and the maximum speed is determined based on the road speed limit and the vehicle flow speed; the status information of the traffic light in front of the target vehicle and the distance from the traffic light are obtained, and the green wave speed of the target vehicle is determined based on the distance and status information; if the green wave speed does not exceed the maximum speed, it is determined that the target vehicle can pass the traffic light and the green wave speed is a reasonable speed, and the target vehicle is controlled to travel based on the green wave speed.

[0136] The description of the relevant parts of a green wave passage device, a green wave passage controller and a readable storage medium provided in an embodiment of the present application can be found in the description of the relevant parts of a green wave passage method provided in an embodiment of the present application, and will not be repeated here.

[0137] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any readable storage medium for use by an instruction execution system, device or equipment (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or equipment and execute instructions), or in combination with these instruction execution systems, devices or equipment. For the purpose of this specification, "readable storage medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or equipment, or in combination with these instruction execution systems, devices or equipment. More specific examples of readable storage media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the readable storage medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0138] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0139] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0140] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0141] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0142] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A green wave passage method, characterized in that: include: Obtaining a road speed limit of a road on which the target vehicle is traveling and a vehicle flow speed of the road, and determining a maximum vehicle speed according to the road speed limit and the vehicle flow speed; Acquire the state information of the traffic light in front of the target vehicle and the distance to the traffic light, and determine the green wave speed of the target vehicle according to the distance and the state information; If the green wave speed does not exceed the maximum vehicle speed, it is determined that the target vehicle can pass through the traffic light and the green wave speed is a reasonable vehicle speed, and the target vehicle is controlled to travel according to the green wave speed.

2. The green wave passage method according to claim 1, characterized in that: Acquiring status information of a traffic light ahead of the target vehicle and a distance from the traffic light, and determining a green wave speed of the target vehicle according to the distance and the status information, including: Obtaining status information of N traffic lights ahead of the target vehicle and the distance between the target vehicle and each of the N traffic lights; wherein N≥1; According to the distance between the target vehicle and each of the N traffic lights and the status information of the corresponding traffic lights, respectively determine the green wave speed of the target vehicle in the road section corresponding to each of the N traffic lights; According to the maximum vehicle speed and the green wave speed of the target vehicle on the road section corresponding to each of the N traffic lights, a green wave speed range of the target vehicle on the road section corresponding to each of the N traffic lights is correspondingly determined; Determine a target green wave speed range corresponding to the target vehicle according to the green wave speed range of the target vehicle on the road section corresponding to each of the N traffic lights; Controlling the target vehicle to travel according to the green wave speed includes: The target vehicle is controlled to travel according to the target green wave speed range.

3. The green wave passage method according to claim 2, characterized in that: Controlling the target vehicle to travel according to the target green wave speed range includes: Determine whether assisted driving is turned on and whether the current speed of the target vehicle is within the target green wave speed range; If the assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, the assisted driving is used to adjust the current speed of the target vehicle to the target green wave speed according to the current speed of the target vehicle, the target green wave speed of the target vehicle and the speed change setting time, and the target vehicle is controlled to travel at the target green wave speed; wherein the target green wave speed is within the target green wave speed range.

4. The green wave passage method according to claim 3, characterized in that: If the assisted driving is turned on and the current speed of the target vehicle is not within the target green wave speed range, the following further includes: Displaying the target green wave speed range; If the assisted driving is not turned on and the current speed of the target vehicle is not within the target green wave speed range, the following further includes: A prompt for starting the assisted driving is output, and the target green wave speed range is displayed.

5. The green wave passage method according to claim 2, characterized in that: After determining the target green wave speed range corresponding to the target vehicle according to the green wave speed range corresponding to each of the traffic lights, the method further includes: The recommended target green wave speed and / or the target green wave speed range is output.

6. The green wave passage method according to claim 1, characterized in that: Also includes: Acquiring traffic condition information of the road, and judging whether the target vehicle can pass the traffic light according to the traffic condition information and the state information of the traffic light; If not, the estimated number of red light rounds and / or the estimated waiting time are obtained, and at least one of the estimated number of red light rounds, the estimated waiting time, and the red wave reminder is output.

7. The green wave passage method according to claim 1, characterized in that: Also includes: If the green wave speed exceeds the maximum vehicle speed, it is determined that the target vehicle can pass through the traffic light and the green wave speed is an unreasonable vehicle speed, and a yellow wave reminder is output.

8. A green wave passage device, characterized in that: include: A first acquisition module is used to acquire a road speed limit of a road on which a target vehicle is traveling and a vehicle flow speed of the road, and determine a maximum vehicle speed according to the road speed limit and the vehicle flow speed; A second acquisition module is used to obtain the state information of the traffic light in front of the target vehicle and the distance to the traffic light, and determine the green wave speed of the target vehicle according to the distance and the state information; The control module is used to determine that the target vehicle can pass through the traffic light and the green wave speed is a reasonable speed if the green wave speed does not exceed the maximum vehicle speed, and control the target vehicle to travel according to the green wave speed.

9. A green wave traffic controller, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the green wave traffic control method as described in any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the green wave traffic control method according to any one of claims 1 to 7 are implemented.

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