CN113470407B - Vehicle speed guiding method for multi-intersection passing, server and readable storage medium - Google Patents
Vehicle speed guiding method for multi-intersection passing, server and readable storage medium Download PDFInfo
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- CN113470407B CN113470407B CN202110683599.3A CN202110683599A CN113470407B CN 113470407 B CN113470407 B CN 113470407B CN 202110683599 A CN202110683599 A CN 202110683599A CN 113470407 B CN113470407 B CN 113470407B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The invention discloses a multi-intersection passing vehicle speed guiding method, a server and a readable storage medium. Wherein, the method comprises the following steps: acquiring the current position, the pre-driving route and the current speed of a controlled vehicle; determining each road section information along the pre-driving route, the position distance of each intersection from the current position and signal lamp information corresponding to each intersection; obtaining an optimal target speed according to the current speed, the road section information, the position distance and the signal lamp information; and sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed. The method provided by the invention improves the overall traffic rate of the vehicle when facing a plurality of traffic intersections.
Description
Technical Field
The invention relates to the technical field of automobile intelligent networking, in particular to a multi-intersection passing vehicle speed guiding method, a server and a readable storage medium.
Background
Currently, the automatic driving technology is rapidly developed, and some advanced driving assistance functions aiming at improving the active safety of the vehicle have been applied to mass production vehicles, for example: automatic emergency braking, automatic lane keeping, fatigue driving early warning and other driving assisting functions. With high-precision and high-disturbance rejection sensor, intelligent decision general chip, high-precision map and linear steering system, the automatic driving technology is becoming mature.
At present, signal lamps of urban traffic intersections are dense, drivers of traditional vehicles need to select to accelerate or decelerate to stop according to subjective judgment, and accurate driving is difficult to achieve through the subjective judgment. For example, it is often considered that the vehicle can pass through the intersection before the green light is finished, so that a higher vehicle speed or acceleration preparation for passing is maintained, but the red light is turned on before passing, so that emergency braking is forced, the red light is easy to break by mistake, the vehicle is scratched, and even the pedestrian is collided; sometimes, the problem that the vehicle does not need to be stopped when the red light of the intersection is changed into the green light through certain deceleration can be solved, but the vehicle has to be stopped and then started immediately when the red light is in the last 1 second. Meanwhile, due to other vehicles, pedestrians and the like at the intersection, the intersection has the characteristics of complex multi-application scenes, more traffic behavior participants and the like, and the vehicle system is difficult to control at the intersection.
Disclosure of Invention
The invention mainly aims to provide a vehicle speed guiding method for multi-intersection passing, a server and a readable storage medium, and aims to solve the technical problem of low overall passing efficiency when a vehicle faces a plurality of signal lamp intersections.
In order to achieve the above object, the present invention provides a vehicle speed guidance method for multiple intersection traffic, the method comprising:
acquiring the current position, the pre-driving route and the current speed of a controlled vehicle;
determining each road section information along the pre-driving route, the position distance of each intersection from the current position and signal lamp information corresponding to each intersection;
obtaining an optimal target vehicle speed according to the current vehicle speed, the information of each road section, the position distance and the signal lamp information;
and sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed.
Optionally, the step of obtaining an optimal target vehicle speed according to the current vehicle speed, the information of each road section, the position distance, and the signal light information includes:
sequentially calculating a passing speed set of a controlled vehicle green light passing through each intersection according to the current vehicle speed, the road section information, the position distance and the signal light information and the order of the position distance from near to far;
and determining the optimal target vehicle speed according to each passing speed set.
Optionally, the step of sequentially calculating, according to the current vehicle speed, the information of each road segment, the location distance, and the signal light information, a traffic speed set of a controlled vehicle passing through each intersection by a green light in an order from near to far according to the location distance includes:
sequencing the intersections in sequence along a pre-driving route according to the order of the position distances from near to far;
and calculating a traffic speed set corresponding to the 1 st intersection to the ith intersection which are away from the current position according to the current vehicle speed, the information of each road section, the position distance and the signal lamp information, wherein i is more than or equal to 1 and less than or equal to the number of intersections in the pre-driving route.
Optionally, the step of determining an optimal target vehicle speed according to each of the traffic speed sets includes:
setting N =1;
calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection;
updating the passing speed set of the (N + 1) th intersection as the intersection;
judging whether the passing speed set of the (N + 1) th intersection is an empty set;
if the passing speed set of the (N + 1) th intersection is an empty set, obtaining the optimal target speed according to the passing speed set of the Nth intersection;
if the passing speed set of the (N + 1) th intersection is not an empty set, judging whether N +1 is equal to i or not;
if N +1 is equal to i, obtaining the optimal target vehicle speed according to the passing speed set of the (N + 1) th intersection;
if N +1 is not equal to i, setting N = N +1, and returning to execute: and the step of calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection.
Optionally, if N +1 is not equal to i, setting N = N +1, and returning to perform: the step of calculating the intersection of the passing speed set of the nth intersection and the passing speed set of the (N + 1) th intersection further comprises:
if N +1 is not equal to i, judging whether N +1 reaches a preset value;
if the N +1 reaches a preset value, obtaining an optimal target speed according to the passing speed set of the (N + 1) th intersection;
if N +1 does not reach the preset value, setting N = N +1, and returning to execute: and calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection.
Optionally, the method further comprises:
if the optimal target vehicle speed is obtained according to the passing speed set of the Nth intersection and the controlled vehicle runs through an intersection in front of the controlled vehicle, executing the following steps: and sequencing the intersections in sequence along a pre-driving route according to the order of the position distance from near to far.
Optionally, each of the road section information includes a road speed limit of each road section; the signal lamp information comprises phase periods and phase timing information of each signal lamp; the step of sequentially calculating the passing speed set of the controlled vehicle green light passing through each intersection according to the current vehicle speed, the road section information, the position distance and the signal light information and the order of the position distance from near to far comprises the following steps:
sequentially calculating the time threshold range of the controlled vehicle which is expected to reach each intersection according to the road speed limit, the position distance and the current vehicle speed and the order of the position distance from near to far;
determining a time set of green light phases of signal lights corresponding to the intersections within the corresponding time threshold range according to the phase timing information;
sequentially calculating the estimated arrival time of the controlled vehicle to travel to each intersection at the current speed according to the position distance and the current speed and the order of the position distance from near to far;
and sequentially calculating a traffic speed set of the controlled vehicle green light passing through each intersection according to the time set, the expected arrival time and the position distance and the order of the position distance from near to far.
Optionally, the road speed limit comprises a road highest speed limit and a road lowest speed limit; the step of sequentially calculating the time threshold range of the controlled vehicle which is expected to arrive at each intersection according to the road speed limit, the position distance and the current vehicle speed and the order of the position distance from near to far comprises the following steps:
according to the highest speed limit of the road, the position distance and the current speed, sequentially calculating the fastest arrival time of accelerating to the highest speed limit of the road by the current speed according to the order of the position distance from near to far, and driving to each intersection by the highest speed limit of the road;
according to the road lowest speed limit, the position distance and the current speed, sequentially calculating the speed reduced to the road lowest speed limit by the current speed according to the order from near to far of the position distance, and driving to the slowest arrival time of each intersection by the road lowest speed limit;
and setting the fastest arrival time as the minimum value of the time threshold range, and setting the slowest arrival time as the maximum value of the time threshold range.
The invention also provides a readable storage medium, which is characterized in that the readable storage medium is stored with a computer program, and the computer program is executed by a processor to realize the steps of the vehicle speed guiding method for multi-intersection passing.
The method and the device calculate the optimal green wave passing speed of the vehicle by fusing the driving route navigation information of the vehicle and the signal lamp phases of a plurality of intersections on the driving route of the vehicle, avoid the idle working condition that the vehicle has to be used because the vehicle often needs to stop to wait for the signal lamp when the vehicle drives on urban roads with more traffic signal lamp intersections, ensure the integral passing efficiency of the vehicle when facing the plurality of intersections, and reduce multiple acceleration and deceleration caused by a single signal lamp intersection green wave passing algorithm, thereby improving the fuel economy and the driving smoothness of the vehicle, and simultaneously reducing the incidence rate of traffic violation and traffic intersection accidents.
Drawings
FIG. 1 is a block diagram of a server according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the vehicle speed guiding method for multi-intersection traffic according to the present invention;
FIG. 3 is a detailed flowchart of step S300 of the second embodiment of the method for guiding vehicle speed to pass through multiple intersections according to the present invention;
FIG. 4 is a detailed flowchart of step S310 in the third embodiment of the method for guiding vehicle speed to pass through multiple intersections according to the present invention;
FIG. 5 is a detailed flowchart of step S320 in the fourth embodiment of the method for guiding vehicle speed through multiple intersections according to the present invention;
FIG. 6 is a flow chart of a fifth embodiment of the method for guiding vehicle speed for multiple intersection traffic according to the present invention;
FIG. 7 is a flow chart illustrating a sixth embodiment of the method for guiding vehicle speed for multiple intersection traffic according to the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic block diagram of a server according to various embodiments of the present invention. The server comprises a communication module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the server shown in fig. 1 may also include more or fewer components than shown, or combine certain components, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, and the memory 02 stores a computer program, which is executed by the processor 03 at the same time.
The communication module 01 may be connected to an external device through a network. The communication module 01 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a vehicle-mounted terminal, a data management terminal, a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (a target sub-process, a first monitoring sub-process and a shared file corresponding to the instruction are created based on a parent process), and the like; the storage data area may store data or information created by the behavior and running environment of the controlled vehicle and the phase change of the traffic signal, and the like. Further, the memory 02 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 03, which is a control center of the server, connects various parts of the entire server by using various interfaces and lines, and performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, thereby performing overall monitoring and speed guidance of the controlled vehicle. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 03. Although not shown in fig. 1, the server may further include a circuit control module, where the circuit control module is used for being connected to a commercial power to implement power control and ensure normal operation of other components.
Those skilled in the art will appreciate that the server module architecture shown in FIG. 1 does not constitute a limitation on the server, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
According to the above module structure, various embodiments of the method of the present invention are provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of the first embodiment of the present invention. The first embodiment of the invention provides a vehicle speed guiding method for multiple intersections, which comprises the following steps:
step S100, acquiring the current position, the pre-driving route and the current speed of a controlled vehicle;
the pre-travel route of the controlled vehicle is a travel navigation route from the starting point to the destination of the controlled vehicle. The driver can locate the current position of the controlled vehicle through the GPS navigation function of the mobile phone, and obtain the pre-driving route after the driver inputs the destination, then the mobile phone is connected with the vehicle through connection modes such as Bluetooth or Wife, the information of the current position of the controlled vehicle and the pre-driving route is sent to the vehicle, and the vehicle sends the information to the cloud server in real time through communication protocols such as 4G/5G. The current position of the controlled vehicle can be positioned through a vehicle navigator carried by the vehicle, the pre-driving route is directly acquired after the driver inputs the destination, and then the information of the current position of the controlled vehicle and the pre-driving route is sent to the cloud server in real time. It can be understood that the pre-travel route should be updated in real time because the current position of the vehicle will change continuously as the vehicle travels, and the starting point of the pre-travel route corresponds to the current position of the vehicle, and the pre-travel route is updated continuously while the starting point changes continuously. It is known that the current vehicle speed of a controlled vehicle can be acquired through an on-board sensor arranged on the vehicle, and the vehicle sends the information of the current vehicle speed to a cloud server through a communication protocol such as 4G/5G.
Step S200, determining each road section information along the pre-driving route, the position distance of each intersection from the current position and signal lamp information corresponding to each intersection;
the cloud server can determine the number of intersections, the positions of the intersections, road section information and signal lamp information corresponding to the intersections on the pre-travel route based on the received information of the pre-travel route and then according to a high-precision map (HD map) updated in real time under big data. The road information is the road speed limit of each road section of the controlled vehicle on the pre-driving route, and the signal lamp information is the phase period of the signal lamp and the phase timing information of the signal lamp.
It can be understood that the intersections are intersections with traffic lights, and the intersections and the traffic lights are in one-to-one correspondence.
Furthermore, the road side unit of each road section can be directly in communication connection with the cloud server to send signal lamp information of the road section corresponding to the road side unit. The cloud server can obtain the road section where the controlled vehicle is located through the position information sent by the vehicle, so that the road section information of the road section where the current vehicle is located and the signal lamp information of the signal lamp corresponding to the road section where the current vehicle is located are obtained in real time.
Step S300, obtaining an optimal target vehicle speed according to the current vehicle speed, the road section information, the position distance and the signal lamp information;
when a plurality of intersections are included on the pre-travel route, the position distance between the controlled vehicle and each intersection on the pre-travel route is calculated according to the current position and the intersection position.
The algorithm of the optimal target vehicle speed is stored in the cloud server, and a person skilled in the art can set different algorithms according to actual conditions. And parameters required by the algorithm of the optimal target vehicle speed comprise the position distance, the road section information, the signal lamp information, the current vehicle speed and the like, and the cloud server calculates the optimal target vehicle speed according to the parameters and a pre-stored algorithm.
It should be noted that the intersections in front of the controlled vehicle refer to all intersections on the pre-travel route which the vehicle will face next on the road, i.e. the intersections in front of the controlled vehicle are relative to the pre-travel route. Correspondingly, because the signal lamps of the intersection in front of the controlled vehicle may include signal lamp information of left-going, straight-going and right-going, on the basis of determining the pre-driving route, whether the signal lamp information of the intersection in front needs to be acquired is the signal lamp information of left-going or straight-going or the signal lamp information of right-going can be determined according to the pre-driving route. In an embodiment, it is known that the vehicle needs to travel leftward at the front intersection based on the pre-travel route, so that the cloud server sends an information acquisition request of left-going signal light information to a signal light roadside receiving unit arranged at the front intersection, and the signal light roadside transmitting unit directly or indirectly transmits the left-going signal light information to the cloud server.
It should be noted that when the controlled vehicle accelerates to a target speed at a current position at a preset acceleration with a current vehicle speed or decelerates to the target speed at a preset deceleration and travels to the intersection at a constant speed at the target speed, the signal lights of the intersection are green lights, and at this time, the set of all the target speeds is the traffic speed set of the intersection. It will be appreciated that the set of traffic speeds for an intersection may include a plurality of traffic speed intervals, since a green period of a signal light of the intersection corresponds to a traffic speed interval.
It can be understood that, the sequentially calculating the traffic speed set of the intersection in front of the controlled vehicle according to the length of the position distance is that: and sequentially calculating the passing speed sets of all the intersections according to the distance between the current position of the vehicle and the intersections from near to far.
In one embodiment, the optimal target speed is taken as the minimum value of the intersection of the traffic speed sets for the reason that the current road section is a frequent accident place or the current traffic is more, so that the traffic efficiency of the intersection is improved on the premise of ensuring safety as much as possible. In another embodiment, the optimal target vehicle speed is taken as the median value in the intersection of the set of traffic speeds, due to a combination of speed and safety considerations for vehicle driving. In another embodiment, due to traffic efficiency considerations due to time-critical or vehicle driving, the optimal target vehicle speed is taken to be the maximum value in the intersection of the traffic speed sets.
And step S400, sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed.
The cloud server can send the optimal target speed to the road side unit RSU through the optical fiber, the RSU issues the optimal target speed to the corresponding vehicle through C-V2X communication, the vehicle receives the information of the optimal target speed, and speed guidance is conducted on the vehicle through controlling the corresponding module, so that the vehicle drives according to the optimal target speed, the traffic efficiency is improved, and traffic jam is avoided. In an embodiment, the cloud server directly sends the guidance information to each terminal through a communication protocol such as 4G/5G, for example, a variable message board, a mobile phone terminal, a vehicle-mounted terminal, etc. in communication connection with a vehicle control system, so that a display interface of each terminal displays the guidance information, or broadcasts the guidance information to prompt a driver to drive according to the guidance information, thereby improving the road traffic efficiency of the traffic light intersection. In another embodiment, the cloud server can also directly issue the guidance information to the vehicle end TCU through communication protocols such as 4G/5G, and the vehicle end TCU directly controls the corresponding module to perform speed guidance on the vehicle after receiving the information, so that the vehicle drives at the cloud recommended speed, the passing efficiency is improved, and traffic jam is avoided.
According to the embodiment, the optimal green wave traffic speed of the vehicle is obtained through calculation by fusing the navigation information of the running route of the vehicle and the signal lamp phases of a plurality of intersections on the running route of the vehicle, the idling condition that the vehicle has to be used due to frequent need of stopping for waiting for the signal lamp when the vehicle runs on a city road with more traffic signal lamp intersections is avoided, the overall traffic efficiency of the vehicle facing the plurality of intersections is ensured, the problem of multiple acceleration and deceleration caused by a single signal lamp intersection green wave traffic algorithm is reduced, the fuel economy and the running smoothness of the vehicle are improved, and meanwhile, the incidence rate of traffic violation and traffic intersection accidents is also reduced.
Further, referring to fig. 3, a detailed flowchart of step S300 in the second embodiment of the present invention is shown, based on the first embodiment, the step S300 includes:
step S310, sequentially calculating a traffic speed set of the controlled vehicle green light passing through each intersection according to the current vehicle speed, the road section information, the position distance and the signal light information and the order of the position distance from near to far;
further, each of the road section information includes a road speed limit of each road section; the signal lamp information comprises phase periods and phase timing information of each signal lamp; the step S310 includes:
sequentially calculating the time threshold range of the controlled vehicle which is expected to reach each intersection according to the road speed limit, the position distance and the current vehicle speed and the order of the position distance from near to far;
further, according to the highest speed limit of the road, the position distance and the current speed, sequentially calculating the fastest arrival time of accelerating to the highest speed limit of the road by the current speed according to the order of the position distance from near to far, and driving to each intersection by the highest speed limit of the road;
specifically, according to the highest speed limit of the road, the position distance and the current speed, the current speed is sequentially calculated according to the order of the position distance from near to far, the speed accelerated to the highest speed limit of the road by the current speed is accelerated to the highest speed limit of the road, and the fastest arrival time when the vehicle runs to each intersection at the highest speed limit of the road is T ＿N＿1 The algorithm for the time of day may include:
wherein, t vel＿max＿N The time required for the controlled vehicle to accelerate to the highest speed limit of the road at the current speed and to drive to the Nth intersection at the constant speed at the highest speed limit of the road is prolonged; v is the current vehicle speed, d N The position distance a between the controlled vehicle and the Nth intersection ac Is a preset acceleration, t current Is the current time.
It should be noted that, differences exist between the highest speed limit value and the lowest speed limit value of different road sections. V for achieving fuel economy of travel and avoiding frequent acceleration and deceleration max＿N Is the minimum value of the highest speed limits of all road sections on the driving route behind the Nth intersection.
Namely: v. of max＿N ＝min[v max＿1 ，v max＿2 ……v max＿N ]
It is understood that the preset acceleration should be a maximum acceleration considering the comfort of the driver, and those skilled in the art can set the acceleration according to actual needs. Similarly, the maximum speed limit of the road can also be the maximum cruising speed acceptable by a driver, the maximum cruising speed can be set by a person skilled in the art according to the actual situation, and the maximum cruising speed is less than the maximum speed limit of the road. Of course, those skilled in the art can understand that the optimal target vehicle speed and the traffic speed set should be calculated and updated in real time, because of interference of other vehicles, pedestrians or other obstacles in the driving environment of the controlled vehicle, or driver actively intervenes to control driving, when the controlled vehicle cannot drive according to the optimal target vehicle speed issued by the cloud server, the interference is removed, or when the driver exits from the intervention control driving, the cloud server can collect the driving environment information such as the current vehicle speed and the current position of the controlled vehicle in real time, calculate the optimal target vehicle speed again to update the original optimal target vehicle speed, and issue the optimal target vehicle speed to the controlled vehicle to guide the controlled vehicle to drive.
Further, according to the lowest speed limit of the road, the position distance and the current speed, sequentially calculating the slowest arrival time of the vehicle which decelerates to the lowest speed limit of the road according to the position distance from near to far, and driving to each intersection according to the lowest speed limit of the road;
specifically, according to the lowest speed limit of the road, the position distance and the current speed, the distance from near to far is determined according to the position distanceSequentially calculating the current speed to be decelerated to the lowest speed limit of the road, and taking the slowest arrival time of the road at which the road is decelerated to each intersection as T ＿N＿2 The algorithm for the time of day may include:
wherein, t vel＿min＿N The time length required for the controlled vehicle to decelerate to the lowest speed limit of the road at the current speed and to drive to the crossroad at constant speed at the lowest speed limit of the road, v is the current speed, d N The position distance a between the controlled vehicle and the Nth intersection de For a predetermined deceleration, t current Is the current time.
It should be noted that, differences exist between the highest speed limit value and the lowest speed limit value of different road sections. To achieve fuel economy of travel, avoid frequent acceleration and deceleration, v min＿N Is the maximum value of the lowest speed limits of all road segments on the driving route behind the Nth intersection.
v min＿N ＝max[v min＿1 ，v min＿2 ……v min＿N ]
It will be appreciated that the preset deceleration should be a maximum deceleration taking into account the comfort of the driver, and that the skilled person can set this according to the actual need.
Setting the fastest arrival time T ＿N＿1 Setting a slowest arrival time T for the minimum value of the time threshold range ＿N＿2 Is the maximum value of the time threshold range.
According to the road speed limit, the position distance and the current speed, sequentially calculating the time threshold range of the controlled vehicle which is expected to reach the intersection ahead according to the length of the position distance;
the road speed limit may include a road highest speed limit and a road lowest speed limit. It is understood that in the case that there is no lowest speed limit on the road on some road sections, the lowest speed limit on the road may also be the lowest cruising speed that the driver can accept, which can be set by those skilled in the art according to the actual situation.
Determining a time set of green light phases of signal lights corresponding to the intersections within the corresponding time threshold range according to the phase timing information;
sequentially calculating the estimated arrival time of the controlled vehicle to travel to each intersection at the current speed according to the position distance and the current speed and the order of the position distance from near to far;
further, sequentially calculating to obtain the estimated arrival time of the controlled vehicle to the intersection ahead at the constant speed of the current vehicle speed according to a first preset formula;
T N ＝t current +d N /v
wherein, T N The controlled vehicle drives to the predicted arrival time t of the Nth intersection ahead at the current speed at a constant speed current Is the current time, d N And v is the distance between the current position of the controlled vehicle and the position of the Nth intersection, and v is the current vehicle speed.
And sequentially calculating a traffic speed set of the controlled vehicle green light passing through each intersection according to the time set, the expected arrival time and the position distance and the order of the position distance from near to far.
After the step S310, step S320 is executed: and determining the optimal target vehicle speed according to each passing speed set.
According to the embodiment, the optimal guiding speed of the current vehicle passing through the traffic intersection is calculated through data model analysis of traffic lights at the traffic intersection, and the optimal guiding speed is issued to the controlled vehicle, so that the vehicle is controlled to pass through a plurality of intersections with higher passing efficiency. The embodiment is based on the vehicle road cloud integration technology, the algorithm calculation of the green wave guide vehicle speed is transferred to the cloud end from the vehicle end, and the algorithm calculation of the green wave guide speed of a plurality of continuous intersection traffics is carried out through the cloud end server, so that the running load of the vehicle end is reduced, the calculation efficiency of the vehicle speed guide is improved, and the real-time performance and the accuracy of the vehicle speed guide are guaranteed. And the speed in the strategy implementation process is reasonably optimized from the perspective of safety and comfort through the introduction of the parameters of acceleration/deceleration considering the comfort of the driver.
Further, referring to fig. 4, a detailed flowchart of step S310 in the third embodiment of the present invention is shown. According to the second embodiment, the step S310 includes:
step S311, sequencing the intersections in sequence along a pre-driving route according to the order of the position distances from near to far;
wherein the vehicles and the intersections along the pre-driving route are sequentially ordered from near to far. For example, if there are 5 intersections on the pre-travel route, the sequence of the vehicles passing through the 5 intersections is as follows: 1. 2, 3, 4 and 5.
Step S312, calculating a traffic speed set respectively corresponding to the 1 st intersection to the ith intersection which are far away from the current position according to the current vehicle speed, the information of each road section, the position distance and the signal lamp information.
Wherein, i is more than or equal to 1 and less than or equal to the number of intersections in the pre-driving route.
According to the method, the problem of multiple acceleration and deceleration caused by a green wave passing algorithm of a single signal lamp intersection is solved by modeling and analyzing the data of the signal lamp intersections on the pre-driving route of the vehicle, the optimal speed of the current vehicle which can continuously pass through the signal lamp intersections is calculated to guide the vehicle to drive, and the idle working condition that the vehicle has to be used because the vehicle is frequently required to stop to wait for the signal lamp when the vehicle drives on a city road with more traffic signal lamp intersections is avoided, so that the driving economy of the vehicle can be effectively improved, and the fuel consumption and the emission are reduced in a single-vehicle sense.
Further, referring to fig. 5, a detailed flow diagram of step S320 in the fourth embodiment, based on the third embodiment, the step S320 includes:
step S321, setting N =1;
step S322, calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection;
further, if the time set of the phase at which the signal lamp of the N-th intersection ahead of the controlled vehicle appears green is an empty set, it is described that even if the vehicle speed is guided by the controlled vehicle, the signal lamp cannot be made green when the vehicle reaches the N-th intersection, and a stop waiting is required. In one embodiment, when the time set of the green light phase appearing at the signal light of the nth intersection in front of the controlled vehicle is an empty set, the cloud server sends a preset vehicle speed to the vehicle for forward driving, where the preset vehicle speed may be a vehicle speed considering the highest comfort level of the driver, and when the vehicle drives to the intersection stop line at a certain distance (e.g., 100 m) at the preset vehicle speed, the cloud server guides the vehicle to gradually decelerate to a lower vehicle speed (e.g., 15 km/h) at a deceleration within the comfort range of the driver. When the vehicle is very close to the stop line (for example, the vehicle is 10m away from the stop line), the cloud server sends a command to the vehicle again, guides the vehicle to slide for a certain distance, stops the vehicle and enters a waiting state. After the signal lights change from red to green, the vehicle is directed to start and pass through the intersection.
If the time set of the green light appearing phase of the signal lamp of the Nth intersection is not an empty set, calculating to obtain a passing speed set of the Nth intersection in front of the controlled vehicle according to the time set of the green light appearing phase of the signal lamp of the Nth intersection in front of the controlled vehicle and the estimated arrival time of the vehicle at the Nth intersection;
step S323, updating the passing speed set of the (N + 1) th intersection as the intersection;
step S324, judging whether the passing speed set of the (N + 1) th intersection is an empty set;
step S325, if the traffic speed set of the (N + 1) th intersection is an empty set, obtaining the optimal target vehicle speed according to the traffic speed set of the Nth intersection;
the optimal target vehicle speed is obtained according to the passing speed set of the Nth intersection, the value ratio of the intersection is set in a user-defined mode according to the actual road condition, in one embodiment, the value ratio is 50%, and the optimal target vehicle speed is the middle value in the intersection of the passing speed set. In another embodiment, the optimal target vehicle speed is taken as the minimum value of the intersection of the traffic speed sets because the current road section is a frequent accident place or has more pedestrian volume and the like.
Step S326, if the passing speed set of the (N + 1) th intersection is not an empty set, judging whether N +1 is equal to i;
wherein, it can be understood that N +1 ≦ i.
The embodiment judges whether the traffic speed set is an empty set; if the optimal guidance speed exists, the calculation of the passing speed set of the next intersection is continued until the passing speed set is an empty set, and the calculation is stopped, and the optimal guidance speed of the vehicles passing through more intersections is obtained to the maximum extent by taking a certain value in the passing speed set as the optimal target vehicle speed according to the road conditions.
Step S327, if N +1 is equal to i, obtaining the optimal target vehicle speed according to the traffic speed set of the (N + 1) th intersection;
in step S328, if N +1 is not equal to i, N = N +1 is set, and execution returns to: and calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection.
Wherein, it can be understood that 1 is less than or equal to i is less than or equal to the number of intersections in the pre-driving route, and N +1 is less than or equal to i.
Furthermore, the time set for defining the green light phase of the signal light of the Nth intersection is [ TN _ 1 _ start, TN _ 1 _ end ] U [ TN _2 _ start, TN _2 _ end ] U \8230; [ TN _ k _ start, TN _ k _ end ];
and TN _ k _ start is the starting time of the kth green light phase period of the Nth intersection, TN _ k _ end is the ending time of the kth green light phase period of the Nth intersection, and k is equal to the number of the green light phase periods of the Nth intersection in the time threshold range.
Wherein, it can be understood that N +1 ≦ i.
It is understood that the 1 st green light phase period for the nth intersection and the kth green light phase period for the nth intersection may not be complete green light phase periods. When the phase period of the 1 st green light at the Nth intersection is not a complete phase period, TN _ 1 _ start is T _ N _ 1. When the phase period of the k-th green light at the Nth intersection is not a complete phase period, TN _ k _ end is T _ N _2.
Namely: TN _ 1 _ start = max [ T _ N _ 1, TN _ 1 _ start ]
TN＿k＿end＝min[T＿N＿2，TN＿k＿end]
Comparing TN _ k _ start with TN;
if TN _ k _ start is larger than TN, obtaining a first target vehicle speed corresponding to the Nth intersection ahead of the vehicle to be controlled which is expected to just drive at the moment of TN _ k _ start according to a second preset formula;
if TN _ k _ start is smaller than TN, the first target vehicle speed is obtained according to a third preset formula;
if TN _ k _ start is equal to TN, the first target vehicle speed is the current vehicle speed;
comparing TN _ k _ end and TN;
if TN _ k _ end is larger than TN, a second target vehicle speed corresponding to the Nth intersection ahead of the controlled vehicle which is expected to just drive at the moment of TN _ k _ end is obtained according to a fourth preset formula;
if TN _ k _ end is smaller than TN, the second target vehicle speed is obtained according to a fifth preset formula;
if TN _ k _ end is equal to TN, the second target vehicle speed is the current vehicle speed;
and setting the first target vehicle speed as the minimum value of the nth passing speed interval of the nth intersection, and setting the second target vehicle speed as the maximum value of the nth passing speed interval of the nth intersection, wherein N is less than or equal to k.
Thereby obtaining a passing speed set of the Nth intersection in front of the controlled vehicle:
V N ＝[v N＿1＿start ，v N＿1＿end ]U[v N＿2＿start ，v N＿2＿end ]U……U[v N＿k＿start ，v N＿k＿end ]
further, the second preset formula is as follows:
the third preset formula is as follows:
the fourth preset formula is as follows:
the fifth preset formula is as follows:
wherein v is N＿k＿start Is the first target vehicle speed v N＿k＿end Is the second target vehicle speed, a de For a predetermined deceleration, a ac Is a preset acceleration, t gap1 Is T N Time of day distance T N＿k＿start Duration of (t) gap2 Is T N Time of day distance T N＿k＿end Duration of (v) current vehicle speed (d) N The distance between the current position of the controlled vehicle and the position of the Nth intersection is used as the distance between the current position of the controlled vehicle and the position of the Nth intersection.
Further, the step S328 includes: if N +1 is not equal to i, judging whether N +1 reaches a preset value;
the preset value may be set by a person skilled in the art according to actual needs, and the embodiment is not particularly limited. In one embodiment, the predetermined value is 3, and in another embodiment, the predetermined value is 5. It is understood that, in general, the calculation of the traffic speed set at the fifth intersection is not continued, and the calculation is stopped when the traffic speed set at the fourth intersection or the third intersection is continued and the green wave speed set is an empty set, although there are special cases.
If the N +1 reaches a preset value, obtaining an optimal target speed according to the passing speed set of the (N + 1) th intersection; if N +1 does not reach the preset value, N = N +1 is set, and the step S322 is executed in a return manner.
In the embodiment, if the green wave speed set is not an empty set, whether the current sequence intersection reaches the preset sequence intersection is judged, and if the current sequence intersection reaches the preset sequence intersection, the optimal target vehicle speed is a certain value in the green wave speed set, so that the problems of operation difficulty and operation load improvement of a green wave passing speed algorithm caused by continuous calculation of the passing speed sets of too many intersections (for example, when the green wave speed set is continuously calculated to a seventh intersection, the green wave speed set is still not an empty set) are prevented, and the operation time caused by continuous calculation of the passing speed sets of too many intersections is prolonged, so that the real-time of issuing the optimal target vehicle speed by a cloud server is influenced, and the optimal guiding time for vehicle guiding driving is missed. According to the embodiment, the calculation difficulty and the operation load of the green wave passing speed algorithm are reduced by setting the condition judgment of the intersection in the preset sequence, the real-time performance of vehicle guidance is improved, and the adaptability and the robustness of the vehicle speed guidance method for passing through multiple intersections are effectively improved.
Further, if the optimal target vehicle speed is obtained according to the passing speed set of the Nth intersection and the controlled vehicle runs through one intersection in front of the controlled vehicle, returning to execute the following steps: the step S310.
Wherein i is more than or equal to 1 and less than or equal to the number of the intersections in the pre-driving route, and N +1 is more than or equal to i.
It can be appreciated that when the controlled vehicle travels through a first intersection ahead, a second intersection ahead of the original vehicle becomes the first intersection, a third intersection ahead of the original vehicle becomes the second intersection, and so on. It should be noted that, when the vehicle passes through an intersection, the speed limit of the road is updated accordingly, and the optimal target vehicle speed is updated in real time by calculating the green wave speed set of the intersection in front of the vehicle in a new round, so as to obtain the optimal speed capable of guiding the vehicle to continuously pass through a plurality of intersections.
Of course, it will be understood by those skilled in the art that the optimal target vehicle speed and the set of transit speeds should be computationally updated in real time. Because of the interference of other vehicles, pedestrians or other obstacles in the driving environment of the controlled vehicle, or the active intervention control driving of the driver, when the vehicle cannot drive according to the optimal target vehicle speed issued by the cloud server, the interference is removed, or when the driver quits the intervention control driving, the cloud server can collect the driving environment information such as the current vehicle speed and the current position of the controlled vehicle in real time, calculate the optimal target vehicle speed again, and issue the optimal target vehicle speed to the controlled vehicle so as to guide the controlled vehicle to drive.
In the embodiment, a green wave passing algorithm of multiple intersections is provided, the signal lamp phases of multiple intersections in front are considered, and a passing speed set passing through each intersection is respectively solved; then, intersection is obtained by the passing speed sets of the intersections, a more reasonable green wave vehicle speed suggestion value is obtained and provided for a vehicle driver or an Advanced Driver Assistance System (ADAS), and the driver or the ADAS follows the green wave vehicle speed suggestion on the basis of comprehensively considering the vehicle driving safety, so that the passing efficiency of the vehicle passing through the intersections of the multiple signal lamps continuously is improved, the vehicle is ensured to pass through the intersections when the signal lamps are in green lamp phases as far as possible, the parking waiting time caused by red lamps is reduced, and meanwhile, the limitation caused by a green wave passing algorithm based on the signal lamps of a single intersection is optimized.
Further, referring to fig. 6, which is a flowchart illustrating a fifth embodiment of the present invention, based on the above embodiment, the method for guiding vehicle speed to pass through multiple intersections includes:
step S700, acquiring current running environment information of a controlled vehicle, and determining whether the controlled vehicle is in a preset distance in front of a lane in which the controlled vehicle is located or not according to the running environment information;
specifically, the running environment information may include: the position, speed and acceleration of the person and/or vehicle within a preset area around the controlled vehicle. In an embodiment, the running environment information may be acquired through a vehicle-mounted sensing device and a roadside detection device, if the running environment information is acquired by the vehicle-mounted sensing device, the vehicle-mounted sensing device transmits the running environment information to a vehicle-mounted unit TCU, the vehicle-mounted unit TCU transmits the running environment information to a cloud server, the cloud server receives the running environment information, and the communication mode may be 4G/5G. If the driving environment information is acquired by the road side detection equipment, the road side detection equipment transmits the driving environment information to the road test unit RSU, the driving environment information is transmitted to the cloud server by the road test unit RSU, the cloud server receives the driving environment information, and the communication mode can be 4G/5G or optical fiber.
Step S800, if a vehicle exists in a preset distance in front of a lane where the controlled vehicle is located, judging whether the controlled vehicle meets a preset lane changing condition or not according to the running environment information;
the preset lane changing condition can be set by workers in the field according to actual needs, and preferably, the step of judging whether the controlled vehicle meets the lane changing condition according to the traffic flow information comprises the following steps: judging whether the lane direction of the left lane is the driving intention direction of the driver, whether no vehicle exists in front of the left lane and whether the rear of the left lane meets the safety condition or not according to the traffic flow information; and if the lane direction of the left lane is the driving intention direction of the driver, no vehicle is in front of the left lane, and the rear of the left lane meets the safety condition, the controlled vehicle meets the lane change condition.
Step S900, if the controlled vehicle does not meet the preset lane changing condition, sending a command of entering a following mode to the controlled vehicle so as to enable the controlled vehicle to enter the following mode;
the following mode is that the rear vehicle adjusts the motion state of the vehicle according to the operation of the front vehicle; it can be understood that when the controlled vehicle reaches the stop line of the front intersection, the cloud server sends a command of exiting the following mode to the controlled vehicle, so that the controlled vehicle exits the following mode.
The method comprises the steps of determining whether a vehicle exists within a preset distance in front of a lane where a controlled vehicle is located according to running environment information by acquiring the current running environment information of the controlled vehicle; if the vehicle is in the preset distance in front of the lane where the controlled vehicle is located, judging whether the controlled vehicle meets the preset lane changing condition or not according to the running environment information; if the controlled vehicle does not meet the preset lane changing condition, a command of entering a following mode is sent to the controlled vehicle, so that the controlled vehicle enters the following mode, the robustness and the safety of the vehicle speed guiding method for passing through multiple intersections are improved, and the driving safety of the guided vehicle is improved by considering the influence of the driving environment of the controlled vehicle on vehicle control.
Further, referring to fig. 7, which is a flowchart illustrating a sixth embodiment of the present invention, based on the above embodiment, the method for guiding vehicle speed for passing through multiple intersections includes:
step S910, acquiring current running environment information of a controlled vehicle, and generating a predicted running track of pedestrians and/or vehicles in a preset area according to the running environment information;
the running environment information may include: the position, speed and acceleration of the person and/or vehicle within a predetermined area around the controlled vehicle.
Step S920, generating a predicted running track of the controlled vehicle according to the running information, and calculating the coincidence degree of the predicted running track of the pedestrian and/or the vehicle and the predicted running track of the controlled vehicle;
and step S930, if the contact ratio is greater than a preset value, sending an instruction for starting the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system to the controlled vehicle, and controlling the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
The anti-collision early warning system is an automobile anti-collision early warning system based on intelligent video analysis and processing, the early warning function is realized through a dynamic video shooting technology and a computer image processing technology, the road condition in front of a vehicle is continuously detected, the system can identify and judge various potential dangerous conditions, and different sounds and visual prompts are used for helping a driver to avoid or slow down collision accidents. The automatic emergency braking system can detect and identify vehicles, pedestrians or other obstacles in front through a camera or a radar, and firstly reminds a driver to perform braking operation by sound and a warning lamp to avoid collision under the condition that collision is possible. If the driver still has no braking operation, the system automatically brakes to avoid the collision or reduce the collision degree. The pre-crash warning system and the automatic emergency braking system have been studied in depth in the prior art and are not described in detail herein.
According to the embodiment, the influence of other vehicles or/and pedestrians on vehicle control during vehicle running is considered, the dangerous condition possibly met by vehicle running is predicted in real time, the cloud server timely controls the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system when the vehicle is predicted to be dangerous, the driving safety of the guided vehicle is improved, and the safety and the robustness of the vehicle speed guiding method for multi-intersection traffic are improved by considering the interference of the pedestrians and other vehicles on vehicle running.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 02 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several pieces of information for enabling the terminal to perform the method according to the embodiments of the present invention.
The specific embodiment of the readable storage medium of the present invention is substantially the same as the embodiments of the vehicle speed guidance method for passing through multiple intersections, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A vehicle speed guiding method for multi-intersection passing is characterized by comprising the following steps:
acquiring the current position, the pre-driving route and the current speed of a controlled vehicle;
determining each road section information along the pre-driving route, the position distance of each intersection from the current position and signal lamp information corresponding to each intersection;
obtaining an optimal target vehicle speed according to the current vehicle speed, the information of each road section, the position distance and the signal lamp information;
sending the optimal target vehicle speed to a controlled vehicle so that the controlled vehicle runs according to the optimal target vehicle speed;
the step of obtaining the optimal target speed according to the current speed, the information of each road section, the position distance and the signal lamp information comprises the following steps:
sequentially calculating a passing speed set of a controlled vehicle green light passing through each intersection according to the current vehicle speed, the road section information, the position distance and the signal light information and the order of the position distance from near to far;
determining an optimal target vehicle speed according to each passing speed set;
the step of sequentially calculating the passing speed set of the controlled vehicle green light passing through each intersection according to the current vehicle speed, the road section information, the position distance and the signal light information and the order of the position distance from near to far comprises the following steps:
sequencing the intersections in sequence along a pre-driving route according to the order of the position distances from near to far;
calculating a traffic speed set corresponding to the 1 st intersection to the ith intersection which are away from the current position according to the current vehicle speed, the information of each road section, the position distance and the signal lamp information, wherein i is more than or equal to 1 and less than or equal to the number of intersections in the pre-driving route;
wherein the step of determining an optimal target vehicle speed according to each of the traffic speed sets comprises:
setting N =1;
calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection;
updating the passing speed set of the (N + 1) th intersection as the intersection;
judging whether the passing speed set of the (N + 1) th intersection is an empty set;
if the passing speed set of the (N + 1) th intersection is an empty set, obtaining the optimal target speed according to the passing speed set of the Nth intersection;
if the passing speed set of the (N + 1) th intersection is not an empty set, judging whether N +1 is equal to i or not;
if N +1 is equal to i, obtaining the optimal target vehicle speed according to the passing speed set of the (N + 1) th intersection;
if N +1 is not equal to i, setting N = N +1, and returning to execute: and the step of calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection.
2. The vehicle speed guidance method for multi-intersection traffic according to claim 1, wherein if N +1 is not equal to i, N = N +1 is set, and the execution returns to: the step of calculating the intersection of the passing speed set of the nth intersection and the passing speed set of the (N + 1) th intersection further comprises:
if N +1 is not equal to i, judging whether N +1 reaches a preset value;
if the N +1 reaches a preset value, obtaining an optimal target speed according to the passing speed set of the (N + 1) th intersection;
if N +1 does not reach the preset value, setting N = N +1, and returning to execute: and calculating the intersection of the passing speed set of the Nth intersection and the passing speed set of the (N + 1) th intersection.
3. The vehicle speed guidance method for multi-intersection traffic according to any one of claims 1 or 2, characterized by further comprising:
if the optimal target vehicle speed is obtained according to the passing speed set of the Nth intersection and the controlled vehicle runs through an intersection in front of the controlled vehicle, executing the following steps: and sequencing the intersections in sequence along a pre-driving route according to the order of the position distance from near to far.
4. The method for guiding vehicle speed for multi-intersection traffic of claim 1, wherein each of the link information includes a road speed limit for each link; the signal lamp information comprises phase periods and phase timing information of each signal lamp; the step of sequentially calculating the passing speed set of the controlled vehicle green light passing through each intersection according to the current vehicle speed, the road section information, the position distance and the signal light information and the order of the position distance from near to far comprises the following steps:
sequentially calculating the time threshold range of the controlled vehicle which is expected to reach each intersection according to the road speed limit, the position distance and the current vehicle speed and the order of the position distance from near to far;
determining a time set of green light phases of signal lights corresponding to each intersection within the corresponding time threshold range according to the phase timing information;
sequentially calculating the estimated arrival time of the controlled vehicle to travel to each intersection at the current speed according to the position distance and the current speed and the order of the position distance from near to far;
and sequentially calculating a traffic speed set of the controlled vehicle green light passing through each intersection according to the time set, the expected arrival time and the position distance and the order of the position distance from near to far.
5. The method for guiding the vehicle speed for multi-intersection traffic according to claim 4, wherein the road speed limit includes a road highest speed limit and a road lowest speed limit; the step of sequentially calculating the time threshold range of the controlled vehicle which is expected to arrive at each intersection according to the road speed limit, the position distance and the current vehicle speed and the order of the position distance from near to far comprises the following steps:
according to the highest speed limit of the road, the position distance and the current speed, sequentially calculating the fastest arrival time of accelerating to the highest speed limit of the road by the current speed according to the order of the position distance from near to far, and driving to each intersection by the highest speed limit of the road;
according to the lowest speed limit of the road, the position distance and the current speed, sequentially calculating the slowest arrival time of the vehicle which decelerates to the lowest speed limit of the road according to the position distance from near to far, and driving to each intersection according to the lowest speed limit of the road;
and setting the fastest arrival time as the minimum value of the time threshold range, and setting the slowest arrival time as the maximum value of the time threshold range.
6. A server comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the vehicle speed guidance method for multiple intersection traffic according to any one of claims 1 to 5.
7. A readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a vehicle speed guidance method for multi-intersection traffic according to any one of claims 1 to 5.
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