CN102231239B - Vehicle-road interaction technology-based energy-saving driving strategy prompt system and working method thereof - Google Patents

Abstract

The invention discloses an energy-saving driving strategy prompting system based on vehicle-road interaction technology and its working method, which includes a radio frequency transmitter installed at an intersection and capable of obtaining traffic information of the intersection and an energy-saving driving strategy prompting device installed on a vehicle , the device is composed of software and hardware. The hardware part is composed of a microprocessor, a radio frequency receiver, a vehicle-mounted GPS navigator, and a display and/or a voice prompter; the software part mainly refers to an energy-saving driving strategy calculation module. Whenever a vehicle enters a road section ahead of a signal-controlled intersection, the energy-saving driving strategy prompt device matches the real-time data of the vehicle-mounted GPS navigator with the received traffic information, and sends it to the energy-saving driving strategy calculation module for processing to obtain the vehicle's energy-saving driving strategy , and prompt the vehicle energy-saving driving strategy to the driver through the display and/or voice prompter. The invention can realize the purpose of energy-saving driving and reducing tail gas emission.

Description

Working method of energy-saving driving strategy prompt system based on vehicle-road interaction technology

technical field

The invention belongs to the technical field of intelligent transportation. the

Background technique

In today's world, many international and social issues are energy issues in the final analysis. Since the invention of automobiles, people's living standards have been greatly improved and the progress of human society has been promoted. But it has also brought great negative impacts, such as consuming a lot of energy, and causing serious traffic congestion and environmental pollution. the

At present, the research on automobile energy saving is mainly carried out from two aspects: "open source" and "throttle". "Open source" refers to finding various new energy sources to replace petroleum energy; "throttling" mainly refers to improving the fuel economy of vehicles, such as optimizing vehicle shape design, improving power system and transmission system, and adopting advanced electronic technology. However, the "open source" technology is not yet mature, and the comprehensive benefits are not clear, while the research and development costs of "throttling" technology are relatively high. the

When the vehicle is driving, especially when driving in the city, since the driver does not know the traffic situation at the intersection ahead, the vehicle may be controlled frequently during the process of passing the intersection ahead, such as acceleration, deceleration, Stopping and starting, such manipulations will cause the vehicle to generate greater energy waste and exhaust emissions. the

Contents of the invention

The purpose of the present invention is to reduce vehicle energy consumption and exhaust emissions from the perspective of vehicle-road interaction. Based on this, the present invention provides an energy-saving driving strategy prompt system and its working method based on vehicle-road interaction technology. Vehicle control, so as to achieve the purpose of saving energy and reducing exhaust emissions. the

For reaching above-mentioned purpose, the technical scheme that the present invention solves the problem and takes is:

An energy-saving driving strategy prompt system based on vehicle-road interaction technology, including two parts:

One is the radio frequency transmitter installed at the intersection that can obtain the traffic information of the intersection. The radio frequency transmitter obtains the traffic information from the signal controller at the intersection and broadcasts it externally through the wireless radio frequency transmitting module in the radio frequency transmitter;

The second is an energy-saving driving strategy prompt device installed on the vehicle. The device consists of two parts: software and hardware. The hardware part is composed of a microprocessor, a radio frequency receiver, a vehicle GPS navigator, and a display and/or voice prompter; It mainly refers to the energy-saving driving strategy calculation module. The vehicle-mounted GPS navigator provides real-time data, the radio frequency receiving module receives traffic information, the microprocessor matches the traffic information and real-time data, and submits the calculation to the energy-saving driving strategy calculation module to obtain the vehicle energy-saving driving strategy, and convert the vehicle energy-saving driving strategy Prompt to the driver through the display and/or voice prompter. the

The traffic information includes the intersection number, the current phase number, the remaining time of the current phase green light, the phase numbers of other phases, the phase green light time, the green light interval time and the traffic signal cycle; the above phase refers to: within a cycle, The right of way obtained by one or several traffic streams at a level intersection;

The real-time data of the vehicle-mounted GPS navigator includes: the number of the signal-controlled intersection that the vehicle is about to reach ahead, the remaining mileage from the current position to the signal-controlled intersection ahead, the driving direction of the vehicle at the ahead intersection and the speed limit of the road section. the

The working method of the energy-saving driving strategy prompting system based on the vehicle-road interaction technology of the present invention: whenever the vehicle enters a section where the front is a signal-controlled intersection, the microprocessor reads the information of the vehicle-mounted GPS navigator, and receives the information of the front arrival through the radio frequency receiving module. The traffic information broadcasted by the radio frequency transmitter at the intersection matches the traffic information with real-time data, and is submitted to the calculation module of the energy-saving driving strategy to obtain the vehicle energy-saving driving strategy, and the vehicle energy-saving driving strategy is passed through the display and/or voice prompter Notify the driver. the

Vehicle energy-saving driving strategies include, but are not limited to, the most economical and safe driving speed at which the vehicle can pass through the intersection ahead without waiting. the

The detailed working method of the above-mentioned energy-saving driving strategy prompt system is:

The first step: start, system startup;

The second step: system initialization;

Step 3: The microprocessor starts to read the information of the car GPS navigator. The information includes: the number of the signal-controlled intersection that the vehicle is about to reach in front of the vehicle, the remaining mileage from the current position to the signal-controlled intersection ahead, the driving direction of the vehicle at the intersection ahead and the limit of the road section. speed;

Step 4: The microprocessor processes the traffic information received by the radio frequency receiving module, and extracts the phase timing information of the intersection from it. The traffic information includes: intersection number, current phase number, remaining time of the green light of the current phase, and other phases. Phase number, phase green light time, green light interval time and traffic signal cycle;

Step 5: The microprocessor runs the energy-saving driving strategy calculation module;

Step 6: Prompt the vehicle energy-saving driving strategy to the driver through the display and/or voice prompter;

Step 7: Return to Step 3 for the next operation. the

The calculation steps of the fifth step above are as follows:

Step 1: Set the phases and phase durations of the intersection, which are called the first phase, the remaining time of the green light of the first phase; the second phase, the time of the green light of the second phase; the third phase, the time of the green light of the third phase; Four phases, fourth phase green light time...and so on. Among them, the first phase is the current phase, and the remaining time of the green light in the first phase is the remaining time of the green light after the current moment; the phase number of the first phase is p1, the remaining time of the first phase is t _r , and the phase number of the second phase is p2, the duration of the second phase is t _p2 , the phase number of the third phase is p3, the duration of the third phase is t _p3 , the phase number of the fourth phase is p4, and the duration of the fourth phase is t _p4 , so analogy.

The current phase refers to the phase in which the intersection is currently in a clear state. the

Set the phase green light interval time as T _i , the traffic signal period as T, and the remaining mileage from the current position to the signal-controlled intersection ahead as D; the vehicle passing phase number is n according to the vehicle’s driving direction and phase matching at the front intersection; the highest road section The speed limit is V _limit , and the minimum speed of the vehicle is V _m .

The second step is to calculate the nearest time interval [t1, t2] of the required phase release of the vehicle;

1. If n=p1, then t1=0, t2=t _r , turn to the third step, otherwise continue;

2. If n=p2, then t1=t _r +T _i , t2=t1+t _p2 , turn to the third step, otherwise continue;

3. If n=p3, then t1=t _r +T _i +t _p2 +T _i , t2=t1+t _p3 , go to the third step, otherwise continue;

4. If n=p4, then t1=t _r +T _i +t _p2 +T _i +t _p3 +T _i , t2=t1+t _p4 , go to the third step, otherwise continue;

...and so on. the

The third step is to calculate the speed that the vehicle needs to reach without waiting to pass the intersection within the length of the nth traffic signal cycle, which are represented by V ₁ , V ₂ , ..., V _n respectively,

Among them, V ₁ =(D/t1+D/t2)/2, if t1=0, then V ₁ =1.2D/t2; V ₂ =(D/(t1+T)+D/(t2+T) )/2; calculate in turn until V _n =(D/(t1+(n-1)*T)+D/(t2+(n-1)*T))<V _m , go to step 4. Note:

V ₁ represents the speed that the vehicle needs to reach without waiting to pass through the intersection within the length of the first traffic signal cycle;

V ₂ represents the speed that the vehicle needs to reach without waiting to pass through the intersection within the length of the second traffic signal cycle;

And so on;

V _n represents the speed that the vehicle needs to reach without waiting to pass the intersection within the length of the nth traffic signal cycle; this speed will decrease with the increase of n, when the speed drops to a certain set minimum of the vehicle When the speed V _m , stop calculation.

In the fourth step, select the value V _X closest to the economic speed of the vehicle from V ₁ , V ₂ ... V _n , and go to the fifth step.

Step 5: Determine the driving strategy

If V _X >V _limit , return to V _limit , end, and prompt the driver to drive at V _limit speed, otherwise continue;

If V _m <V _X <V _limit , return to V _X , end, and prompt the driver to drive at V _X speed, otherwise continue;

If V _X < V _m , no return value, no prompt, and end.

The present invention has the following beneficial technical effects:

After the system is applied, the driver can be immediately prompted to take scientific and reasonable control measures to drive the vehicle through the intersection at the most economical and safe speed without waiting. The improvement of the environment can play a better role in promoting. the

Description of drawings

FIG. 1 is a schematic block diagram of the structure and principle of a radio frequency transmitter in an embodiment of the present invention. the

Fig. 2 is a schematic block diagram of the structure and principle of the energy-saving driving strategy prompting device in the embodiment of the present invention. the

Fig. 3 is a working flow chart of the energy-saving driving strategy prompting device. the

Fig. 4 is an algorithm flow chart of an energy-saving driving strategy calculation module loaded in the energy-saving driving strategy prompting device.

Fig. 5 is a schematic diagram of a scene of an operation example. the

Legend: A1-intersection signal controller; A2-radio frequency transmitting module; A3-antenna; B1-microprocessor; B2-antenna; B3-radio frequency receiving module; B4-display and/or voice prompter; B5-GPS navigation instrument; B6-battery; A-junction. the

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

The configuration of the embodiment will be described with reference to FIG. 1 and FIG. 2 . the

An energy-saving driving strategy prompt system based on vehicle-road interaction technology consists of a radio frequency transmitter installed at an intersection (as shown in Figure 1) and an energy-saving driving strategy prompt device installed on a vehicle (as shown in Figure 2). the

As shown in Figure 1, the radio frequency transmitter at the intersection is composed of a radio frequency transmitting module A2 and an antenna A3; the real-time phase timing information is obtained from the intersection signal controller A1, and the radio frequency transmitting module A2 and antenna A3 will transmit the information according to the established communication protocol. The signal is broadcast. the

The radio frequency transmitter is installed near the intersection signal controller, and obtains the following data from the traffic signal controller: intersection number, current phase number of the intersection, remaining time of the current phase green light, phase numbers of other phases, phase green light time, green light interval time and Traffic signal cycle. the

As shown in Figure 2, the vehicle-mounted energy-saving driving strategy prompting device is mainly composed of a microprocessor B1, an antenna B2, a radio frequency receiving module B3, a display and/or a voice prompter B4, a GPS navigator B5, and a battery B6. the

In the present invention, the vehicle-mounted energy-saving driving strategy prompting device is installed inside the vehicle, and cooperates with the GPS navigator B5 to complete the task of vehicle energy-saving driving strategy prompting. Specifically, the radio frequency receiving module B3 receives the broadcast signal of the intersection traffic signal controller through the antenna B2, and transmits it to the microprocessor B1, and the microprocessor B1 receives relevant information from the GPS navigator B5 at the same time, and the microprocessor B1 synthesizes After the calculation, a relatively economical and safe speed that can pass through the crossing without waiting to the greatest extent is obtained, and the driver is prompted accordingly through the display and/or the voice prompter B4. the

The program control flow of the above-mentioned energy-saving driving strategy prompting device is shown in Figure 3, and is described as follows with reference to Figure 3:

The first step: start, system startup;

The second step: system initialization;

Step 3: The microprocessor B1 starts to read the information of the car GPS navigator, the information includes: the intersection ID, the remaining mileage, and the speed limit of the road section;

Step 4: Microprocessor B1 processes the received traffic information, and extracts the phase timing information of the intersection;

Step 5: Microprocessor B1 runs the energy-saving driving strategy calculation module (as shown in Figure 4);

Step 6: Prompt the vehicle energy-saving driving strategy to the driver through the display and/or voice prompter;

Step 7: Return to Step 3 for the next operation. the

The above display results are for the driver to use as a reference when driving the vehicle. the

Next, a specific example is used to illustrate the calculation method of the energy-saving driving strategy calculation module. the

Assume that a certain vehicle is driving from south to north at a certain moment, and arrives at intersection A 400 meters ahead, and is required to go straight through the intersection. There are four phases at intersection A, the phase number of east-west straight is 1, and the phase number of east-west turn left is 2. , the phase number of north-south going straight is 3, and the phase number of north-south turning left is 4. the

Assume that the phase number of the current phase (that is, the first phase) is 1, that is, p1=1, the remaining time of the green light of the first phase t _r =10 seconds, the phase number of the second phase is p2=2, and the remaining time of the green light of the second phase is p2=2. The duration t _p2 = 6 seconds, the phase number p3 of the third phase = 3, the duration of the third phase t _p3 = 19 seconds, the phase number of the fourth phase is p4 = 4, and the duration of the fourth phase t _p4 = 5 seconds; Phase green light interval time T _i = 5 seconds (there will be a phase green light interval time whenever the phase alternates); traffic signal cycle T = 68 seconds; remaining mileage D = 400 meters; the vehicle is going straight at the intersection ahead, so the vehicle passes through the phase Number n=3; the maximum speed limit V _limit of the road section is 70 km/h, the minimum vehicle speed V _m is 1 km/h, and the vehicle economic speed V _e is 80 km/h. As shown in Figure 5.

The implementation method of the reminder system of the present invention will be described below according to the above conditions. the

In the first step, the vehicle-mounted energy-saving driving strategy prompting device will receive the traffic information broadcast at intersection A through the radio frequency receiving module, and then, the vehicle-mounted energy-saving driving strategy prompting device will extract the number of the intersection A, the number of vehicles arriving at the intersection from the GPS navigator A's remaining mileage, road section speed limit and other information, input various extracted data into the energy-saving driving strategy calculation module for calculation;

The second step is to calculate the nearest time interval [t1, t2] of the required phase release of the vehicle;

According to the known conditions, the phase number n=3=p3 required by the vehicle, according to the technical solution, when n=p3, then t1=t _r +T _i +t _p2 +T _i =10+5+6+5 =26 (seconds), t2=t1+t _p3 =26+19=45 (seconds).

The third step is to calculate V ₁ , V ₂ ... V _n :

V ₁ =(400/26+400/45)/2=12.15(m/s)=43.7(km/h),

V ₂ =(400/(26+68)+400/(45+68))/2=3.9(m/s)=14(km/h),

V ₃ =(400/(26+68*2)+400/(45+68*2))/2=2.34(m/s)=8.42(km/h),

V ₄ =(400/(26+68*3)+400/(45+68*3))/2=1.68(m/s)=6.05(km/h),

V ₅ =(400/(26+68*4)+400/(45+68*4))/2=1.3(m/s)=4.68(km/h),

V ₂₁ =(400/(26+68*20)+400/(45+68*20))/2=0.287(m/s)=1.03(km/h),

V ₂₂ =(400/(26+68*21)+400/(45+68*21))/2=0.274(m/s)=0.986(km/h),

V ₂₂ <1 km/h, stop calculation.

_The fourth _step is to select the closest value from V ₁ , V _{2 , .}

The fifth step, select the driving strategy:

Since V _m <V ₁ <V _limit , the energy-saving driving strategy module will return V ₁ , and will prompt the driver for a driving speed of V ₁ =43.7 km/h.

The current phase (that is, the first phase) phase number in the embodiment being 1 means that: at the moment when the vehicle is 400 meters away from the intersection A ahead, the east-west direction of the intersection A is in the release state. the

The above embodiment is only one of the specific implementation modes of the present invention. In practice, it is possible that p1=2, at this time, p2=3, p3=4, p4=1; or p1=3, at this time, p2 =4, p3=1, p4=2; or p1=4, at this time, p2=1, p3=2, p4=3. Therefore, the scope of protection of the present invention is not limited to the embodiments, and anyone familiar with the technology within the scope of the technology disclosed in the present invention can understand that any transformation or replacement that can be conceived should be covered by the scope of the present invention. the

Claims (1)

1. the method for work based on the energy-saving driving strategy prompt system of vehicle-road interaction technology, is characterized in that, described energy-saving driving strategy prompt system comprises the two large divisions:

The one, be contained in the radiofrequency launcher that can obtain this crossing traffic information that the crossing is located, this radiofrequency launcher obtains transport information from the signal controller at crossing, place, and by the less radio-frequency transmitter module overseas broadcast in radiofrequency launcher;

Two are mounted in the energy-saving driving strategy suggestion device on vehicle, and this device is comprised of software and hardware two parts, and hardware components is comprised of microprocessor, radio frequency receiver, vehicle-mounted GPS navigator and display and/or voice prompting device; Software section mainly refers to the energy-saving driving strategy computing module in microprocessor; Provide real time data by vehicle-mounted GPS navigator, by the radio frequency receiver receiving traffic information, microprocessor mates transport information and real time data, transferring to the energy-saving driving strategy computing module calculates, obtain automobile energy-saving and drive strategy, and automobile energy-saving driving strategy is prompted to human pilot by display and/or voice prompting device;

Above-mentioned transport information comprises: phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, current phase item, current phase place green light excess time, other each phase places; Described phase place refers to: in one-period, and a certain or several the right-of-ways that traffic flow obtains on level-crossing;

The real time data of above-mentioned vehicle-mounted GPS navigator comprises: signal controlled junctions numbering, the position that vehicle front is about to reach arrived front signal and controlled the remaining mileage at crossing, vehicle travel direction and the highway section speed limit at crossing forwardly;

Method of work is: during work, when vehicle enters the place ahead and is the highway section of signal controlled junctions, the energy-saving driving strategy suggestion device will receive the place ahead by radio frequency receiver and arrive the transport information that place, crossing broadcaster broadcasts, and the real time data of obtaining vehicle-mounted GPS navigator, and transport information and real time data are mated, transferring to the energy-saving driving strategy computing module calculates, obtain automobile energy-saving and drive strategy, and automobile energy-saving driving strategy is prompted to human pilot by display and/or voice prompting device;

The detailed operation step is as follows:

The first step: beginning, system start;

Second step: system initialization;

The 3rd step: microprocessor begins to read vehicle-mounted GPS navigator information, and information comprises: signal controlled junctions numbering, the position that vehicle front is about to reach arrived front signal and controlled the remaining mileage at crossing, vehicle travel direction and the highway section speed limit at crossing forwardly;

The 4th step: the transport information that the microprocessor processes radio frequency receiver receives, and therefrom extracting the multiphase traffic time allocation information at this crossing, transport information comprises: phase item, phase place green time, green light interval time and the traffic signals cycle of crossing numbering, current phase item, current phase place green light excess time, other each phase places;

The 5th step: the microprocessor energy saving in running is driven tactful computing module; Operational method is as follows:

The 5.1st step: set each phase place and the phase place duration at this crossing, be called successively the first phase place, first phase place green light excess time; The second phase place, the second phase place green time; Third phase position, third phase position green time; The 4th phase place, the 4th phase place green time ... the rest may be inferred; Wherein, the first phase place is current phase place, and the first phase place green light is the green light excess time after current time begins excess time; Wherein: the phase item of the first phase place is that be t the excess time of p1, the first phase place _r, the second phase place the phase item be that the duration of p2, the second phase place is t _p2, the third phase position the phase item be that the duration of p3, third phase position is t _p3, the 4th phase place the phase item be that the duration of p4, the 4th phase place is t _p4, by that analogy;

Described current phase place refers to the current phase place that is in the clearance state in this crossing;

Setting phase place green light interval time is T _i, the traffic signals cycle is T, the remaining mileage that the crossing is controlled to front signal in the position is D; According to vehicle forwardly the travel direction at crossing to obtain vehicle pass-through phase item with phase matching be n; The highway section Maximum speed limit is V _Limit, the minimum speed of Vehicle Driving Cycle is V _m

In the 5.2nd step, calculate the nearest time interval [t1, t2] that the vehicle desired phase is let pass;

If 1 n=p1, t1=0, t2=t _r, turned for the 5.3rd step, otherwise continue;

If 2 n=p2, t1=t _r+ T _i, t2=t1+t _p2, turned for the 5.3rd step, otherwise continue;

If 3 n=p3, t1=t _r+ T _i+ t _p2+ T _i, t2=t1+t _p3, turned for the 5.3rd step, otherwise continue;

If 4 n=p4, t1=t _r+ T _i+ t _p2+ T _i+ t _p3+ T _i, t2=t1+t _p4, turned for the 5.3rd step, otherwise continue;

By that analogy;

The 5.3rd step, calculate vehicle nothing in n traffic signals Cycle Length and wait for by the required speed that reaches in this crossing, use respectively V ₁, V ₂..., V _nExpression,

Wherein, V ₁, V ₂V _n, V ₁If=(D/t1+D/t2)/2 are t1=0, V ₁=1.2D/t2; V ₂=(D/ (t1+T)+D/ (t2+T))/2;

Calculate successively, until V _n=(D/ (t1+ (n-1) * T)+D/ (t2+ (n-1) * T))/2＜V _m, turned for the 5.4th step; Annotate:

V ₁Expression vehicle nothing in the 1st traffic signals Cycle Length is waited for by the required speed that reaches in this crossing;

V ₂Expression vehicle nothing within the 2nd traffic signals Cycle Length time is waited for by the required speed that reaches in this crossing;

By that analogy;

V _nExpression vehicle nothing within n traffic signals Cycle Length time is waited for by the required speed that reaches in this crossing; This speed can reduce along with the increase of n, drops to the minimum speed V of a certain setting when this speed _mThe time, stop calculating;

The 5.4th step is from V ₁, V ₂V _nIn choose value V near the economic speed per hour of vehicle _X, turned for the 5.5th step;

The 5.5th step: determine to drive strategy:

If V _X＞V _Limit, return to V _Limit, finish, and point out with V to the driver _LimitSpeed is travelled, otherwise continues;

If V _m＜V _X＜V _Limit, return to V _X, finish, and point out with V to the driver _XSpeed is travelled, otherwise continues;

If V _X＜V _m, without rreturn value, do not point out, finish;

The 6th step: automobile energy-saving is driven strategy be prompted to human pilot by display and/or voice prompting device;

The 7th step: returned to for the 3rd step, carry out computing next time.

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