CN113034907B - Ecological intelligent vehicle speed induction method and device - Google Patents
Ecological intelligent vehicle speed induction method and device Download PDFInfo
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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
Technical Field
The application relates to the technical field of green traffic, in particular to an ecological intelligent vehicle speed induction method and device.
Background
In recent years, with the continuous and rapid development of national economy of China, the urbanization process is accelerated continuously, the holding quantity of motor vehicles keeps high-level growth all the time, the traffic volume of road traffic is increased continuously, traffic jam becomes serious day by day, the tail gas pollution of the motor vehicles becomes the main source of urban air pollution, and the pollution has adverse effects on the development of economic society and the health of crowds. How to relieve traffic jam, reduce the pollution emission of motor vehicles, improve the urban air quality and practically guarantee the life health of citizens becomes a problem to be solved urgently in the process of urban sustainable development in China.
At present, each big city in China also optimizes the time of a vehicle passing through an intersection through an intelligent traffic information signal lamp correspondingly, but as the intersection condition has the characteristics of complexity, changeability, irregularity and the like, the adjustment is only carried out from one side of a traffic signal lamp, and a good effect cannot be achieved; meanwhile, for the current leading-edge intelligent traffic speed induction system, optimization is only carried out from a single dimension (intersection parking is avoided), and energy conservation and emission reduction are not used as a further preferred condition, so that maximization of ecological benefit and economic benefit is difficult to realize.
Disclosure of Invention
In view of this, the present application aims to provide an ecological intelligent vehicle speed inducing method and device, which are used for solving the problem of how to simultaneously achieve road traffic blockage removal, energy saving and emission reduction in the prior art.
In a first aspect, an embodiment of the present application provides an ecological intelligent vehicle speed inducing method, including:
acquiring road data of a preset road; the road data comprises the vehicle position and the current speed of each vehicle in the preset road, the position of a traffic light intersection of the preset road, the current state of the traffic light, the time period of the traffic light, the highest speed limit of the road and the lowest speed limit of the road;
determining the green light time 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;
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; 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;
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 the blockage of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction region and the current state of a traffic light;
determining a target speed interval of each vehicle to be induced according to the to-be-dispersed dredging speed induction interval of each vehicle to be induced, and constructing at least two target curves corresponding to the target speed interval of each vehicle to be induced;
and aiming at each vehicle to be induced, determining a target speed interval corresponding to a target curve with the lowest oil consumption as 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 speed interval to display equipment of the vehicle to be induced.
In some embodiments, the determining the traffic light green light time length range with the current time as the starting time according to the current state of the traffic light and the traffic light time period includes:
according to the current state of the traffic light and the time period of the traffic light, calculating the green light time range of the traffic light with the current time as the starting time by the following formula:
wherein [ Ta,Tb]The green time range T of the traffic light using the current time as the starting timerG、TrY、TrRRespectively the remaining time periods of green, yellow and red light in the current traffic light time period, TG、TY、TRThe time lengths of a green light, a yellow light and a red light in a traffic light time period are respectively, n is more than or equal to 0, and T is the traffic light time period.
In some embodiments, the determining the congestion relief speed induction zone of each vehicle according to the traffic light green light time length range, the road highest speed limit, the road lowest speed limit and the distance between each vehicle and the traffic light intersection includes:
determining the distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position;
according to the traffic light green light time length range, the road highest speed limit, the road lowest speed limit and the distance between each vehicle and the traffic light intersection, calculating the dredging speed induction interval of each vehicle through the following formula:
wherein, Va,VbRespectively representing the minimum speed and the maximum speed of the corresponding section, L representing the distance between the current vehicle and the intersection of the traffic lights, VminIndicating the minimum speed limit of the road, VmaxIndicating the maximum speed limit for the road.
In some embodiments, the determining a vehicle emission reduction speed induction activation zone according to the current state of the traffic light and the highest speed limit of the road comprises:
according to the current state of the traffic light and the highest speed limit of the road, the length of a vehicle emission reduction speed induction activation area is determined through the following formula:
and determining the vehicle emission reduction speed induction activation zone taking the traffic light intersection position as a terminal point according to the length of the vehicle emission reduction speed induction activation zone.
In some embodiments, the determining, for the vehicle to be induced in the vehicle emission reduction speed induction activation region, a discrete dredging speed induction interval of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction interval, and the current state of the traffic light includes:
judging whether the current speed of each vehicle to be induced in the vehicle emission reduction speed induction activation region is within the dredging speed induction interval of each vehicle;
if the current speed of the vehicle to be induced is in the dredging speed induction interval of each vehicle, the speed induction interval [ V ] of the vehicle to be induced for dispersing and dredgingc,Vd]＝[Vi,Vb](ii) a Wherein, ViIs the current speed of the vehicle;
if the current speed of the vehicle to be induced is not in the dredging speed induction interval of each vehicle and the current state of the traffic light is green, the speed induction interval to be dispersed and dredged of the vehicle to be induced is
Wherein,
the vehicle dredging speed induction zone is adjacent downwards to the non-dredging speed induction zone;
if the current speed of the vehicle to be induced is not in the dredging speed induction interval of each vehicle and the current state of the traffic light is red light or yellow light, the dredging speed induction interval to be dispersed of the vehicle to be induced is
Wherein,
the non-dredging speed inducing interval is an upward adjacent vehicle dredging speed inducing interval.
In a second aspect, an embodiment of the present application provides an ecological intelligent vehicle speed inducing device, which includes:
the acquisition module is used for acquiring road data of a preset road; the road data comprises the vehicle position and the current speed of each vehicle in the preset road, the position of a traffic light intersection of the preset road, the current state of the traffic light, the time period of the traffic light, the highest speed limit of the road and the lowest speed limit of the road;
the first calculation module is used for determining 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 used for 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; 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 third calculation module is used for determining a discrete dredging speed induction interval of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction interval and the current state of a traffic light for each vehicle to be induced in the vehicle emission reduction speed induction activation region;
the curve module is used for determining a target speed interval of each vehicle to be induced according to the to-be-dispersed dredging speed induction interval of each vehicle to be induced and constructing at least two target curves corresponding to the target speed interval of each vehicle to be induced;
and the induction module is used for determining a target speed interval corresponding to the target curve with the lowest oil consumption as 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 for each vehicle to be induced, and sending the target speed interval to display the target induction interval to the display equipment of the vehicle to be induced.
In some embodiments, the second computing module comprises:
the distance unit is used for determining 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 used for calculating the 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 traffic light intersection through the following formula:
wherein, Va,VbRespectively representing the minimum speed and the maximum speed of the corresponding section, L representing the distance between the current vehicle and the intersection of the traffic lights, VminIndicating the minimum speed limit of the road, VmaxIndicating the maximum speed limit for the road.
In some embodiments, the third computing module comprises:
the judging unit is used for judging whether the current speed of each vehicle to be induced is in the dredging speed induction interval of each vehicle or not aiming at each vehicle to be induced in the vehicle emission reduction speed induction activation area;
a first determining unit, configured to determine a to-be-dispersed blockage dredging speed induction interval [ V ] of the to-be-induced vehicle if the current vehicle speed of the to-be-induced vehicle is within the blockage dredging speed induction interval of each vehiclec,Vd]＝[Vi,Vb](ii) a Wherein, ViIs the current speed of the vehicle;
a second determining unit, configured to determine whether the current vehicle speed of the vehicle to be induced is within the dredging speed inducing interval of each vehicle,and the current state of the traffic light is green light, the induction interval of the speed to be dispersed and dredging the traffic jam of the vehicle to be induced is
Wherein,
the vehicle dredging speed induction zone is adjacent downwards to the non-dredging speed induction zone;
a third determining unit, configured to determine that the to-be-dispersed dredging speed induction interval of the to-be-induced vehicle is the dredging speed induction interval of each vehicle if the current vehicle speed of the to-be-induced vehicle is not within the dredging speed induction interval of each vehicle and the current state of the traffic light is red light or yellow light
Wherein,
the non-dredging speed inducing interval is an upward adjacent vehicle dredging speed inducing interval.
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, where the processor implements the steps of the method in any one of the above first aspects when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method in any one of the above first aspects.
The ecological intelligent vehicle speed inducing method provided by the embodiment of the application determines a dredging speed inducing 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, determines a vehicle emission reduction speed inducing and activating area according to the current state of the traffic light and the highest speed limit of the road, determines a to-be-dispersed dredging speed inducing interval of each to-be-induced vehicle according to the current vehicle speed, the dredging speed inducing interval of the vehicle and the current state of the traffic light one by one aiming at the to-be-induced vehicle in the vehicle emission reduction speed inducing and activating area, determines a target speed interval and constructs a target curve aiming at each to-be-induced vehicle, determines the oil consumption condition of each target curve by inputting the target curve into a preset motor vehicle transient emission model, selects the target inducing interval with the lowest oil consumption for each to-induced vehicle, and the vehicle speed is displayed through a display device to induce a driver to adjust the vehicle speed. According to the ecological intelligent vehicle speed inducing method provided by the embodiment of the application, energy conservation and emission reduction are considered as constraint conditions for vehicle speed induction, so that road traffic blockage dredging and energy conservation and emission reduction are realized at the same time, ecological benefits are improved, and resource waste in the traffic blockage dredging process is reduced.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flow chart of an ecological intelligent vehicle speed inducing method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a target curve provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of another target curve provided by an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an ecological intelligent vehicle speed inducing device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, 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, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
At present, each big city in China also optimizes the time of a vehicle passing through an intersection through an intelligent traffic information signal lamp correspondingly, but as the intersection condition has the characteristics of complexity, changeability, irregularity and the like, the adjustment is only carried out from one side of a traffic signal lamp, and a good effect cannot be achieved; meanwhile, for the current leading-edge intelligent traffic speed induction system, optimization is only carried out from a single dimension (intersection parking is avoided), energy conservation and emission reduction are not used as a further optimization condition, optimization is carried out in the optimization, and therefore maximization of ecological benefits cannot be achieved.
Based on the above, the embodiment of the invention provides an ecological intelligent vehicle speed induction method, which can achieve good effects of energy conservation, emission reduction, air quality improvement and road network congestion degree reduction, and obtain ecological benefits with low investment.
The embodiment of the application provides an ecological intelligent vehicle speed induction method, as shown in fig. 1, comprising the following steps:
s101, acquiring road data of a preset road; the road data comprises the vehicle position and the current speed of each vehicle in the preset road, the position of a traffic light intersection of the preset road, the current state of the traffic light, the time period of the traffic light, the highest speed limit of the road and the lowest speed limit of the road;
step S102, determining a traffic light green light time length range taking the current time as the starting time according to the current state of the traffic light and the time period of the traffic light;
step S103, 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; 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;
step S104, aiming at each vehicle to be induced in the vehicle emission reduction speed induction activation area, determining a speed induction interval to be dispersed and dredging the blockage of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction interval and the current state of a traffic light;
s105, determining a target speed interval of each vehicle to be induced according to the to-be-dispersed dredging speed induction interval of each vehicle to be induced, and constructing at least two target curves corresponding to the target speed interval of each vehicle to be induced;
and S106, determining a target speed interval corresponding to the target curve with the lowest oil consumption as 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 for each vehicle to be induced, and sending the target speed interval to display the target induction interval to the display equipment of the vehicle to be induced.
Specifically, the preset road is a pre-designated road including a traffic light, the vehicle position of each vehicle and the traffic light intersection position of the preset road are GPS coordinates, the current state of the traffic light includes a green light, a yellow light, and a red light, and 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 the road data of the preset road is obtained, determining a time length range of the traffic light state as the green light according to the time point of the current time in the current traffic light time period, wherein the time length range is a periodic function taking the traffic light time period as a cycle period.
The distance between each vehicle and the traffic light intersection can be determined through the GPS coordinates of the vehicle position of each vehicle and the GPS coordinates of the traffic light intersection position of the preset road, and the dredging and blocking speed induction interval of each vehicle is calculated according to the distance between each vehicle and the traffic light intersection, the green light time length range of the traffic light, and the highest speed limit and the lowest speed limit of the preset road. Meanwhile, according to the current state of the traffic light and the highest speed limit of the road, a vehicle emission reduction speed induction activation area can be determined, wherein the activation area is a section of road with the traffic light as a terminal point on a preset road.
Because energy conservation and emission reduction are considered while dredging the vehicle, aiming at the vehicle to be induced which enters the vehicle emission reduction speed induction activation region at present, the vehicle to be induced to be dispersed dredging speed induction region of each vehicle to be induced is determined one by one according to the current speed of the vehicle to be induced, the vehicle dredging speed induction region and the current state of a traffic light, and each vehicle to be induced has at least one vehicle to be dispersed dredging speed induction region.
According to the lower quartile and the upper quartile of the to-be-dispersed dredging speed induction interval of each to-be-induced vehicle, namely, the target speed Vo(Vo1,Vo2)：
Then constructing a corresponding target curve C (C) according to the target speed1-1-2,C2-1-2) With the absolute value of acceleration being 1.5m/s2For example, the next traffic light green duration range is (t)1，t2) The concrete construction mode is as follows:
(1) when the current speed V of the vehicle to be inducedi<VoWhen for C1-1-2First, the initial velocity is constructed as ViAcceleration of 1.5m/s2Last velocity is Vo1Curve C of uniform acceleration speed1-1And calculating the acceleration time t1-1And an acceleration distance l1-1And calculating a uniform speed distance l according to the distance between the vehicle to be induced and the traffic light1-2Further calculate the uniform speed time t1-2If t is1<t1-1+t1-2<t2If the construction speed is Vo1Constant velocity curve C1-2Combination C1-1，C1-2Obtaining a velocity curve C1-1-2(ii) a For C2-1-2First, the initial velocity is constructed as ViAcceleration of 1.5m/s2Last velocity is Vo2Curve C of uniform acceleration speed2-1And calculating the acceleration time t2-1And an acceleration distance l2-1,And calculating the uniform speed distance l according to the distance between the vehicle to be induced and the traffic light2-2Further calculate the uniform speed time t2-2If t is1<t2-1+t2-2<t2If the construction speed is Vo2Constant velocity curve C2-2Combination C2-1，C2-2Obtaining a velocity curve C2-1-2；
(2) When the current speed V of the vehicle to be inducedi>VoWhen for C1-1-2First, the initial velocity is constructed as ViAcceleration of-1.5 m/s2Last velocity is Vo1Curve C of uniform deceleration speed1-1And calculating the acceleration time t1-1And an acceleration distance l1-1And calculating the uniform speed distance l according to the distance between the vehicle to be induced and the traffic light1-2Further calculate the uniform speed time t1-2If t is1<t1-1+t1-2<t2If the construction speed is Vo1Constant velocity curve C1-2Combination C1-1，C1-2Obtaining a velocity curve C1-1-2(ii) a For C2-1-2First, the initial velocity is constructed as ViAcceleration of-1.5 m/s2Last velocity is Vo2Curve C of uniform deceleration speed2-1And calculating the acceleration time t2-1And an acceleration distance l2-1And calculating the uniform speed distance according to the distance between the vehicle to be induced and the traffic lightIon l2-2Further calculate the uniform speed time t2-2If t is1<t2-1+t2-2<t2If the construction speed is Vo2Constant velocity curve C2-2Combination C2-1，C2-2Obtaining a velocity curve C2-1-2。
For example, the target speed of the vehicle to be induced is Vo(12.5km/h, 15.4km/h), the current speed of the vehicle to be induced being Vi(30km/h) due to Vi(30km/h)>Vo(12.5km/h and 15.4km/h), respectively constructing C with initial speed of 30km/h and target speeds of 12.5km/h and 15.4km/h1-1、C2-1Then, constant speed curves C with target speeds of 12.5km/h and 15.4km/h are respectively constructed1-2、C2-2Combination C1-1、C1-2Obtaining a velocity curve C1-1-2As shown in FIG. 2, combination C2-1、C2-2Obtaining a velocity curve C2-1-2As shown in fig. 3.
After the target curves of the vehicles to be induced are obtained, the target curves of the vehicles to be induced are respectively input into a preset motor vehicle transient emission model, the oil consumption corresponding to each target curve of the vehicles to be induced is obtained, and the target speed interval corresponding to the target curve with the lowest oil consumption is selected as the target induction interval of the vehicles to be induced, so that the purposes of energy conservation and emission reduction are achieved while dredging is met in the target induction interval. The preset transient emission model of the motor vehicle can be a VT-Micro model and the like.
And then the target induction zone is sent to a vehicle-mounted system of the vehicle to be induced or mobile terminal equipment used by a driver in the vehicle to be induced, and the target induction zone is displayed to the driver through a pre-loaded speed induction APP so that the driver can adjust the vehicle speed according to the target induction zone.
In some embodiments, the step S102, determining a traffic light green duration range with the current time as a starting time according to the current state of the traffic light and the traffic light time period, includes:
according to the current state of the traffic light and the time period of the traffic light, calculating the green light time range of the traffic light with the current time as the starting time by the following formula:
wherein [ Ta,Tb]The green time range T of the traffic light using the current time as the starting timerG、TrY、TrRRespectively the remaining time periods of green, yellow and red light in the current traffic light time period, TG、TY、TRThe time lengths of a green light, a yellow light and a red light in a traffic light time period are respectively, n is more than or equal to 0, and T is the traffic light time period.
Specifically, according to the current state of the traffic light, the corresponding formula is adopted to obtain the green time range of the traffic light, and the obtained green time range of the traffic light is a cycle time interval with T as a period.
In some embodiments, the determining, in the step S103, a congestion relief speed induction zone of each vehicle according to the traffic light green light time length range, the road highest speed limit, the road lowest speed limit, and the distance between each vehicle and the intersection of the traffic light includes:
step 1031, determining the distance between each vehicle and the traffic light intersection according to the vehicle positions and the traffic light intersection positions;
step 1032, calculating the 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 traffic light intersection by the following formula:
wherein, Va,VbRespectively representing the minimum speed and the maximum speed of the corresponding section, L representing the distance between the current vehicle and the intersection of the traffic lights, VminIndicating the minimum speed limit of the road, VmaxIndicating the maximum speed limit for the road.
Specifically, the distance between the vehicle and the traffic light intersection is calculated according to the GPS position point of the vehicle position and the GPS position point of the traffic light intersection position.
Then selecting a corresponding calculation formula of the dredging speed induction interval according to the current state of the traffic light, and calculating the dredging speed induction interval of each vehicle, wherein the maximum speed limit and the minimum speed limit exist in the road, so that after the dredging speed induction interval is obtained through the formula, the minimum value of the dredging speed induction interval is compared with the minimum speed limit of the road, and if the minimum value of the dredging speed induction interval is smaller than the minimum speed limit of the road, the minimum value of the dredging speed induction interval is set as the minimum speed limit of the road; similarly, the maximum value of the dredging speed induction interval is compared with the maximum speed limit of the road, and if the maximum value of the dredging speed induction interval is greater than the maximum speed limit of the road, the maximum value of the dredging speed induction interval is set as the maximum speed limit of the road.
In some embodiments, the determining, in step S103, 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 includes:
according to the current state of the traffic light and the highest speed limit of the road, the length of the vehicle emission reduction speed induction activation area is determined through the following formula:
and determining the vehicle emission reduction speed induction activation zone taking the position of the traffic light intersection as a terminal point according to the length of the vehicle emission reduction speed induction activation zone.
Specifically, the speed induction under the double constraints of dredging and energy saving and emission reduction is mainly performed on vehicles which can pass through a traffic light within the green light duration of the traffic light at the current moment or within the green light duration of the next traffic light, so that the vehicle emission reduction is taken as a consideration factor to determine a vehicle emission reduction speed induction activation region, the subsequent speed induction of dredging and emission reduction is performed on the vehicles in the vehicle emission reduction speed induction activation region, the conventional speed induction of dredging and blocking is performed on the vehicles outside the vehicle emission reduction speed induction activation region, and the speed induction of dredging and emission reduction is performed after the vehicles enter the vehicle emission reduction speed induction activation region.
Firstly, selecting a calculation formula of the length of a corresponding vehicle emission reduction speed induction activation area according to the current state of the traffic light, and determining the vehicle emission reduction speed induction activation area by taking the position of a traffic light intersection as a terminal point after calculating the length.
In some embodiments, the step S104, for the to-be-induced vehicles in the vehicle emission reduction speed induction activation region, determining a to-be-dispersed blockage dredging speed induction interval of each to-be-induced vehicle according to the current vehicle speed, the vehicle blockage dredging speed induction interval, and the current state of the traffic light, includes:
step 1041, judging whether the current speed of each vehicle to be induced in the vehicle emission reduction speed induction activation region is in the dredging speed induction interval of each vehicle;
1042, if the current speed of the vehicle to be induced is in the dredging speed induction interval of each vehicle, dispersing the speed induction interval [ V ] of the vehicle to be inducedc,Vd]＝[Vi,Vb](ii) a Wherein, ViIs the current speed of the vehicle;
step 1043, if the current speed of the vehicle to be induced is not in the dredging speed inducing interval of each vehicle and the current state of the traffic light is green, the dredging speed inducing interval of the vehicle to be induced is
Wherein,
the vehicle dredging speed induction zone is adjacent downwards to the non-dredging speed induction zone;
step 1044 that if the current speed of the vehicle to be induced is not within the dredging speed induction interval of each vehicle and the current state of the traffic light is red light or yellow light, the speed induction interval to be dispersed and dredged of the vehicle to be induced is
Wherein,
the non-dredging speed inducing interval is an upward adjacent vehicle dredging speed inducing interval.
Specifically, for each vehicle to be induced in the vehicle emission reduction speed induction activation region, it is required to first determine whether the current speed of each vehicle to be induced is within the corresponding dredging speed induction interval, and if the current speed of the vehicle to be induced is within the dredging speed induction interval of the vehicle to be induced, the maximum value from the current speed to the dredging speed induction interval is used as the discrete dredging speed induction interval of the vehicle to be induced.
If the current speed of the vehicle to be induced is not in the dredging speed induction interval of the vehicle to be induced, namely, the current speed of the vehicle to be induced is in the non-dredging speed induction interval, two situations need to be divided according to the current state of the traffic light:
(1) when the current state of the traffic light is green, if the traffic light is required to run at the maximum speed of the road when the traffic light passes through the current green light, the current green light can be driven to pass through the intersection of the traffic light, but because the current traffic jam of the vehicle to be induced is outside the jam clearance speed induction interval and the speed increase needs a period of time, the vehicle to be induced can only pass through the next green light, namely the next green light can pass through the vehicle jam clearance speed induction interval which is adjacent downwards to the non-jam clearance speed induction interval;
(2) when the current state of the traffic light is yellow light or red light, the vehicle to be induced has high current speed and can pass through the traffic light intersection within the green light duration of the next traffic light only by reducing the speed; it is also possible that the vehicle to be induced has a low current speed and can just pass through the traffic light intersection within the duration of the next traffic light green light only by acceleration, and therefore the discrete dredging speed induction zone of the vehicle to be induced comprises a vehicle dredging speed induction zone adjacent downwards to the non-dredging speed induction zone and a vehicle dredging speed induction zone adjacent upwards to the non-dredging speed induction zone.
The embodiment of this application still provides an ecological wisdom speed of a motor vehicle induction system, as shown in fig. 4, the device includes:
the acquisition module 30 is used for acquiring road data of a preset road; the road data comprises the vehicle position and the current speed of each vehicle in the preset road, the position of a traffic light intersection of the preset road, the current state of the traffic light, the time period of the traffic light, the highest speed limit of the road and the lowest speed limit of the road;
the first calculation module 31 is configured to determine a green time duration range of the traffic light with the current time as an initial time according to the current state of the traffic light and the time period of the traffic light;
a second calculation module 32, configured to determine a congestion relief speed induction zone of each vehicle according to the traffic light green light time length range, the road highest speed limit, the road lowest speed limit, and the distance between each vehicle and a traffic light intersection, and determine a vehicle emission reduction speed induction activation zone according to the current state of the traffic light and the road highest speed limit; 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 third calculation module 33 is configured to determine, for each vehicle to be induced in the vehicle emission reduction speed induction activation region, a discrete dredging speed induction interval of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction interval, and the current state of the traffic light;
the curve module 34 is configured to determine a target speed interval of each vehicle to be induced according to the to-be-dispersed dredging speed induction interval of each vehicle to be induced, and construct at least two target curves corresponding to the target speed interval of each vehicle to be induced;
and the induction module 35 is configured to determine, for each vehicle to be induced, a target speed interval corresponding to the target curve with the lowest oil consumption as a target induction interval of the vehicle to be induced according to the target curve of the vehicle to be induced and a preset transient emission model of the motor vehicle, and send the target speed interval to the display device of the vehicle to be induced, so as to display the target induction interval.
In some embodiments, the second calculating module 32 includes:
a distance unit 321, configured to determine a distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position;
a calculating unit 322, configured to calculate a congestion relief speed induction zone of each vehicle according to the traffic light green light time length range, the road highest speed limit, the road lowest speed limit, and the distance between each vehicle and the traffic light intersection by using the following formula:
wherein, Va,VbRespectively representing the minimum speed and the maximum speed of the corresponding section, L representing the distance between the current vehicle and the intersection of the traffic lights, VminIndicating the minimum speed limit of the road, VmaxIndicating the maximum speed limit for the road.
In some embodiments, the third calculating module 33 includes:
a determining unit 331, configured to determine, for each vehicle to be induced in the vehicle emission reduction speed induction activation region, whether a current vehicle speed of the vehicle to be induced is within a blockage dredging speed induction interval of each vehicle;
a first determining unit 332, configured to determine a to-be-dispersed blockage dredging speed induction zone [ V ] of the to-be-induced vehicle if the current vehicle speed of the to-be-induced vehicle is within the blockage dredging speed induction zone of each of the above vehiclesc,Vd]＝[Vi,Vb](ii) a Wherein, ViIs the current speed of the vehicle;
a second determining unit 333, configured to determine that the discrete dredging speed inducing interval of the vehicle to be induced is the plugging speed inducing interval of each vehicle if the current vehicle speed of the vehicle to be induced is not within the dredging speed inducing interval of each vehicle and the current state of the traffic light is the green light
Wherein,
the vehicle dredging speed induction zone is adjacent downwards to the non-dredging speed induction zone;
a third determining unit 334, configured to determine that the to-be-dispersed blockage-dredging speed induction interval of the to-be-induced vehicle is a red light or a yellow light if the current speed of the to-be-induced vehicle is not within the blockage-dredging speed induction interval of each vehicle and the current state of the traffic light is a red light or a yellow light
Wherein,
the non-dredging speed inducing interval is an upward adjacent vehicle dredging speed inducing interval.
Corresponding to the ecological intelligent vehicle speed inducing method in fig. 1, the 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 computer program stored in the memory 401 and executable on the processor 402, wherein the processor 402 implements the ecological intelligent vehicle speed inducing method when executing the computer program.
Specifically, the memory 401 and the processor 402 can be general memories and processors, which are not specifically limited herein, and when the processor 402 runs a computer program stored in the memory 401, the ecological intelligent vehicle speed induction method can be executed, so that the problem of how to simultaneously achieve road traffic blockage relieving and energy saving and emission reduction in the prior art is solved.
Corresponding to the ecological intelligent vehicle speed inducing method in fig. 1, an embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the ecological intelligent vehicle speed inducing method.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk and the like, when a computer program on the storage medium is operated, the ecological intelligent vehicle speed inducing method can be executed, the problem of how to simultaneously realize road traffic jam clearing and energy saving and emission reduction in the prior art is solved, the ecological intelligent vehicle speed inducing method provided by the embodiment of the application determines the jam clearing speed inducing 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, determines the vehicle emission reduction speed inducing and activating area according to the current state of the traffic light and the highest speed limit of the road, and determines the vehicle to be induced in the vehicle emission reduction speed inducing and activating area according to the current vehicle speed, the vehicle jam clearing speed inducing interval and the current state of the traffic light one by one, determining a speed induction interval to be dispersed and dredging blockage of each vehicle to be induced, determining a target speed interval and constructing a target curve for each vehicle to be induced, inputting the target curve into a preset motor vehicle transient emission model, determining the oil consumption condition of each target curve, selecting the target induction interval with the lowest oil consumption for each vehicle to be induced, and displaying the target induction interval through display equipment to induce a driver to adjust the vehicle speed. According to the ecological intelligent vehicle speed inducing method provided by the embodiment of the application, energy conservation and emission reduction are considered as constraint conditions for vehicle speed induction, so that road traffic blockage dredging and energy conservation and emission reduction are realized at the same time, ecological benefits are improved, and resource waste in the traffic blockage dredging process is reduced.
In the embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An ecological intelligent vehicle speed induction method is characterized by comprising the following steps:
acquiring road data of a preset road; the road data comprises the vehicle position and the current speed of each vehicle in the preset road, the position of a traffic light intersection of the preset road, the current state of the traffic light, the time period of the traffic light, the highest speed limit of the road and the lowest speed limit of the road;
determining the green light time 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;
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; 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 dredging speed induction interval refers to a speed interval that the traffic light is green when the vehicle drives into the target intersection in all light time periods at the target intersection;
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 the blockage of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction region and the current state of a traffic light; the speed induction interval to be dispersed and dredged refers to a speed interval that the traffic light is green when the vehicle drives into the target intersection on the premise that the vehicle can pass through the target intersection in a green light time period in a headlight time period of the target intersection or a green light time period in a next light time period;
determining a target speed interval of each vehicle to be induced according to the to-be-dispersed dredging speed induction interval of each vehicle to be induced, and constructing at least two target curves corresponding to the target speed interval of each vehicle to be induced;
and aiming at each vehicle to be induced, determining a target speed interval corresponding to a target curve with the lowest oil consumption as 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 speed interval to display equipment of the vehicle to be induced.
2. The method of claim 1, wherein determining a traffic light green duration range starting at a current time based on the current status of the traffic light and a traffic light time period comprises:
according to the current state of the traffic light and the time period of the traffic light, calculating the green light time range of the traffic light with the current time as the starting time by the following formula:
wherein [ Ta,Tb]The green time range T of the traffic light using the current time as the starting timerG、TrY、TrRRespectively the remaining time periods of green, yellow and red light in the current traffic light time period, TG、TY、TRThe time lengths of a green light, a yellow light and a red light in a traffic light time period are respectively, n is more than or equal to 0, and T is the traffic light time period.
3. The method of claim 1, wherein determining the congestion relief speed induction zone for each vehicle based on the traffic light green time duration range, the road maximum speed limit, the road minimum speed limit, and the distance between each vehicle and the traffic light intersection comprises:
determining the distance between each vehicle and the traffic light intersection according to the vehicle position and the traffic light intersection position;
according to the traffic light green light time length range, the road highest speed limit, the road lowest speed limit and the distance between each vehicle and the traffic light intersection, calculating the dredging speed induction interval of each vehicle through the following formula:
wherein, Va,VbRespectively represent correspondencesMinimum and maximum speeds of the section, L represents the current distance of the vehicle from the intersection of the traffic lights, VminIndicating the minimum speed limit of the road, VmaxRepresenting a road maximum speed limit; t isrG、TrY、TrRRespectively the remaining time periods of green, yellow and red light in the current traffic light time period, TG、TY、TRThe time lengths of a green light, a yellow light and a red light in a traffic light time period are respectively, n is more than or equal to 0, and T is the traffic light time period.
4. The method of claim 1, wherein determining a vehicle emission reduction speed inducement activation zone based on the current state of the traffic light and a road top speed limit comprises:
according to the current state of the traffic light and the highest speed limit of the road, the length of a vehicle emission reduction speed induction activation area is determined through the following formula:
determining a vehicle emission reduction speed induction activation zone taking the position of the traffic light intersection as a terminal point according to the length of the vehicle emission reduction speed induction activation zone; t isrG、TrY、TrRRespectively the remaining time periods of green, yellow and red light in the current traffic light time period, TG、TRRespectively the duration of a green light and a red light in a traffic light time period, VmaxIndicating the maximum speed limit for the road.
5. The method of claim 1, wherein the determining, for the vehicles to be induced in the vehicle emission reduction speed induction activation zone, a discrete congestion relief speed induction zone for each vehicle to be induced according to the current vehicle speed, the vehicle congestion relief speed induction zone and the current state of the traffic lights comprises:
judging whether the current speed of each vehicle to be induced in the vehicle emission reduction speed induction activation region is within the dredging speed induction interval of each vehicle;
if the current speed of the vehicle to be induced is in the dredging speed induction interval of each vehicle, the speed induction interval [ V ] of the vehicle to be induced for dispersing and dredgingc,Vd]＝[Vi,Vb](ii) a Wherein, ViIs the current speed of the vehicle;
if the current speed of the vehicle to be induced is not in the dredging speed induction interval of each vehicle and the current state of the traffic light is green, the speed induction interval to be dispersed and dredged of the vehicle to be induced is
Wherein,
the vehicle dredging speed induction zone is adjacent downwards to the non-dredging speed induction zone;
if the current speed of the vehicle to be induced is not in the dredging speed induction interval of each vehicle and the current state of the traffic light is red light or yellow light, the dredging speed induction interval to be dispersed of the vehicle to be induced is
Wherein,
the non-dredging speed inducing interval is an upward adjacent vehicle dredging speed inducing interval.
6. The utility model provides an ecological wisdom speed of a motor vehicle induction system which characterized in that includes:
the acquisition module is used for acquiring road data of a preset road; the road data comprises the vehicle position and the current speed of each vehicle in the preset road, the position of a traffic light intersection of the preset road, the current state of the traffic light, the time period of the traffic light, the highest speed limit of the road and the lowest speed limit of the road;
the first calculation module is used for determining 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 used for 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; 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 dredging speed induction interval refers to a speed interval that the traffic light is green when the vehicle drives into the target intersection in all light time periods at the target intersection;
the third calculation module is used for determining a discrete dredging speed induction interval of each vehicle to be induced according to the current vehicle speed, the vehicle dredging speed induction interval and the current state of a traffic light for each vehicle to be induced in the vehicle emission reduction speed induction activation region; the speed induction interval to be dispersed and dredged refers to a speed interval that the traffic light is green when the vehicle drives into the target intersection on the premise that the vehicle can pass through the target intersection in a green light time period in a headlight time period of the target intersection or a green light time period in a next light time period;
the curve module is used for determining a target speed interval of each vehicle to be induced according to the to-be-dispersed dredging speed induction interval of each vehicle to be induced and constructing at least two target curves corresponding to the target speed interval of each vehicle to be induced;
and the induction module is used for determining a target speed interval corresponding to the target curve with the lowest oil consumption as 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 for each vehicle to be induced, and sending the target speed interval to display the target induction interval to the display equipment of the vehicle to be induced.
7. The apparatus of claim 6, wherein the second computing module comprises:
the distance unit is used for determining 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 used for calculating the 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 traffic light intersection through the following formula:
wherein, Va,VbRespectively representing the minimum speed and the maximum speed of the corresponding section, L representing the distance between the current vehicle and the intersection of the traffic lights, VminIndicating the minimum speed limit of the road, VmaxRepresenting a road maximum speed limit; t isrG、TrY、TrRRespectively the remaining time periods of green, yellow and red light in the current traffic light time period, TG、TY、TRThe time lengths of a green light, a yellow light and a red light in a traffic light time period are respectively, n is more than or equal to 0, and T is the traffic light time period.
8. The apparatus of claim 6, wherein the third computing module comprises:
the judging unit is used for judging whether the current speed of each vehicle to be induced is in the dredging speed induction interval of each vehicle or not aiming at each vehicle to be induced in the vehicle emission reduction speed induction activation area;
a first determining unit, configured to determine a to-be-dispersed blockage dredging speed induction interval [ V ] of the to-be-induced vehicle if the current vehicle speed of the to-be-induced vehicle is within the blockage dredging speed induction interval of each vehiclec,Vd]＝[Vi,Vb](ii) a Wherein, ViIs the current speed of the vehicle;
a second determining unit, configured to determine that the to-be-dispersed blockage dredging speed induction interval of the to-be-induced vehicle is a blockage dredging speed induction interval of each vehicle if the current vehicle speed of the to-be-induced vehicle is not within the blockage dredging speed induction interval of each vehicle and the current state of the traffic light is a green light
Wherein,
the vehicle dredging speed induction zone is adjacent downwards to the non-dredging speed induction zone;
a third determining unit, configured to determine that the to-be-dispersed dredging speed induction interval of the to-be-induced vehicle is the dredging speed induction interval of each vehicle if the current vehicle speed of the to-be-induced vehicle is not within the dredging speed induction interval of each vehicle and the current state of the traffic light is red light or yellow light
Wherein,
the non-dredging speed inducing interval is an upward adjacent vehicle dredging speed inducing interval.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of the preceding claims 1-5 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of the claims 1-5.
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