CN106781588A - Target carriage extracting method, system and equipment - Google Patents
Target carriage extracting method, system and equipment Download PDFInfo
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- CN106781588A CN106781588A CN201710051025.8A CN201710051025A CN106781588A CN 106781588 A CN106781588 A CN 106781588A CN 201710051025 A CN201710051025 A CN 201710051025A CN 106781588 A CN106781588 A CN 106781588A
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- target carriage
- car
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Classifications
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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
- G08G1/0962—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
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of target carriage extracting method, system and equipment, locating module, central processing unit, numerical map, communication module, on-vehicle information acquisition module are installed on this car.The locating module, numerical map, V2X communication modules and on-vehicle information acquisition module are connected with central processing unit respectively.Locating module, on-vehicle information acquisition module, communication module are installed in target carriage；Locating module, on-vehicle information acquisition module are connected with communication module respectively；Road information where road information, target carriage where positional information, movement state information, historical track information, this car according to Ben Che and target carriage filters out effective target car.The present invention extracts effective target car by filtering a large amount of invalid targets, can reduce the data volume of cooperating type drive assist system and automated driving system treatment, reduces rate of false alarm and maloperation, while reducing algorithm complex.
Description
Technical field
The invention belongs to technical field of intelligent traffic, and in particular to a kind of target carriage extracting method, system and equipment.
Background technology
It is progressively ripe currently as the V2X technologies for realizing truck traffic, driven using the cooperating type of V2X technological development
Accessory system and automated driving system are verified on a large scale.Due to realizing the communication mode DSRC and LTE-V of V2X technologies
Point-to-point communication distance can reach 1500m, other vehicles in the range of mass communication can be received in vehicle travel process and is sent
Information, if comprehending a large amount of processor resources of consumption to all information place of carrying out, cause system Processing Algorithm too complex,
Under the urban traffic environment for often getting congestion, such case is especially prominent.Simultaneously as current city and highway
Route combination it is more complicated, it occur frequently that cooperating type drive assist system in the vehicle with the same road of this car to not reporting by mistake
It is alert, or even maloperation, such as it is vertical with the road that this car is travelled but do not have a target carriage on viaduct on the same plane, then
Can false triggering intersection collision scene.
Therefore, it is necessary to develop a kind of new target carriage extracting method, system and equipment.
The content of the invention
It is an object of the invention to provide a kind of target carriage extracting method, system and equipment, by filtering a large amount of invalid targets
Car, extracts effective target car, can reduce the data volume of cooperating type drive assist system and automated driving system treatment, reduces wrong report
Rate and maloperation, while reducing algorithm complex.
Target carriage extraction equipment of the present invention, including locating module, communication module, on-vehicle information acquisition module, in
Central processor and numerical map module；
The on-vehicle information acquisition module is used to be obtained from CAN the running state information of vehicle and is sent to centre reason
Device, the on-vehicle information acquisition module is connected with central processing unit, communication module respectively；
The locating module is used to obtain the positional information of vehicle and be sent to central processing unit and numerical map module, the positioning
Module is connected with numerical map module, central processing unit respectively；
Running state information and positional information calculation of the central processing unit based on vehicle go out the historical track information of vehicle；
The communication module is used to set up communication connection with target carriage, sends the positional information, movement state information, history of this car
Trace information, and receive positional information, movement state information, historical track information transmitted by target carriage；
The numerical map module road information and target carriage according to where the positional information of Ben Che and target carriage obtains this car
Place road information is simultaneously sent to central processing unit；
Positional information, movement state information, historical track information, this car of the central processing unit also based on Ben Che and target carriage
Road information where place road information, target carriage filters out effective target car.
The communication module uses V2X communication modules.
A kind of target carriage extraction system of the present invention, including Ben Che and target carriage, described car are provided with the present invention
Described target carriage extraction equipment；
The target carriage is provided with communication module, and locating module, the on-vehicle information collection mould being connected with communication module respectively
Block；
The locating module is used to obtain the positional information of target carriage and send the target carriage to this car by communication module to carry
Taking equipment；
The on-vehicle information acquisition module is used to obtain the running state information of target carriage from the CAN of target carriage and pass through
V2X communication modules send the target carriage extraction equipment to this car.
Communication module in the target carriage and Ben Che uses V2X communication modules.
A kind of target carriage extracting method of the present invention, using target carriage extraction system of the present invention, its method
Comprise the following steps：
Step one, this car obtain the positional information of this car, and the position that real-time reception target carriage is broadcasted in real time in the process of moving
The distance between information, the car of positional information calculation two according to Ben Che and target carriage D；To enter with distance threshold Dmax apart from D
Row compares, if D≤Dmax, into step 2, if not, it is determined that this target carriage is invalid targets car；
Step 2, the distance change that relative this car of target carriage is calculated according to the historical path information and course angle of Ben Che and target carriage
Change trend；When distance is gradually reduced, into step 3；If it is not, then confirming that the target carriage, for invalid targets car, its information is lost
Abandon；
Step 3, by the positional information of Ben Che and target carriage input numerical map, numerical map is by Ben Che and the warp of target carriage
Latitude data imports the road network information gathered with map in engine map and is matched, and obtains road ID1 and target where this car
Road ID2 where car；ID1 and ID2 are compared, if ID1 is consistent with ID2, then it represents that Ben Che and target carriage are in same road
In, determine that this target carriage, for effective target car, is extracted；If ID1 and ID2 are inconsistent, into step 4；
Step 4, obtain the intersection ID11 nearest apart from this car of road ahead where this car and road ahead where target carriage away from
The intersection ID22 nearest from target carriage, is compared, if ID11 is consistent with ID22, then it represents that two cars to ID11 and ID22
Driving trace exist and intersect, determine this target carriage for effective target car, and extracted；If ID11 and ID22 are inconsistent,
This target carriage is then confirmed as invalid targets car, its information is abandoned.
The present invention has advantages below：
（1）Can effectively filter out with this car not in same road and without the invalid targets vehicle on the road for intersecting；
（2）It is prevented from not filtered in same road but in the presence of the target vehicle on the road for intersecting with this car；
（3）Algorithm is realized relatively simply, reducing the expense of central processing unit.
In sum, the present invention extracts effective target car, so as to reduce cooperating type by filtering a large amount of invalid targets cars
Drive assist system and the data volume of automated driving system treatment, and then rate of false alarm and maloperation are reduced, while reducing calculation
Method complexity.
Brief description of the drawings
Fig. 1 is structured flowchart of the invention；
Fig. 2 is logic diagram of the invention；
Fig. 3 is the schematic diagram that effective target car of the invention extracts case；
Fig. 4 is the schematic diagram that invalid targets car of the invention screens case 1；
Fig. 5 is the schematic diagram that invalid targets car of the invention screens case 2；
In figure：1st, central processing unit, 2, numerical map module, 3, locating module, 4, on-vehicle information acquisition module, 5, communication mould
Block, 6, this car, 7, target carriage, the 8, second road, the 9, first road.
Arrow in figure represents the travel direction of vehicle.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
Target carriage extraction equipment as shown in Figure 1, including locating module 3, communication module 5, on-vehicle information acquisition module 4, center
Processor 1 and numerical map module 2.
The on-vehicle information acquisition module 4 is used to obtain the running state information of vehicle from CAN and be sent to
Central processor 1, the on-vehicle information acquisition module 4 is connected with central processing unit 1, communication module 5 respectively.
The locating module 3 is used to obtain the positional information of vehicle and be sent to central processing unit 1 and numerical map module
2, the locating module 3 is connected with numerical map module 2, central processing unit 1 respectively.The positional information include this car longitude and latitude,
Course angle；Locating module 3 refers to GPS or BEI-DOU position system, is integrated in roof shark fins antenna, the position for obtaining vehicle
Confidence ceases.
Running state information and positional information calculation of the central processing unit 1 based on vehicle go out the historical track letter of vehicle
Breath.
The communication module 5 is used to set up communication connection with target carriage, sends the positional information, motion state letter of this car
Breath, historical track information, and receive positional information, movement state information, historical track information transmitted by target carriage.This hair
Communication module 5 described in bright uses V2X communication modules.The information that V2X communication modules are also responsible for sending is compiled according to communication protocol
The information of reception is parsed into readable physical values by code into reference format according to communication protocol.
The numerical map module 2 road information and mesh according to where the positional information of Ben Che and target carriage obtains this car
Road information where mark car is simultaneously sent to central processing unit 1.The road information include road ID, intersection ID, road grade,
Road curvature.
The central processing unit 1 also positional information based on Ben Che and target carriage, movement state information, historical track letter
Road information where road information, target carriage where breath, this car filters out effective target car.Central processing unit 1 can also be made simultaneously
It is cooperating type drive assist system and automated driving system application operation platform.
As shown in figure 1, a kind of target carriage extraction system of the present invention, including Ben Che and target carriage, on described car
It is provided with target carriage extraction equipment of the present invention.
The target carriage is provided with communication module 5, and the locating module 3, on-vehicle information being connected with communication module 5 respectively
Acquisition module 4.Communication module 5 uses V2X communication modules in the present invention.The locating module 3 is used to obtain the position of target carriage
Information simultaneously sends the target carriage extraction equipment to this car by V2X communication modules.The on-vehicle information acquisition module 4 be used for from
The running state information of target carriage is obtained in the CAN of target carriage and the target to this car is sent by V2X communication modules
Car extraction equipment.
As shown in Fig. 2 a kind of target carriage extracting method of the present invention, system is extracted using target carriage of the present invention
System, its method is comprised the following steps：
Step one, this car obtain the positional information of this car, and the position that real-time reception target carriage is broadcasted in real time in the process of moving
The distance between information, the car of positional information calculation two according to Ben Che and target carriage D；To enter with distance threshold Dmax apart from D
Row compares, if D≤Dmax, into step 2, if not, it is determined that this target carriage is invalid targets car；Dmax drives for cooperating type
Sail the ultimate range of accessory system and automated driving system treatment.
Step 2, calculated according to the historical path information and course angle of Ben Che and target carriage target carriage with respect to this car away from
From variation tendency；When distance is gradually reduced, into step 3；If it is not, the target carriage is then confirmed for invalid targets car, by its information
Abandon.
Step 3, by the positional information of Ben Che and target carriage input numerical map, numerical map is by Ben Che and target carriage
Longitude and latitude degrees of data import the road network information gathered with map in engine map and matched, obtain road ID1 where this car and
Road ID2 where target carriage；ID1 and ID2 are compared, if ID1 is consistent with ID2, then it represents that Ben Che and target carriage are same
In road, determine that this target carriage, for effective target car, is extracted；If ID1 and ID2 are inconsistent, into step 4.
Step 4, obtain the intersection ID11 nearest apart from this car of road ahead where this car and road where target carriage before
The nearest intersection ID22 of square distance objective car, is compared, to ID11 and ID22 if ID11 is consistent with ID22, then it represents that
There is intersection in the driving trace of two cars, determine this target carriage for effective target car, and extracted；If ID11 and ID22 are not
Unanimously, then this target carriage is confirmed as invalid targets car, and its information is abandoned.
With example, the present invention will be described below：
As shown in figure 3, this car 6 is travelled in the first road 9, target carriage is travelled in the second road 8, although two cars are different
Travelled in road, but there is common crosspoint 10, effective target car can be confirmed as, extracted.
With shown in Fig. 4, this car 6 is travelled in the first road 9, and target carriage 7 is travelled in the second road 8, and two cars are in difference
Road in travel, and in the absence of identical crosspoint, target carriage 7 is invalid targets car, and its information is abandoned.
As shown in figure 5, this car 6 is travelled in the first road 9, target carriage 7 is travelled in the second road 8, and two cars are in difference
Road in travel, and in the absence of intersection, target carriage 7 is invalid targets car, and its information is abandoned.
Claims (5)
1. a kind of target carriage extraction equipment, it is characterised in that：Including locating module（3）, communication module（5）, on-vehicle information collection
Module（4）, central processing unit（1）With numerical map module（2）；
The on-vehicle information acquisition module（4）For obtaining the running state information of vehicle from CAN and being sent to center
Processor（1）, the on-vehicle information acquisition module（4）Respectively with central processing unit（1）, communication module（5）Connection；
The locating module（3）For obtaining the positional information of vehicle and being sent to central processing unit（1）With numerical map module
（2）, the locating module（3）Respectively with numerical map module（2）, central processing unit（1）Connection；
The central processing unit（1）Running state information and positional information calculation based on vehicle go out the historical track letter of vehicle
Breath；
The communication module（5）Communicated to connect for being set up with target carriage, send the positional information of this car, movement state information,
Historical track information, and receive positional information, movement state information, historical track information transmitted by target carriage；
The numerical map module（2）Positional information according to Ben Che and target carriage obtains road information and target where this car
Road information where car is simultaneously sent to central processing unit（1）；
The central processing unit（1）Also the positional information based on Ben Che and target carriage, movement state information, historical track information,
Road information where road information, target carriage where this car filters out effective target car.
2. target carriage extraction equipment according to claim 1, it is characterised in that：The communication module（5）Communicated using V2X
Module（5）.
3. a kind of target carriage extraction system, including Ben Che and target carriage, it is characterised in that：Described car is provided with such as claim
Target carriage extraction equipment described in 1；
The target carriage is provided with communication module（5）, and respectively with communication module（5）The locating module of connection（3）, vehicle-mounted letter
Breath acquisition module（4）；
The locating module（3）For obtaining the positional information of target carriage and passing through communication module（5）Send to the mesh on this car
Mark car extraction equipment；
The on-vehicle information acquisition module（4）For from the CAN of target carriage obtain target carriage running state information simultaneously
By communication module（5）Send to the target carriage extraction equipment on this car.
4. target carriage extraction system according to claim 3, it is characterised in that：Communication mould in the target carriage and Ben Che
Block（5）Use V2X communication modules.
5. a kind of target carriage extracting method, it is characterised in that using the target carriage extraction system as described in claim 3 or 4, its
Method is comprised the following steps：
Step one, this car obtain the positional information of this car, and the position that real-time reception target carriage is broadcasted in real time in the process of moving
The distance between information, the car of positional information calculation two according to Ben Che and target carriage D；To enter with distance threshold Dmax apart from D
Row compares, if D≤Dmax, into step 2, if not, it is determined that this target carriage is invalid targets car；
Step 2, the distance change that relative this car of target carriage is calculated according to the historical path information and course angle of Ben Che and target carriage
Change trend；When distance is gradually reduced, into step 3；If it is not, then confirming that the target carriage, for invalid targets car, its information is lost
Abandon；
Step 3, by the positional information of Ben Che and target carriage input numerical map, numerical map is by Ben Che and the warp of target carriage
Latitude data imports the road network information gathered with map in engine map and is matched, and obtains road ID1 and target where this car
Road ID2 where car；ID1 and ID2 are compared, if ID1 is consistent with ID2, then it represents that Ben Che and target carriage are in same road
In, determine that this target carriage, for effective target car, is extracted；If ID1 and ID2 are inconsistent, into step 4；
Step 4, obtain the intersection ID11 nearest apart from this car of road ahead where this car and road ahead where target carriage away from
The intersection ID22 nearest from target carriage, is compared, if ID11 is consistent with ID22, then it represents that two cars to ID11 and ID22
Driving trace exist and intersect, determine this target carriage for effective target car, and extracted；If ID11 and ID22 are inconsistent,
This target carriage is then confirmed as invalid targets car, its information is abandoned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710051025.8A CN106781588A (en) | 2017-01-23 | 2017-01-23 | Target carriage extracting method, system and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710051025.8A CN106781588A (en) | 2017-01-23 | 2017-01-23 | Target carriage extracting method, system and equipment |
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| Publication Number | Publication Date |
|---|---|
| CN106781588A true CN106781588A (en) | 2017-05-31 |
Family
ID=58942306
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710051025.8A Pending CN106781588A (en) | 2017-01-23 | 2017-01-23 | Target carriage extracting method, system and equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019000745A1 (en) * | 2017-06-29 | 2019-01-03 | 深圳市金溢科技股份有限公司 | V2x terminal, system and management method for compatible multi-system v2x |
| CN109922439A (en) * | 2019-03-29 | 2019-06-21 | 重庆长安汽车股份有限公司 | The fusion method of multi-sensor data, the object detection method based on V2X and system |
| CN110588606A (en) * | 2019-10-14 | 2019-12-20 | 河南工业职业技术学院 | Electric appliance automation control system based on Internet of things |
| CN114464005A (en) * | 2022-02-28 | 2022-05-10 | 重庆长安汽车股份有限公司 | Method and system for assisting driving of vehicle |
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| US20100198513A1 (en) * | 2009-02-03 | 2010-08-05 | Gm Global Technology Operations, Inc. | Combined Vehicle-to-Vehicle Communication and Object Detection Sensing |
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