CN106251664A - A kind of traffic lights based on DSRC coding and state recognition system and method - Google Patents

A kind of traffic lights based on DSRC coding and state recognition system and method Download PDF

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Publication number
CN106251664A
CN106251664A CN201610830023.4A CN201610830023A CN106251664A CN 106251664 A CN106251664 A CN 106251664A CN 201610830023 A CN201610830023 A CN 201610830023A CN 106251664 A CN106251664 A CN 106251664A
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China
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traffic lights
vehicle
traffic
information
coding
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蒋建春
李蒙蒙
冯旭
唐慧
梁战维
王永龙
陶飞樵
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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Priority to CN201610830023.4A priority Critical patent/CN106251664A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/091—Traffic information broadcasting
    • G08G1/092—Coding or decoding of the information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention is claimed a kind of traffic lights based on DSRC coding and state recognition system and method; including: by abstract for multiple traffic lights of intersection for same traffic lights, utilize vector encoding method to encode with the information including remaining time include phase place, state according to traffic lights position；Traffic lights broadcasts its position, current state, information remaining time；Identify, determine all traffic lights in the range of 300 meters on vehicle heading；Go out the distance between vehicle and traffic lights according to three-dimensional map spatial coordinated information and road information dynamic calculation, identify the traffic lights that vehicle will pass through, and calculate the traffic lights towards vehicle relative to the positional information of vehicle, and these information are shown in car.The present invention determines next traffic lights that vehicle will pass through and the traffic lights towards vehicle accurately and effectively.

Description

A kind of traffic lights based on DSRC coding and state recognition system and method
Technical field
The invention belongs to future city field of traffic, be specifically related to a kind of traffic lights based on DSRC coding and state recognition System and method.
Background technology
Recently as expanding economy, the quantity of vehicle is on the increase, and the especially owning amount of private car increases quickly, Development plus road traffic facility is relatively slow, and traffic congestion and vehicle accident problem occurred frequently become increasingly severe, become One of principal element of puzzlement people's trip.In order to solve problem above, intelligent transportation and the research of car networking, development obtain people Attention, the car connected network communication technology of a new generation also continues to bring out, as external IEEE802.11P is studying with domestic LTE-V, and the application etc. that the 5G communication technology in future is in car is networked.Utilize various communication technology make future transportation more added with The application of effect ground reduce traffic congestion with improve traffic pass through rate, to reduce vehicle accident be that a lot of department and various circles of society close The focus of note, is also the subject matter of municipal intelligent traffic needs solution.Meanwhile, along with the raising of Vehicular intelligent degree, as What makes full use of the intelligent functions of vehicle arrangement, identifies that transport information, auxiliary are driven, be also car Network needs rapidly One of main contents solved.
DSRC is a kind of efficient wireless communication technology, and general indoor communications distance is 30 meters, and outdoor communication distance is 500 Rice, it is possible to achieve identification and two-way communication to the mobile target under high-speed motion in territory, specific cell.DSRC working frequency range Mainly having 5.8G HZ, 915MHZ and 2.45GHZ tri-kinds, traffic rate is 500kbps/250kbps, can carry the car of big bandwidth Carry application message.DSRC has perfect encrypted communication mechanism, it is possible to real-time Transmission image, voice-and-data information safely, By vehicle and road organic linking.In present intelligent transportation and car Network, the actual application of DSRC communication technology by Gradually ripe, to some extent solve existing part traffic problems.
DSRC communication technology can be based on various communications protocols.IEEE802.11p agreement is promulgated by IEEE working group, mainly Support car wireless access (WAVE) in vehicle environment or vehicular ad hoc network (VANETS).IEEE802.11p agreement by IEEE802.11 standard extension, for adapting to vehicle communication work under high-speed motion environment in DSRC frequency range, bandwidth by It is 5.850～5.925GHz that 20MHz reduces to the DSRC band limits of 10MHz, IEEE802.11p work, altogether 75MHz and with 10MHz is that bandwidth is divided into 7 channels, and the 5MHz of peak low band is used as the secure border of blank.802.11p is used to be expected to realize Wi-Fi is built in automobile, thus combines together with mobile radio communication, or integrate the multimode product of these standards, constitute One for vehicle safety communications, transport information transmission, the vehicle mobile communication network of broadband radio multi-media data transmission. LTE-V is the comprehensive solution that China releases for future car networking, using the teaching of the invention it is possible to provide highly reliable, low time delay, flexible access Technology, and the transmission of safe and reliable information.The extension based on present cellular technology of LTE-V standard, mainly can have benefited from working as The popularization and application of front honeycomb, can quickly propel the development of car networking；The distributed straight-through technology additionally used, meets terminal peace Full low time delay, highly reliable requirement, it is possible to realize the direct communication between car car.Being proposed to of following 5G communication technology is full The following network traffics increased sharply of foot, it incorporates novel radio access technology and existing wireless access technology, by integrated multiple Technology meets different requirements, is a UNE truly.5G speed of surfing the Internet can reach 1Gbps, is applied to car Networking more can meet people to two-forty, low time delay, low-power consumption, highly reliable requirement.
Existing traffic lights provides precise information, or traffic can not to distant driver due to reasons such as distances The not free display of lamp itself, increases the judgement difficulty of the state remaining time to traffic lights of driver, and it is right to easily cause The erroneous judgement of traffic light status change, thus cause unnecessary vehicle accident and relatively low traffic efficiency.Based on DSRC technology Application makes the state electronic code of traffic lights, transmits and be possibly realized with identification.Roadside device is real-time by DSRC communication technology Broadcast traffic lamp state encoding information, driver or intelligent vehicle receive these information and carry out relevant treatment, and being shown to drive The person of sailing, driver can carry out anticipation to the state situation of change of traffic lights, carries out corresponding operation in advance, it is to avoid traffic lights shape What the change suddenly of state caused bringing to a halt or braking in advance；Meanwhile, believed by the state of DSRC communication technology broadcast traffic lamp Breath coding, intelligent automobile can carry out the judgement of traffic light status easily, can carry out traffic to lower modes such as using image The complexity of state recognition, reduces and identifies response time.
The state of Current traffic lamp is usually and controls by the set time being previously set, and part traffic lights does not has state to remain Time showing, driver can not easily cause traffic traffic efficiency low to the judgement of traffic light status remaining time.Meanwhile, Along with the development of intelligent automobile, intelligent driving vehicle will travel on highway in the near future, if intelligent vehicle to be allowed also can Identifying the state of traffic lights, state travels according to the rules, it is necessary to redesign the signal of existing traffic lights, to meet intelligence The needs of energy car identification.
Summary of the invention
Present invention seek to address that above problem of the prior art.Propose one to determine vehicle accurately and effectively and will lead to The next traffic lights crossed and towards traffic lights based on the DSRC coding of traffic lights of vehicle and state recognition system and method. Technical scheme is as follows:
A kind of traffic lights based on DSRC coding and state recognition system, it includes traffic lights information coding module, traffic Lamp message transmission module, vehicle heading nearest crossing traffic lamp judge module, towards the identification of traffic lights of vehicle and friendship Logical lamp state and display module remaining time；Wherein, described traffic lights information coding module for by include traffic lights position, State, remaining time encode in interior information；
Traffic lights message transmission module, for using traffic lights information based on IEEE802.p/LTE-V/5G communication technology The encoded traffic lights message of coding module is broadcasted；
Vehicle heading nearest crossing judge module, for identifying on vehicle heading the friendship in the range of certain distance Logical lamp also determines the traffic lights from the nearest traffic intersection of vehicle；According to the distance between vehicle and traffic intersection, it is judged that car Traffic intersection in identification range in travel direction, and then identify the traffic intersection that distance vehicle is nearest；
Towards the identification of traffic lights of vehicle and traffic light status and display module remaining time, for according to vehicle self Parameter and all traffic lights information of the distance nearest traffic intersection of vehicle, determine this crossing traffic lights towards vehicle, and will Extract in interior information the direction indication of this traffic lights, position, state, remaining time and show.
Further, described traffic lights information coding module uses traffic lights dope vector coded method, by many forks in the road Multiple traffic lights abstract be a traffic lights, use labelling extension bits method by the position of multiple traffic lights, direction, state And information coded representation remaining time is out, and retrain when extension bits is 1, represent that this traffic lights message also has other directions Traffic lights, without the traffic lights in other directions when extension bits is 0.
Further, the positional representation of described traffic lights uses the method for GPS calibration position, if the friendship of same traffic intersection Logical lamp is n, and its positional representation is as follows:
G1(x1,y1,z1),G2(x2,y2,z21),...,Gn(xn,yn,zn)
The traffic lights positional representation then taken out is:
G ( x , y , z ) = 1 n ( Σ i = 1 n x i , Σ i = 1 n y i , Σ i = 1 n z i )
Position and the deviation of directivity between each traffic lights and the traffic lights taken out at this crossing be:
G1'(x1',y1',z1')=(x-x1,y-y1,z-z1)；
G2'(x'2,y'2,z'2)=(x-x2,y-y2,z-z2)；
... 。
Gn'(x'n,y'n,zn')=(x-xn,y-yn,z-zn)；
Further, vehicle heading nearest crossing traffic lamp judge module is according to the position of vehicle in intervals Move and calculate the travel direction of vehicle, and combine vehicle receiver to traffic lights message determine on vehicle heading 300 meters In the range of traffic lights, it determines go out traffic lights nearest from vehicle on vehicle heading, and according to the steering indicating light of vehicle, direction Dish corner information judges that whether this traffic lights is the next traffic lights that vehicle will pass through.
Further, the identification of the described traffic lights towards vehicle with and traffic light status with remaining time display module, Calculating the actual range between vehicle and the traffic lights identified and orientation according to three-dimensional map and road information, identification is appeared To the traffic lights of vehicle heading, and the state of this traffic lights is shown on car-mounted terminal with information remaining time.
A kind of traffic lights based on DSRC encodes and state identification method, and it comprises the following steps: 601, by intersection Multiple traffic lights abstract for same traffic lights, utilize vector encoding method to include phase place, shape according to traffic lights position State encoded in interior information with remaining time；
602, traffic lights use can the DSRC technology of compatible tri-kinds of communication protocols of IEEE802.11p, LTE-V, 5G dynamic Broadcast its position, current state, information remaining time；
603, the displacement of vehicle in certain time is utilized to obtain the current travel speed of vehicle and direction, according to traffic lights Direction determines the traffic lights on vehicle heading, and then identifies, determines all friendships in the range of 300 meters on vehicle heading Logical lamp；
604, the distance between vehicle and traffic lights is gone out according to three-dimensional map spatial coordinated information and road information dynamic calculation, Identify the traffic lights that vehicle will pass through, and calculate the traffic lights towards vehicle relative to the positional information of vehicle, and by this A little information show in car.
Further, described step 602 traffic lights broadcasts its position, current state, the form of information remaining time are:
Advantages of the present invention and having the beneficial effect that:
1, tradition traffic lights identification accuracy of identification ratio under the vile weather such as dense fog, sleet based on image recognition is relatively low, Unpredictable to blind spot region.The present invention carries out the judgement identification of traffic intersection and traffic lights by receiving DSRC information, overcomes Traffic lights identification relies on big limitation to weather and road traffic condition；
2, recompiling abstract by all traffic lights information of same traffic intersection is a traffic lights information, it is simple to right Traffic lights information is transmitted and receives, and rear vehicle identification traffic lights provides convenient the most for it；
3, extension bits 0/1 is used to judge whether a traffic intersection message also has other when traffic lights message coding and decoding The traffic lights in direction, reduces the differentiation difficulty of many forks in the road traffic lights；
4, DSRC communication technology dynamic broadcast traffic lights real-time messages is used, it is possible to the traveling for vehicle provides reference, has Effect reduces traffic congestion；
5, the position of the traffic object in the present invention uses three-dimensional coordinate to represent, solves in conventional expression due to high-land The problem of the traffic object space identification error that low impact causes；
6, direction of traffic uses the vector representation between two moment vehicle locations, has real-time and adjustable；
7, the traffic intersection that will be passed through by vehicle and the relevant information towards the traffic lights of vehicle show and show in car On screen, data are relatively reliable, reduce the driving fatigue of driver, provide safeguard for safe driving；
8, the transmission of traffic lights message can compatible tri-kinds of communication protocols of IEEE802.11p, LTE-V, 5G, applied range General, reduce the dependence to particular device.
Accompanying drawing explanation
Fig. 1 is that the present invention provides preferred embodiment kind traffic lights based on DSRC coding and state recognition system function mould Block figure；
Fig. 2 traffic lights functional block diagram；
Fig. 3 car networking message broadcast Scenario figure；
The many forks in the road of Fig. 4 multiple traffic lights scene graph；
Fig. 5 traffic lights abstract graph；
Fig. 6 traffic lights broadcast message format defines；
Fig. 7 traffic lights broadcast is illustrated；
Fig. 8 traffic lights direction indication definition figure；
Fig. 9 traffic lights message direction is illustrated；
Figure 10 directional information reads definition figure；
Figure 11 DSRC communication system；
Figure 12 DSRC communication technology architecture；
The flow chart of Figure 13 vehicle identification traffic lights；
Figure 14 vehicle travels situation figure；
Figure 15 vehicle heading definition figure；
Figure 16 vehicle heading deviation range figure；
Figure 17 vehicle identification traffic lights precedence diagram；
Figure 18 determines the traffic lights flow chart towards vehicle；
Figure 19 traffic lights and vehicle vector figure；
Figure 20 traffic lights and direction of traffic figure；
Figure 21 vehicle operating range scene graph；
Display in the car of Figure 22 traffic lights message.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, detailed Carefully describe.Described embodiment is only a part of embodiment of the present invention.
Technical scheme is as follows:
1 one kinds of traffic lights based on DSRC codings have four functional modules, as shown in Figure 1: traffic with state identification method The information such as the position of traffic lights, state, remaining time are encoded by lamp information coding module 11.Traffic lights information transmission modular The 12 traffic lights message that communication technology based on IEEE802.p/LTE-V/5G etc. can be used encoded are broadcasted.
Vehicle heading nearest crossing traffic lamp judge module 13 identifies a range of traffic on vehicle heading Lamp also determines the traffic lights from the nearest traffic intersection of vehicle.Owing to DSRC communication technology sphere of action is 500 meters, having here Effect scope is set to 300 meters.
Received towards the identification of traffic lights of vehicle and information display module 14 by vehicle inherent parameters combination Traffic lights message determines the friendship that on vehicle heading, vehicle will pass through in the traffic intersection traffic lights information that vehicle is nearest Logical lamp, and the information such as the position of this traffic lights, state, remaining time are extracted display on car-mounted terminal.
Traffic lights information encodes the functional module with the system of identification as shown in Figure 2: traffic lights display module 21, and traffic lights is known Other module 22, message reception module 23, message resolution module 24, message coding module 25, message transmission module 26.
Traffic lights display module 21 is for showing current state and the remaining time of traffic lights, it is simple at the visual model of driver Enclose interior traffic to drive；
Traffic lights identification module 22 traffic lights on vehicle heading and nearest from vehicle in the range of identifying 300 meters The abstract traffic lights of traffic intersection, from abstract traffic lights, determine the next traffic lights passed through of vehicle；
Message reception module 23 is for receiving the parts of extraneous broadcast in board units, such as modules such as MK5；
The message of reception is resolved by message resolution module 24, provides for Message Processing and supports；
Message coding module 25 is capable of encoding the traffic lights information taken out；
The traffic lights message encoded is broadcasted by message transmission module 26.
2 traffic lights message codings
As it is shown on figure 3, roadside device real-time broadcast traffic light status information, vehicle uses mobile unit in the process of moving Receive the traffic light status information data in the range of 300 meters in driving process.
As shown in Figure 4 and Figure 5, first by same traffic intersection institute directive multiple traffic lights abstract be a traffic lights, The position of the traffic lights taken out, it is simple to the traffic lights at uncorrelated crossing in vehicle travel process filtration effective communication distance:
The positional representation of traffic lights uses the method for GPS calibration position.If the traffic lights of same traffic intersection is n, its Positional representation is as follows:
G1(x1,y1,z1),G2(x2,y2,z21),...,Gn(xn,yn,zn)
The traffic lights positional representation then taken out is:
G ( x , y , z ) = 1 n ( Σ i = 1 n x i , Σ i = 1 n y i , Σ i = 1 n z i )
Position and the deviation of directivity between each traffic lights and the traffic lights taken out at this crossing be:
G1'(x1',y1',z1')=(x-x1,y-y1,z-z1)；
G2'(x'2,y'2,z'2)=(x-x2,y-y2,z-z2)；
...
Gn'(x'n,y'n,zn')=(x-xn,y-yn,z-zn)；
As shown in Figure 6, the form of traffic lights transmission message is:
Traffic lights ID Position Direction indication Position relatively State Remaining time Extension bits
Fig. 6 traffic lights broadcast message format defines
Owing to the traffic lights message of fork in the road more than includes the information of multiple traffic lights, for the convenience described and represent Property, whether also have the traffic in other directions in addition to representing the traffic lights except describing before this extension bits used here as extension bits Lamp, and retrain when extension bits is 1, represent that this traffic lights message also has the traffic lights in other directions, without other when extension bits is 0 The traffic lights in direction.
It is illustrated in figure 7 traffic lights and sends the example of message.Notional position be G (x, y, the ID of traffic lights z) is 1, this The traffic lights information in traffic lights message semantic definition direction 1, owing to its extension bits is 1, so this traffic lights message also describes direction 2 Traffic lights；It is 0 that the traffic lights information description in direction 2 terminates rear extension bits, then this traffic lights message no longer comprises other directions Traffic lights message.
Owing to sending the restriction of data, it is stipulated that same crossing abstract traffic lights direction indication not can exceed that 5, two fingers Show that the angle between direction can not be less than 30 degree.As shown in Figure 8, the direction indication of traffic lights message is expressed as:
As it is shown in figure 9, be the expression of 30 degree, east by south
According to the term custom that people are daily, to the east of the direction, drift angle in this invention, on the basis of western both direction, such as Figure 10 Shown in, as 10 degree, east by south, 30 degree, east by north, west by south 50 degree, west by north 15 degree.The span of angle is (0,90)
The coding form of four kinds of the front 4bit for traffic lights direction indication as shown in table 1 represents.
Tetra-kinds of coded representations of the front 4bit of table 1 traffic lights direction indication
1 1 0 0 Southeastern direction
1 0 0 1 Northeastward
0 1 1 0 Southwestward
0 0 1 1 Direction, northwest
3 traffic lights information based on DSRC transmission
3.1 as shown in figure 11, and DSRC communication system is made up of 3 parts: board units (OBU), roadside unit (RSU), specially Use short-range wireless communication protocol.Owing to future car connected network communication technology may use in LTE-V/IEEE802.11p/5G Kind, which kind of communication technology we are not the most specifically designated, and are referred to as DSRC communication, to be different from other communications.
3.2 traffic lights message needed to define message format before propagating, to traffic in reference J2735 communication protocol The description of lamp, definition identifies that type of message (DSRCmsgID) is traffic lights, and LightID is used for verifying traffic lights identity, Mei Gejiao The corresponding different ID identity of logical lamp, distinguishes the traffic light status in each section with this.Transflage shows that traffic lights is to connect Receive message and still send message, be set to here send.It is various concrete interior that LightVector frame concentration expression traffic lights relates to Hold.
LightID{CityMessage, StateMessage, RoadMessag}
LightVector{OrientationMessage1, PosDeviation1, StateMessage1,
TimeMessage1, Extension}
3.3 such as Figure 12 is that traffic lights utilizes DSRC communication technology to broadcast the architecture of its status information.Media access control sublayer by Physical media channel is set up and is communicated to connect between RSU and OBU, processes time slot distribution, data cell packet and recombinates and relevant Confirm operation etc..To protocol Data Unit (PDU) on wireless link between LLC sublayer definition roadside unit and board units Transmission and Error Control.LLC sublayer generates orders PDU and response pdus for transmission, explains the order and response received simultaneously PDU.Application layer is made up of three core cells (KE): initialize core cell (I-KE), broadcast core unit (B-KE), transmission Core cell (T-KE), is used for realizing initialization, broadcast message transmission core protocol data unit communication service.
Traffic lights will need the message sent to encode with message definition form above, and the message after coding is through physics Layer, data link layer are propagated, and follow 5G/LTE-V/IEEE802.11p communication protocol in message transmitting procedure.
Intersection traffic lamp identification on 4 vehicle headings
In vehicle is advanced, especially in urban road, du vehicule there may be multiple crossing and traffic lights, needs handle The traffic lights at the crossing will passed through in vehicle traveling direction identifies.For this reason, it may be necessary to incoherent crossing traffic lamp mistake Filter.As shown in figure 13, for the flow chart of vehicle identification traffic lights.The present invention passes through the position in the traffic lights information received and believes Breath judges with travel direction informix with the position of vehicle self.Traffic lights message and the position of vehicle on the same section of map Mate with directioin parameter, if traffic lights present position will be in travel direction and closest at vehicle, then this traffic Lamp is the crossing traffic lamp that vehicle will pass through.
4.1 judge vehicle heading
Owing to the traffic lights message of vehicle receiver is a range of all message, exist not on vehicle heading Message.Determine that vehicle heading can filter out driving valuable traffic lights message.
As shown in Figure 14 and Figure 15, according to the direction of the distance vector travelled between interval during vehicle twice.Vehicle location 1 Coordinate is X0(x0,y0,z0), vehicle location 2 coordinate is X1(x1,y1,z1), the direction of vehicle is represented by: X (x1-x0,y1-y0, z1-z0)
4.2 vehicle heading range of error defines
Owing to being affected by traffic route situation and driver behavior, the direction of vehicle has certain error.Will The travel direction of vehicle judges to control to more conform to actual traffic scene in the range of certain error, it is to avoid ranges crosses introductory note The traffic lights erroneous judgement risen.
As shown in figure 16, owing to the outdoor efficient communication scope of DSRC is 300 meters, indoor effective communication distance is 10m, Making D is the distance between vehicle and a certain traffic lights, D ∈ [10,300], and the width of the road of vehicle current driving is d, orderThe identification error a ∈ [0, θ] of vehicle
I.e. the deflection error scope of vehicle identification is in [0, θ]
On road in the range of 300m and road branch road, first traffic lights within vehicle heading range of error It is defined as the traffic lights that vehicle will pass through.Due to the present invention coding during by multiple traffic lights of same traffic intersection Abstract is a traffic lights, the traffic lights only one therefore identified by above method.
4.3 identify traffic lights
The most as shown in figure 17, according to vehicle heading and the position of traffic lights, it determines now on vehicle heading From the traffic lights that vehicle is nearest.
Need exist for considering following parameter: the current location of vehicle, the travel direction of vehicle, the position of traffic lights, traffic Lamp 1,2,3 is consistent with vehicle heading, but owing to vehicle is close together with traffic lights 1, so first traffic lights 1 being sentenced Not.
2. after the traffic lights that selected distance is nearest, according to this traffic lights of condition adjudgement of vehicle turn signal and steering wheel whether For the next traffic lights that will pass through of vehicle.If direction of traffic is consistent with traffic lights direction indication, then can determine that this traffic lights is The next traffic lights that vehicle will pass through. otherwise, use same method to judge the traffic lights of next position.
5 same crossings show towards identification and the information of the traffic lights of vehicle
5.1 determine the crossing traffic lights towards vehicle
When by traffic intersection, it would be desirable to know towards the traffic lights of vehicle and the state of pointing direction thereof and residue Time, in order to driver judges.From the coding of traffic lights, vehicle receiver to be probably the multiple friendship in many forks in the road The traffic lights message that logical lamp is abstract, now traffic lights message comprises the traffic lights of multiple directions.Different drivers drives Sail custom difference, for the determination methods of drive simulating person, need the traffic lights shape of all sensings of traffic lights towards vehicle State and remaining time identify, and are then shown on car-mounted terminal screen.As shown in figure 18, identifying on vehicle heading After traffic lights in the range of 300 meters, determine the next traffic lights towards vehicle according to vehicle running state.
Display in 5.2 traffic lights information cars
As shown in figure 19, target traffic lights is calculated relative to car's location information according to the geography information in three-dimensional map (parameter: direction, angle), then traffic lights information and its other party in the travel direction that terminal demonstration screen display receives To traffic lights information.
The three dimensions of traffic lights is expressed as M, and (x, y, z), the three dimensional space coordinate of vehicle is N (x', y', z'), traffic lights Position relative to vehicleCan be expressed as:
X "=x-x '；
Y "=y-y '；
Z "=z-z '；
That is:
Angle calculation: as shown in figure 20, traffic lights has the angle in three directions relative to vehicle, i.e.With The angle of three coordinate axess.Angle is respectively
α = arccos x ′ ′ x ′ ′ 2 + y ′ ′ 2 + z ′ ′ 2
β = arccos y ′ ′ x ′ ′ 2 + y ′ ′ 2 + z ′ ′ 2
γ = arccos z ′ ′ x ′ ′ 2 + y ′ ′ 2 + z ′ ′ 2
According to public affairsThe vehicle in driving process can be calculated in real time Relative position information with traffic lights.But the display of this formula is directly perceived not, and people get used to directly seeing distance value and angle.
As shown in figure 21, the air line distance between vehicle and traffic lightsBut by landform etc. Factor affects, and on map, formula is passed through in two placesThe distance calculated can occur with actual range Bigger deviation, it may be considered that utilize the physical features information of three-dimensional map, the distance of calculated vehicle and traffic lights is:(s is that in three-dimensional map, departure place is to the path of destination, and Sta is the departure place of vehicle, and Des is car Destination).
As shown in figure 22, after vehicle determines the next traffic lights that will pass through, the information of this traffic lights is decoded, extract wherein About traffic light status, the field of time, shown by display screen.Additionally can show its other party of this traffic lights with selectivity To state.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limiting the scope of the invention.? After the content of the record having read the present invention, the present invention can be made various changes or modifications by technical staff, and these equivalences become Change and modify and fall into the scope of the claims in the present invention equally.

Claims (7)

1. traffic lights based on a DSRC coding and state recognition system, it is characterised in that include that traffic lights information encodes mould Block (11), traffic lights message transmission module (12), vehicle heading nearest crossing traffic lamp judge module (13), towards vehicle The identification of traffic lights and traffic light status and display module remaining time (14)；Wherein, described traffic lights information coding module (11) for by include the position of traffic lights, state, information including remaining time encodes；
Traffic lights message transmission module (12), for using traffic lights information based on IEEE802.p/LTE-V/5G communication technology The encoded traffic lights message of coding module (11) is broadcasted；
Vehicle heading nearest crossing judge module (13), for identifying on vehicle heading the friendship in the range of certain distance Logical lamp also determines the traffic lights from the nearest traffic intersection of vehicle；According to the distance between vehicle and traffic intersection, it is judged that car Traffic intersection in identification range in travel direction, and then identify the traffic intersection that distance vehicle is nearest；
Towards the identification of traffic lights of vehicle and traffic light status and display module remaining time (14), for according to vehicle self Parameter and all traffic lights information of the distance nearest traffic intersection of vehicle, determine this crossing traffic lights towards vehicle, and will Extract in interior information the direction indication of this traffic lights, position, state, remaining time and show.
Traffic lights based on DSRC the most according to claim 1 coding and state recognition system, it is characterised in that described friendship Logical lamp information coding module (11) uses traffic lights dope vector coded method, by abstract for multiple traffic lights of many forks in the road be one Individual traffic lights, uses the method for labelling extension bits by the position of multiple traffic lights, direction, state and information coding schedule remaining time Illustrate, and retrain when extension bits is 1, represent that this traffic lights message also has the traffic lights in other directions, when extension bits is 0 without The traffic lights in other directions.
Traffic lights based on DSRC the most according to claim 2 coding and state recognition system, it is characterised in that described friendship The method that the positional representation of logical lamp uses GPS calibration position, if the traffic lights of same traffic intersection is n, its positional representation is such as Under:
G1(x1,y1,z1),G2(x2,y2,z21),...,Gn(xn,yn,zn)
The traffic lights positional representation then taken out is:
G ( x , y , z ) = 1 n ( Σ i = 1 n x i , Σ i = 1 n y i , Σ i = 1 n z i )
Position and the deviation of directivity between each traffic lights and the traffic lights taken out at this crossing be:
G 1 , ( x 1 , , y 1 , , z 1 , ) = ( x - x 1 , y - y 1 , z - z 1 ) ; G 2 , ( x 2 , , y 2 , , z 2 , ) = ( x - x 2 , y - y 2 , z - z 2 ) ; ... G n , ( x n , , y n , , z n , ) = ( x - x n , y - y n , z - z n ) ; .
Traffic lights based on DSRC the most according to claim 2 coding and state recognition system, it is characterised in that vehicle row Sail direction nearest crossing traffic lamp judge module (13) and calculate the traveling of vehicle according to the displacement meter of vehicle in intervals Direction, and combine vehicle receiver to traffic lights message determine on vehicle heading the traffic lights in the range of 300 meters, it determines Go out traffic lights nearest from vehicle on vehicle heading, and judge that this hands over according to steering indicating light, the steering wheel angle information of vehicle Whether logical lamp is the next traffic lights that vehicle will pass through.
Traffic lights based on DSRC the most according to claim 2 coding and state recognition system, it is characterised in that described To the identification of the traffic lights of vehicle with and traffic light status and display module remaining time (14), believe according to three-dimensional map and road Breath calculates the actual range between vehicle and the traffic lights identified and orientation, identifies the traffic towards vehicle heading Lamp, and the state of this traffic lights is shown on car-mounted terminal with information remaining time.
6. traffic lights based on a DSRC coding and state identification method, it is characterised in that comprise the following steps: 601, will hand over Multiple traffic lights of cross road mouth are abstract for same traffic lights, utilize vector encoding method to include phase according to traffic lights position Position, state encoded in interior information with remaining time；
602, use can the DSRC technology dynamic broadcast of compatible tri-kinds of communication protocols of IEEE802.11p, LTE-V, 5G for traffic lights Its position, current state, information remaining time；
603, the displacement of vehicle in certain time is utilized to obtain the current travel speed of vehicle and direction, according to the direction of traffic lights Determine the traffic lights on vehicle heading, and then identify, determine all traffic in the range of 300 meters on vehicle heading Lamp；
604, go out the distance between vehicle and traffic lights according to three-dimensional map spatial coordinated information and road information dynamic calculation, identify Go out the traffic lights that vehicle will pass through, and calculate the traffic lights towards vehicle relative to the positional information of vehicle, and these are believed Breath display is in car.
Traffic lights based on DSRC the most according to claim 6 coding and state identification method, it is characterised in that include with Lower step: described step 602 traffic lights broadcasts its position, current state, the form of information remaining time are:
CN201610830023.4A 2016-09-19 2016-09-19 A kind of traffic lights based on DSRC coding and state recognition system and method Pending CN106251664A (en)

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