CN113223325A - Method for safely passing signal-lamp-free intersection - Google Patents
Method for safely passing signal-lamp-free intersection Download PDFInfo
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- CN113223325A CN113223325A CN202110327995.2A CN202110327995A CN113223325A CN 113223325 A CN113223325 A CN 113223325A CN 202110327995 A CN202110327995 A CN 202110327995A CN 113223325 A CN113223325 A CN 113223325A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention relates to a method for safely passing through a signal-free intersection, which comprises the following steps: the pedestrian sends a crossing passing request and driving parameters through the wearable equipment; the vehicle-mounted V2X communication module acquires a crossing passing request and calculates a pedestrian activity track according to the driving parameters; and comparing the pedestrian activity track with the running track of the current vehicle, judging whether collision risks exist, if so, sending an avoidance prompt to the current vehicle, and otherwise, ignoring the crossing passing request. The method realizes that pedestrians pass through the intersection in advance, not only provides reference for the driving behavior of the driver, reserves sufficient operation time for parking or deceleration, but also can effectively overcome the defect of low detection accuracy of the vehicle-mounted sensor under the conditions of heavy rain weather or dark night light and the like, obviously improves the safety of vehicle driving, and has very important practical value.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method for safely passing through a signal lamp-free intersection.
Background
With the increasing automobile holding amount, the urban road traffic conditions are increasingly complex, and the intersection area becomes a high-incidence zone of traffic accidents. According to data statistics, about 90% of the serious and serious traffic accidents occur at intersections. In order to improve driving safety, more and more automobiles are equipped with active safety technology in recent years. The active safety technology generally detects objects around a vehicle through a vehicle-mounted camera or a millimeter wave radar, when the surrounding objects are too close to the vehicle or are on a driving route of the vehicle, prompt or alarm is actively carried out, and even when the collision danger is predicted, the collision danger is reduced or avoided by adopting active measures such as deceleration and braking through a vehicle control unit. By last, the perception and the detection of initiative security technology to the target mainly are realized through sensors such as on-vehicle camera or on-vehicle millimeter wave radar, and sensors such as on-vehicle camera or on-vehicle millimeter wave radar receive the environmental disturbance easily under the low circumstances of visibility such as torrential rain weather or night light are darker, lead to the detection accuracy to descend, can't really safe efficient guarantee pedestrian and vehicle pass through smoothly under this kind of scene not have the crossing of signal lamp, brought very big potential safety hazard for pedestrian and driver, cause unnecessary traffic damage easily. In view of this, it is very important to develop a method for safely passing through a signal-free intersection, and to implement information intercommunication with a vehicle by using wearable equipment carried by a pedestrian, so as to improve driving safety.
Disclosure of Invention
In order to overcome the defects, the invention provides a method for safely passing through a signal-free intersection, which is based on a Road Side Unit (RSU), a vehicle-mounted V2X (vehicle to X) communication module and a wearable device carried by a pedestrian, wherein the wearable device, the vehicle-mounted V2X communication module and the Road Side Unit are in communication connection with each other; the method comprises the following steps:
the pedestrian sends a crossing passing request and driving parameters through the wearable equipment;
the vehicle-mounted V2X communication module acquires a crossing passing request and calculates a pedestrian activity track according to the driving parameters;
and comparing the pedestrian activity track with the running track of the current vehicle, judging whether collision risks exist, if so, sending an avoidance prompt to the current vehicle, and otherwise, ignoring the crossing passing request.
Further, the method also comprises a collision risk comprehensive evaluation step, wherein the collision risk comprehensive evaluation step comprises the following steps:
the road side unit forwards the intersection passing request and the driving parameters to a cloud computing center;
the cloud computing center respectively carries out collision risk computation on each running vehicle in the coverage area so as to screen out dangerous vehicles;
and sending early warning reminding to the dangerous vehicles.
Further, the cloud computing center respectively performs collision risk calculation on each driving vehicle in the coverage area to screen out dangerous vehicles, and the method comprises the following steps:
the cloud computing center respectively acquires the running tracks of running vehicles in the coverage area;
and comparing the running track of each running vehicle with the pedestrian activity track, and screening out the running vehicles which are crossed and overlapped with the pedestrian activity track to serve as dangerous vehicles.
Further, the step compares the pedestrian activity track with the running track of the current vehicle, judges whether there is a collision risk, if yes, sends an avoidance prompt to the current vehicle, otherwise after ignoring the crossing request, the method also comprises an active avoidance step:
and when the pedestrian activity track and the current vehicle running track have collision risks, actively sending a parking avoidance command or a deceleration avoidance command to the vehicle control system.
Further, after sending the avoidance reminder to the current vehicle, the method further includes:
and sending the running guide information to the current vehicle so as to optimize the running path of the current vehicle.
Further, the driving parameters at least comprise position information, acceleration information, speed information, angular speed information and heading information.
Furthermore, the running parameters are calculated by using a dead reckoning algorithm to obtain the moving track of the pedestrian.
Furthermore, the wearable device at least comprises a mobile phone or a watch, the wearable device is provided with a trigger key or a virtual key, and the wearable device is further provided with an instruction input module.
An early warning system for safely passing through a signal-free intersection is based on the method for safely passing through the signal-free intersection, and comprises a road side unit, a vehicle-mounted V2X communication module and wearable equipment carried by a pedestrian; the wearable device is used for inputting a passing intersection request and collecting driving parameters of pedestrians, and transmitting the passing intersection request and the driving parameters to the vehicle-mounted V2X communication module and the road side unit; the vehicle-mounted V2X communication module is used for receiving a crossing passing request and driving parameters, judging collision risks according to the driving parameters of pedestrians, and sending reminding information to vehicles; the road side unit is used for receiving the intersection passing request and the running parameters, and performing collision risk assessment on running vehicles in the coverage range so as to perform early warning and reminding on dangerous vehicles.
Further, the wearable device further comprises a communication base station, and the wearable device is in communication connection with the vehicle-mounted V2X communication module and the road side unit through the communication base station.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a method for safely passing an intersection without signal lamps, which is characterized in that wearable equipment with a function of supporting V2X communication is arranged for pedestrians, so that the pedestrians can issue intersection passing requests and transmit driving parameters outwards in real time according to self requirements, and therefore, driving vehicles and road side units on a road can acquire the pedestrian conditions of the intersection in real time, and whether collision risks exist or not is judged in advance according to pedestrian activity tracks and vehicle driving tracks. Once collision risk exists, an avoidance prompt can be immediately sent to the vehicle, or a parking avoidance instruction or a deceleration avoidance instruction can be directly sent out, so that the pedestrians can safely pass through the intersection, and the traffic safety of the intersection is obviously improved. The intersection with the advance notice can not only provide prejudgment for a vehicle driver, reserve sufficient operation time for parking or deceleration, but also effectively overcome the defect of lower detection accuracy of the vehicle-mounted sensor in rainstorm weather or dark night light and the like, and further improve the safety of vehicle driving. In addition, the method also evaluates and screens all running vehicles in the coverage range through the road side unit to screen out dangerous vehicles with collision risks, and performs early warning reminding on the dangerous vehicles in a targeted manner, so that traffic accidents caused by delay of received information of partial vehicles are avoided, safe and efficient guarantee that pedestrians and vehicles smoothly pass through signal-lamp-free intersections is truly realized, and the method has important practical value.
Drawings
Fig. 1 is a schematic diagram showing the connection relationship among roadside units, pedestrians, communication base stations, and vehicles in embodiment 1.
Fig. 2 is a schematic diagram of communication connection among pedestrians, communication base stations, and vehicles in embodiment 1.
Fig. 3 is a schematic flow chart of the collision risk judgment of the vehicle-mounted V2X communication module in embodiment 1.
Fig. 4 is a schematic flow chart of a determination process of the collision risk of each vehicle in the coverage area by the cloud computing center in embodiment 1.
Reference numerals
1-road side unit, 2-pedestrian, 3-vehicle, 4-communication base station.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for purposes of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced and do not represent actual dimensions; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.
Detailed Description
The following detailed description of the preferred embodiments of the present invention is provided to enable those skilled in the art to more clearly understand the advantages and features of the present invention and to clearly define the scope of the present invention.
Example 1
As shown in fig. 1-4, the present embodiment provides a method for safely passing through a beacon-less intersection, and the implementation of the method is mainly based on a road side unit 1, a vehicle-mounted V2X communication module, and a wearable device carried by a pedestrian 2. The wearable device, the vehicle-mounted V2X communication module and the road side unit 1 are in communication connection with each other, so that the pedestrian 2 can actively participate in the V2X communication system and realize information intercommunication with the vehicle 3. The wearable device comprises but is not limited to a mobile phone or a watch, the wearable device is provided with a trigger key or a virtual key, and the wearable device is further provided with an instruction input module. Certainly, the wearable device mentioned in this technical scheme can also be directly understood as the wearing device that is equipped with the VRU module (Vulnerable Road User) among the prior art to realize the communication function of pedestrian 2 and roadside unit 1 and vehicle 3, reach the problem of solving pedestrian 2 uncontrollable factor, even under bad day and the lower condition of visibility, also can guarantee pedestrian 2 safely and efficiently through no signal lamp crossing. Because the wearable device provided with the VRU module has more detailed records in the prior art, the detailed description is omitted here.
A method for safely passing through a signal-free intersection specifically comprises the following steps:
101. the pedestrian sends a request for passing the intersection and the driving parameters through the wearable device.
Specifically, in severe weather or in low visibility, when the pedestrian 2 needs to pass through the intersection without the signal lamp, the pedestrian 2 may send a passing intersection request to the surrounding V2X communication devices (including the vehicle-mounted V2X communication module and the road side unit) in advance by starting the trigger key or the virtual key on the wearable device. In other words, once the trigger button or virtual button is activated, the wearable device may broadcast the pass-through intersection request and the driving parameters of the pedestrian 2 to surrounding V2X communication devices (including the onboard V2X communication module and roadside units) through the communication base station 4. In the technical scheme, the driving parameters at least comprise position information, acceleration information, speed information, angular speed information and course information. The driving parameters may be directly collected and acquired through a positioning system arranged in the wearable device, or may also be a result directly imported by the pedestrian 2 through an instruction input module, and both the methods for acquiring the driving parameters may be used, which is not specifically limited herein. Of course, in the specific implementation process of the technical solution, other driving parameter collecting methods in the prior art may also be introduced, as long as the driving parameters of the pedestrian 2 can be obtained, which is not limited uniquely.
102. The vehicle-mounted V2X communication module acquires a crossing passing request and calculates the pedestrian activity track according to the driving parameters.
As shown in fig. 2, the vehicle 3 traveling on the road near the pedestrian 2 automatically acquires the intersection passing request and the traveling parameters from the pedestrian 2 through the vehicle-mounted V2X communication module. Subsequently, the running vehicle 3 performs calculation analysis on the received running parameters to acquire a possible activity track of the pedestrian 2. It should be noted that in the present technical solution, the driving parameters are mainly calculated by using dead reckoning to obtain the movement track of the pedestrian 2. The dead reckoning is a calculation method for calculating the position of the next moment by measuring the moving distance and direction under the condition of knowing the position of the current moment, belongs to a relatively mature track calculation method, and is not described in detail herein.
103. And comparing the moving track of the pedestrian 2 with the running track of the current vehicle 3, judging whether collision risks exist, if so, sending an avoidance prompt to the current vehicle 3, and otherwise, ignoring the crossing passing request.
That is, once the vehicle 3 calculates the moving track of the pedestrian 2, the vehicle 3 compares the moving track of the pedestrian 2 with the current driving track of the vehicle 3, and determines in advance whether the vehicle needs to avoid. Namely, when the moving track of the pedestrian 2 and the driving track of the vehicle 3 have a cross overlapping area, the two are considered to have collision risks, otherwise, the two are considered to have no collision risks. Of course, the driving track of the vehicle 3 may be obtained by calculating the current position, speed, acceleration, heading angle, etc. of the vehicle, or may be obtained directly according to the destination and the driving planned route input by the driver in the navigation map, or both.
In this embodiment, the avoidance reminding sent to the current vehicle 3 can be a voice reminding sent through a vehicle microphone, a text reminding sent through a vehicle 3 control display screen, or both, and any kind of reminding mode can be used as long as the warning effect on the driver can be achieved.
Preferably, after the avoidance prompt is sent to the current vehicle 3, an active avoidance step may be further included, where the active avoidance step is to actively send a parking avoidance instruction or a deceleration avoidance instruction to the vehicle control system to automatically control the vehicle to decelerate or directly park when there is a collision risk between the moving track of the pedestrian 2 and the traveling track of the current vehicle 3, so as to control the vehicle 3 to perform an actual avoidance measure. Of course, in general, active avoidance refers to controlling the vehicle 3 to decelerate and avoid, and the vehicle 3 is controlled to stop and avoid unless the vehicle 3 and the pedestrian 2 are in collision immediately.
Preferably, after the avoidance prompt is sent to the current vehicle 3, the driving guidance information may also be directly sent to the current vehicle 3 to optimize the driving path of the current vehicle 3, so as to guide the current vehicle 3 to avoid collision with the pedestrian 2 at the intersection by changing the road. That is to say, when there is a collision risk between the running vehicle 3 and the pedestrian 2, besides performing avoidance reminding on the running vehicle 3, the running path of the running vehicle 3 may also be re-planned to guide the vehicle 3 to bypass the no-signal light intersection through which the pedestrian 2 is about to pass, so as to completely avoid collision with the pedestrian 2 at the intersection.
Preferably, as shown in fig. 1, a collision risk comprehensive evaluation step is further included. In the implementation process of the collision risk comprehensive assessment step, the road side unit 1 first needs to forward a crossing passing request and driving parameters to a cloud computing center. The cloud computing center is an edge computing center in a V2X system (i.e., a regional control and operation center in a V2X system), mainly performs aggregation management and computation on V2X data, and stores relevant information and traffic relevant information of all V2X devices in the region. Subsequently, the cloud computing center respectively performs collision risk computation on the running vehicles 3 in the signal coverage area of the road side unit 1 so as to screen out dangerous vehicles. And if the dangerous vehicle does exist, sending early warning reminding to the dangerous vehicle. If the screening result shows that no dangerous vehicles exist, the cloud computing center automatically ignores the intersection passing request. It is worth noting that the cloud computing center can not only judge collision risks of vehicles 3 in a coverage area, but also judge collision risks of traffic targets such as electric vehicles or bicycles carrying wearable equipment so as to remind drivers and passengers of the electric vehicles or automatic vehicles to avoid, or directly remind pedestrians 2 going through signal lamp-free intersections to pay attention, and therefore safety of intersection traffic can be remarkably improved.
Specifically, in order to accurately screen out the dangerous vehicles, the cloud computing center needs to respectively acquire the driving tracks of the driving vehicles 3 in the coverage area, and finally, the driving tracks of the driving vehicles 3 are compared with the movement track of the pedestrian 2, so that the driving vehicles 3 which are overlapped with the movement track of the pedestrian 2 in a crossing manner are screened out and used as the dangerous vehicles. Because the signal coverage range of the road side unit 1 is relatively wide, the problem that some vehicles 3 do not receive the crossing passing request and the running parameters sent by the pedestrian 2 in time due to communication interference can be overcome, and therefore the personal safety of the pedestrian 2 passing the non-signal lamp crossing can be comprehensively guaranteed.
Certainly, the safe trip method provided by the embodiment is not limited to be used at an intersection, and can also be used in all traffic scenes where vulnerable traffic participants and vehicles are interacted without signal light guidance, and specific application scenes are not limited uniquely.
The embodiment provides a method for safely passing through a signal-free intersection, which is characterized in that a wearable device with a function of supporting V2X communication is arranged for a pedestrian 2, so that the pedestrian 2 can issue a passing intersection request and transmit driving parameters outwards in real time according to the requirement of the pedestrian 2, and a driving vehicle 3 and a road side unit 1 on a road can acquire the pedestrian condition of the intersection in real time and judge whether a collision risk exists according to the activity track of the pedestrian 2 and the driving track of the vehicle 3. Once collision risk exists, an avoidance prompt can be immediately sent to the vehicle 3, or a parking avoidance instruction or a deceleration avoidance instruction can be directly sent out, so that the pedestrian 2 can be ensured to safely pass through the intersection, and the traffic safety of the intersection is obviously improved. The intersection with the advance notice can not only provide prejudgment for a vehicle driver, reserve sufficient operation time for parking or deceleration, but also effectively overcome the defect of lower detection accuracy of the vehicle-mounted sensor in heavy rain or dark light at night, and further improve the driving safety of the vehicle 3. In addition, the method also evaluates and screens all running vehicles 3 in the coverage range through the road side unit 1 so as to screen dangerous vehicles with collision risks, and performs early warning reminding on the dangerous vehicles in a targeted manner, so that traffic accidents caused by delay of received information of part of the vehicles 3 are avoided, safe and efficient guarantee that pedestrians 2 and vehicles 3 pass through signal lamp-free intersections is truly realized, and the method has important practical value.
Example 2
As shown in fig. 1 and fig. 2, the present embodiment discloses an early warning system for passing through a signal-less intersection safely, which is used for implementing the method for passing through a signal-less intersection safely in embodiment 1, and specifically includes a road side unit 1, a vehicle-mounted V2X communication module, and a wearable device carried by a pedestrian 2. The wearable device is used for inputting a passing intersection request and collecting driving parameters of the pedestrian 2, and transmitting the passing intersection request and the driving parameters to the vehicle-mounted V2X communication module and the road side unit 1. The vehicle-mounted V2X communication module is used for receiving the crossing passing request and the driving parameters, judging the collision risk according to the driving parameters of the pedestrian 2 and sending reminding information to the vehicle 3. The road side unit 1 is used for receiving a crossing passing request and driving parameters, and performing collision risk assessment on each driving vehicle 3 in a coverage range so as to perform early warning and reminding on dangerous vehicles.
Preferably, the wearable device further comprises a communication base station 4, and the wearable device is in communication connection with the vehicle-mounted V2X communication module and the road side unit 1 through the communication base station 4. That is, the wearable device will transmit the information to the communication base station 4, and then the communication base station 4 further transmits the information to the road side unit 1 or the vehicle-mounted V2X communication module.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A method for safely passing through a signal-free intersection is characterized in that based on a road side unit, a vehicle-mounted V2X communication module and a wearable device carried by a pedestrian, the wearable device, the vehicle-mounted V2X communication module and the road side unit are in communication connection with each other; the method comprises the following steps:
the pedestrian sends a crossing passing request and driving parameters through the wearable equipment;
the vehicle-mounted V2X communication module acquires a crossing passing request and calculates a pedestrian activity track according to the driving parameters; and comparing the pedestrian activity track with the running track of the current vehicle, judging whether collision risks exist, if so, sending an avoidance prompt to the current vehicle, and otherwise, ignoring the crossing passing request.
2. The method of claim 1, further comprising a step of comprehensive assessment of risk of collision, the step of comprehensive assessment of risk of collision comprising:
the road side unit forwards the intersection passing request and the driving parameters to a cloud computing center;
the cloud computing center respectively carries out collision risk computation on each running vehicle in the coverage area so as to screen out dangerous vehicles;
and sending early warning reminding to the dangerous vehicles.
3. The method for safely passing through the signal-free intersection as claimed in claim 2, wherein the step of respectively performing collision risk calculation on each running vehicle in the coverage area by the cloud computing center to screen out the dangerous vehicles comprises the following steps:
the cloud computing center respectively acquires the running tracks of running vehicles in the coverage area;
and comparing the running track of each running vehicle with the pedestrian activity track, and screening out the running vehicles which are crossed and overlapped with the pedestrian activity track to serve as dangerous vehicles.
4. The method according to claim 1, wherein the step of comparing the pedestrian activity track with the current vehicle running track to determine whether there is a collision risk, if yes, sending an avoidance reminder to the current vehicle, otherwise after ignoring the crossing request, further comprises an active avoidance step of:
and when the pedestrian activity track and the current vehicle running track have collision risks, actively sending a parking avoidance command or a deceleration avoidance command to the vehicle control system.
5. The method of claim 1, further comprising, after issuing the avoidance maneuver prompt to the current vehicle:
and sending the running guide information to the current vehicle so as to optimize the running path of the current vehicle.
6. The method of claim 1, wherein the driving parameters comprise at least position information, acceleration information, speed information, angular velocity information, and heading information.
7. The method for safely passing through the signal-free intersection as claimed in claim 6, wherein the pedestrian's motion track is obtained by operating the driving parameters by using dead reckoning.
8. The method of claim 1, wherein the wearable device comprises at least a mobile phone or a watch, the wearable device is provided with a trigger button or a virtual button, and the wearable device is further provided with a command input module.
9. An early warning system for safely passing through a signal-free intersection, which is characterized in that the early warning system is based on the method for safely passing through the signal-free intersection, and comprises a road side unit, a vehicle-mounted V2X communication module and a wearable device carried by a pedestrian; the wearable device is used for inputting a passing intersection request and collecting driving parameters of pedestrians, and transmitting the passing intersection request and the driving parameters to the vehicle-mounted V2X communication module and the road side unit; the vehicle-mounted V2X communication module is used for receiving a crossing passing request and driving parameters, judging collision risks according to the driving parameters of pedestrians, and sending reminding information to vehicles; the road side unit is used for receiving the intersection passing request and the running parameters, and performing collision risk assessment on running vehicles in the coverage range so as to perform early warning and reminding on dangerous vehicles.
10. The warning system for safely passing through the signal-free intersection as claimed in claim 9, further comprising a communication base station, wherein the wearable device is in communication connection with the vehicle-mounted V2X communication module and the road side unit through the communication base station.
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