CN113034907B - Ecological intelligent vehicle speed induction method and device - Google Patents

Abstract

The application provides an ecological intelligent vehicle speed induction method and device, and the method comprises the following steps: determining the green light time range of the traffic light with the current time as the starting time; determining a dredging speed induction interval of each vehicle according to the green light time range of the traffic light, the highest speed limit of the road, the lowest speed limit of the road and the distance between each vehicle and the intersection of the traffic light, and determining a vehicle emission reduction speed induction activation area according to the current state of the traffic light and the highest speed limit of the road; aiming at each vehicle to be induced in the vehicle emission reduction speed induction activation region, determining a speed induction region to be dispersed and dredging of each vehicle to be induced, further determining a target speed region of each vehicle to be induced, and constructing at least two target curves corresponding to the target speed region of each vehicle to be induced; and aiming at each vehicle to be induced, determining a target induction interval of the vehicle to be induced according to the target curve of the vehicle to be induced and a preset motor vehicle transient emission model, and sending the target induction interval to display equipment of the vehicle to be induced.

Description

A kind of ecological intelligent vehicle speed induction method and device

technical field

The present application relates to the technical field of green transportation, and in particular, to a method and device for inducing an ecologically intelligent vehicle speed.

Background technique

In recent years, with the continuous and rapid development of my country's national economy and the continuous acceleration of the urbanization process, the number of motor vehicles has maintained a high growth rate, the volume of road traffic has continued to increase, traffic congestion has become increasingly serious, and motor vehicle exhaust pollution has become urban air pollution. The main source of pollution has adversely affected both economic and social development and population health. How to alleviate traffic congestion, reduce motor vehicle pollution emissions, improve urban air quality, and effectively protect citizens' lives and health has become an urgent problem to be solved in the process of sustainable urban development in my country.

At present, major cities in my country are also optimizing the time for vehicles to pass through intersections through intelligent traffic information lights. However, due to the complex, changeable, and irregular characteristics of intersections, only the traffic lights are adjusted unilaterally. It is impossible to achieve good results; at the same time, for the most cutting-edge intelligent traffic speed induction system, it is only optimized from a single dimension (avoiding intersection parking), and energy conservation and emission reduction are not considered as further optimal conditions, so it is difficult to achieve Maximize ecological and economic benefits.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present application is to provide an ecologically intelligent vehicle speed inducing method and device, which are used to solve the problem of how to simultaneously realize road traffic congestion reduction and energy saving and emission reduction in the prior art.

In a first aspect, the embodiments of the present application provide an ecologically intelligent vehicle speed induction method, which includes:

Obtain road data of the preset road; the road data includes the vehicle position and current speed of each vehicle on the preset road, and the position of the traffic light intersection of the preset road, the current state of the traffic light, and the time of the traffic light. cycle, road maximum speed limit and road minimum speed limit;

According to the current state of the traffic light and the time period of the traffic light, determining the green light duration range of the traffic light with the current time as the starting time;

According to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the traffic light intersection, determine the speed-inducing interval of each vehicle, and according to the current state of the traffic light and the road The maximum speed limit is determined, and the vehicle emission reduction speed induction activation area is determined; the distance between each vehicle and the traffic light intersection is calculated according to the vehicle position of each vehicle and the position of the traffic light intersection;

For each vehicle to be induced in the vehicle emission reduction speed induction activation area, determine the to-be-discrete congestion-removing speed-inducing interval of each vehicle to be induced according to the current vehicle speed, the vehicle-blocking-removing speed-inducing interval, and the current state of the traffic lights;

Determine the target speed interval of each to-be-induced vehicle according to the to-be-induced congestion-removing speed induction interval of the to-be-induced vehicle, and construct at least two target curves corresponding to the target speed interval of the to-be-induced vehicle;

For each vehicle to be induced, according to the target curve of the vehicle to be induced and the preset vehicle transient emission model, the target speed interval corresponding to the target curve with the lowest fuel consumption is determined as the target induced interval of the vehicle to be induced, and sent to the target vehicle to be induced. The display device of the induction vehicle is used to display the target induction interval.

In some embodiments, the determining, according to the current state of the traffic light and the time period of the traffic light, determines the green light duration range of the traffic light starting from the current moment, including:

According to the current state of the traffic light and the time period of the traffic light, the green light duration range of the traffic light with the current time as the starting time is calculated by the following formula:

Among them, [T _a , T _b ] is the green light duration range of the traffic light starting from the current time, and T _rG , T _rY , and T _rR are the green light, yellow light and red light in the current traffic light time period, respectively. The remaining durations, _TG , TY , and _TR are the durations of green, yellow, and red lights in one traffic light hour period, respectively, _n≥0 , and T is the traffic light hour period.

In some embodiments, according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the intersection of the traffic light, determining the congestion clearance speed induction interval of each vehicle, including:

According to the position of the vehicle and the position of the traffic light intersection, determine the distance between each vehicle and the traffic light intersection;

According to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the traffic light intersection, the following formula is used to calculate the congestion-removing speed induction interval of each vehicle:

Among them, V _a , V _b represent the minimum speed and maximum speed of the corresponding section, L represents the current distance of the vehicle from the traffic light intersection, V _min represents the minimum speed limit on the road, and V _max represents the maximum speed limit on the road.

In some embodiments, determining the vehicle emission reduction speed induction activation zone according to the current state of the traffic light and the maximum speed limit of the road includes:

According to the current state of the traffic lights and the maximum speed limit of the road, the length of the vehicle emission reduction speed induction activation zone is determined by the following formula:

According to the length of the vehicle emission reduction rate induction activation area, the vehicle emission reduction rate induction activation area with the position of the traffic light intersection as the end point is determined.

In some embodiments, for the vehicles to be induced in the vehicle emission reduction speed induction activation zone, according to the current vehicle speed, the vehicle congestion clearance speed induction zone and the current state of the traffic lights, the to-be-discreted vehicles to be induced are determined. Blockage removal speed induction interval, including:

For each vehicle to be induced in the vehicle emission reduction speed induction activation area, determine whether the current vehicle speed of the vehicle to be induced is within the congestion clearance speed induction area of each vehicle;

If the current speed of the to-be-induced vehicle is within the congestion-removal speed induction interval of each vehicle, then the to-be-discrete congestion-removal speed induction interval of the to-be-induced vehicle [V _c , V _d ]=[V _i , V _b ]; where V _i is the current speed of the vehicle;

其中，

是非疏堵速度诱导区间向下邻接的车辆疏堵速度诱导区间；If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of each vehicle, and the current state of the traffic light is green, then the congestion clearance speed induction interval of the vehicle to be induced is:

in,

is the vehicle congestion clearance speed induction interval adjacent to the non-blockage clearance speed induction zone downwards;

其中，

是非疏堵速度诱导区间向上邻接的车辆疏堵速度诱导区间。If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of each vehicle, and the current state of the traffic light is a red light or a yellow light, the to-be-induced vehicle's to-be-discreted congestion clearance speed induction interval is:

in,

It is the vehicle congestion clearance speed induction interval adjacent to the upwards of the non-blockage clearance speed induction zone.

In a second aspect, an embodiment of the present application provides an ecologically intelligent vehicle speed inducing device, which includes:

The acquisition module is used to acquire road data of the preset road; the road data includes the vehicle position and current speed of each vehicle in the preset road, the position of the traffic light intersection of the preset road, and the current state of the traffic light , traffic light time period, road maximum speed limit and road minimum speed limit;

a first calculation module, configured to determine the green light duration range of the traffic light with the current time as the starting time according to the current state of the traffic light and the time period of the traffic light;

The second calculation module is configured to determine the congestion clearance speed induction interval of each vehicle according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the traffic light intersection. According to the current state of the traffic lights and the maximum speed limit of the road, the vehicle emission reduction speed induction activation area is determined; the distance between the vehicles and the traffic light intersection is calculated according to the vehicle position of each vehicle and the position of the traffic light intersection;

The third calculation module is configured to, for each vehicle to be induced in the vehicle emission reduction speed induction activation area, determine the waiting time of each vehicle to be induced according to the current vehicle speed, the vehicle congestion clearance speed induction interval and the current state of the traffic lights Discrete blockage removal velocity induction interval;

The curve module is used to determine the target speed interval of each to-be-induced vehicle according to the to-be-discrete congestion-removing speed induction interval of the to-be-induced vehicle, and construct at least two target curves corresponding to the target speed interval of each to-be-induced vehicle ;

The induction module is used for each vehicle to be induced, according to the target curve of the vehicle to be induced and the preset vehicle transient emission model, to determine the target speed interval corresponding to the target curve with the lowest fuel consumption as the target induction interval of the vehicle to be induced , and send it to the display device of the vehicle to be induced to display the target induction interval.

In some embodiments, the second computing module includes:

a distance unit, configured to determine the distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position;

The calculation unit is configured to calculate the congestion-removing speed induction interval of each vehicle according to the following formula according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road and the distance between each vehicle and the intersection of the traffic light:

Among them, V _a , V _b represent the minimum speed and maximum speed of the corresponding section, L represents the current distance of the vehicle from the traffic light intersection, V _min represents the minimum speed limit on the road, and V _max represents the maximum speed limit on the road.

In some embodiments, the third computing module includes:

a judging unit, configured to judge, for each vehicle to be induced in the vehicle emission reduction speed induction activation area, whether the current speed of the vehicle to be induced is within the congestion clearance speed induction area of each vehicle;

A first determining unit, configured to: if the current speed of the vehicle to be induced is within the congestion clearance speed induction interval of each vehicle, then the congestion clearance speed induction interval of the vehicle to be discretized [V _c , V _d ]=[ V _i , V _b ]; wherein, V _i is the current speed of the vehicle;

其中，

是非疏堵速度诱导区间向下邻接的车辆疏堵速度诱导区间；a second determining unit, configured to determine the speed of the vehicle to be induced to be discrete if the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of each vehicle and the current state of the traffic light is green. The induction interval is

in,

is the vehicle congestion clearance speed induction interval adjacent to the non-blockage clearance speed induction zone downwards;

其中，

是非疏堵速度诱导区间向上邻接的车辆疏堵速度诱导区间。The third determining unit is configured to, if the current speed of the vehicle to be induced is not within the congestion clearance speed inducing interval of each vehicle, and the current state of the traffic light is red or yellow, then the waiting time of the vehicle to be induced is determined. The discrete blockage removal velocity induction interval is

in,

It is the vehicle congestion clearance speed induction interval adjacent to the upwards of the non-blockage clearance speed induction zone.

In a third aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program Implement the steps of the method of any one of the first aspects above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor when any one of the above-mentioned first aspects is executed. steps of the method described.

In an ecologically intelligent vehicle speed induction method proposed in the embodiment of the present application, the distance of each vehicle is determined according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the intersection of the traffic light. The congestion speed induction interval is determined according to the current state of the traffic lights and the maximum speed limit of the road to determine the vehicle emission reduction speed induction activation area, and for the vehicles to be induced in the vehicle emission reduction speed induction activation area, one by one, the current vehicle speed and the vehicle congestion clearance speed are induced. The interval and the current state of the traffic lights, determine the inductive interval of the speed to be discrete for each vehicle to be induced, determine the target speed interval for each vehicle to be induced and construct the target curve, by inputting the target curve into the preset vehicle transient emission The model determines the fuel consumption of each target curve, selects the target induction interval with the lowest fuel consumption for each vehicle to be induced, and displays it on the display device to induce the driver to adjust the vehicle speed. An ecologically intelligent vehicle speed induction method proposed in the embodiment of the present application considers energy saving and emission reduction as a constraint condition for vehicle speed induction, thereby realizing road traffic congestion reduction and energy saving and emission reduction at the same time, improving ecological benefits, and reducing traffic congestion Waste of resources in the process.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a method for inducing an ecologically intelligent vehicle speed according to an embodiment of the present application;

2 is a schematic diagram of a target curve provided by an embodiment of the present application;

3 is a schematic diagram of another target curve provided by an embodiment of the present application;

4 is a schematic structural diagram of an ecologically intelligent vehicle speed inducing device provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

At present, major cities in my country are also optimizing the time for vehicles to pass through intersections through intelligent traffic information lights. However, due to the complex, changeable, and irregular characteristics of intersections, only the traffic lights are adjusted unilaterally. It is impossible to achieve good results; at the same time, for the current most cutting-edge intelligent traffic speed induction system, it is only optimized from a single dimension (avoiding intersection parking), and energy conservation and emission reduction are not used as further conditions for selection. , so that the maximization of ecological benefits cannot be achieved.

Based on this, the embodiments of the present invention provide an ecologically intelligent vehicle speed induction method, which can achieve good effects of energy conservation and emission reduction, air quality improvement, and road network congestion reduction, and achieve ecological benefits with lower investment.

The embodiment of the present application provides an ecologically intelligent vehicle speed induction method, as shown in FIG. 1 , including the following steps:

Step S101, obtaining road data of a preset road; the road data includes the vehicle position and current speed of each vehicle in the preset road, and the position of the traffic light intersection of the preset road, the current state of the traffic light, and the time of the traffic light. cycle, road maximum speed limit and road minimum speed limit;

Step S102, according to the current state of the traffic light and the time period of the traffic light, determine the green light duration range of the traffic light with the current time as the starting time;

Step S103, according to the above-mentioned traffic light green light duration range, the road maximum speed limit, the road minimum speed limit and the distance between each vehicle and the traffic light intersection, determine the congestion speed induction interval of each of the above-mentioned vehicles, and according to the current state of the above-mentioned traffic lights and the road The maximum speed limit is determined, and the vehicle emission reduction speed induction activation area is determined; the distance between the above vehicles and the traffic light intersection is calculated according to the vehicle position of the above vehicles and the position of the traffic light intersection;

Step S104 , for each vehicle to be induced in the above-mentioned vehicle emission reduction speed induction activation area, according to the above-mentioned current vehicle speed, the vehicle congestion clearance speed induction interval and the current state of the traffic light, determine the to-be-discrete congestion removal speed induction interval of each to-be-induced vehicle ;

Step S105: Determine the target speed interval of each to-be-induced vehicle according to the to-be-discrete congestion-removing speed induction interval of each to-be-induced vehicle, and construct at least two target curves corresponding to the above-mentioned target speed interval of each to-be-induced vehicle;

Step S106, for each vehicle to be induced, according to the target curve of the vehicle to be induced and the preset vehicle transient emission model, determine the target speed interval corresponding to the target curve with the lowest fuel consumption as the target induction interval of the vehicle to be induced, and It is sent to the display device of the vehicle to be induced to display the above-mentioned target induction interval.

Specifically, the preset road is a pre-designated section of road that includes traffic lights, the vehicle positions of the vehicles and the traffic lights intersection positions of the preset roads are GPS coordinates, and the current status of the traffic lights includes green lights, yellow lights, and red lights. , the traffic light time period is a time period of the traffic light, which includes the green light time period, the yellow light time period and the red light time period.

After obtaining the road data of the preset road, according to the time point within the current traffic light time period at the current moment, determine the time length range of the traffic light status as green light, and the time length range is a cycle with the traffic light light time period as the cycle Periodic function of the period.

The distance between each vehicle and the traffic light intersection can be determined by the GPS coordinates of the vehicle position of each vehicle and the GPS coordinates of the traffic light intersection of the preset road. Set the maximum speed limit and the minimum speed limit of the road, and calculate the speed induction interval of each vehicle. At the same time, according to the current state of the traffic light and the maximum speed limit of the road, the vehicle emission reduction speed induction activation zone can be determined, and the activation zone is a section of the road on the preset road that ends at the traffic light.

Since it is necessary to reduce the congestion of vehicles, energy saving and emission reduction should also be considered. Therefore, for the vehicles to be induced that enter the vehicle emission reduction speed induction activation area, one by one according to the current speed of the vehicles to be induced, the vehicle congestion clearance speed induction interval and traffic lights In the current state, the to-be-discrete congestion-removing speed induction interval of each to-be-induced vehicle is determined, and each to-be-induced vehicle has at least one to-be-discrete congestion removal speed induction interval.

Determined according to the lower quartile and upper quartile of the to-be-discrete congestion-removing speed induction interval of each to-be-induced vehicle, that is, the target speed V _o (V _o1 , V _o2 ):

Then construct the corresponding target curve C (C _1-1-2 , C _2-1-2 ) according to the target speed, taking the absolute value of the acceleration as 1.5m/s ² as an example, the green light duration range of the next traffic light is (t ₁ , t ₂ ), the specific construction method is as follows:

(1) When the current vehicle speed V _i <V _o of the vehicle to be induced, for C _1-1-2 , first construct a uniform acceleration velocity with the initial velocity V _i , the acceleration 1.5m/s ² , and the final velocity V _o1 Curve C _1-1 , and calculate the acceleration time t _1-1 and the acceleration distance l _1-1 , and according to the distance between the vehicle to be induced and the traffic light, calculate the uniform speed distance l _1-2 , and then calculate the uniform speed time t _1-2 , if t ₁ <t _1-1 +t _1-2 <t ₂ , then continue to construct a uniform velocity curve C _1-2 with velocity V _o1 , and combine C _1-1 and C _1-2 to obtain velocity Curve C _1-1-2 ; for C _2-1-2 , first construct a uniform acceleration velocity curve C _2-1 with initial velocity V _i , acceleration 1.5m/s ² , and final velocity V _o2 , and calculate the acceleration Time t _2-1 and acceleration distance l _2-1, and according to the distance between the vehicle to be induced and the traffic light, calculate the uniform speed distance l _2-2 , and then calculate the uniform speed time t _2-2 , if t ₁ <t _2-1 +t _2-2 <t ₂ , then continue to construct a uniform velocity curve C _2-2 with a velocity of V _o2 , and combine C _2-1 and C _2-2 to obtain a velocity curve C _2-1-2 ;

(2) When the current vehicle speed V _i >V _o of the vehicle to be induced, for C _1-1-2 , firstly construct a uniform deceleration with initial speed V _i , acceleration -1.5m/s ² , and final speed V _o1 speed curve C _1-1 , and calculate the acceleration time t _1-1 and the acceleration distance l _1-1 , and according to the distance between the vehicle to be induced and the traffic light, calculate the uniform speed distance l _1-2 , and then calculate the uniform speed time t _1-2 , if t ₁ <t _1-1 +t _1-2 <t ₂ , then continue to construct a uniform velocity curve C _1-2 with velocity V _o1 , and combine C _1-1 and C _1-2 to obtain velocity Curve C _1-1-2 ; for C _2-1-2 , first construct a uniform deceleration speed curve C _2-1 with initial velocity V _i , acceleration -1.5m/s ² , and final velocity V _o2 , and calculate Acceleration time t _2-1 and acceleration distance l _2-1 , and according to the distance between the vehicle to be induced and the traffic light, calculate the uniform speed distance l _2-2 , and then calculate the uniform speed time t _2-2 , if t ₁ <t _2-1 +t _2-2 <t ₂ , then continue to construct a uniform velocity curve C _2-2 with a velocity V _o2 , and combine C _2-1 and C _2-2 to obtain a velocity curve C _2-1-2 .

For example, the target speed of the vehicle to be induced is V _o (12.5km/h, 15.4km/h), and the current speed of the vehicle to be induced is V _i (30km/h), since V _i (30km/h)>V _o ( 12.5km/h, 15.4km/h), respectively construct C _1-1 and C _2-1 with an initial speed of 30km/h and a target speed of 12.5km/h and 15.4km/h, and then construct a target speed of 12.5 km/h and 15.4km/h uniform speed curves C _1-2 and C _2-2 , combine C _1-1 and C _1-2 to obtain a speed curve C _1-1-2 , as shown in Fig. 2 , the combination C _2-1 , C _2-2 , the speed curve C _2-1-2 is obtained, as shown in FIG. 3 .

After obtaining the target curve of each vehicle to be induced, input the target curve of the vehicle to be induced into the preset vehicle transient emission model respectively, obtain the fuel consumption corresponding to each target curve of the vehicle to be induced, and select the lowest fuel consumption The target speed interval corresponding to the target curve of , is used as the target induction interval of the to-be-induced vehicle, so that the target induction interval can achieve the purpose of energy saving and emission reduction while satisfying the congestion relief. The preset vehicle transient emission model may be a VT-Micro model or the like.

Then, by sending the target induction interval to the on-board system of the vehicle to be induced or the mobile terminal device used by the driver in the vehicle to be induced, the target induction interval is displayed to the driver through the preloaded speed induction APP, so that the driver can speed up the vehicle according to the target induction interval. adjustment.

In some embodiments, in the above step S102, according to the current state of the traffic light and the time period of the traffic light, determine the green light duration range of the traffic light with the current time as the starting time, including:

According to the current state of the traffic light and the time period of the traffic light, the following formula is used to calculate the green light duration range of the traffic light starting from the current time:

Among them, [T _a , T _b ] is the green light duration range of the traffic light starting from the current time, and T _rG , T _rY , and T _rR are the green light, yellow light and red light in the current traffic light time period, respectively. The remaining durations, _TG , TY , and _TR are the durations of green, yellow, and red lights in one traffic light hour period, respectively, _n≥0 , and T is the traffic light hour period.

Specifically, according to the current state of the traffic light, the above corresponding formula is used to obtain the green light duration range of the traffic light, and the obtained traffic light green light duration range is a cycle time interval with T as the period.

In some embodiments, in the above-mentioned step S103, according to the above-mentioned traffic light green light duration range, the road maximum speed limit, the road minimum speed limit and the distance between each vehicle and the traffic light intersection, determine the congestion clearance speed induction interval of the above-mentioned vehicles, including:

Step 1031: Determine the distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position;

Step 1032: According to the above-mentioned traffic light green light duration range, the road maximum speed limit, the road minimum speed limit and the distance between each vehicle and the traffic light intersection, calculate the congestion clearance speed induction interval of the above-mentioned vehicles by the following formula:

Among them, V _a , V _b represent the minimum speed and maximum speed of the corresponding section, L represents the current distance of the vehicle from the traffic light intersection, V _min represents the minimum speed limit on the road, and V _max represents the maximum speed limit on the road.

Specifically, the distance between the vehicle and the traffic light intersection is calculated first according to the GPS position point of the vehicle position and the GPS position point of the traffic light intersection position.

Then, according to the current state of the traffic lights, select the corresponding calculation formula of the congestion-removing speed induction interval, and calculate the congestion-removing speed induction interval of each vehicle. Since the road has a maximum speed limit and a minimum speed limit, the congestion removal speed induction interval is obtained through the formula. After that, compare the minimum value of the speed induction interval with the minimum speed limit of the road. If the minimum value of the induction interval is less than the minimum speed limit of the road, set the minimum value of the induction interval to the minimum speed limit of the road. Similarly, compare the maximum value of the dredging speed induction interval with the maximum speed limit of the road. If the maximum value of the dredging speed induction interval is greater than the maximum speed limit of the road, set the maximum value of the dredging speed induction interval as the road. Maximum speed limit.

In some embodiments, in the above step S103, according to the current state of the traffic lights and the maximum speed limit of the road, the vehicle emission reduction speed induction activation area is determined, including:

According to the current state of the above traffic lights and the maximum speed limit of the road, the length of the vehicle emission reduction speed induction activation zone is determined by the following formula:

According to the length of the above-mentioned vehicle emission reduction rate induction activation area, the vehicle emission reduction rate induction activation area with the position of the above-mentioned traffic light intersection as the end point is determined.

Specifically, due to the speed induction under the dual constraints of dredging and energy saving and emission reduction, it is mainly performed for vehicles that can pass the traffic light within the green light duration of the current traffic light or within the green light duration of the next traffic light. Therefore, it is necessary to take the vehicle emission reduction as a consideration to determine the vehicle emission reduction rate induction activation area. For the vehicles in the vehicle emission reduction rate induction activation area, the follow-up congestion reduction and emission reduction vehicle speed induction is performed, and for the vehicles outside the vehicle emission reduction rate induction activation area For vehicles, the conventional speed induction for congestion reduction is performed first, and after entering the vehicle emission reduction speed induction activation area, the vehicle speed induction for congestion reduction and emission reduction is performed.

First, select the corresponding calculation formula for the length of the vehicle emission reduction rate induction activation area according to the current state of the traffic light. After calculating the length, the vehicle emission reduction rate induction activation area is determined with the location of the traffic light intersection as the end point.

In some embodiments, in the above step S104, for the vehicles to be induced in the above-mentioned vehicle emission reduction speed induction activation area, according to the above-mentioned current vehicle speed, the vehicle congestion clearance speed induction interval and the current state of the traffic lights, determine the to-be-distracted reduction of each to-be-induced vehicle. Blockage velocity induction interval, including:

Step 1041: For each vehicle to be induced in the above-mentioned vehicle emission reduction speed induction activation area, determine whether the current vehicle speed of the above-mentioned vehicle to be induced is within the above-mentioned congestion clearance speed induction area of each vehicle;

Step 1042: If the current speed of the vehicle to be induced is within the congestion clearance speed induction interval of the above-mentioned vehicles, then the congestion removal speed induction interval of the vehicle to be induced to be discretized [V _c , V _d ]=[V _i , V _b ]; where V _i is the current speed of the vehicle;

其中，

是非疏堵速度诱导区间向下邻接的车辆疏堵速度诱导区间；Step 1043: If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of the above-mentioned vehicles, and the current state of the traffic light is green, then the to-be-induced vehicle's to-be-discrete congestion removal speed induction interval is:

in,

is the vehicle congestion clearance speed induction interval adjacent to the non-blockage clearance speed induction zone downwards;

其中，

是非疏堵速度诱导区间向上邻接的车辆疏堵速度诱导区间。Step 1044: If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of the above-mentioned vehicles, and the current state of the traffic light is a red light or a yellow light, then the to-be-induced vehicle is to be separated from the congestion reduction speed induction interval. for

in,

It is the vehicle congestion clearance speed induction interval adjacent to the upwards of the non-blockage clearance speed induction zone.

Specifically, for each vehicle to be induced in the vehicle emission reduction speed induction activation area, it is necessary to first determine whether the current speed of each vehicle to be induced is within the corresponding congestion clearance speed induction area, and if the current speed of the vehicle to be induced is within this Within the congestion-removing speed induction interval of the vehicle to be induced, the maximum value of the current vehicle speed to the congestion-removing speed induction interval is taken as the to-be-discrete congestion removal speed induction interval of the vehicle to be induced.

If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of the vehicle to be induced, that is, the current speed of the vehicle to be induced is within the non-blocking speed induction interval, it needs to be divided into two types according to the current state of the traffic lights. Happening:

(1) When the current state of the traffic light is green, if you want to pass the current green light, you must drive at the maximum speed of the road, so as to pass the traffic light intersection at the current green light. Outside the congestion-removing speed induction interval, and it takes a period of time to increase the speed, the vehicle to be induced can only pass through the next green light, that is, select the vehicle congestion-removing speed induction interval adjacent to the non-jamming speed induction interval, and the next green light can be used. green light to pass;

(2) When the current state of the traffic light is yellow or red, it is possible that the current speed of the vehicle to be induced is high and the speed needs to be reduced to just pass the traffic light intersection within the green time of the next traffic light; it is also possible that the current speed of the vehicle to be induced is Lower, it needs to accelerate to pass the traffic light intersection within the green light duration of the next traffic light. Therefore, the to-be-discreted congestion-removing speed induction interval of the to-be-induced vehicle includes the vehicle congestion-removing speed induction interval adjacent to the non-jamming speed induction interval. , and the vehicle congestion clearance speed induction interval adjacent to the non-blocking clearance speed induction interval.

The embodiment of the present application also provides an ecological smart vehicle speed inducing device, as shown in FIG. 4 , the device includes:

The obtaining module 30 is configured to obtain road data of the preset road; the above-mentioned road data includes the vehicle position and current speed of each vehicle in the above-mentioned preset road, as well as the position of the traffic light intersection of the above-mentioned preset road, the current state of the traffic light, the traffic Time period of lights, road maximum speed limit and road minimum speed limit;

The first calculation module 31 is configured to determine, according to the current state of the traffic light and the time period of the traffic light, the green light duration range of the traffic light with the current time as the starting time;

The second calculation module 32 is configured to determine the congestion-removing speed induction interval of the above-mentioned vehicles according to the above-mentioned traffic light green light duration range, the road maximum speed limit, the road minimum speed limit and the distance between each vehicle and the traffic light intersection, and according to the above traffic light The current state of the light and the maximum speed limit of the road are used to determine the vehicle emission reduction speed induction activation area; the distance between the above vehicles and the traffic light intersection is calculated according to the vehicle position of the above vehicles and the position of the traffic light intersection;

The third calculation module 33 is configured to, for each vehicle to be induced in the above-mentioned vehicle emission reduction speed induction activation area, determine the to-be-discreted vehicle of each to-be-induced vehicle according to the above-mentioned current vehicle speed, the vehicle blocking speed induction interval and the current state of the traffic lights Blockage removal speed induction interval;

The curve module 34 is configured to determine the target speed interval of each to-be-induced vehicle according to the to-be-discrete congestion-removing speed induction interval of each to-be-induced vehicle, and construct at least two target curves corresponding to the above-mentioned target speed interval of each to-be-induced vehicle;

The induction module 35 is configured to, for each vehicle to be induced, according to the target curve of the vehicle to be induced and the preset vehicle transient emission model, determine the target speed interval corresponding to the target curve with the lowest fuel consumption as the target induction of the vehicle to be induced interval, and send it to the display device of the vehicle to be induced, so as to display the above-mentioned target induced interval.

In some embodiments, the above-mentioned second computing module 32 includes:

The distance unit 321 is configured to determine the distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position;

The calculation unit 322 is configured to calculate the congestion-removing speed induction interval of the above-mentioned vehicles by the following formula according to the above-mentioned traffic light green light duration range, the road maximum speed limit, the road minimum speed limit and the distance between each vehicle and the traffic light intersection:

Among them, V _a , V _b represent the minimum speed and maximum speed of the corresponding section, L represents the current distance of the vehicle from the traffic light intersection, V _min represents the minimum speed limit on the road, and V _max represents the maximum speed limit on the road.

In some embodiments, the above-mentioned third calculation module 33 includes:

The judgment unit 331 is configured to, for each vehicle to be induced in the above-mentioned vehicle emission reduction speed induction activation area, judge whether the current speed of the above-mentioned vehicle to be induced is within the above-mentioned congestion clearance speed induction interval of each vehicle;

The first determination unit 332 is configured to: if the current speed of the vehicle to be induced is within the congestion clearance speed induction interval of the above-mentioned vehicles, then the congestion clearance speed induction interval of the vehicle to be induced to be discretized [V _c , V _d ]=[ V _i , V _b ]; wherein, V _i is the current speed of the vehicle;

其中，

是非疏堵速度诱导区间向下邻接的车辆疏堵速度诱导区间；The second determining unit 333 is configured to: if the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of the above-mentioned vehicles, and the current state of the traffic light is green, then the vehicle to be induced to be discretized and the congestion clearance speed induced The interval is

in,

is the vehicle congestion clearance speed induction interval adjacent to the non-blockage clearance speed induction zone downwards;

其中，

是非疏堵速度诱导区间向上邻接的车辆疏堵速度诱导区间。The third determining unit 334 is configured to, if the current speed of the vehicle to be induced is not within the congestion clearance speed inducing interval of the above-mentioned vehicles, and the current state of the traffic light is a red light or a yellow light, the to-be-induced vehicle to be discretized The blockage removal rate induction interval is

in,

It is the vehicle congestion clearance speed induction interval adjacent to the upwards of the non-blockage clearance speed induction zone.

Corresponding to an ecologically intelligent vehicle speed induction method in FIG. 1 , an embodiment of the present application further provides a computer device 400 , as shown in FIG. 5 , the device includes a memory 401 , a processor 402 , and a memory A computer program that can be run on the processor 402, wherein, when the processor 402 executes the computer program, the above-mentioned method for inducing an ecologically intelligent vehicle speed is implemented.

Specifically, the above-mentioned memory 401 and the processor 402 can be a general-purpose memory and processor, which is not specifically limited here. When the processor 402 runs the computer program stored in the memory 401, it can execute the above-mentioned method for inducing an ecologically intelligent vehicle speed to solve the problem. The problem of how to realize road traffic congestion reduction and energy saving and emission reduction at the same time in the prior art is discussed.

Corresponding to an ecologically intelligent vehicle speed induction method in FIG. 1 , the embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed when the processor is running. The steps of the above-mentioned method for inducing an ecologically intelligent vehicle speed.

Specifically, the storage medium can be a general storage medium, such as a removable disk, a hard disk, etc., when the computer program on the storage medium is run, it can execute the above-mentioned method for inducing the speed of an ecologically intelligent vehicle, which solves the problem of how to simultaneously induce the vehicle speed in the prior art To achieve the problems of road traffic congestion and energy saving and emission reduction, an ecologically intelligent vehicle speed induction method proposed in the embodiment of the present application is based on the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the relationship between each vehicle and traffic. The distance between the light intersections, determine the blocking speed induction interval of each vehicle, and determine the vehicle emission reduction speed induction activation area according to the current state of the traffic lights and the maximum speed limit of the road, for the vehicles to be induced in the vehicle emission reduction speed induction activation area Vehicles, according to the current vehicle speed, the vehicle congestion clearance speed induction interval and the current state of the traffic lights, determine the to-be-discrete congestion-removal speed induction interval for each vehicle to be induced, determine the target speed interval for each to-be-induced vehicle and construct the target curve, through Input the target curve into the preset vehicle transient emission model, determine the fuel consumption of each target curve, select the target induction interval with the lowest fuel consumption for each vehicle to be induced, and display it on the display device to induce the driver to adjust the vehicle speed. An ecologically intelligent vehicle speed induction method proposed in the embodiment of the present application considers energy saving and emission reduction as a constraint condition for vehicle speed induction, thereby realizing road traffic congestion reduction and energy saving and emission reduction at the same time, improving ecological benefits, and reducing traffic congestion Waste of resources in the process.

In the embodiments provided in this application, it should be understood that the disclosed method and apparatus may be implemented in other manners. The apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in the embodiments provided in this application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

It should be noted that like numerals and letters refer to like items in the following figures, so that once an item is defined in one figure, it does not require further definition and explanation in subsequent figures, Furthermore, the terms "first", "second", "third", etc. are only used to differentiate the description and should not be construed as indicating or implying relative importance.

Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present application, and are used to illustrate the technical solutions of the present application, rather than limit them. The embodiments describe the application in detail, and those of ordinary skill in the art should understand that: any person skilled in the art can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the application. Changes can be easily conceived, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application. All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (10)

1. an ecological wisdom vehicle speed inducing method, is characterized in that, comprises: Obtain road data of the preset road; the road data includes the vehicle position and current speed of each vehicle on the preset road, and the position of the traffic light intersection of the preset road, the current state of the traffic light, and the time of the traffic light. cycle, road maximum speed limit and road minimum speed limit; According to the current state of the traffic light and the time period of the traffic light, determining the green light duration range of the traffic light with the current time as the starting time; According to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the traffic light intersection, determine the speed-inducing interval of each vehicle, and according to the current state of the traffic light and the road The maximum speed limit is to determine the vehicle emission reduction speed induction activation zone; the distance between each vehicle and the traffic light intersection is calculated according to the vehicle position of each vehicle and the traffic light intersection position; the congestion clearance speed induction zone refers to It is the speed interval in which the traffic light is green when the vehicle enters the target intersection in all light time periods after the target intersection; For each vehicle to be induced in the vehicle emission reduction speed induction activation area, determine the to-be-discrete congestion-removing speed-inducing interval of each vehicle to be induced according to the current vehicle speed, the vehicle-blocking-removing speed-inducing interval, and the current state of the traffic lights; The speed-inducing interval to be discretized means that the vehicle can pass through the target intersection within the green light time period within the current light time period of the target intersection or within the green light time period within the next light time period. The speed zone where the traffic light is green when entering the target intersection; Determine the target speed interval of each to-be-induced vehicle according to the to-be-induced congestion-removing speed induction interval of the to-be-induced vehicle, and construct at least two target curves corresponding to the target speed interval of the to-be-induced vehicle; For each vehicle to be induced, according to the target curve of the vehicle to be induced and the preset vehicle transient emission model, the target speed interval corresponding to the target curve with the lowest fuel consumption is determined as the target induced interval of the vehicle to be induced, and sent to the target vehicle to be induced. The display device of the induction vehicle is used to display the target induction interval. 2 . The method according to claim 1 , wherein, according to the current state of the traffic light and the time period of the traffic light, determining the green light duration range of the traffic light with the current time as the starting time, comprising: 2 . According to the current state of the traffic light and the time period of the traffic light, the green light duration range of the traffic light with the current time as the starting time is calculated by the following formula:

Among them, [T _a , T _b ] is the green light duration range of the traffic light starting from the current time, and T _rG , T _rY , and T _rR are the green light, yellow light and red light in the current traffic light time period, respectively. The remaining durations, _TG , TY , and _TR are the durations of green, yellow, and red lights in one traffic light hour period, respectively, _n≥0 , and T is the traffic light hour period. 3 . The method according to claim 1 , wherein the vehicle is determined according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the intersection of the traffic light. 4 . The inductive interval of the blockage removal rate, including: According to the position of the vehicle and the position of the traffic light intersection, determine the distance between each vehicle and the traffic light intersection; According to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the traffic light intersection, the following formula is used to calculate the congestion-removing speed induction interval of each vehicle:

Among them, V _a , V _b respectively represent the minimum speed and maximum speed of the corresponding section, L represents the current distance of the vehicle from the traffic light intersection, V _min represents the minimum speed limit on the road, and V _max represents the maximum speed limit on the road; T _rG , T _rY , T _rR are the remaining time of green light, yellow light and red light in the current traffic light time period, respectively, T _G , T _Y , T _R are the green light, yellow light and red light in a traffic light time period respectively Duration, n≥0, T is the time period of the traffic light. 4 . The method of claim 1 , wherein the determining the vehicle emission reduction speed induction activation zone according to the current state of the traffic lights and the maximum road speed limit comprises: 5 . According to the current state of the traffic lights and the maximum speed limit of the road, the length of the vehicle emission reduction speed induction activation zone is determined by the following formula:

According to the length of the vehicle emission reduction rate induction activation area, the vehicle emission reduction rate induction activation area with the position of the traffic light intersection as the end point is determined; _TrG , _TrY , and _TrR are the green lights in the current traffic light period , the remaining duration of the yellow light and the red light, _TG and _TR are the duration of the green light and the red light in a traffic light period, respectively, and _Vmax represents the maximum speed limit on the road. 5 . The method according to claim 1 , wherein, for the vehicles to be induced within the vehicle emission reduction speed induction activation zone, the method is based on the current vehicle speed, the vehicle congestion clearance speed induction zone and the current state of traffic lights. 6 . , to determine the inductive interval of the speed to be discretized for each vehicle to be induced, including: For each vehicle to be induced in the vehicle emission reduction speed induction activation area, determine whether the current vehicle speed of the vehicle to be induced is within the congestion clearance speed induction area of each vehicle; If the current speed of the to-be-induced vehicle is within the congestion-removal speed induction interval of each vehicle, then the to-be-discrete congestion-removal speed induction interval of the to-be-induced vehicle [V _c , V _d ]=[V _i , V _b ]; where V _i is the current speed of the vehicle; If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of each vehicle, and the current state of the traffic light is green, then the congestion clearance speed induction interval of the vehicle to be induced is:

in,

is the vehicle congestion clearance speed induction interval adjacent to the non-blockage clearance speed induction zone downwards; If the current speed of the vehicle to be induced is not within the congestion clearance speed induction interval of each vehicle, and the current state of the traffic light is a red light or a yellow light, the to-be-induced vehicle's to-be-discreted congestion clearance speed induction interval is:

in,

It is the vehicle congestion clearance speed induction interval adjacent to the upwards of the non-blockage clearance speed induction zone. 6. An ecologically intelligent vehicle speed inducing device, characterized in that, comprising: The acquisition module is used to acquire road data of the preset road; the road data includes the vehicle position and current speed of each vehicle in the preset road, the position of the traffic light intersection of the preset road, and the current state of the traffic light , traffic light time period, road maximum speed limit and road minimum speed limit; a first calculation module, configured to determine the green light duration range of the traffic light with the current time as the starting time according to the current state of the traffic light and the time period of the traffic light; The second calculation module is configured to determine the congestion clearance speed induction interval of each vehicle according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the traffic light intersection. The current state of the traffic light and the maximum speed limit of the road are used to determine the vehicle emission reduction speed induction activation area; the distance between each vehicle and the traffic light intersection is calculated according to the vehicle position of each vehicle and the position of the traffic light intersection; the The congestion clearance speed induction interval refers to the speed interval in which the traffic light is green when the vehicle enters the target intersection in all the light time periods after the target intersection; The third calculation module is configured to, for each vehicle to be induced in the vehicle emission reduction speed induction activation area, determine the waiting time of each vehicle to be induced according to the current vehicle speed, the vehicle congestion clearance speed induction interval and the current state of the traffic lights Discrete congestion removal speed induction interval; the to-be-discrete congestion removal speed induction interval means that the vehicle can pass the target within the green light time period within the current light time period of the target intersection or within the green light time period within the next light time period On the premise of the intersection, the speed range in which the traffic light is green when the vehicle enters the target intersection; The curve module is used to determine the target speed interval of each to-be-induced vehicle according to the to-be-discrete congestion-removing speed induction interval of the to-be-induced vehicle, and construct at least two target curves corresponding to the target speed interval of each to-be-induced vehicle ; The induction module is used for each vehicle to be induced, according to the target curve of the vehicle to be induced and the preset vehicle transient emission model, to determine the target speed interval corresponding to the target curve with the lowest fuel consumption as the target induction interval of the vehicle to be induced , and send it to the display device of the vehicle to be induced to display the target induction interval. 7. The apparatus of claim 6, wherein the second computing module comprises: a distance unit, configured to determine the distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position; The calculation unit is configured to calculate the congestion-removing speed induction interval of each vehicle by the following formula according to the green light duration range of the traffic light, the maximum speed limit of the road, the minimum speed limit of the road, and the distance between each vehicle and the intersection of the traffic light:

Among them, V _a , V _b respectively represent the minimum speed and maximum speed of the corresponding section, L represents the current distance of the vehicle from the traffic light intersection, V _min represents the minimum speed limit on the road, and V _max represents the maximum speed limit on the road; T _rG , T _rY , T _rR are the remaining time of green light, yellow light and red light in the current traffic light time period, respectively, T _G , T _Y , T _R are the green light, yellow light and red light in a traffic light time period respectively Duration, n≥0, T is the time period of the traffic light. 8. The apparatus of claim 6, wherein the third computing module comprises: a judging unit, configured to judge, for each vehicle to be induced in the vehicle emission reduction speed induction activation area, whether the current speed of the vehicle to be induced is within the congestion clearance speed induction area of each vehicle; A first determining unit, configured to: if the current speed of the vehicle to be induced is within the congestion clearance speed induction interval of each vehicle, then the congestion clearance speed induction interval of the vehicle to be discretized [V _c , V _d ]=[ V _i , V _b ]; wherein, V _i is the current speed of the vehicle; A second determining unit, configured to determine the speed of the vehicle to be induced to be discrete if the current speed of the vehicle to be induced is not within the congestion clearance speed inducing interval of each vehicle and the current state of the traffic light is green. The induction interval is

in,

is the vehicle congestion clearance speed induction interval adjacent to the non-blockage clearance speed induction zone downwards; The third determining unit is configured to, if the current speed of the vehicle to be induced is not within the congestion clearance speed inducing interval of each vehicle, and the current state of the traffic light is red or yellow, then the waiting time of the vehicle to be induced is determined. The discrete blockage removal velocity induction interval is

in,

It is the vehicle congestion clearance speed induction interval adjacent to the upwards of the non-blockage clearance speed induction zone. 9. A computer device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements the above claims when executing the computer program The steps of any one of 1-5. 10. A computer-readable storage medium on which a computer program is stored, wherein the computer program is executed by a processor when the computer program is executed by any one of the preceding claims 1-5. steps of the method.

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