Trunk road vehicle speed planning method based on single intersection traffic signal information

A trunk road vehicle speed planning method based on single intersection traffic signal information includes the following steps that (1) data of the nearest traffic signal lamp are obtained; (2) the distance between a vehicle and the nearest traffic signal lamp is obtained; (3) the time range of the vehicle passing through a traffic intersection is determined; (4) an optimized vehicle speed is calculated; (5) whether the optimized vehicle speed has a computed result is judged, the step (6) is turned to if the optimized vehicle speed has the computed result, and otherwise the vehicle runs at a planned vehicle speed and the step (7) is turned to; (6) the vehicle runs at a constant initial speed and then runs at an accelerated speed or a decelerated speed; (7) the vehicle runs at the accelerated speed or the decelerated speed and then runs at the constant speed; (8) whether the vehicle runs at a too low initial speed for a long time in the step (6) is judged, and if the vehicle runs at the too low initial speed for a long time in the step (6), the step (9) is turned to; (9) accelerated running time, constant speed running time and braking time are calculated; (10) whether the vehicle needs to pass through the next intersection is judged, if the vehicle needs to pass through the next intersection, the step (11) is turned to, and otherwise the vehicle arrives at the destination.