Green wave transit control method, apparatus and device, and medium

Abstract

Disclosed in the present disclosure are a green wave transit control method, apparatus and device, and a medium. The method comprises: when a first longitudinal distance between an ego vehicle and a nearest target traffic light on a navigation route is shorter than a preset distance, determining a target vehicle speed regularly on the basis of the first longitudinal distance, the state of the target traffic light and a road speed limit, the target vehicle speed being used for controlling the ego vehicle to reach the target traffic light during a green light phase, and the target vehicle speed being less than or equal to the road speed limit; if the vehicle speed of the ego vehicle is less than the target vehicle speed and there is a vehicle on a current lane hindering acceleration of the ego vehicle, detecting whether there is a target lane, the target lane being a safe lane for lane change, and there being no vehicle on the target lane hindering acceleration of the ego vehicle; and if there is a target lane, controlling the ego vehicle to change lanes to the target lane and controlling the ego vehicle to accelerate. In the present disclosure, the vehicle speed of the ego vehicle is gradually increased until the target vehicle speed is reached, thus improving the success rate of passing through traffic lights during green wave.

Description

Green wave traffic control method, device, equipment and medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number CN202311725914.X, filed on December 14, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of vehicle control technology, and in particular to a green wave traffic control method, device, equipment and medium. Background Art

[0004] Green wave roads are defined as roads where, if a vehicle travels at a specified speed, it can continue through the next intersection just when the traffic light turns green. This reduces vehicle starts and stops, contributing to energy conservation and emissions reductions. The green wave speed is the optimal speed for a vehicle to travel from its current intersection to the next traffic light just when the light turns green.

[0005] For vehicles, the traffic lights along their navigation routes are fixed, and their changing cycles are also fixed. To improve traffic efficiency and reduce waiting time, vehicles need to arrive at traffic lights as early as possible during the green light period to achieve green wave traffic. However, current green wave traffic control methods mainly focus on controlling the vehicle's acceleration and deceleration in the current lane based on the green wave speed. This lacks a comprehensive lane change control strategy, resulting in a low success rate for green wave traffic light passages.

[0006] Summary of the Invention

[0007] The present disclosure provides a green wave traffic control method, apparatus, device, and medium, which solve the technical problem of low success rate of green wave traffic control methods in related technologies by utilizing one or more embodiments of the present disclosure.

[0008] In a first aspect of the present disclosure, a green wave traffic control method is provided, which includes: after a first longitudinal distance between a vehicle and the nearest target traffic light on a navigation route is less than a preset distance, periodically determining a target vehicle speed based on the first longitudinal distance, the state of the target traffic light, and the road speed limit, wherein the target vehicle speed is used to control the vehicle to reach the target traffic light during a green light period, and the target vehicle speed is less than or equal to the road speed limit; if the vehicle speed is less than the target speed, and there is a vehicle in the current lane that hinders the vehicle's acceleration, detecting whether there is a target lane, wherein the target lane is a safe lane for lane change, and there is no vehicle in the target lane that hinders the vehicle's acceleration; and if there is a target lane, controlling the vehicle to change lanes to the target lane and controlling the vehicle to accelerate.

[0009] In a second aspect of the present disclosure, a green wave traffic control device is also provided, which includes: a target vehicle speed determination module, which is used to determine the target vehicle speed regularly based on the first longitudinal distance, the status of the target traffic light and the road speed limit after the first longitudinal distance between the vehicle and the nearest target traffic light on the navigation route is less than a preset distance, wherein the target vehicle speed is used to control the vehicle to reach the target traffic light during the green light period, and the target vehicle speed is less than or equal to the road speed limit; a target lane detection module, which is used to detect whether there is a target lane if the vehicle speed is less than the target speed and there is a vehicle in the current lane that hinders the acceleration of the vehicle, wherein the target lane is a safe lane change lane and there is no vehicle in the target lane that hinders the acceleration of the vehicle; and a control module, which is used to control the vehicle to change lanes to the target lane and control the vehicle to accelerate if there is a target lane.

[0010] In the third aspect of the present disclosure, a green wave traffic control device is also provided, which includes: a processor, a memory, and a green wave traffic control program stored on the memory and executable by the processor, wherein when the green wave traffic control program is executed by the processor, the steps of the above-mentioned green wave traffic control method are implemented.

[0011] In a fourth aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned green wave passage control method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 shows a schematic flow chart of a green wave traffic control method according to some embodiments of the present disclosure;

[0013] FIG. 2 shows a detailed flow chart of step S11 in FIG. 1

[0014] FIG3 shows a detailed flow chart of step S12 in FIG1 ;

[0015] FIG4 shows a system architecture diagram of a green wave traffic control method according to some embodiments of the present disclosure;

[0016] FIG5 shows the control logic of the green wave passage control method according to some embodiments of the present disclosure;

[0017] FIG6 is a schematic diagram showing a process of detecting whether a target lane exists in FIG5 ;

[0018] FIG7 shows a schematic diagram of functional modules of a green wave traffic control device according to some embodiments of the present disclosure; and

[0019] FIG8 shows a schematic diagram of the hardware structure of a green wave traffic control device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] To help those skilled in the art better understand the present disclosure, the following will provide a clear and complete description of the technical solutions in the embodiments of the present disclosure, in conjunction with the accompanying drawings. It is clear that the described embodiments are only a portion of the embodiments of the present disclosure, not all of them. All other embodiments derived by those skilled in the art based on the embodiments of the present disclosure without creative effort are within the scope of protection of the present disclosure.

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0022] In a first aspect of the present disclosure, a green wave traffic control method is provided. Referring to FIG1 , FIG1 shows a flow chart of a green wave traffic control method according to some embodiments of the present disclosure. The green wave traffic control method includes the following steps S11 to S13.

[0023] In step S11, after a first longitudinal distance between the vehicle and the nearest target traffic light on the navigation route is less than a preset distance, a target vehicle speed is periodically determined based on the first longitudinal distance, the state of the target traffic light, and the road speed limit. The target vehicle speed is used to control the vehicle to reach the target traffic light during the green light period, and the target vehicle speed is less than or equal to the road speed limit.

[0024] In some embodiments, after the vehicle enters a preset distance range in front of the target traffic light, the target vehicle speed is calculated periodically according to a certain period, and in each period, an attempt is made to control the acceleration of the vehicle until the vehicle speed reaches the target speed, so that the vehicle reaches the target traffic light during the green light period to achieve green wave passage.

[0025] In some embodiments, the longitudinal direction is the vehicle's travel direction, and the status of the target traffic light is obtained through V2I (Vehicle to Infrastructure, also known as a traffic light system, which uses wireless communication technology to establish a dedicated communication frequency band for the on-board intelligent transportation system, realizing real-time information interaction between the vehicle and the road infrastructure) communication. The status of the target traffic light includes the current light color, the remaining duration, and the traffic light change cycle, etc. The first longitudinal distance between the vehicle and the target traffic light and the road speed limit are obtained through the navigation module.

[0026] 2 , which shows a detailed flow chart of step S11 in FIG. 1 , the step of determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light, and the road speed limit includes:

[0027] S111. Calculate the duration of the first green wave based on the most recent green light end time of the target traffic light and the current time;

[0028] S112. Calculate a first green wave vehicle speed based on the first longitudinal distance and the first green wave duration; and

[0029] S113. If the first green wave speed is less than or equal to the road speed limit, the target speed is determined as the first green wave speed. Otherwise, the second green wave speed corresponding to the end time of the next green light is calculated, and the target speed is determined as the second green wave speed, where the second green wave speed is less than or equal to the road speed limit.

[0030] In some embodiments, the first green wave speed corresponding to the most recent green light end time is first calculated, and then the first green wave speed is compared with the road speed limit. When the first green wave speed is less than or equal to the road speed limit, the first green wave speed is directly used as the target speed. Otherwise, the second green wave speed corresponding to the next green light end time is continued to be calculated, and the second green wave speed is used as the target speed.

[0031] Understandably, when the target traffic light is currently green and nearing its end, the first green wave is very short, making it easy for the vehicle's speed to exceed the speed limit. Using the first green wave speed as the target speed for controlling vehicle acceleration is therefore inappropriate. Therefore, it is necessary to calculate the second green wave speed corresponding to the end of the next green light. Because the end of the next green light is at least one complete traffic light cycle away from the current time, and the first longitudinal distance is less than the preset distance, if the preset distance is set appropriately, the second green wave speed is necessarily less than or equal to the speed limit.

[0032] In some embodiments, the ratio of the first longitudinal distance and the time difference between the corresponding green light end time and the current time is the minimum speed for green wave passage. In order to ensure that the vehicle can reach the target traffic light during the green light period when traveling at the target speed, the target speed can be appropriately set to a value greater than the minimum speed for green wave passage.

[0033] In step S12: if the vehicle speed is less than the target speed and there is a vehicle in the current lane that hinders the acceleration of the vehicle, then check whether there is a target lane, wherein the target lane is a safe lane for lane change and there is no vehicle in the target lane that hinders the acceleration of the vehicle.

[0034] In some embodiments, if the vehicle's speed is less than the target speed, it indicates that the vehicle needs to accelerate in order to achieve green wave traffic. However, if there are vehicles in the current lane that hinder the vehicle's acceleration, it indicates that the vehicle does not meet the acceleration conditions in the current lane and therefore needs to change lanes to the target lane that does meet the acceleration conditions. The target lane must meet two conditions: one is that the vehicle can safely change lanes to the target lane, that is, the target lane is a safe lane change lane, and the other is that the vehicle meets the acceleration conditions, that is, there are no vehicles in the target lane that hinder the vehicle's acceleration. The selection method of the safe lane change lane and the lane change control operation are not the focus of this disclosure. Please refer to the relevant technology and the disclosure will not elaborate on this.

[0035] It should be noted that whether there are vehicles that hinder the acceleration of the vehicle is only determined within a short period of time (for example, within several cycles), because the situation of other vehicles between the vehicle and the target traffic light is difficult to predict. We can only predict whether there are vehicles that hinder the acceleration of the vehicle in a short period of time based on the current situation, and then determine whether it is necessary to change lanes and which lane it can change to.

[0036] In some embodiments, if the vehicle's speed is greater than or equal to the target speed, the current lane and speed are maintained. If the vehicle's speed is less than the target speed, the current lane is checked for vehicles that could obstruct the vehicle's acceleration. If so, the target lane is further checked for the presence of a vehicle. The current and target lane detection schemes are described in detail in subsequent embodiments.

[0037] In step S13, if the target lane exists, the vehicle is controlled to change lanes to the target lane and the vehicle is controlled to accelerate.

[0038] While ensuring safe driving, the maximum speed limit to which the ego vehicle can accelerate after changing lanes to the target lane is determined based on the actual conditions in the target lane. In some embodiments, the ego vehicle can accelerate directly to the target speed without further acceleration. In other embodiments, the ego vehicle can only accelerate to a speed lower than the target speed and continue accelerating in the next cycle until the ego vehicle reaches the target speed.

[0039] After the ego vehicle enters a certain range in front of the target traffic light, the target speed is calculated periodically. When the ego vehicle speed is less than the target speed, whether there is a vehicle in the current lane that is hindering the ego vehicle's acceleration is detected. If there is a vehicle in the current lane that is hindering the ego vehicle's acceleration, the target lane is determined among the lanes where the ego vehicle can safely change lanes. If there is no vehicle in the target lane that is hindering the ego vehicle's acceleration, the ego vehicle is controlled to change lanes to the target lane and accelerate. By periodically executing the above steps, the ego vehicle speed can be gradually increased until it reaches the target speed, thereby improving the success rate of passing the traffic light with a green wave.

[0040] 3 , which shows a detailed flow chart of step S12 in FIG1 , the step of detecting whether a target lane exists includes:

[0041] S121. If there are vehicles between the ego vehicle and the target traffic light in all safe lane change lanes, obtain a first speed of the vehicle closest to the ego vehicle in each safe lane change lane, and a second longitudinal distance between the ego vehicle and the closest vehicle in front of the ego vehicle.

[0042] S122. For each safe lane change lane, if the first vehicle speed is greater than the sum of the own vehicle speed and the lane change speed difference, and the second longitudinal distance is greater than the lane change distance, then determine the safe lane change lane as an optional lane.

[0043] S123. If there is only one optional lane, determine the optional lane as the target lane; if there are multiple optional lanes, determine the target lane from the multiple optional lanes according to a preset selection strategy; and

[0044] S124. If there is no vehicle between the vehicle and the target traffic light in any safe lane change lane, determine the safe lane change lane as the target lane.

[0045] Regarding the target lane, if there are no vehicles between the ego vehicle and the target traffic light, there are naturally no vehicles that could hinder the ego vehicle's acceleration, allowing the target lane to be determined directly. If there is no safe lane between the ego vehicle and the target traffic light, the vehicle closest to the ego vehicle in the safe lane change position is considered to be a vehicle that could hinder the ego vehicle's acceleration, based on speed and distance. When the first speed is similar to the ego vehicle's speed and the second longitudinal distance is small, the ego vehicle has little room to accelerate after changing lanes, and the predicted benefit of lane change may be lower than maintaining the current lane. Therefore, if there are vehicles in the target lane that could hinder the ego vehicle's acceleration, the target lane is not selected. When multiple lanes are available, a target lane must be selected. The preset selection strategy for selecting the target lane can be configured as needed.

[0046] In some embodiments, the preset selection strategy is configured as one of a first selection strategy, a second selection strategy, and a third selection strategy.

[0047] In some embodiments, the first selection strategy is to determine the target lane as the optional lane with the largest second longitudinal distance; the second selection strategy is to determine the target lane as the optional lane with the largest first speed; and the third selection strategy is to normalize and weight the second longitudinal distance and first speed corresponding to each optional lane to obtain a quantized value, and determine the optional lane with the largest quantized value as the target lane. The first selection strategy uses the second longitudinal distance as the sole screening criterion, the second selection strategy uses the first speed as the sole screening criterion, and the third selection strategy uses a comprehensive screening based on the second longitudinal distance and first speed. Normalization eliminates the dimensionality effect between the indicators. The normalized values ​​of the second longitudinal distance and first speed can be weighted, and weight coefficients can be set for the second longitudinal distance and first speed as needed to obtain a quantized value for the optional lane. The larger the quantized value, the higher the priority for lane change.

[0048] In some embodiments, when multiple optional preset selection strategies are pre-set, the green wave traffic control method according to some embodiments of the present disclosure may further include the following steps: each time the vehicle reaches the target traffic light, the total cumulative value is increased by one, and each time the vehicle reaches the target traffic light during the green light period, the success cumulative value is increased by one; if the total cumulative value reaches a preset number, the green wave success rate is calculated based on the total cumulative value and the success cumulative value, and the total cumulative value and the success cumulative value are reset to zero; if the green wave success rate is less than the preset success rate, the preset selection strategy is switched. By calculating the green wave success rate each time the vehicle passes a preset number of traffic lights, and switching the preset selection strategy when the green wave success rate is less than the preset success rate, an attempt is made to improve the success rate of green wave traffic.

[0049] In some embodiments, the green wave traffic control method according to some embodiments of the present disclosure may further include: recording the green wave success rate calculated each time and its corresponding preset selection strategy to facilitate subsequent analysis and improvement.

[0050] In other embodiments, the green wave control method according to some embodiments of the present disclosure may further include the following steps: each time the vehicle reaches the target traffic light, the total cumulative value is increased by one, and each time the vehicle reaches the target traffic light during the green light period, the success cumulative value is increased by one; if the total cumulative value reaches a preset number, the green wave success rate is calculated based on the total cumulative value and the success cumulative value, and the total cumulative value and the success cumulative value are reset to zero; if the green wave success rate is less than the preset success rate, the lane change speed difference and / or lane change distance is reduced. By calculating the green wave success rate each time the vehicle passes a preset number of traffic lights, the lane change speed difference and / or lane change distance is reduced when the green wave success rate is less than the preset success rate, thereby lowering the screening criteria for the target lane and adopting a more aggressive lane change strategy, thereby attempting to improve the success rate of green wave passage.

[0051] In some embodiments, the green wave traffic control method according to some embodiments of the present disclosure may further include: recording the green wave success rate calculated each time and its corresponding lane change speed difference and lane change distance to facilitate subsequent analysis and improvement.

[0052] In some embodiments, after determining the target vehicle speed based on the first longitudinal distance, the status of the target traffic light and the road speed limit, the green wave traffic control method according to some embodiments of the present disclosure may also include: if the vehicle speed is less than the target speed, and there is a vehicle between the vehicle and the target traffic light in the current lane, then obtaining the second speed of the vehicle closest to the vehicle in front of the vehicle in the current lane, and the third longitudinal distance between the vehicle and the vehicle; if the second speed is less than or equal to the vehicle speed, and the third longitudinal distance is less than or equal to the acceleration distance, then determining that there is a vehicle in the current lane that hinders the acceleration of the vehicle.

[0053] In some embodiments, when the second vehicle speed is greater than the ego vehicle's speed, the ego vehicle may first accelerate to the second speed and wait for the next cycle before determining whether a lane change is necessary. When the third longitudinal distance is greater than the acceleration distance, the ego vehicle may first accelerate until the third longitudinal distance equals the acceleration distance and wait for the next cycle before determining whether a lane change is necessary. Therefore, in the short term, there must be no vehicles in the current lane that could impede the ego vehicle's acceleration. Only when both of these conditions are not met will it be determined that there are vehicles in the current lane that could impede the ego vehicle's acceleration, requiring a lane change and detecting which lane to change to.

[0054] In some embodiments, if the vehicle speed is less than the target speed, and there is no vehicle between the vehicle and the target traffic light in the current lane, it is determined that there is no vehicle in the current lane that hinders the acceleration of the vehicle; if the second speed is greater than the vehicle speed, or the third longitudinal distance is greater than the acceleration distance, it is determined that there is no vehicle in the current lane that hinders the acceleration of the vehicle.

[0055] Referring to FIG. 4 , FIG. 4 shows a system architecture diagram of a green wave traffic control method according to some embodiments of the present disclosure. The system architecture includes a navigation module 401 , a V2I module 402 , a perception module 403 , an intelligent driving decision module 404 and a vehicle control module 405 .

[0056] The state of the target traffic light is acquired through communication with the V2I module 402, wherein the state of the target traffic light includes the current light color, the remaining duration, and the traffic light change cycle, etc. The first green wave duration T is calculated according to the state of the traffic light. max And input to the intelligent driving decision module 404.

[0057] The navigation module 401 obtains a first longitudinal distance S between the vehicle and the target traffic light and a road speed limit, and inputs these into the intelligent driving decision module 404. In some embodiments, S is the distance between the vehicle and the stop line of the target traffic light.

[0058] The perception module 403 obtains the vehicle speed Vs and the front vehicle speed V F , and the first speed of the vehicle closest to the vehicle in front of the vehicle in each safe lane change and the second longitudinal distance between the vehicle and the vehicle: the speed of the left front vehicle V L , right front vehicle speed V R , Distance to the vehicle ahead S F , Distance to the left front vehicle S L and the distance S to the right front vehicle R Among them, the speed of the front vehicle V F is the speed of the vehicle in front of the vehicle in the current lane and closest to the vehicle, and the speed of the left front vehicle V L The speed of the vehicle closest to the vehicle in front of the vehicle on the left side of the current lane is V. R The speed of the vehicle closest to the vehicle in front of the vehicle and on the right side of the current lane is S. L The distance between the vehicle in front of the vehicle and the closest vehicle to the vehicle on the left side of the current lane is S. R It is the distance between the vehicle in front of the vehicle and the closest vehicle to the vehicle in the lane to the right of the current lane.

[0059] The perception module 403 includes sensors such as millimeter wave radar, camera, lidar, etc., which perceive the surrounding environment to obtain the above-mentioned various vehicle speeds and distances and the intelligent driving decision module 404.

[0060] The intelligent driving controller decision module 403 processes the various information provided by the navigation module 401, the V2I module 402, and the perception module 403 to implement the green wave traffic control method described in any of the above embodiments of the present disclosure, generates an optimal driving plan for the vehicle, and sends a corresponding request to the vehicle control module 404 based on the optimal driving plan. The vehicle control module 404 controls the vehicle based on the received request. The request sent can be a hold request, an acceleration request, a deceleration request, or a lane change request.

[0061] FIG5 shows the control logic of the green wave passage control method according to some embodiments of the present disclosure. Referring to FIG5 , the green wave passage control method provided by some embodiments of the present disclosure will be described below:

[0062] Step S51: data acquisition;

[0063] Step S52: Determine whether S / V S ≤T max If yes, go to step S53, if no, go to step S54;

[0064] Step S53: Maintain the vehicle speed Vs;

[0065] Step S54: Determine whether there is a vehicle between the vehicle and the target traffic light in the current lane. If so, proceed to step S55; if not, proceed to step S56.

[0066] Step S55: Determine whether V F >V S If yes, go to step S57; if no, it indicates that there is a vehicle in the current lane that hinders the acceleration of the vehicle, go to step S59;

[0067] Step S56: S / T max Whether it exceeds 10% of the road speed limit, if so, proceed to step S59, if not, proceed to step S58;

[0068] Step S57: Accelerate the vehicle to V F ;

[0069] Step S58: Accelerate the vehicle to S / T max ;

[0070] Step S59: Detect whether the target lane exists, if so, proceed to step S510, if not, proceed to step S511;

[0071] Step S510: Control the vehicle to change lanes to the target lane and control the vehicle to accelerate: If the target lane is the left lane, the vehicle changes lanes to the left and accelerates to V L If the target lane is the right lane, the vehicle changes lanes to the right and accelerates to V R ;

[0072] Step S511: Maintain the current lane, and the instrument prompts that there is no green wave plan at present.

[0073] FIG6 shows a schematic diagram of a process for detecting whether a target lane exists in FIG5 . Referring to FIG6 , the steps for detecting whether a target lane exists in some embodiments of the present disclosure are described below:

[0074] Step S61: data acquisition;

[0075] Step S62: Check whether the left lane is a navigation lane. If so, proceed to step S63; if not, proceed to step S64.

[0076] Step S63: Is V L >V S +V C And S L >S C If yes, go to step S64 and step S66, if no, go to step S64 only;

[0077] Step S64: Check whether the right lane is a navigation lane. If so, proceed to step S65. If not, proceed to step S612.

[0078] Step S65: Is V R >V S +V C And S R >S C If yes, go to step S67, if no, go to step S612;

[0079] Step S66: The left lane is used as an optional lane;

[0080] Step S67: The right lane is used as an optional lane;

[0081] Step S68: Summarize the available lanes. If only the left lane is available, proceed to step S610; if only the right lane is available, proceed to step S611; if both the left and right lanes are available, proceed to step S69;

[0082] Step S69: Is S L ≥S R If yes, go to step S610, if no, go to step S611;

[0083] Step S610: Select the left lane as the target lane;

[0084] Step S611: Select the right lane as the target lane;

[0085] Step S612: There is no target lane.

[0086] In a second aspect of the present disclosure, a green wave traffic control device is also provided. Referring to FIG7 , FIG7 shows a functional module schematic diagram of a green wave traffic control device according to some embodiments of the present disclosure, the green wave traffic control device comprising: a target speed determination module 10 for periodically determining a target speed based on the first longitudinal distance, the state of the target traffic light, and the road speed limit after the first longitudinal distance between the vehicle and the nearest target traffic light on the navigation route is less than a preset distance, wherein the target speed is used to control the vehicle to reach the target traffic light during the green light period, and the target speed is less than or equal to the road speed limit; a target lane detection module 20 for detecting whether there is a target lane if the vehicle speed is less than the target speed and there is a vehicle in the current lane that hinders the vehicle's acceleration, wherein the target lane is a safe lane for lane change and there is no vehicle in the target lane that hinders the vehicle's acceleration; and a control module 30 for controlling the vehicle to change lanes to the target lane and controlling the vehicle to accelerate if there is a target lane.

[0087] In some embodiments, the target lane detection module 20 is used to: if there is a vehicle between the ego vehicle and the target traffic light in all safe lane-changing lanes, obtain the first speed of the vehicle closest to the ego vehicle in each safe lane-changing lane, and the second longitudinal distance between the ego vehicle and the vehicle; if the first speed is greater than the sum of the ego vehicle speed and the lane-changing speed difference, and the second longitudinal distance is greater than the lane-changing distance, determine the corresponding safe lane-changing lane as an optional lane; if there is only one optional lane, determine the optional lane as the target lane, otherwise determine the target lane from multiple optional lanes according to a preset selection strategy.

[0088] In some embodiments, the preset selection strategy is configured as one of a first selection strategy, a second selection strategy, and a third selection strategy; the first selection strategy is to determine the optional lane with the largest second longitudinal distance as the target lane; the second selection strategy is to determine the optional lane with the largest first vehicle speed as the target lane; the third selection strategy is to normalize and weight the second longitudinal distance and the first vehicle speed for each optional lane to obtain a quantized value, and determine the optional lane with the largest quantized value as the target lane.

[0089] In some embodiments, when multiple optional preset selection strategies are preset, the green wave traffic control device also includes a success rate calculation module and a strategy switching module; the success rate calculation module is used to add one to the total cumulative value each time the vehicle reaches the target traffic light, and add one to the success cumulative value each time the vehicle reaches the target traffic light during the green light period. If the total cumulative value reaches a preset number, the green wave success rate is calculated based on the total cumulative value and the success cumulative value, and the total cumulative value and the success cumulative value are reset to zero; the strategy switching module is used to switch the preset selection strategy if the green wave success rate is less than the preset success rate.

[0090] In some embodiments, the green wave traffic control device may further include a success rate calculation module and a strategy switching module; the success rate calculation module is used to add one to the total cumulative value each time the vehicle reaches the target traffic light, and add one to the success cumulative value each time the vehicle reaches the target traffic light during the green light period. If the total cumulative value reaches a preset number, the green wave success rate is calculated based on the total cumulative value and the success cumulative value, and the total cumulative value and the success cumulative value are reset to zero; the strategy switching module is used to reduce the lane change speed difference and / or lane change distance if the green wave success rate is less than the preset success rate.

[0091] In some embodiments, the target lane detection module 20 is configured to: if there is no vehicle between the vehicle and the target traffic light in any safe lane change lane, determine the corresponding safe lane change lane as the target lane.

[0092] In some embodiments, the green wave traffic control device may further include a current lane detection module, which is used to: if the vehicle speed is less than the target speed, and there is a vehicle between the vehicle and the target traffic light in the current lane, then obtain the second speed of the vehicle closest to the vehicle in front of the vehicle in the current lane, and the third longitudinal distance between the vehicle and the vehicle; if the second speed is less than or equal to the vehicle speed, and the third longitudinal distance is less than or equal to the acceleration distance, then determine that there is a vehicle in the current lane that hinders the acceleration of the vehicle.

[0093] In some embodiments, the target speed determination module 10 is used to: calculate the first green wave duration based on the most recent green light end time of the target traffic light and the current time; calculate the first green wave speed based on the first longitudinal distance and the first green wave duration; if the first green wave speed is less than or equal to the road speed limit, determine the target speed as the first green wave speed; otherwise, calculate the second green wave speed corresponding to the next green light end time, and determine the target speed as the second green wave speed, wherein the second green wave speed is less than or equal to the road speed limit.

[0094] The functional implementation of each module in the above-mentioned green wave traffic control device corresponds to the steps in the above-mentioned green wave traffic control method embodiment, and their functions and implementation processes will not be repeated here one by one.

[0095] In a third aspect of the present disclosure, a green wave traffic control device is provided. The green wave traffic control device may be a device with data processing capabilities, such as a personal computer (PC), a laptop computer, or a server. Referring to FIG8 , FIG8 shows a schematic diagram of the hardware structure of the green wave traffic control device involved in an embodiment of the present disclosure. The green wave traffic control device in the embodiment of the present disclosure may include a processor, a memory, a communication interface, and a communication bus.

[0096] The communication bus can be of any type that can interconnect the processor, memory, and communication interface.

[0097] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, which are used to interconnect components within the green wave access control device, as well as interfaces used to interconnect the green wave access control device with other devices (such as other computing devices or user devices). Physical interfaces can be Ethernet, fiber, or ATM interfaces; user devices can be displays, keyboards, and other devices.

[0098] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0099] The processor may be a general-purpose processor that can call a green wave passage control program stored in a memory and execute the green wave passage control method provided by the embodiments of the present disclosure. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the green wave passage control program is called can be referred to in the various embodiments of the green wave passage control method of the present disclosure and will not be further described here.

[0100] Those skilled in the art will understand that the hardware structure shown in FIG8 does not constitute a limitation of the present disclosure, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0101] In a fourth aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the green wave passage control method described in any of the above embodiments are implemented.

[0102] According to one or more embodiments of the present disclosure, after the ego vehicle enters a certain range in front of a target traffic light, the target speed is calculated periodically. When the ego vehicle speed is less than the target speed, it is detected whether there is a vehicle in the current lane that is hindering the acceleration of the ego vehicle. If so, the target lane is determined among the lanes where the ego vehicle can safely change lanes. If there is no vehicle in the target lane that is hindering the acceleration of the ego vehicle, the ego vehicle is controlled to change lanes to the target lane and to accelerate. By periodically executing the above steps, the ego vehicle speed can be gradually increased until it reaches the target speed, thereby improving the success rate of passing the traffic light with a green wave.

[0103] It should be noted that the serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0104] The terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to be different types.

[0105] In the description of the embodiments of the present disclosure, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of the present disclosure should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0106] In the description of the embodiments of the present disclosure, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present disclosure, “multiple” refers to two or more than two.

[0107] In some processes described in the embodiments of the present disclosure, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present disclosure or may be executed in parallel. The sequence numbers of the operations are only used to distinguish different operations and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course, by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present disclosure.

[0109] The above are only preferred embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure and the drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A green wave traffic control method, comprising: After a first longitudinal distance between the vehicle and the nearest target traffic light on the navigation route is less than a preset distance, periodically determining a target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit, wherein the target vehicle speed is used to control the vehicle to reach the target traffic light during a green light period, and the target vehicle speed is less than or equal to the road speed limit; If the speed of the vehicle is less than the target speed, and there is a vehicle in the current lane that hinders the acceleration of the vehicle, then detecting whether there is a target lane, wherein the target lane is a safe lane for lane change, and there is no vehicle in the target lane that hinders the acceleration of the vehicle; and If there is a target lane, the vehicle is controlled to change lanes to the target lane and the vehicle is controlled to accelerate.

2. The green wave traffic control method according to claim 1, wherein: The step of detecting whether there is a target lane comprises: If there is a vehicle between the vehicle and the target traffic light in all safe lane change lanes, then obtain the first vehicle speed of the vehicle in front of the vehicle in each safe lane change lane, and the second longitudinal distance between the vehicle and the vehicle in front of the vehicle; For each safe lane change lane, if the first vehicle speed is greater than the sum of the own vehicle speed and the lane change speed difference, and the second longitudinal distance is greater than the lane change distance, the safe lane change lane is determined as an optional lane; and If there is only one optional lane, determining the optional lane as the target lane; If there are multiple optional lanes, the target lane is determined from the multiple optional lanes according to a preset selection strategy.

3. The green wave traffic control method according to claim 2, wherein: The preset selection strategy is configured as one of a first selection strategy, a second selection strategy, and a third selection strategy; The first selection strategy is to determine the optional lane with the largest second longitudinal distance as the target lane; The second selection strategy is to determine the optional lane with the largest first vehicle speed as the target lane; as well as The third selection strategy is to normalize and weight the second longitudinal distance and the first vehicle speed corresponding to each optional lane to obtain a quantized value, and determine the optional lane with the largest quantized value as the target lane.

4. The green wave traffic control method according to claim 2, wherein: When a plurality of optional preset selection strategies are preset, the green wave traffic control method further includes: Every time the vehicle reaches the target traffic light, the total cumulative value increases by one, and every time the vehicle reaches the target traffic light during the green light period, the success cumulative value increases by one; If the total cumulative value reaches the preset number, the green wave success rate is calculated based on the total cumulative value and the success cumulative value, and the total cumulative value and the success cumulative value are reset to zero; and If the green wave success rate is less than the preset success rate, the preset selection strategy is switched.

5. The green wave traffic control method according to claim 2, further comprising: Every time the vehicle reaches the target traffic light, the total cumulative value increases by one, and every time the vehicle reaches the target traffic light during the green light period, the success cumulative value increases by one; If the total cumulative value reaches the preset number, the green wave success rate is calculated based on the total cumulative value and the success cumulative value, and the total cumulative value and the success cumulative value are reset to zero; as well as If the green wave success rate is lower than the preset success rate, the lane changing speed difference and / or lane changing distance are reduced.

6. The green wave traffic control method according to any one of claims 1 to 5, wherein: The step of detecting whether there is a target lane comprises: If there is no vehicle between the vehicle and the target traffic light in any safe lane change lane, the safe lane change lane is determined as the target lane.

7. The green wave traffic control method according to any one of claims 1 to 5, wherein: After determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit, the green wave traffic control method further includes: If the vehicle speed is less than the target speed, and there is a vehicle between the vehicle and the target traffic light in the current lane, then obtaining a second vehicle speed of the nearest vehicle in front of the vehicle in the current lane, and a third longitudinal distance between the vehicle and the nearest vehicle in front; and If the second vehicle speed is less than or equal to the vehicle speed of the own vehicle, and the third longitudinal distance is less than or equal to the acceleration distance, it is determined that there is a vehicle in the current lane that hinders the acceleration of the own vehicle.

8. The green wave traffic control method according to any one of claims 1 to 5, wherein: The step of determining the target vehicle speed according to the first longitudinal distance, the state of the target traffic light and the road speed limit comprises: The first green wave duration is calculated according to the most recent green light end time of the target traffic light and the current time; Calculating a first green wave vehicle speed according to the first longitudinal distance and the first green wave duration; and If the first green wave speed is less than or equal to the road speed limit, the target speed is determined as the first green wave speed; otherwise, the second green wave speed corresponding to the next green light end time is calculated, and the target speed is determined as the second green wave speed, wherein the second green wave speed is less than or equal to the road speed limit.

9. A green wave traffic control device, comprising: a target vehicle speed determination module, configured to determine a target vehicle speed periodically according to a first longitudinal distance between the vehicle and the nearest target traffic light on the navigation route being less than a preset distance, the state of the target traffic light and the road speed limit, wherein the target vehicle speed is used to control the vehicle to reach the target traffic light during a green light period, and the target vehicle speed is less than or equal to the road speed limit; a target lane detection module, configured to detect whether there is a target lane if the vehicle speed is less than the target speed and there is a vehicle on the current lane that hinders the vehicle from accelerating, wherein the target lane is a safe lane for lane change and there is no vehicle on the target lane that hinders the vehicle from accelerating; and The control module is used to control the vehicle to change lanes to the target lane and control the vehicle to accelerate if there is a target lane.

10. A green wave traffic control device, comprising: A processor, a memory, and a green wave traffic control program stored in the memory and executable by the processor, wherein when the green wave traffic control program is executed by the processor, the steps of the green wave traffic control method as described in any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: 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 8 are implemented.

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