CN106781485B - Road congestion identification method, V2X vehicle-mounted terminal and Internet of vehicles system - Google Patents
Road congestion identification method, V2X vehicle-mounted terminal and Internet of vehicles system Download PDFInfo
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
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Abstract
The invention discloses a road congestion identification method, which comprises the steps of obtaining running state parameters of surrounding vehicles in a vehicle-mounted wireless local area network, wherein the running state parameters at least comprise speed information and geographical position information of the vehicles; judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters; and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle. The method and the system realize information sharing through the Internet of vehicles system, identify the congestion state of the current road through the information, report and warn the road condition of the driver in time, and effectively avoid the congestion road section to select the optimal driving route. In addition, the invention also provides the V2X vehicle-mounted terminal and the V2X vehicle networking system with the technical advantages.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a road congestion identification method, a V2X vehicle-mounted terminal and a V2X vehicle networking system.
Background
With the improvement of national income and living standard, the quantity of motor vehicles kept is greatly increased, and the urban road traffic jam condition is increasingly serious. The congestion is caused by a plurality of reasons, namely the road capacity is seriously insufficient, the automobile growth speed is too high, the public transport is gradually atrophied, and the whole traffic development strategy is lacked. At present, the problem of urban road traffic jam becomes one of bottlenecks which restrict economic development, reduce the quality of life of people and weaken economic vitality.
The Internet of vehicles is a natural extension of the Internet of things and is produced in the era background of the national strong advocation of the Internet plus. V2X is the core of the internet of vehicles, V2X is a "Vehicle to outside" communication technology, is a high integration of V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure) and V2P (Vehicle to Person) technologies, is one of the core technologies of future automatic driving, and is also one of the support technologies of ITS.
How to identify the road congestion state by using the V2X technology is a technical problem to be urgently solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a road congestion identification method, a V2X vehicle-mounted terminal and a V2X vehicle networking system, which realize information sharing through the vehicle networking system, identify the congestion condition of road conditions and remind or warn a driver in time.
In order to solve the above technical problem, the present invention provides a road congestion identification method, including:
acquiring running state parameters of surrounding vehicles in a vehicle-mounted wireless local area network, wherein the running state parameters at least comprise speed information and geographical position information of the vehicles;
judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters;
and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle.
Optionally, the method further comprises:
acquiring a running state parameter of the current vehicle, and judging whether the running speed is less than a preset threshold value or not; and when the running speed is less than the preset threshold value, triggering the operation of identifying the road congestion.
Optionally, the determining, according to the driving state parameter, whether the driving direction of the surrounding vehicle is the same as the driving direction of the current vehicle includes:
acquiring a direction angle indicating the vehicle running direction in the running state parameters, wherein the direction angle is an included angle between the vehicle running direction and the true north direction of the earth; the direction angle of the current vehicle is track1The direction angle of the surrounding vehicle is track2；
Calculating a difference in the directional angles of the current vehicle and the surrounding vehicles: trackn＝track1-track2；
If the absolute value of the difference is smaller than the absolute value of the direction angle of the current vehicle, judging that the driving direction of the surrounding vehicle is the same as the driving direction of the current vehicle; otherwise, the direction is determined to be different.
Optionally, the determining the congestion state of the current road according to the traveling speed of the vehicle traveling in the same direction as the current vehicle includes:
calculating the average value of the running speeds in the vehicles running in the same direction according to the size of the running speed in the received running state parameters of the vehicles;
and calling a preset corresponding relation between the speed and the congestion level, and determining the congestion level of the current road according to the running speed average value.
Optionally, the determining the congestion level of the current road according to the average running speed comprises:
when the average running speed is between 20km/h and 30km/h, determining the congestion level of the current road as light congestion; when the average running speed is between 10km/h and 20km/h, determining the congestion level of the current road as general congestion; and when the average running speed is lower than 10km/h, determining the congestion level of the current road as severe congestion.
Optionally, the method further comprises:
and determining a current road congestion forming place according to the running speed of a vehicle running in the same direction as the current vehicle, wherein the difference of the average running speeds of the vehicles on two sides with the congestion forming place as a boundary is larger than a preset threshold.
Optionally, the method further comprises:
and sending the running state parameters of the current vehicle to the wireless local area network.
Optionally, the method further comprises:
and when the congestion parameter of the vehicle in front in the vehicle-mounted wireless local area network indicates congestion, sending prompt information to a driver of the current vehicle.
The invention also provides a V2X vehicle-mounted terminal, which comprises:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running state parameters of the current vehicle, and the running state parameters at least comprise the speed information and the geographical position information of the vehicle;
the communication module is used for sending the driving state parameters to a vehicle-mounted wireless local area network;
the processing module is used for acquiring the running state parameters of surrounding vehicles in the vehicle-mounted wireless local area network; judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters; and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle.
The invention also provides a V2X car networking system, including: at least two signal connected V2X car terminals as described above.
The road congestion identification method provided by the invention comprises the steps of acquiring running state parameters of surrounding vehicles in a vehicle-mounted wireless local area network, wherein the running state parameters at least comprise speed information and geographical position information of the vehicles; judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters; and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle. The method and the system realize information sharing through the Internet of vehicles system, identify the congestion state of the current road through the information, report and warn the road condition of the driver in time, and effectively avoid the congestion road section to select the optimal driving route. In addition, the invention also provides the V2X vehicle-mounted terminal and the V2X vehicle networking system with the technical advantages.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flowchart of an embodiment of a method for identifying road congestion according to the present invention;
FIG. 2 is a flowchart illustrating another embodiment of a method for identifying road congestion according to the present invention;
FIG. 3 is a flowchart for determining whether the direction of travel of a surrounding vehicle is in the same direction as the direction of travel of the current vehicle;
FIG. 4 is a block diagram of a V2X vehicle-mounted terminal according to the present invention;
FIG. 5 is a schematic structural diagram of one embodiment of a V2X Internet of vehicles system provided by the present invention;
fig. 6 is a schematic diagram of a specific operation process of the V2X car networking system provided by the invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a flowchart of a specific embodiment of a road congestion identification method provided by the present invention, where the method includes:
step S101: acquiring running state parameters of surrounding vehicles in a vehicle-mounted wireless local area network, wherein the running state parameters at least comprise speed information and geographical position information of the vehicles;
V2X internet of vehicles refers to a communication system between vehicles of automobiles, or between automobiles and pedestrians on the roadside, riders, and automobiles and infrastructure. The internet of vehicles utilizes RFID, sensors and camera images loaded on the vehicles to process and acquire the driving conditions, system operation state information and surrounding road environment information of the vehicles, meanwhile, the GPS positioning device acquires the position information of the vehicles, the D2D technology is used for realizing end-to-end transmission of the information, and information sharing is realized in the whole internet of vehicles.
The vehicle-mounted wireless local area network comprises a plurality of vehicle-mounted terminals, the target vehicle-mounted terminals are in signal connection through DSRC or other wireless modes, and the signal connection can be direct connection or indirect connection through other vehicle-mounted terminals. It will be appreciated that the composition of the network is dynamically changing.
According to the embodiment of the invention, the vehicle acquires the driving state parameters of the surrounding vehicles including the speed information and the geographic position information through the V2X Internet of vehicles, and specifically, the geographic position information can be acquired by a GPS positioning device of the vehicle. The speed information CAN be acquired by a speed sensor on the vehicle, or calculated by geographic position information and time acquired by a GPS (global positioning system), or directly acquired by accessing an automobile CAN (controller area network) bus. Of course, the driving state parameter may include other parameter information, and is not limited to these two types.
Step S102: judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters;
in one embodiment, the driving direction of the surrounding vehicle can be determined by the speed information and the geographical position information in the driving state parameters, and whether the driving direction is the same as the driving direction of the current vehicle can be determined by the driving direction. In addition, the driving state parameters can also comprise direction angle parameters, and the direction angle is an included angle between the driving direction of the vehicle and the true north direction of the earth and can be directly obtained through a GPS positioning device.
Step S103: and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle. In the present application, the running speed is the running speed of a vehicle ahead of the current vehicle running in the same direction, and it is determined that the road is in a congestion state in the running direction. Because the vehicle-mounted wireless local area network can communicate at a long distance, the current vehicle can avoid the traffic jam on the road ahead in time. It is understood that the vehicles counted in other embodiments of the present invention may only refer to the front vehicles running in the same direction as the current vehicle.
The road congestion identification method provided by the invention comprises the steps of acquiring running state parameters of surrounding vehicles in a vehicle-mounted wireless local area network, wherein the running state parameters at least comprise speed information and geographical position information of the vehicles; judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters; and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle. The method and the system realize information sharing through the Internet of vehicles system, identify the congestion state of the current road through the information, report and warn the road condition of the driver in time, and effectively avoid the congestion road section to select the optimal driving route.
At present, there are many ways of wireless Communication of V2X, and another specific embodiment of the road congestion identification method provided by the present invention employs a DSRC (Dedicated Short Range Communication, abbreviated as DSRC) technology for Communication. The DSRC technology is tailored for vehicle-mounted wireless communication and is more suitable for wireless vehicle-mounted communication. The IEEE organization also regulates various aspects of Wireless Access in a vehicle Environment (WAVE for short) through IEEE802.11p and IEEE1609 series standards. Of course, other communication methods are possible and not limited to this method.
In the embodiment of the invention, the V2X vehicle-mounted terminal can be used as a device for transmitting and receiving two states at the same time. The vehicle-mounted terminal acquires the speed per hour, the direction angle and the geographical position information of the vehicle through a collecting device mounted on the vehicle, and transmits the driving state parameters including the speed per hour, the direction angle, the geographical position information and the like to the vehicle-mounted wireless local area network through the wireless local area network, for example, the vehicle-mounted terminal transmits the driving state parameters to surrounding vehicles in a broadcast mode by adopting a DSRC technology. Meanwhile, the vehicle is also used as a vehicle for receiving information, the broadcast messages sent by surrounding vehicles are monitored in real time, and once BSM broadcast messages sent by other vehicles are received, the message content is read and analyzed to prepare for the next urban road congestion identification processing.
Due to the complexity of road traffic in China, the running state of a traveling traffic flow changes all the time along with the change of time. On the road running state, the traffic congestion can be described by smooth traffic, light congestion, general congestion and severe congestion. In urban roads, when road traffic congestion occurs, the traffic flow increases more and more with time, but the increase is slow. Therefore, the embodiment of the invention can trigger the operation of identifying the road congestion when detecting that the speed of the vehicle is lower than the preset threshold value by acquiring the speed of the vehicle. As shown in fig. 2, a flowchart of another embodiment of a road congestion identification method provided by the present invention, the process includes:
step S201: acquiring a running state parameter of the current vehicle, and judging whether the running speed is less than a preset threshold value or not; when the running speed is smaller than the preset threshold value, triggering the operation of identifying the road congestion;
in particular, the preset threshold may be in particular 30 km/h. The vehicle acquires running speed information from a V2X vehicle-mounted terminal of the vehicle, judges whether the speed per hour is less than 30km/h, and if the speed per hour is more than 30km/h, the vehicle continues to receive running state parameters.
Step S202: waiting for receiving the driving state parameters sent by other vehicles. And if the vehicle does not receive the running state parameters, continuing to wait for receiving the running state parameters sent by other vehicles. If the driving state parameter is received, the process proceeds to step S203.
Step S203: judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters;
specifically, as shown in fig. 3, the process of determining whether to be equidirectional may specifically include:
step S2031: acquiring a direction angle indicating the vehicle running direction in the running state parameters, wherein the direction angle is an included angle between the vehicle running direction and the true north direction of the earth; the direction angle of the current vehicle is track1The direction angle of the surrounding vehicle is track2；
The direction angle information can be obtained through GPS.
Step S2032: calculating a difference in the directional angles of the current vehicle and the surrounding vehicles: trackn＝track1-track2；
Step S2033: if the absolute value of the difference is smaller than the absolute value of the direction angle of the current vehicle, judging that the driving direction of the surrounding vehicle is the same as the driving direction of the current vehicle; otherwise, the direction is determined to be different.
Step S204: and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle.
The running speed in the embodiment of the present application may be specifically an average value of the running speeds of the respective vehicles. Step S204 may specifically be: calculating the average value of the running speeds in the vehicles running in the same direction according to the size of the running speed in the received running state parameters of the vehicles; and calling a preset corresponding relation between the speed and the congestion level, and determining the congestion level of the current road according to the running speed average value.
Under the actual statistical condition of the vehicle, the counted speed values are randomly distributed, so that the statistical speed values are evaluated more accurately by adopting a merging and sequencing algorithm. Deleting a minimum value v in the sorting of the speed values after the sorted speed valuesminAnd a maximum value vmaxThen summing the remaining speed-per-hour values
The best is averaged
Namely the average speed per hour of the vehicles on the congested road section.
After obtaining the average speed, determining the congestion level of the current road may specifically be: when the average running speed is between 20km/h and 30km/h, determining the congestion level of the current road as light congestion; when the average running speed is between 10km/h and 20km/h, determining the congestion level of the current road as general congestion; and when the average running speed is lower than 10km/h, determining the congestion level of the current road as severe congestion.
On the basis of any of the above embodiments, the present application may further include:
and determining a current road congestion forming place according to the running speed of a vehicle running in the same direction as the current vehicle, wherein the difference of the average running speeds of the vehicles on two sides with the congestion forming place as a boundary is larger than a preset threshold.
When a difference between average speeds of vehicles on both sides of a boundary line is greater than a preset threshold (for example, the preset threshold may be 15km/h) with a certain position on an actual traveling road as the boundary line, the point may be determined as a congestion point.
The embodiment of the invention not only can determine the congestion state of the road ahead, but also can further determine the congestion forming place, thereby being beneficial to related personnel to know the road condition more comprehensively.
Furthermore, after calculating the traveling speed of the host vehicle, the method may further include: and sending the running state parameters of the current vehicle to the wireless local area network.
And when the congestion parameter of the vehicle in front in the vehicle-mounted wireless local area network indicates congestion, sending prompt information to a driver of the current vehicle.
And if the current vehicle judges that the road is congested, updating the numerical value of the congestion parameter corresponding to the current vehicle by the current vehicle, and then broadcasting the running state parameter through the DSRC. Thus, after receiving the driving state parameters, the vehicle with the V2X vehicle-mounted terminal mounted around receives the package information content through unpacking and analyzing, and then identifies whether the road ahead of the vehicle is congested or not through a congestion algorithm. When the congestion of the road ahead is identified, the embodiment sends prompt information to the driver of the current vehicle so as to enable the driver to perform corresponding driving treatment in time.
As shown in fig. 4, the structural block diagram of the V2X car-mounted terminal provided in the present invention specifically includes:
the acquiring module 11 is configured to acquire a driving state parameter of a current vehicle, where the driving state parameter at least includes speed information and geographic position information of the vehicle;
the communication module 12 is used for sending the driving state parameters to a vehicle-mounted wireless local area network;
the processing module 13 is configured to acquire a driving state parameter of a surrounding vehicle in the vehicle-mounted wireless local area network, and determine whether a driving direction of the surrounding vehicle is the same as a driving direction of a current vehicle according to the driving state parameter; and determining the congestion state of the current road according to the running speed of the vehicle running in the same direction as the current vehicle.
Wherein, the obtaining module 11 includes: a GPS positioning device.
The communication module 12 may be: DSRC module. The DSRC module is a special air interface communication module, a 75MHz bandwidth working in 5.850-5.925 GHz is used as a special frequency band, the communication distance reaches 800 m, and the DSRC module has a reliable high-speed data communication function between vehicles. The vehicle-mounted equipment is internally provided with a GPS positioning function, and the precision reaches the sub-meter level. The vehicle of the V2X vehicle-mounted terminal can obtain the geographic position information of the vehicle, such as the speed per hour, the longitude and latitude, the direction angle and the like.
In the embodiment of the present invention, the data communication format between the V2X vehicle-mounted terminals may specifically adopt a BSM message format specified based on the DSRC short message J2735 standard. Bsm (basic Safe message) is defined as basic security information in the J2535 protocol, and its message content includes:
ID: this value can only be read, representing the ID number of the vehicle (the ID number is globally unique and cannot be repeated), for distinguishing between different vehicles.
And (3) Jam: the traffic congestion, the value of which can be modified, is set to 0 to 3. 0 indicates severe congestion, 1 indicates general congestion, 2 indicates light congestion, and 3 indicates clear.
Track: the direction angle is the included angle between the driving direction of the vehicle and the true north of the earth. According to definition, the included angle is divided into 360 degrees which are respectively mapped in a first quadrant, a second quadrant, a third quadrant and a fourth quadrant. If the angle is mapped in the first and fourth quadrants, the value is positive. If the angle is mapped in the second and third quadrants, the value is negative. This value can only be obtained from the GPS positioning device and its value cannot be modified. The method is used for distinguishing whether the vehicle and other vehicles are in the same driving direction.
Speed: speed per hour, automotive vehicle speed per hour. This value can only be obtained from the GPS positioning device and its value cannot be modified.
Other: and other fields, representing other fields in the GPS information. These domains are not useful for congestion identification and are omitted from the description.
Longituude: longitude, information of the geographic location of the car. This value can only be obtained from the GPS positioning device and its value cannot be modified.
Latitude: latitude and the information of the geographic position of the automobile. This value can only be obtained from the GPS positioning device and its value cannot be modified.
Altitude: height, and geographic location information of the automobile. This value can only be obtained from the GPS positioning device and its value cannot be modified.
Other: and other fields, which represent other contents of the BSM message. These contents are not useful for congestion identification, and the description thereof is omitted.
It should be noted that the V2X vehicle-mounted terminal receives GPS data with a GPS frequency of 10Hz, that is, the GPS data is refreshed every 0.1s, so that the time speed, the direction angle, and the geographic position information in the GPS information are ensured to be the latest data, and a powerful technical support is provided for accurately judging the road congestion of the vehicle-mounted terminal in the system.
When a vehicle loaded with the V2X vehicle-mounted terminal runs to a congested road, the speed of the vehicle is gradually reduced, and the speed per hour is reduced to 30km/h, and the vehicle starts an urban traffic road congestion identification algorithm to identify the degree of road congestion. If the vehicle system recognizes that the road is congested, the equipment automatically sets a corresponding numerical value in a Jam field in the content of the BSM message, packs and compresses the format of the BSM message, and broadcasts the BSM message through the DSRC. After receiving the BSM message, the vehicles with the V2X vehicle-mounted terminals around recognize whether the road ahead of the vehicles is congested or not through a congestion algorithm after unpacking and analyzing the information content of the package.
In addition, the invention also provides a V2X car networking system, comprising: at least two signal-connected V2X vehicle-mounted terminals.
As shown in fig. 5, which is a schematic structural diagram of a specific embodiment of a V2X car networking system provided by the present invention, the system schematic diagram includes two V2X car terminals, each of which has a CPU module, a DSRC module, a WIFI module, and a 4G module, and the two terminals communicate with each other through a DSRC wireless network.
The V2X car terminal can simultaneously serve as a device for transmitting and receiving two states. When a certain vehicle is used as a vehicle for sending the BSM message, the CPU can immediately read and analyze the current latest data as long as the GPS positioning device can timely receive the data. And transmits BSM information such as geographical position information, direction angle, and speed-per-hour information of the own to surrounding vehicles in a broadcast form by DSRC technology. Meanwhile, the vehicle is also used as a vehicle for receiving BSM information, the BSM information broadcast is intercepted in real time, and once the BSM broadcast information sent by other vehicles is received, the information content is read and analyzed to prepare for the next urban road jam identification processing.
The specific working process schematic diagram of the V2X car networking system provided by the invention is shown in fig. 6, and specifically includes:
step S301: the vehicle acquires GPS information from a V2X vehicle-mounted terminal of the vehicle;
step S302: judging whether the speed per hour is less than 30 km/h; if the speed is more than 30km/h, the BSM message continues to be received. If the speed per hour is less than 30km, the step S303 is executed;
step S303: starting a timer, and starting timing by taking a second as a unit, wherein the unit of t is the second;
step S304: and receiving BSM messages sent by other vehicles.
If the vehicle does not receive the BSM message, the vehicle continues to wait for receiving the BSM message sent by other vehicles. If the vehicle receives the BSM message, it proceeds to step S305.
Step S305: and analyzing a track message field in the BSM message sent by other vehicles, and judging whether the driving direction of the sending vehicle is the same as the driving direction of the sending vehicle by a value obtained by subtracting the track value of the sending vehicle from the track value of the sending vehicle.
The heading angle may be obtained directly from GPS information. Assuming that the vehicle has a track direction angle1Other vehicles having track as the direction angle2The subtracted value being tracknI.e. trackn＝track1-track2. For tracknAnd track1Taking the absolute value, if | trackn|≥|track1And if the vehicle driving direction is not the same as the vehicle driving direction of the BSM message, continuing to wait for receiving a new BSM message. If trackn|＜|track1If it is determined that the vehicle driving direction is the same as the vehicle driving direction in which the BSM message is transmitted, the process proceeds to step S306.
Step S306: and analyzing the Jam domain in the BSM message, and reading the numerical value in the Jam domain to judge whether the road is congested.
And if the Jam threshold value is less than 3, the V2X vehicle-mounted terminal of the vehicle sends a BSM message of road congestion and informs the driver that the road in front is congested in a voice mode and the like, so that the driver performs corresponding driving treatment. If the value is greater than 3, the flow proceeds to step S307.
Step S307: and continuously analyzing the ID message domain in the BSM message, wherein the ID number is used for judging whether the BSM message received by the vehicle at this time and the BSM message received last time are sent by the same vehicle.
If the values are the same, it continues to wait for the reception of a new BSM message. If the values are different, recording the number n of vehicles on the roadl(l is not less than 0 and is a natural number) and reading Speed domain value v in GPSm(m is a natural number, not less than 0), the process proceeds to step S308.
Step S308: when the timer t is 180, the number of vehicles sending the BSM message counted by the vehicle is assumed to be n (the number of vehicles jammed on the road)y(y is a natural number not less than 0) and vehicle speed per hour vx(x is not less than 0 and is a natural number). Reading the number n of vehicles running in the same direction on the congested roadlAnd velocity v1,v2,…vx. The process advances to step S309.
Step S309: and calculating the average speed per hour of the vehicles running in the same direction on the congested road.
Under the actual statistical condition of the vehicle, the counted speed values are randomly distributed, so that the statistical speed values are evaluated more accurately by adopting a merging and sequencing algorithm. Deleting a minimum value v in the sorting of the speed values after the sorted speed valuesminAnd a maximum value vmaxThen summing the remaining speed-per-hour values
The best is averaged
Namely the average speed per hour of the vehicles on the congested road section.
Step S310: if v isavgWhen the value is between 20 and 30km/h, the congested road section is regarded as light congestion; if v isavgWhen the value is between 10 and 20km/h, the congested road section is regarded as general congestion; if v isavgAnd when the value is below 10km/h, the congested road section is regarded as severely congested.
In the embodiment, the V2X in-vehicle terminal adopts a communication mode combining DSRC and GPS. The communication between the vehicles adopts a proprietary 5.9GHz frequency band, and the GPS adopts a 10Hz refreshing frequency, so that the vehicle-mounted equipment can receive GPS information every 100ms in time and can broadcast the information in a short time in time under the background of depending on the reliability and timeliness of the communication. After the method is applied to the V2X vehicle-mounted terminal, the road congestion can be timely and accurately identified in a complex environment without depending on external conditions.
The method and the device can reduce the cost on the vehicle-mounted equipment, can reduce the cost of road side equipment and the cost of background network management center equipment, and can also thoroughly solve and get rid of the network congestion and even paralysis of the mobile internet under the condition of road congestion. Most importantly, powerful technical support is provided for road congestion judgment in automatic driving in the future.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The road congestion identification method, the V2X vehicle-mounted terminal and the V2X internet of vehicles system provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (6)
1. A road congestion identification method is characterized by comprising the following steps:
acquiring running state parameters of surrounding vehicles sent in a broadcast mode by adopting a DSRC technology in a vehicle-mounted wireless local area network, wherein the running state parameters at least comprise speed information and geographical position information of the vehicles;
judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters;
determining congestion parameters corresponding to a congestion state of a current road and a congestion forming place according to the running speed of a front vehicle running in the same direction as the current vehicle, wherein the difference of the average running speeds of two vehicles on two sides with the congestion forming place as a boundary is larger than a preset threshold;
the running state parameters of the current vehicle and the congestion parameters of the current road are sent to the wireless local area network in a broadcast mode by adopting a DSRC technology, so that other vehicles can send prompt information to a driver according to the congestion parameters sent by the current vehicle;
wherein the determining whether the driving direction of the surrounding vehicle is the same as the driving direction of the current vehicle comprises:
acquisition instituteThe driving state parameters are used for indicating the direction angle of the driving direction of the vehicle, and the direction angle is the included angle between the driving direction of the vehicle and the true north direction of the earth; the direction angle of the current vehicle is track1The direction angle of the surrounding vehicle is track2；
Calculating a difference in the directional angles of the current vehicle and the surrounding vehicles: trackn＝track1-track2；
If the absolute value of the difference is smaller than the absolute value of the direction angle of the current vehicle, judging that the driving direction of the surrounding vehicle is the same as the driving direction of the current vehicle; otherwise, the direction is determined to be different.
2. The road congestion identification method according to claim 1, further comprising:
acquiring a running state parameter of the current vehicle, and judging whether the running speed is less than a preset threshold value or not; and when the running speed is less than the preset threshold value, triggering the operation of identifying the road congestion.
3. The road congestion identification method according to claim 1 or 2, wherein the determining the congestion state of the current road according to the traveling speed of the vehicle traveling in the same direction as the current vehicle comprises:
calculating the average value of the running speeds in the vehicles running in the same direction according to the size of the running speed in the received running state parameters of the vehicles;
and calling a preset corresponding relation between the speed and the congestion level, and determining the congestion level of the current road according to the running speed average value.
4. The method for identifying road congestion as claimed in claim 3, wherein said determining the congestion level of the current road from said average traveling speed comprises:
when the average running speed is between 20km/h and 30km/h, determining the congestion level of the current road as light congestion; when the average running speed is between 10km/h and 20km/h, determining the congestion level of the current road as general congestion; and when the average running speed is lower than 10km/h, determining the congestion level of the current road as severe congestion.
5. A V2X vehicle terminal, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running state parameters of the current vehicle, and the running state parameters at least comprise the speed information and the geographical position information of the vehicle;
the processing module is used for acquiring the running state parameters of the surrounding vehicles which are transmitted in a broadcast mode by adopting a DSRC technology in the vehicle-mounted wireless local area network; judging whether the running direction of the surrounding vehicle is the same as the running direction of the current vehicle or not according to the running state parameters; determining congestion parameters corresponding to a congestion state of a current road and a congestion forming place according to the running speed of a front vehicle running in the same direction as the current vehicle, wherein the difference of the average running speeds of two vehicles on two sides with the congestion forming place as a boundary is larger than a preset threshold;
the communication module is used for broadcasting and sending the running state parameters of the current vehicle and the congestion parameters of the current road to the wireless local area network by adopting a DSRC (dedicated short range communication) technology so that other vehicles can send prompt information to a driver according to the congestion parameters sent by the current vehicle;
wherein the processing module is specifically configured to:
acquiring a direction angle indicating the vehicle running direction in the running state parameters, wherein the direction angle is an included angle between the vehicle running direction and the true north direction of the earth; the direction angle of the current vehicle is track1The direction angle of the surrounding vehicle is track2(ii) a Calculating a difference in the directional angles of the current vehicle and the surrounding vehicles: trackn＝track1-track2(ii) a If the absolute value of the difference is smaller than the absolute value of the direction angle of the current vehicle, judging that the driving direction of the surrounding vehicle is the same as the driving direction of the current vehicle; otherwise, the direction is determined to be different.
6. A V2X networking over vehicular system, comprising: the V2X car terminal of claim 5 connected by at least two signals.
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| JP6583697B2 (en) * | 2017-09-26 | 2019-10-02 | 本田技研工業株式会社 | Perimeter monitoring device, control device, perimeter monitoring method, and program |
| CN107650912A (en) * | 2017-09-30 | 2018-02-02 | 北京奇虎科技有限公司 | Road conditions alarm method and device based on automobile |
| CN109961642A (en) * | 2017-12-22 | 2019-07-02 | 中兴通讯股份有限公司 | The prediction technique and system of condition of road surface, mobile terminal |
| CN108520626A (en) * | 2018-03-20 | 2018-09-11 | 深圳市金溢科技股份有限公司 | V2X car-mounted terminals, road side base station, road condition information acquisition method and system |
| CN108769950A (en) * | 2018-07-24 | 2018-11-06 | 中国航天空气动力技术研究院 | The car networking information system of connection automobile is netted towards V2X |
| CN111404976B (en) * | 2019-01-02 | 2023-05-09 | 中国移动通信有限公司研究院 | Data processing method, device and system, vehicle-mounted terminal and medium |
| CN111845742B (en) * | 2019-04-22 | 2021-11-23 | 上海汽车集团股份有限公司 | Car following control system and method for intelligent driving car |
| CN112306053B (en) * | 2019-08-09 | 2024-08-20 | 北京京东乾石科技有限公司 | Unmanned vehicle control method |
| CN110658822A (en) * | 2019-10-11 | 2020-01-07 | 北京小马慧行科技有限公司 | Vehicle running control method and device, storage medium and processor |
| CN111105614A (en) * | 2019-12-06 | 2020-05-05 | 惠州市德赛西威汽车电子股份有限公司 | Traffic condition prediction method based on road social circle |
| CN113345225B (en) * | 2021-05-24 | 2023-04-11 | 郑州航空工业管理学院 | Method and system for predicting real-time road conditions of front road of logistics vehicle based on V2V communication |
| CN116935662A (en) * | 2023-08-21 | 2023-10-24 | 镁佳(北京)科技有限公司 | Auxiliary intelligent road management system, method, device and storage medium |
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| DE102012204098A1 (en) * | 2012-03-15 | 2013-09-19 | Continental Automotive Gmbh | A method of congestion detection by means of a wireless vehicle-to-vehicle communication |
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