CN114120623A - Road right distribution and supervision method and device - Google Patents
Road right distribution and supervision method and device Download PDFInfo
- Publication number
- CN114120623A CN114120623A CN202010883884.5A CN202010883884A CN114120623A CN 114120623 A CN114120623 A CN 114120623A CN 202010883884 A CN202010883884 A CN 202010883884A CN 114120623 A CN114120623 A CN 114120623A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- determining
- road right
- priority
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000002159 abnormal effect Effects 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 8
- 239000002699 waste material Substances 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 29
- 238000012544 monitoring process Methods 0.000 description 24
- 230000001133 acceleration Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 8
- 239000002893 slag Substances 0.000 description 8
- 206010021033 Hypomenorrhoea Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010000117 Abnormal behaviour Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000029305 taxis Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention provides a road right distribution and supervision method and a device, wherein the road right distribution method comprises the following steps: acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information; determining a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information; and sending the road right distribution strategy to the target control terminal. The embodiment of the invention is beneficial to road right distribution based on dynamic data such as vehicle running information and the like included in vehicle data, effectively avoids the condition of road right distribution waste caused by distributing the road right for a fixed time according to experience, and simultaneously determines a proper road right distribution strategy by combining priority information, thereby further improving the distribution effect during road right distribution.
Description
Technical Field
The invention relates to the technical field of road management and control, in particular to a road right distribution and supervision method and device.
Background
With the development of the transportation industry, the number of vehicles is more and more, so that traffic jam frequently occurs in many cities, and further inconvenience is caused to the passing of special vehicles such as fire trucks, ambulances and the like. In order to solve the above problem, a scheme of assigning a higher priority level of road right to these special vehicles is currently proposed, for example, by controlling traffic lights so that these special vehicles can smoothly pass through a traffic intersection, and the like.
In the prior art, static data such as identity information of passing vehicles is generally acquired based on RFID base station equipment arranged above a lane, and a right of way is allocated to the vehicles by combining specific positions of the RFID base station equipment, so that the right of way can be allocated to the vehicles only for a fixed time period according to experience, and under the condition of road congestion and the like, the vehicles may not pass through an intersection within the fixed time period, which results in wasted right of way allocation. Therefore, the prior art has the problem of poor distribution effect when road right distribution is carried out.
Disclosure of Invention
The embodiment of the invention provides a road right distribution and supervision method and device, aiming at solving the problem of poor distribution effect in the prior art during road right distribution.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a road right allocation method, including:
acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information;
determining a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information;
and sending the road right distribution strategy to the target control terminal.
In a second aspect, an embodiment of the present invention further provides a road right supervision method, including:
acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information;
determining a driving standard corresponding to the vehicle according to the priority information;
and under the condition that the vehicle running information does not meet the running standard, sending the vehicle running information to a preset supervision platform.
In a third aspect, an embodiment of the present invention further provides a road right allocating apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring vehicle data sent by a vehicle, and the vehicle data comprises priority information and vehicle running information;
the first determining module is used for determining a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information;
and the first sending module is used for sending the road right distribution strategy to the target control terminal.
In a fourth aspect, an embodiment of the present invention further provides a road right monitoring apparatus, including:
the second acquisition module is used for acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information;
the second determining module is used for determining a driving standard corresponding to the vehicle according to the priority information;
and the second sending module is used for sending the vehicle running information to a preset supervision platform under the condition that the vehicle running information does not meet the running standard.
In a fifth aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above method when executing the computer program.
In a sixth aspect, the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the above method.
The road right distribution method provided by the embodiment of the invention obtains vehicle data including priority information and vehicle running information sent by a vehicle, determines a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information, and sends the road right distribution strategy to the target control terminal. In the embodiment of the invention, the road right distribution strategy is determined by the vehicle data sent by the vehicle, on one hand, the road right distribution is facilitated based on the dynamic data such as the vehicle running information and the like included in the vehicle data, the waste of the road right distribution caused by the fact that the road right is distributed for a fixed time according to experience is effectively avoided, on the other hand, the proper road right distribution strategy can be determined by combining with the priority level information, and the distribution effect during the road right distribution is further improved.
Drawings
Fig. 1 is a flowchart of a road right distribution method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for determining a road right distribution policy according to an embodiment of the present invention;
fig. 3 is a flowchart of a road right supervision method according to an embodiment of the present invention;
FIG. 4 is a topological diagram of a system of a vehicle and roadside equipment in an embodiment of the invention;
fig. 5 is a schematic structural diagram of a right-of-way allocation apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a road right monitoring apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
As shown in fig. 1, a method for right-of-way allocation provided in an embodiment of the present invention includes:
and 103, sending the road right distribution strategy to the target control terminal.
The Road right allocation method provided by this embodiment may be applied to a Road Side Unit (RSU), and accordingly, the vehicle may communicate with the RSU through an On Board Unit (OBU) or the like.
As the vehicle data, dynamic data acquired by a vehicle sensor, an in-vehicle terminal, or the like, such as a position, a speed, a path, the number of passengers, a driver fatigue state, or the like of the vehicle; of course, the vehicle data may also be stored static data, such as vehicle identification information of vehicle type and license plate number, and the like, which is not limited herein.
The received vehicle data may be divided into priority level information and vehicle travel information according to the use, the priority level information may be used to determine the priority level of the vehicle, the vehicle travel information may be used to determine the travel state of the vehicle, and the like. Of course, the vehicle data may be divided according to usage to include more types of information, and the same vehicle data may be used for different purposes.
In combination with an application scenario, the vehicle identity information in the vehicle data can be used as priority level information, and when the vehicle identity information represents that the vehicle is a special vehicle such as an ambulance, a fire truck or a police car, a higher priority level can be determined for the vehicle based on the priority level information; alternatively, the vehicle side may be directly given a priority level in advance based on vehicle identification information of the vehicle or the like, and the priority level information received by the RSU side is directly characterized as the priority level. For another example, the vehicle position, speed, route, and the like in the vehicle data may be used as the vehicle travel information.
The information based on priority level may be vehicle identity information, and in practical application, the information about the right or the late of the vehicle may also be used as the priority level information, which is not limited herein. The expression form of the priority level may be expressed by high, medium and low levels, or may be expressed by a score, and is not limited specifically here.
When the priority level of the vehicle is determined, the right-of-way distribution strategy and the target control terminal can be determined by combining the vehicle running information.
For example, for a fire fighting vehicle, the determined priority level is high, and it is necessary to assign a right of way to quickly reach a destination by priority, and the vehicle driving information of the fire fighting vehicle includes its real-time position, planned route and real-time motion state (such as speed and acceleration), and by combining these information, it may be determined that the fire fighting vehicle is about to pass through a certain traffic light intersection.
For another example, for a bus, the determined priority level is medium, and under the same driving environment as the fire truck, the green light duration of the signal lamp in the driving direction of the bus can be properly prolonged, or the red light duration can be properly reduced, so that the traffic jam in other directions caused by one traffic light period ahead is relieved. That is, in practical application, for the road right allocation strategy, it may also be green light extension, red light truncation, phase insertion, etc.; and can allocate proper road right allocation strategies according to different priority levels.
Of course, the target control terminal may not only be a traffic light control terminal, but also be a control terminal of a transportation facility such as a lifting road pile.
As can be seen from the above road right allocation process, in this embodiment, the vehicle data, such as the priority information and the vehicle driving information, is directly sent to the RSU by the vehicle, on one hand, an RFID base station does not need to be arranged in each direction of entrance of the intersection, which is convenient for deployment, reduces the cost, and improves the convenience of obtaining data for determining the road right allocation policy; on the other hand, the RSU can obtain the types of vehicle data without being limited to static data such as vehicle identification information, and can also obtain dynamic data such as vehicle driving information and determine a road right distribution strategy according to the dynamic data.
It is easily understood that, in order to enable the target control terminal to execute the road right allocation policy, the determined road right allocation policy needs to be further transmitted to the target control terminal.
The road right distribution method provided by the embodiment of the invention obtains vehicle data including priority information and vehicle running information sent by a vehicle, determines a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information, and sends the road right distribution strategy to the target control terminal. In the embodiment of the invention, the road right distribution strategy is determined by the vehicle data sent by the vehicle, on one hand, the road right distribution is facilitated based on the dynamic data such as the vehicle running information and the like included in the vehicle data, the waste of the road right distribution caused by the fact that the road right is distributed for a fixed time according to experience is effectively avoided, on the other hand, the proper road right distribution strategy can be determined by combining with the priority level information, and the distribution effect during the road right distribution is further improved; meanwhile, the integrity of the data used for determining the road right distribution strategy is ensured, the source quantity of the data can be reduced, and the convenience degree of data acquisition is improved.
Optionally, in step 101, acquiring vehicle data sent by a vehicle, includes:
vehicle data sent by a vehicle is acquired through at least one of the following communication modes: vehicle-mounted Dedicated Short Range Communication (DSRC), Long Term Evolution technology-Vehicle Communication (LTE-V), New Radio Access technology Vehicle-to-event (NR-V2X), and Mobile Vehicle networking (Cellular Vehicle-to-event, C-V2X).
Specifically, the vehicle may communicate with the RSU for operating the right-of-way allocation method provided by the present embodiment through the OBU described above, and both may support any one or any plurality of the above communication protocols. Among them, the above NR-V2X can be regarded as an application of a fifth generation mobile communication technology (5th generation mobile networks, 5G) in the internet of vehicles.
It is easily understood that, based on the above communication protocols, the OBU and RSU can communicate over a longer distance, for example over a distance of 1 km; on the basis, compared with the existing Radio Frequency Identification (RFID) -based technology, on one hand, because the RFID communication distance is short, when the driving right of the vehicle is distributed in this way, an RFID base station device may need to be arranged above each lane, which results in a large number of devices to be installed and higher cost; on the other hand, the RFID is based on the near field communication technology, and the identification distance is short, and the vehicle type can only be identified at a fixed point of the intersection, and the information such as the dynamic position of the vehicle cannot be acquired, thereby bringing about the problem of road right distribution waste mentioned in the background art.
In addition, the information of the vehicles can be obtained outside the sight distance, so that sufficient time is provided for road right distribution at the intersection, and the traffic passing efficiency at the intersection is improved; meanwhile, the RSU can acquire vehicle data without depending on sensors of types such as a visual sensor, and the like, and the road right distribution method can be free from the influence of weather and can realize all-weather road right distribution.
Optionally, the vehicle driving information is obtained by a high-precision positioning module for the vehicle.
In order to facilitate understanding of the above specific process of acquiring the vehicle driving information by the vehicle, the vehicle may be considered to include an OBU and various functional modules in communication connection with the OBU, wherein a high-precision positioning module is one of the functional modules.
The high-precision positioning module can be used for collecting vehicle running information such as the position of the vehicle, the speed, the acceleration and the course angle information of the vehicle and the information for calculating the lane where the vehicle is located. It is easy to understand that for the high-precision positioning module, the vehicle running information belongs to more conventional data which can be acquired, and the data acquisition difficulty is low and the precision is high; in other words, compared with the manner of acquiring the vehicle driving information based on the RFID base station device in the prior art, the present embodiment can effectively ensure the efficiency and accuracy of acquiring the vehicle driving information.
In one example, the vehicle driving information may also be obtained by a mobile terminal communicatively connected to the OBU. For example, the vehicle driving information may include driving path information, and the OBU reserves a software interface that can acquire the driving path information of the vehicle through external input, such as hundred-degree navigation at a mobile phone end and route guidance software, and then sends the acquired driving path information to the OBU. Of course, in practical applications, when the vehicle-mounted terminal of the vehicle has a navigation application, the vehicle driving information may also be acquired from the vehicle-mounted terminal. Of course, in some possible embodiments, the vehicle running information, such as the speed, acceleration, etc. of the vehicle, may also be obtained based on sensors on the vehicle.
Optionally, the priority level information includes at least one of: vehicle identity information, information of the number of passengers carried by the vehicle and information of the right and the later of the vehicle.
The vehicle identity information may be at least one of vehicle type, license plate number, electronic identity information, ETC information. Taking the vehicle type as an example, the vehicle type can be a type of a fire truck, an ambulance, a bus, a muck truck and the like, and the fire truck and the ambulance may need absolute priority right of passage by combining some application scenes; the bus can relieve the problem of traffic jam and can provide the bus with higher priority right of way; the slag car may need to limit its right of way in certain areas due to the high likelihood of serious traffic accidents. Therefore, the priority level of the vehicle is determined based on the vehicle identity information, and the right of way distribution requirement on the conventional occasion can be well met.
As some preferred embodiments, the information of the number of passengers in the vehicle or the information of the right and the later point of the vehicle can be used as the priority information, for example, in the off-peak period, the number of passengers in the passenger vehicles such as buses and electric trains is small, and the priority of the vehicle can be relatively reduced; for another example, when the vehicle is late, the priority level of the vehicle may be relatively increased.
In one example, the OBU may obtain the number of passengers in real time in the current vehicle, i.e. the number of passengers in the vehicle, by communicating with the number-of-passengers detection device; the OBU can also reserve a software interface to acquire the information of the right and the later points of the vehicle.
The vehicle running information comprises vehicle position information, vehicle motion information and vehicle path information;
as shown in fig. 2, the step 102 of determining a road right allocation strategy and a target control terminal according to the priority information and the vehicle driving information includes:
and step 204, determining a road right distribution strategy according to the vehicle arrival time information.
The target control terminal may be a control terminal of a traffic facility such as a traffic light, an upgrade road pile, or the like, and the terminal position information associated with the target control terminal may be position information of the traffic facility or position information of an intersection stop line, or the like.
Whether the priority information meets the preset condition or not can be judged whether the vehicle type belongs to the preset vehicle type or not based on the vehicle identity information, or whether the number of passengers on the vehicle exceeds a preset value or not based on the number information of passengers on the vehicle, and the like, and the setting can be carried out according to actual needs.
Taking a fire truck as an example that the fire truck passes a straight line through a traffic light intersection, the traffic light intersection can be determined according to vehicle path information sent by the fire truck; the terminal position information and the vehicle position information can be represented by position coordinates, and the current position coordinates of the fire fighting truck are (x)1，y1) The coordinates of the intersection stop line are (x)2，y2) And if the vehicle terminal distance information corresponds to the distance L between the fire truck and the stop line of the intersection, the distance L is as follows:
the vehicle motion information may include a current vehicle speed v and a current vehicle acceleration a, and the vehicle arrival time information may be determined according to the following formula, that is, the arrival time t of the fire fighting vehicle:
(v+v+at)t/2＝L
in the case of calculating the arrival time of the fire truck, a road right allocation strategy can be determined, for example, a signal light in the direction in which the fire truck is about to travel is set to be a green light one traffic light period ahead, so that it is ensured that no vehicle in front affects the fire truck to pass through the intersection when the fire truck passes through the intersection.
Of course, the road right allocation strategy may also be green light extension, red light truncation, phase insertion, and the like, and may be determined according to actual needs.
Based on the road right distribution strategy, the embodiment can dynamically acquire the time from the vehicle to the terminal such as a traffic light and the like based on the vehicle running information, and determine the corresponding road right distribution strategy, thereby effectively avoiding the condition of road right distribution waste.
Optionally, in step 204, determining a road right distribution strategy according to the vehicle arrival time information includes:
acquiring running state information of the target control terminal;
and determining a road right distribution strategy according to the running state information and the vehicle arrival time information.
In the embodiment, the operation state information of the traffic lights, such as the signal light state of the current traffic light, the countdown time, and the like, is further considered in combination with the application scenario that the vehicle passes through the traffic light intersection, so as to determine the road right allocation strategy.
For example, when a bus may pass through a certain traffic light intersection in about 10s, and a signal light at the intersection in the bus driving direction jumps from a green light to a yellow light or a red light after 5s, a right-of-way distribution strategy for prolonging the green light time of the traffic light by 6s can be determined by combining the two time values of 10s and 5 s; for another example, a traffic light intersection is a simple two-phase control, when a bus may turn left at the intersection after 10s, and a signal light of the intersection in the driving direction of the bus jumps from a green light to a yellow light or a red light after 5s, a right-of-way distribution strategy inserted into the left-turn phase can be determined according to two time values of 10s and 5 s.
As can be seen from the above examples, in this embodiment, the road right distribution strategy is determined according to the operating state information of the target control terminal and the vehicle arrival time information, so that more reasonable road right distribution can be performed according to an actual scene, and the road right distribution effect is improved.
Optionally, after determining the road right distribution strategy, the road right distribution strategy may be further sent to the vehicle.
In combination with an application scenario, by sending the right-of-way distribution strategy to the vehicle, the driver can be prompted to enjoy priority right-of-way, and can pass through the traffic light intersection before the signal light in the driving direction becomes the red light, without the need of decelerating to wait for the next green light period, thereby ensuring that the right-of-way distribution can be effectively used.
Further optionally, since the vehicle may send the vehicle position information to the RSU, after it is determined that a vehicle with priority right of way passes through a certain intersection according to the vehicle position information, the traffic lights at the intersection may be restored to normal operation.
Optionally, after determining the priority level of the vehicle according to the priority level information, the method further includes:
determining a driving standard corresponding to the vehicle according to the priority level;
and under the condition that the vehicle running information does not meet the running standard, sending the vehicle running information to a preset supervision platform.
Taking the slag car as an example, the priority level of the slag car is lower, and if the slag car is determined to enter the urban road only at 22: 00-7: 00 days next to night according to the priority level of the slag car, the driving standard of the slag car is determined. When a certain slag car enters an urban road at 12:00 in the daytime, the vehicle driving message sent to the RSU is characterized in that the vehicle driving message is located on the urban road at 12:00 in the daytime, at the moment, the vehicle driving message does not meet the driving standard corresponding to the slag car, and then the vehicle driving message can be sent to a monitoring platform for monitoring violation of regulations to serve as a punishment basis.
Of course, the RSU obtains the vehicle identity information of the vehicle and sends it to the monitoring platform.
In combination with the above example, the driving standard corresponding to the vehicle is determined according to the priority level, and the vehicle driving information is compared with the driving standard, so that the vehicle violation event monitoring is facilitated, the working intensity of the monitoring personnel is reduced, and the number of field attendance checking persons is reduced.
Optionally, in step 101, after acquiring vehicle data sent by a vehicle, the method further includes:
judging whether the vehicle data has abnormal data or not;
under the condition that the vehicle data has abnormal data, determining a target supervision terminal according to the abnormal data;
and sending the abnormal data to the target supervision terminal.
As described above, the vehicle may include an OBU, which in turn may communicate with various types of functional modules; for example, the OBU obtains the driver's fatigue level by communicating with the driver status monitoring system; the OBU can reserve a software interface to receive the driving intention information of the vehicle obtained by other external equipment or obtain the driving intention information of the vehicle with the vehicle-mounted intelligent driving auxiliary equipment; the OBU can also reserve a software interface to acquire the abnormal state of the vehicle detected by other equipment.
In other words, the vehicle data may include state data of the type of vehicle abnormal operation state data, driver abnormal state data, and the like; taking the bus as an example, if the state data includes abnormal data, for example, the bus is in an abnormal state or the data generated by fatigue driving of a driver are sent to the bus monitoring terminal, so that the monitoring mechanism can conveniently monitor the operation of the bus, and the safety of the bus operation is improved.
Certainly, in some application occasions, the vehicle may not be limited to a bus, and the target monitoring terminal may also determine according to actual conditions, for example, when the state data includes abnormal data representing the retrograde motion of the vehicle, the abnormal data may be sent to a violation monitoring terminal, and the like.
In practical application, the abnormal data can also carry vehicle identity information of the vehicle and is sent to the target monitoring terminal.
As shown in fig. 3, an embodiment of the present invention further provides a road right supervision method, including:
The road right supervision method provided by the embodiment can be applied to the RSU, and correspondingly, the vehicle can communicate with the RSU through the OBU and the like.
As the vehicle data, dynamic data acquired by a vehicle sensor, an in-vehicle terminal, or the like, such as a position, a speed, a path, the number of passengers, a driver fatigue state, or the like of the vehicle; of course, the vehicle data may also be stored static data, such as vehicle identification information of vehicle type and license plate number, and the like, which is not limited herein.
The received vehicle data may be divided into priority level information and vehicle travel information according to the use, the priority level information may be used to determine the priority level of the vehicle, the vehicle travel information may be used to determine the travel state of the vehicle, and the like. Of course, the vehicle data may be divided according to usage to include more types of information, and the same vehicle data may be used for different purposes.
In combination with an application scenario, the vehicle identity information in the vehicle data can be used as priority level information, and when the vehicle identity information represents that the vehicle is a special vehicle such as an ambulance, a fire truck or a police car, a higher priority level can be determined for the vehicle based on the priority level information; for another example, the vehicle position, speed, route, and the like in the vehicle data may be used as the vehicle travel information.
In contrast, the conventional road right supervision method generally includes: arranging a camera at the intersection to shoot the vehicle, and obtaining information such as license plate number or vehicle type and the like so as to further judge whether the vehicle violates a road without right of way; and a camera is arranged above the road, and whether the private car enters a bus lane or not is judged according to the image data. The monitoring range is limited in the above supervision mode, a large number of sensing devices need to be configured, and the monitoring mode is greatly influenced by the weather conditions.
In this embodiment, the vehicle data for performing the road right supervision is acquired from the vehicle, and based on the priority information of the vehicle, the driving standard of the vehicle may be directly determined, for example, whether the vehicle can enter a specific road or lane; and when the running standard is not met, the vehicle running information can be sent to a preset supervision platform, so that the supervision of the road right is finished. According to the embodiment of the invention, on one hand, the monitoring of the right of way in a larger range can be realized based on the dynamic information such as the vehicle position information in the vehicle data, only one RSU needs to be deployed at the intersection, the number of road side monitoring equipment is reduced, on the other hand, the influence of weather can be avoided, and the all-weather right of way monitoring can be realized.
In one example, the step 301 of acquiring vehicle data transmitted by a vehicle includes:
vehicle data sent by a vehicle is acquired through at least one of the following communication modes: DSRC, LTE-V, NR-V2X, C-V2X.
The following describes the above road right distribution method and road right supervision method with reference to some specific application examples.
Referring to fig. 4, fig. 4 shows an overall topology diagram of a vehicle and a drive test device such as an RSU, wherein the vehicle includes an OBU, the OBU is communicatively connected with a high-precision positioning device, a passenger number detection device, an intelligent driving assistance device and a vehicle-mounted display terminal, the drive test device includes an RSU, a signal controller and a traffic light, and in addition, the RSU is further communicatively connected to a cloud platform.
Specifically, the OBU has the communication characteristics of high reliability and low time delay, and supports one or a plurality of communication modes of DSRC, LTE-V, 5G (NR-V2X) and C-V2X. The OBU is internally provided with priority protocol software and can perform information interaction with the RSU. The RSU is provided with a CAN interface, an RS422/RS485 interface and an Ethernet interface, and acquires high-precision positioning information from the high-precision positioning module. The OBU is internally provided with a software encryption or hardware encryption mode, so that on one hand, the transmitted information is encrypted, and the information is prevented from being cracked; on the other hand, the received information can be decrypted, so that misleading caused by false information is avoided.
The high-precision positioning equipment CAN obtain positioning precision which CAN reach centimeter level, and supports sending high-precision positioning information to the RSU through the CAN interface, the RS422/RS485 interface and the Ethernet interface.
The passenger number detection device CAN detect passenger personnel on a vehicle and is provided with one or more of a CAN interface, an RS422/RS485 interface and an Ethernet interface. The passenger number detection device is provided with software for detecting the number of persons in the vehicle and can transmit the result of the detected number of persons to other vehicle-mounted devices through a communication protocol.
The vehicle-mounted display terminal can display the light state and countdown information of traffic lights at the intersection, can display the navigation path of the vehicle on a map, and can display the result information of road right distribution. If the vehicle has station information such as a bus, a BRT, a trolley bus, etc., basic station information as well as information of a next station expected to arrive and arrival time can be displayed. The vehicle-mounted display terminal supports the CAN interface, the RS422/RS485 interface and the Ethernet interface, so that information required to be displayed by other vehicle-mounted equipment is received.
The intelligent driving auxiliary equipment can realize the look-around function and the blind spot detection function of the vehicle, has the functions of high-level auxiliary driving and driver state monitoring, and supports the driving intention information of the driver acquired by the intelligent driving auxiliary equipment to be sent to the RSU in an Ethernet passing mode.
The RSU also has the communication characteristics of high reliability and low time delay, and supports one or a plurality of communication modes of DSRC, LTE-V, 5G (NR-V2X) and C-V2X. The RSU is internally provided with priority protocol software and communication protocol software with the signal controller. A software encryption or hardware encryption mode is built in the RSU, so that on one hand, encryption of transmitted information is supported, and the information is prevented from being cracked; on the other hand, the received information can be decrypted, so that misleading caused by false information is avoided. The RSU is provided with protocol software communicated with the cloud end, and the obtained RSU communication content and the communication content of the signal controller can be sent to the cloud platform.
The signal control machine is provided with an interface capable of communicating with the RSU, and the interface comprises one or more of RS422/R485 and an Ethernet interface. The signal control machine supports a communication protocol to analyze a signal lamp adjusting strategy of the RSU on one hand, and can send current traffic light color and countdown information to the RSU through the communication protocol on the other hand.
The communication protocol content between the OBU and RSU contains the following types of information:
(1) the basic information of the vehicle comprises the position of the vehicle, the distance to the intersection, the current lane where the vehicle is located and the running path of the vehicle;
(2) the motion state information of the vehicle comprises the speed, the acceleration and the course angle of the vehicle;
(3) priority level information of the vehicle. The grades of various vehicles such as fire trucks, ambulances, police cars, buses, dangerous chemical transport vehicles, trucks, taxis, muck trucks, school buses and sanitation buses are set according to actual conditions;
(4) the vehicle internal state information comprises the number of passengers of the vehicle, the cargo type of the vehicle and the fatigue degree of a vehicle driver;
(5) the vehicle driving intention information comprises the driving intention (straight running, left turning, right turning, turning around and lane changing) of the vehicle, the right and later information (early arrival, right arrival and later arrival) of the vehicle, and the abnormal information of the vehicle (lane departure from a normal driving lane, reverse direction of the vehicle, direction towards a sidewalk and falling into a lake);
(6) the vehicle identity information comprises a license plate of the vehicle, electronic identity information and ETC information;
(7) the traffic light and signal priority information comprises traffic light state and countdown information, a signal priority result and priority duration information.
The OBU and the high-precision positioning module are communicated to acquire the position of the vehicle and the lane information of the vehicle. The OBU is reserved with a software interface which can acquire the running path information of the vehicle through external input, for example, the running path information is acquired through Baidu navigation and Goods navigation software of a mobile phone end and then is sent to the OBU.
And the OBU is communicated with the high-precision positioning module to acquire the speed, the acceleration and the course angle information of the vehicle.
And the OBU is reserved with a software interface for receiving the self-defined set vehicle priority level of the external vehicle priority level software module.
The OBU obtains the number of passengers of the current vehicle in real time through communication with the passenger number detection device. The OBU obtains the fatigue degree of the driver through communication with the driver state monitoring system. The OBU can reserve a software interface to receive external other equipment to acquire the driving intention information of the vehicle or acquire the driving intention information of the vehicle together with the vehicle-mounted intelligent driving auxiliary equipment.
And the OBU reserves a software interface to acquire the abnormal state of the vehicle detected by other equipment. And the OBU reserves a software interface to acquire the early-late point information of the vehicle.
The RSU can obtain the current traffic light state and countdown information through communication with the signal control machine, meanwhile, the RSU obtains the information (the information of the types from (1) to (6) in the aforementioned information) of the vehicle to finally generate a priority strategy, and the final priority strategy and the priority time length are sent to the RSU.
Absolute priority road right distribution software, relative priority road right distribution software, vehicle abnormal behavior monitoring reporting software and vehicle illegal driving monitoring reporting software are built in the RSU.
The road right distribution and supervision method is explained by combining three specific application examples as follows:
absolute priority right allocation of fire engine
The fire engine is provided with a vehicle-mounted road cooperative vehicle-mounted unit, a vehicle-mounted display terminal and high-precision positioning equipment. The road side is provided with a vehicle road cooperating with a road side unit, a signal controller and a traffic light. The vehicle-mounted unit of the fire fighting truck can acquire a map from a starting point to a fire destination through a software interface and can set the running path of the fire fighting truck according to navigation. The vehicle-mounted unit sets the priority level of the fire engine to be the highest priority level according to the type of the fire engine. When the fire fighting truck drives to the intersection (1 km farthest), the on-board unit of the fire fighting truck acquires the position, the speed, the acceleration information, the priority information, the driving path and the driving intention (straight running, left turning and right turning) of the current fire fighting truck through a high-precision positioning device, and the following communication modes are adopted: one or more of DSRC, LTE-V, 5G (NR-V2X), C-V2X communicate with the roadside unit.
The roadside unit calculates the distance between the current fire truck and the intersection stop line by the following formula:
in the formula (x)1,y1) Indicating the current position coordinates of the fire engine, (x)2,y2) Representing the position coordinates of the current intersection stop-line.
The time for the fire truck to reach the intersection is continuously solved by solving the following equation,
(v+v+at)t/2＝L (l-2)
v in the formula is the speed of the current vehicle, a is the acceleration of the current vehicle, and t is the time expected to reach the intersection.
The roadside unit sets a signal lamp in the direction in which the fire fighting truck is going to run as a green lamp in advance of a traffic light period according to the calculated arrival time of the fire fighting truck and the running path of the fire fighting truck, and ensures that no vehicle in front influences the fire fighting truck to pass through the intersection when the fire fighting truck passes through the intersection. And when the road side unit judges that the fire fighting truck passes through the signal lamp intersection according to the received position of the fire fighting truck, the normal operation of the traffic light is recovered.
The implementation of the specific application example can ensure that the fire truck passes through the signal lamp intersection at the highest speed, and ensure the absolute priority right of the fire truck. The implementation method is also suitable for ambulances, police cars for executing special duty tasks and the like.
Specific application example of relative priority right distribution of two buses
The bus is provided with a bus path cooperating with a vehicle-mounted unit, a vehicle-mounted display terminal, a high-precision positioning device, a passenger number detection device and an intelligent driving auxiliary device. The road side is provided with a vehicle road cooperating with a road side unit, a signal controller and a traffic light. The vehicle-mounted unit of the bus can acquire the driving path of the bus through a software interface. The on-board unit is set to a higher priority level according to the priority level of the bus. The vehicle-mounted unit can acquire the actual passenger carrying number of the current bus according to the passenger number detection equipment. When the bus runs to the intersection (the farthest reaches 1km), the vehicle-mounted unit of the bus acquires the position, the speed, the acceleration information, the priority information, the running path, the passenger number of the bus, the fatigue degree of a bus driver, the morning and evening point information of the bus, the bus license plate and the bus electronic identity of the current bus through high-precision positioning equipment, and communicates with the road side unit through one or more of the following communication modes (DSRC, LTE-V, 5G (NR-V2X) and C-V2X).
The roadside unit can also calculate the time of the bus estimated to reach the intersection through the formulas (1-1) and (1-2), the roadside unit determines which priority strategy (green light extension, red light truncation and phase insertion) and the priority duration of the corresponding strategy are adopted according to the number of the vehicle-mounted passengers, the early-late point information of the bus and the state of the current traffic light, the roadside unit sends the information to the vehicle-mounted unit of the bus through one or more of communication modes (DSRC, LTE-V, 5G (NR-V2X) and C-V2X), and the priority strategy and the priority duration are displayed on the vehicle-mounted unit of the bus.
In addition, the road side unit can acquire the abnormal information of the bus and the fatigue degree of the driver, and when the RSU receives the information and judges that the bus is in an abnormal state or the driver drives fatigue, the position, the speed, the license plate and the electronic identity of the bus are uploaded to a supervision platform, so that a supervision mechanism can supervise the operation of the bus conveniently, and the safety of the bus operation is improved.
Monitoring of violation behaviors of three-slag-earth vehicle of specific application example
The muck truck is provided with a truck road cooperative vehicle-mounted unit, a vehicle-mounted display terminal, high-precision positioning equipment and intelligent driving auxiliary equipment. The on-board unit is set to a low priority level according to the priority level of the bus. Vehicles of this priority can only enter the urban area 22: 00-7: 00 the next day at night.
The vehicle-mounted unit continuously transmits the license plate information, the electronic identity information, the position, the speed and the vehicle type of the vehicle through one or more of the following communication modes (DSRC, LTE-V, 5G (NR-V2X) and C-V2X). The road side unit receives the information received and judges whether the vehicle enters the urban area at the specified time, if the vehicle enters the urban area at the illegal time, the road side unit records the information (license plate information, electronic identity information, position and vehicle type) of the vehicle and uploads the information to the cloud platform to serve as a punishment basis, meanwhile, the road side unit sends the violation information to the muck vehicle-mounted unit, and the vehicle-mounted unit reminds a driver of violation through the vehicle-mounted display terminal.
The implementation of the concrete application example can ensure that the muck vehicle can be supervised all weather, the defect that the muck vehicle is influenced by weather and illumination when being supervised by a camera is avoided, and a traffic police does not need to go on the road to check whether the muck vehicle violates the urban district or not. The implementation method is also suitable for scenes of single-number and double-number restriction of common automobiles in special urban periods, restriction of dangerous chemical transport vehicles entering urban areas and the like.
By combining the above specific application examples, it can be seen that in the road right distribution and supervision method provided by the embodiment of the present invention, the road right distribution and vehicle supervision for each type of vehicle is realized by sending high-reliability and low-delay vehicle basic information, vehicle internal information, vehicle type information, vehicle intention information, vehicle identity information, traffic light information, and priority information between the vehicle and the road side; all-weather supervision of various types of vehicle roads such as buses, muck vehicles, private vehicles, hazardous chemical transport vehicles and the like is realized in a vehicle road cooperation mode, and event information of vehicle abnormity and vehicle violation can be sent to a supervision cloud platform, so that the working intensity of supervision personnel is reduced, and the number of on-site duty inspection personnel is reduced; the information of the vehicles can be obtained outside the sight distance, so that sufficient time is provided for road right distribution at the intersection, and the traffic passing efficiency at the intersection is improved; meanwhile, the method is not influenced by weather, and all-weather road right distribution can be realized.
As shown in fig. 5, an embodiment of the present invention further provides a road right allocating apparatus, including:
a first obtaining module 501, configured to obtain vehicle data sent by a vehicle, where the vehicle data includes priority information and vehicle driving information;
a first determining module 502, configured to determine a road right distribution strategy and a target control terminal according to the priority information and the vehicle driving information;
a first sending module 503, configured to send the road right allocation policy to the target control terminal.
Optionally, the first obtaining module 501 is specifically configured to obtain vehicle data DSRC, LTE-V, NR-V2X, and C-V2X sent by a vehicle through at least one of the following communication manners.
Optionally, the vehicle driving information is obtained by a high-precision positioning module for the vehicle.
Optionally, the priority level information includes at least one of: vehicle identity information, information of the number of passengers carried by the vehicle and information of the right and the later of the vehicle.
Optionally, the vehicle driving information includes vehicle position information, vehicle motion information, and vehicle path information;
the first determining module 502 includes:
the first determining unit is used for determining a target control terminal and terminal position information related to the target control terminal according to the vehicle path information under the condition that the priority information meets a preset condition;
the second determining unit is used for determining vehicle terminal distance information according to the terminal position information and the vehicle position information;
the third determining unit is used for determining vehicle arrival time information according to the vehicle terminal distance information and the vehicle motion information;
and the fourth determining unit is used for determining a road weight distribution strategy according to the vehicle arrival time information.
Optionally, the fourth determining unit includes:
the acquisition subunit is used for acquiring the running state information of the target control terminal;
and the determining subunit is used for determining a road right distribution strategy according to the running state information and the vehicle arrival time information.
Optionally, the road right distributing device further includes:
the third determining module is used for determining a driving standard corresponding to the vehicle according to the priority level;
and the third sending module is used for sending the vehicle running information to a preset supervision platform under the condition that the vehicle running information does not meet the running standard.
Optionally, the road right distributing device further includes:
the judging module is used for judging whether the vehicle data has abnormal data;
the fourth determination module is used for determining a target supervision terminal according to the abnormal data under the condition that the vehicle data has the abnormal data;
and the fourth sending module is used for sending the abnormal data to the target monitoring terminal.
Optionally, the road right distributing device further includes:
and the fifth sending module is used for sending the road right distribution strategy to the vehicle.
It should be noted that the road right distribution device is an electronic device corresponding to the road right distribution method, and all implementation manners in the method embodiments are applicable to the embodiment of the device, and the same technical effect can be achieved.
As shown in fig. 6, an embodiment of the present invention further provides a road right supervising device, including:
the second obtaining module 601 is configured to obtain vehicle data sent by a vehicle, where the vehicle data includes priority information and vehicle driving information;
a second determining module 602, configured to determine a driving standard corresponding to the vehicle according to the priority information;
a second sending module 603, configured to send the vehicle driving information to a preset supervision platform when the vehicle driving information does not meet the driving standard.
Optionally, the second obtaining module 601 is specifically configured to obtain vehicle data sent by a vehicle through at least one of the following communication manners: DSRC, LTE-V, NR-V2X, C-V2X.
It should be noted that the road right supervision apparatus is an electronic device corresponding to the road right supervision method, and all implementation manners in the method embodiments are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.
Optionally, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the above-mentioned road right distribution method or implements the above-mentioned road right supervision method.
Optionally, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for allocating right of way or the method for supervising right of way described above is implemented.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (13)
1. A method for assigning road rights, comprising:
acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information;
determining a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information;
and sending the road right distribution strategy to the target control terminal.
2. The method of claim 1, wherein the vehicle travel information is obtained for the vehicle by a high precision positioning module.
3. The method of claim 1, wherein the priority information comprises at least one of: vehicle identity information, information of the number of passengers carried by the vehicle and information of the right and the later of the vehicle.
4. The method of claim 1, wherein the vehicle travel information includes vehicle position information, vehicle motion information, and vehicle path information;
the determining a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information comprises the following steps:
under the condition that the priority information meets the preset condition, determining a target control terminal and terminal position information related to the target control terminal according to the vehicle path information;
determining vehicle terminal distance information according to the terminal position information and the vehicle position information;
determining vehicle arrival time information according to the vehicle terminal distance information and the vehicle motion information;
and determining a road right distribution strategy according to the vehicle arrival time information.
5. The method of claim 4, wherein determining a road right assignment strategy as a function of the vehicle arrival time information comprises:
acquiring running state information of the target control terminal;
and determining a road right distribution strategy according to the running state information and the vehicle arrival time information.
6. The method of claim 1, wherein after determining the priority level of the vehicle from the priority level information, the method further comprises:
determining a driving standard corresponding to the vehicle according to the priority level;
and under the condition that the vehicle running information does not meet the running standard, sending the vehicle running information to a preset supervision platform.
7. The method of claim 1, wherein after the obtaining vehicle data transmitted by a vehicle, the method further comprises:
judging whether the vehicle data has abnormal data or not;
under the condition that the vehicle data has abnormal data, determining a target supervision terminal according to the abnormal data;
and sending the abnormal data to the target supervision terminal.
8. The method according to claim 1, wherein after determining the right-of-way distribution strategy and the target control terminal according to the priority information and the vehicle driving information, the method further comprises:
and sending the road right distribution strategy to the vehicle.
9. A method for road right supervision, comprising:
acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information;
determining a driving standard corresponding to the vehicle according to the priority information;
and under the condition that the vehicle running information does not meet the running standard, sending the vehicle running information to a preset supervision platform.
10. A right-of-way distribution apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring vehicle data sent by a vehicle, and the vehicle data comprises priority information and vehicle running information;
the first determining module is used for determining a road right distribution strategy and a target control terminal according to the priority information and the vehicle running information;
and the first sending module is used for sending the road right distribution strategy to the target control terminal.
11. An apparatus for supervising road right, comprising:
the second acquisition module is used for acquiring vehicle data sent by a vehicle, wherein the vehicle data comprises priority information and vehicle running information;
the second determining module is used for determining a driving standard corresponding to the vehicle according to the priority information;
and the second sending module is used for sending the vehicle running information to a preset supervision platform under the condition that the vehicle running information does not meet the running standard.
12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 8 or implements the method of claim 9 when executing the computer program.
13. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 8 or carries out the method of claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010883884.5A CN114120623A (en) | 2020-08-28 | 2020-08-28 | Road right distribution and supervision method and device |
| PCT/CN2021/112792 WO2022042355A1 (en) | 2020-08-28 | 2021-08-16 | Right-of-way allocation and supervision method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010883884.5A CN114120623A (en) | 2020-08-28 | 2020-08-28 | Road right distribution and supervision method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114120623A true CN114120623A (en) | 2022-03-01 |
Family
ID=80354581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010883884.5A Pending CN114120623A (en) | 2020-08-28 | 2020-08-28 | Road right distribution and supervision method and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114120623A (en) |
| WO (1) | WO2022042355A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023207598A1 (en) * | 2022-04-25 | 2023-11-02 | 中信科智联科技有限公司 | Information transmission method and apparatus, and vehicle and internet-of-vehicles device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115083140B (en) * | 2022-04-18 | 2023-09-26 | 同济大学 | Intelligent network-connected automobile expressway special road management and control method, system and storage medium |
| CN117218872A (en) * | 2022-06-02 | 2023-12-12 | 腾讯科技（深圳）有限公司 | Traffic control method, device, equipment and storage medium |
| CN115662157A (en) * | 2022-10-28 | 2023-01-31 | 东风汽车集团股份有限公司 | V2X-based intersection vehicle passing control method, device, equipment and medium |
| CN116071936B (en) * | 2023-03-06 | 2023-07-11 | 广州通达汽车电气股份有限公司 | Bus priority passing control method and device, electronic equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202404759U (en) * | 2011-12-23 | 2012-08-29 | 北京易华录信息技术股份有限公司 | Intersection signal priority control system for specific vehicle |
| CN103065480A (en) * | 2012-12-14 | 2013-04-24 | 中国航天系统工程有限公司 | Control method and control device of specific vehicle traffic |
| WO2018121040A1 (en) * | 2016-12-29 | 2018-07-05 | 深圳市金溢科技股份有限公司 | Intelligent control method for traffic signal light, roadside equipment and system |
| CN108269412A (en) * | 2017-01-04 | 2018-07-10 | 深圳市城市交通规划设计研究中心有限公司 | Public transport priority signal control system and its method drive early warning system and its method |
| CN108898824A (en) * | 2018-07-25 | 2018-11-27 | 公安部交通管理科学研究所 | A kind of intersection bus signal priority control system and control method based on C-V2X |
| CN110619752A (en) * | 2019-06-12 | 2019-12-27 | 东南大学 | Vehicle and signal lamp cooperative control method and control system based on LTE-V2X communication technology |
| CN110969847A (en) * | 2019-11-25 | 2020-04-07 | 中云智网数据产业(常州)有限公司 | Vehicle efficient operation management method based on urban traffic |
| CN111182064A (en) * | 2019-12-30 | 2020-05-19 | 湖南湘江智能科技创新中心有限公司 | Special vehicle priority passing method based on vehicle road cloud cooperation |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105225505A (en) * | 2015-07-23 | 2016-01-06 | 公安部交通管理科学研究所 | crossing bus signal priority control system |
| WO2019018766A1 (en) * | 2017-07-20 | 2019-01-24 | Carnegie Mellon University | System and method for vehicle-actuated traffic control |
| CN108831148A (en) * | 2018-06-12 | 2018-11-16 | 邱惠崧 | The highway network management-control method and system of peak congestion under a kind of Toll Free |
| CN110544382B (en) * | 2019-10-17 | 2020-07-28 | 华人运通(上海)自动驾驶科技有限公司 | Lane management method, device and system |
-
2020
- 2020-08-28 CN CN202010883884.5A patent/CN114120623A/en active Pending
-
2021
- 2021-08-16 WO PCT/CN2021/112792 patent/WO2022042355A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202404759U (en) * | 2011-12-23 | 2012-08-29 | 北京易华录信息技术股份有限公司 | Intersection signal priority control system for specific vehicle |
| CN103065480A (en) * | 2012-12-14 | 2013-04-24 | 中国航天系统工程有限公司 | Control method and control device of specific vehicle traffic |
| WO2018121040A1 (en) * | 2016-12-29 | 2018-07-05 | 深圳市金溢科技股份有限公司 | Intelligent control method for traffic signal light, roadside equipment and system |
| CN108269412A (en) * | 2017-01-04 | 2018-07-10 | 深圳市城市交通规划设计研究中心有限公司 | Public transport priority signal control system and its method drive early warning system and its method |
| CN108898824A (en) * | 2018-07-25 | 2018-11-27 | 公安部交通管理科学研究所 | A kind of intersection bus signal priority control system and control method based on C-V2X |
| CN110619752A (en) * | 2019-06-12 | 2019-12-27 | 东南大学 | Vehicle and signal lamp cooperative control method and control system based on LTE-V2X communication technology |
| CN110969847A (en) * | 2019-11-25 | 2020-04-07 | 中云智网数据产业(常州)有限公司 | Vehicle efficient operation management method based on urban traffic |
| CN111182064A (en) * | 2019-12-30 | 2020-05-19 | 湖南湘江智能科技创新中心有限公司 | Special vehicle priority passing method based on vehicle road cloud cooperation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023207598A1 (en) * | 2022-04-25 | 2023-11-02 | 中信科智联科技有限公司 | Information transmission method and apparatus, and vehicle and internet-of-vehicles device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022042355A1 (en) | 2022-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109756867B (en) | Vehicle-road cooperative vehicle-mounted terminal application system based on LTE-V | |
| CN113299096B (en) | Cooperative intersection traffic control method, device and equipment | |
| CN114120623A (en) | Road right distribution and supervision method and device | |
| CN110603181B (en) | Intelligent driving vehicle yielding method and device and vehicle-mounted equipment | |
| CN110853357B (en) | Early warning control system and method for dangerous highway sections and construction areas | |
| US11967230B2 (en) | System and method for using V2X and sensor data | |
| CN106448254B (en) | V2X Internet of vehicles system, vehicle-mounted terminal, server and parking space detection method | |
| CN212160931U (en) | ETC-X system for vehicle-road cooperation | |
| US20120068858A1 (en) | Traffic negotiation system | |
| EP3916508A1 (en) | Method and apparatus for driving control, device, medium, and system | |
| KR20180086632A (en) | Apparatus amd method of determining action of an autonomous vehicle | |
| CN103335853A (en) | Unmanned driving vehicle cognitive competence testing system and method | |
| JP7271259B2 (en) | Vehicle management system, vehicle management device, and vehicle management method | |
| CN104106103A (en) | Driving assistance apparatus | |
| US11243547B2 (en) | Systems and methods for remote inspection of a vehicle | |
| JP2020107080A (en) | Traffic information processor | |
| US11938965B2 (en) | Information service method for vehicle dispatch system, vehicle dispatch system, and information service device | |
| CN108510749A (en) | Traffic monitoring device and method | |
| CN116434604A (en) | Intelligent traffic cone barrel safety warning system and control method | |
| CN113299072A (en) | Method and device for monitoring illegal parking vehicle | |
| CN110830956A (en) | Vehicle external environment detection system and method based on V2X | |
| CN114973696B (en) | Priority traffic control method and device, road side equipment and traffic signal control equipment | |
| JP6942913B1 (en) | car | |
| CN211319386U (en) | Vehicle-road cooperative system | |
| WO2022182323A1 (en) | System for monitoring and supervising safe vehicular traffic |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220301 |