CN107085961A - A vehicle-mounted terminal, method and system for acquiring traffic signal control information at intersections - Google Patents
A vehicle-mounted terminal, method and system for acquiring traffic signal control information at intersections Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及智能交通技术领域，尤其涉及一种获取路口交通信号控制信息的方法、一种车载终端以及一种包括该车载终端的获取路口交通信号控制信息的系统。The present invention relates to the technical field of intelligent transportation, in particular to a method for acquiring traffic signal control information at intersections, a vehicle-mounted terminal and a system including the vehicle-mounted terminal for acquiring traffic signal control information at intersections.
背景技术Background technique
《道路交通安全法》第25条规定“全国实行统一的道路交通信号”，而国家强制标准《道路交通信号灯设置与安装规范(GB 14886-2016)》和《道路交通信号控制机(GB 25280-2016)》规定了交通信号灯组合显示方式、灯色转换顺序、控制条件和安全性能等要求。安装在路口的交通信号控制机用于控制和显示不同方向的交通信号灯，也用于控制倒计时显示器以及进口车道上的可变车道标志。目前国内大中城市用于的交通信号控制机基本上采用联网控制方式，即由中心级或区域级的交通信号控制系统远程控制和管理，但仅约20％的中小城市在部分交叉口使用了倒计时显示器，用于显示不同方向的红灯等候时间或绿灯剩余时间，因此在多数情况下，司机是无法知晓路口当前红灯等候时间或绿灯剩余时间。还有部分大中城市在一些特殊路口实施了可变车道实时控制，以适应某转向交通流量在某时段变化显著的情形，提高该路口的通行效率。Article 25 of the "Road Traffic Safety Law" stipulates that "unified road traffic signals are implemented nationwide", while the national mandatory standards "Code for Setting and Installation of Road Traffic Signal Lights (GB 14886-2016)" and "Road Traffic Signal Control Machines (GB 25280- 2016)" stipulates the requirements of traffic signal light combination display mode, light color conversion sequence, control conditions and safety performance. The traffic signal control machine installed at the intersection is used to control and display traffic signal lights in different directions, and is also used to control the countdown display and variable lane signs on the entrance lane. At present, the traffic signal controllers used in large and medium-sized cities in China basically adopt networked control methods, that is, they are remotely controlled and managed by traffic signal control systems at the central or regional level, but only about 20% of small and medium-sized cities use them at some intersections. The countdown display is used to display the waiting time of red light or the remaining time of green light in different directions, so in most cases, the driver cannot know the current waiting time of red light or the remaining time of green light at the intersection. There are also some large and medium-sized cities that have implemented real-time control of variable lanes at some special intersections to adapt to the situation where the traffic flow of a certain turn changes significantly during a certain period of time and improve the traffic efficiency of the intersection.
当前，物联网技术、车联网技术和人工智能技术发展迅速，未来的车联网技术将是智能交通系统的核心和基础，它将基于无线通信、传感探测等技术实现车路协同和信息交互，达到优化利用道路资源、提高道路交通安全的目的。At present, the Internet of Things technology, Internet of Vehicles technology and artificial intelligence technology are developing rapidly. The future Internet of Vehicles technology will be the core and foundation of the intelligent transportation system. It will realize vehicle-road collaboration and information interaction based on wireless communication, sensor detection and other technologies. To achieve the purpose of optimizing the use of road resources and improving road traffic safety.
在车联网技术中，如何让汽车或驾驶员提前获知或准确识别前方路口交通信号控制信息(包括交通信号灯状态信息和可变车道指示标志状态信息)是关键所在，同时还应确保获得的信息是可信的和有时效的。目前国际上有多种形式的识别技术或信息感知技术被提出，这些技术包括视觉传感器识别技术、短程无线通讯技术以及4G移动互联网技术等。如谷歌、百度、特斯拉等企业采用了基于视觉传感器识别技术的摄像头+高精度电子地图，根据视频图像中红色、黄色和绿色的斑点数量和大小来识别和判断交通信号灯颜色(如谷歌公司于2013年获得的发明专利US9145140B2“一种用于检测交通信号及其关联状态的方法和设备”)。而苹果公司2014年获得的发明专利US20140129121A1“Routing based ondetected stops(基于检测红绿灯规律的导航系统)”，则基于实时众包采集技术，通过收集和分析来自不同移动终端(iPhone等)上传的交通出行数据，从而确定红绿灯的具体位置和状态，并计算路线上的红绿灯和路程时间，为用户提供最短路线以及显示目的到达地所需时间。这些技术和方法存在的缺点是：一是无法获得当前交通信号灯色剩余时间(国内外大多数路口的信号灯没有安装倒计时显示器，且视频摄像头难于准确识别每秒变动的倒计时数字)；二是恶劣天气条件下难于准确识别交通信号灯灯色状态。而国外基于车路协同技术获取交通信号灯状态的相关专利和应用均没有考虑安全认证机制。国内发明专利号201410157544.9“一种基于车路协同的城市平交路口车内信号指示系统”、发明专利201410306450.3“基于车路协同的发动机起停控制系统及其方法”、发明专利201210139864.2“具有快速通行提示功能的车路协同预警系统及其预警方法”、发明专利201610807902.5“一种基于车路协同技术的信号灯状态终端显示方法及系统”、实用新型专利201620739614.6“基于车路协同和4G网络的主动安全预警装置”以及赵士鹏等的学术论文“基于ZigBee的车载交通信号灯状态采集系统设计”、烟台大学高祥硕士论文“车联网环境下信号交叉口通行方法研究”等，虽然均提出采用无线通讯实现路口交通信号灯状态信息的传输和接收，但是均没有考虑车载终端如何确保接收到交通信号灯状态信息是可信的，更没有提出实现路口可变车道标志状态信息的传输方法。In the Internet of Vehicles technology, how to let the car or driver know in advance or accurately identify the traffic signal control information of the front intersection (including the status information of traffic lights and the status information of variable lane indicators) is the key, and at the same time, it should be ensured that the obtained information is Credible and time-effective. At present, various forms of recognition technology or information perception technology have been proposed in the world, including visual sensor recognition technology, short-range wireless communication technology and 4G mobile Internet technology. Such as Google, Baidu, Tesla and other companies have adopted a camera + high-precision electronic map based on visual sensor recognition technology to identify and judge the color of traffic lights according to the number and size of red, yellow and green spots in the video image (such as Google Inc. Invention patent US9145140B2 "a method and device for detecting traffic signals and their associated states" obtained in 2013). The invention patent US20140129121A1 "Routing based on detected stops (navigation system based on detection of traffic light rules)" obtained by Apple in 2014 is based on real-time crowdsourcing collection technology, by collecting and analyzing traffic travel uploaded from different mobile terminals (iPhone, etc.) Data, so as to determine the specific location and status of traffic lights, and calculate the traffic lights and travel time on the route, provide users with the shortest route and display the time required to reach the destination. The shortcoming that these technologies and methods exist are: the one, can't obtain the remaining time of current traffic signal light color (the signal light of most crossings at home and abroad is not equipped with countdown display, and video camera is difficult to accurately identify the countdown number that changes every second); The 2nd, bad weather It is difficult to accurately identify the color status of traffic lights under certain conditions. However, foreign related patents and applications based on vehicle-road coordination technology to obtain the status of traffic lights do not consider the security authentication mechanism. Domestic Invention Patent No. 201410157544.9 "A Signal Indication System at Urban Level Crossings Based on Vehicle-Road Coordination", Invention Patent No. 201410306450.3 "Engine Start-Stop Control System and Method Based on Vehicle-Road Coordination", and Invention Patent No. 201210139864.2 "With Fast Passing Vehicle-road coordination early warning system and its warning method with prompt function", invention patent 201610807902.5 "a signal light status terminal display method and system based on vehicle-road coordination technology", utility model patent 201620739614.6 "active safety based on vehicle-road coordination and 4G network Early warning device" and Zhao Shipeng's academic paper "Design of Vehicle Traffic Signal State Acquisition System Based on ZigBee", Yantai University Gao Xiang's master's thesis "Research on Traffic Methods at Signaled Intersections in the Internet of Vehicles Environment", etc., although they all propose to use wireless communication to realize intersection The transmission and reception of the status information of traffic lights, however, does not consider how the vehicle-mounted terminal can ensure that the received traffic signal status information is credible, and does not propose a transmission method to realize the status information of variable lane signs at intersections.
因此，如何安全的获取交通信号控制信息成为亟待解决的技术问题。Therefore, how to securely obtain traffic signal control information has become an urgent technical problem to be solved.
发明内容Contents of the invention
本发明旨在至少解决现有技术中存在的技术问题之一，提供一种获取路口交通信号控制信息的方法、一种车载终端以及一种包括该车载终端的获取路口交通信号控制信息的系统，以解决现有技术中的问题。The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a method for obtaining intersection traffic signal control information, a vehicle-mounted terminal, and a system including the vehicle-mounted terminal for obtaining intersection traffic signal control information, To solve the problems in the prior art.
作为本发明的第一个方面，提供一种获取路口交通信号控制信息的方法，其中，所述方法包括：As a first aspect of the present invention, a method for obtaining traffic signal control information at an intersection is provided, wherein the method includes:
与当前位置的路侧单元建立无线通信连接；Establish a wireless communication connection with the roadside unit at the current location;
接收所述路侧单元周期性发送的经过数字签名的当前时刻的交叉口的各进口方向的交通信号控制信息；receiving the digitally signed traffic signal control information of each entrance direction of the intersection at the current moment sent periodically by the roadside unit;
根据当前车辆行驶方向筛选得到当前时刻的行驶进口方向的交通信号控制信息；According to the current driving direction of the vehicle, the traffic signal control information of the driving entrance direction at the current moment is obtained by screening;
对所述经过数字签名的当前时刻的行驶进口方向的交通信号控制信息进行数字签名验证；Perform digital signature verification on the traffic signal control information in the direction of the entrance at the current moment of the digital signature;
当所述数字签名验证通过时，确认当前时刻的行驶进口方向的交通信号控制信息可信；When the verification of the digital signature is passed, it is confirmed that the traffic signal control information in the direction of the entrance at the current moment is credible;
显示所述当前时刻的行驶进口方向的交通信号控制信息。Displaying the traffic signal control information in the direction of the entrance at the current moment.
优选地，所述交通信号控制信息包括交通信号灯状态信息、可变车道指示标志信息和时间戳信息，其中所述交通信号灯状态信息包括各进口方向编号、左转信号灯灯色、左转信号灯灯色剩余时间、直行信号灯灯色、直行信号灯灯色剩余时间、右转信号灯灯色及右转信号灯灯色剩余时间，所述可变车道指示标志信息包括各进口方向编号、可变车道当前指示方向、可变车道当前指示剩余时间及信息生成时间戳，左转信号灯灯色、直行信号灯灯色和右转信号灯灯色均包括红色、绿色和黄色。Preferably, the traffic signal control information includes traffic signal light status information, variable lane indicator information and time stamp information, wherein the traffic signal light status information includes each entrance direction number, left-turn signal light color, left-turn signal light color The remaining time, the color of the straight signal light, the remaining time of the light color of the straight signal light, the color of the right turn signal light and the remaining time of the light color of the right turn signal light. The remaining time of the current indication of the variable lane and the time stamp of information generation, the colors of the left-turn signal light, the straight-going signal light and the right-turn signal light all include red, green and yellow.
优选地，所述方法还包括在所述显示所述当前时刻的行驶进口方向的交通信号控制信息的步骤后进行的：Preferably, the method further includes performing after the step of displaying the traffic signal control information in the direction of the entrance at the current moment:
当显示的当前灯色剩余时间≤5秒时，发出提示信号。When the remaining time of the displayed current light color is less than or equal to 5 seconds, a prompt signal will be issued.
优选地，所述各进口方向的编号与所述交叉口所接入道路的条数相关。Preferably, the numbers of the entrance directions are related to the number of roads connected to the intersection.
作为本发明的第二个方面，提供一种车载终端，其中，所述车载终端包括：As a second aspect of the present invention, a vehicle-mounted terminal is provided, wherein the vehicle-mounted terminal includes:
无线通信模块，所述无线通信模块用于与当前位置的路侧单元建立无线通信连接；A wireless communication module, the wireless communication module is used to establish a wireless communication connection with the roadside unit at the current location;
接收模块，所述接收模块用于接收所述路侧单元周期性发送的经过数字签名的当前时刻的交叉口的各进口方向的交通信号控制信息；A receiving module, the receiving module is used to receive the digitally signed traffic signal control information of each entrance direction of the intersection at the current moment periodically sent by the roadside unit;
信息筛选模块，所述信息筛选模块用于根据当前车辆行驶方向筛选得到当前时刻的行驶进口方向的交通信号控制信息；An information screening module, the information screening module is used to screen and obtain traffic signal control information in the direction of the entrance at the current moment according to the current vehicle driving direction;
安全模块，所述安全模块用于对所述经过数字签名的当前时刻的行驶进口方向的交通信号控制信息进行数字签名验证；A security module, the security module is used to perform digital signature verification on the traffic signal control information in the direction of the entrance that has been digitally signed at the current moment;
确认模块，所述确认模块用于当所述数字签名验证通过时，确认当前时刻的行驶进口方向的交通信号控制信息可信；A confirmation module, the confirmation module is used to confirm that the traffic signal control information in the direction of the entrance at the current moment is credible when the digital signature verification is passed;
显示模块，所述显示模块用于显示所述当前时刻的行驶进口方向的交通信号控制信息。A display module, the display module is used to display the traffic signal control information in the direction of the entrance at the current moment.
优选地，所述车载终端还包括：Preferably, the vehicle-mounted terminal also includes:
提示模块，所述提示模块用于当显示的当前灯色剩余时间≤5秒时，发出提示信号。A prompting module, the prompting module is used to send out a prompting signal when the remaining time of the displayed current light color is less than or equal to 5 seconds.
优选地，所述提示信号包括数字闪烁提示信号或声音预警提示信号。Preferably, the prompt signal includes a digital flashing prompt signal or an audio warning prompt signal.
优选地，所述无线通信模块包括DSRC通信模块、LET-V通信模块或4G/5G通信模块。Preferably, the wireless communication module includes a DSRC communication module, a LTE-V communication module or a 4G/5G communication module.
优选地，所述显示模块包括汽车仪表盘或车载终端显示器。Preferably, the display module includes a car dashboard or a vehicle terminal display.
作为本发明的第三个方面，提供一种获取路口交通信号控制信息的系统，其中，所述系统包括：As a third aspect of the present invention, a system for obtaining traffic signal control information at an intersection is provided, wherein the system includes:
交通信号控制机、路侧单元和前文所述的车载终端；Traffic signal controllers, roadside units and vehicle-mounted terminals as mentioned above;
所述交通信号控制机与所述路侧单元通信连接，所述交通信号控制机用于对交叉口的交通信号控制信息进行数字签名，并将经过数字签名的交叉口的交通信号控制信息发送至所述路侧单元；The traffic signal control machine is communicatively connected with the roadside unit, and the traffic signal control machine is used to digitally sign the traffic signal control information of the intersection, and send the traffic signal control information of the digitally signed intersection to said roadside unit;
所述路侧单元与多个所述车载终端无线通信连接，用于在所述交通信号控制机的控制下周期性向外发送经过数字签名的交叉口的交通信号控制信息。The roadside unit is wirelessly connected to a plurality of the vehicle-mounted terminals, and is used to periodically send out the digitally signed traffic signal control information of the intersection under the control of the traffic signal controller.
本发明提供的获取路口交通信号控制信息的方法及系统，车载终端能够与路侧单元进行无线通信，且车载终端与路侧单元的数据交互的信息时经过数字签名认证的，从而能够避免“黑客”和“伪基站”发布虚假的交通信号灯状态等，以及避免视频识读在恶劣天气下的不准确的问题，提高了交互信息的可信度与安全性，因此车载终端能够安全的获取交通信号控制信息。In the method and system for obtaining traffic signal control information at intersections provided by the present invention, the vehicle-mounted terminal can communicate wirelessly with the roadside unit, and the data exchange information between the vehicle-mounted terminal and the roadside unit is authenticated by a digital signature, thereby avoiding "hackers". " and "pseudo-base station" to release false traffic signal status, etc., and avoid inaccurate video reading in bad weather, which improves the credibility and security of interactive information, so the vehicle terminal can safely obtain traffic signals control information.
附图说明Description of drawings
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, together with the following specific embodiments, are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached picture:
图1为本发明提供的获取路口交通信号控制信息的方法的流程图。FIG. 1 is a flow chart of the method for obtaining traffic signal control information at an intersection provided by the present invention.
图2为本发明提供的车载终端的一种结构示意图。FIG. 2 is a schematic structural diagram of a vehicle-mounted terminal provided by the present invention.
图3为本发明提供的车载终端的另一种结构示意图。FIG. 3 is another structural schematic diagram of the vehicle-mounted terminal provided by the present invention.
图4为本发明提供的车载终端上路口交通信号灯状态显示方式示意图。Fig. 4 is a schematic diagram of the state display mode of the vehicle-mounted terminal on the intersection traffic signal light provided by the present invention.
图5为本发明提供的获取路口交通信号控制信息的系统的结构示意图。FIG. 5 is a schematic structural diagram of a system for acquiring traffic signal control information at an intersection provided by the present invention.
具体实施方式detailed description
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
作为本发明的第一个方面，提供一种获取路口交通信号控制信息的方法，其中，如图1所示，所述方法包括：As a first aspect of the present invention, a method for obtaining traffic signal control information at an intersection is provided, wherein, as shown in Figure 1, the method includes:
S110、与当前位置的路侧单元建立无线通信连接；S110. Establish a wireless communication connection with the roadside unit at the current location;
S120、接收所述路侧单元周期性发送的经过数字签名的当前时刻的交叉口的各进口方向的交通信号控制信息；S120. Receive the digitally signed traffic signal control information of each entrance direction of the intersection at the current moment periodically sent by the roadside unit;
S130、根据当前车辆行驶方向筛选得到当前时刻的行驶进口方向的交通信号控制信息；S130. Obtain the traffic signal control information in the direction of the entrance at the current moment through screening according to the current vehicle driving direction;
S140、对所述经过数字签名的当前时刻的行驶进口方向的交通信号控制信息进行数字签名验证；S140. Perform digital signature verification on the digitally signed traffic signal control information in the direction of the entrance at the current moment;
S150、当所述数字签名验证通过时，确认当前时刻的行驶进口方向的交通信号控制信息可信；S150. When the digital signature verification is passed, confirm that the traffic signal control information in the direction of the entrance at the current moment is credible;
S160、显示所述当前时刻的行驶进口方向的交通信号控制信息。S160. Display the traffic signal control information in the direction of the entrance at the current moment.
本发明提供的获取路口交通信号控制信息的方法，车载终端能够与路侧单元进行无线通信，且车载终端与路侧单元的数据交互的信息时经过数字签名认证的，从而能够避免“黑客”和“伪基站”发布虚假的交通信号灯状态等，以及避免视频识读在恶劣天气下的不准确的问题，提高了交互信息的可信度与安全性，因此车载终端能够安全的获取交通信号控制信息。In the method for obtaining intersection traffic signal control information provided by the present invention, the vehicle-mounted terminal can communicate wirelessly with the roadside unit, and the data exchange information between the vehicle-mounted terminal and the roadside unit is authenticated by a digital signature, thereby avoiding "hackers" and "Pseudo base station" releases false traffic signal status, etc., and avoids inaccurate video reading in bad weather, which improves the credibility and security of interactive information, so the vehicle terminal can safely obtain traffic signal control information .
具体地，所述交通信号控制信息包括交通信号灯状态信息、可变车道指示标志信息和时间戳信息，其中所述交通信号灯状态信息包括各进口方向编号、左转信号灯灯色、左转信号灯灯色剩余时间、直行信号灯灯色、直行信号灯灯色剩余时间、右转信号灯灯色及右转信号灯灯色剩余时间，所述可变车道指示标志信息包括各进口方向编号、可变车道当前指示方向、可变车道当前指示剩余时间及信息生成时间戳，左转信号灯灯色、直行信号灯灯色和右转信号灯灯色均包括红色、绿色和黄色。Specifically, the traffic signal control information includes traffic signal light status information, variable lane indicator information and time stamp information, wherein the traffic signal light status information includes each entrance direction number, left turn signal light color, left turn signal light color The remaining time, the color of the straight signal light, the remaining time of the light color of the straight signal light, the color of the right turn signal light and the remaining time of the light color of the right turn signal light. The remaining time of the current indication of the variable lane and the time stamp of information generation, the colors of the left-turn signal light, the straight-going signal light and the right-turn signal light all include red, green and yellow.
需要说明的是，当所述数字签名验证不通过时，放弃当前时刻的行驶进口方向的交通信号控制信息It should be noted that, when the digital signature verification fails, the traffic signal control information in the direction of the entrance at the current moment is discarded
本发明提供的获取路口交通信号控制信息的方法中，在所述交通信号控制信息中设置有可变车道指示标志信息，使得车载终端通过获得该信息能够得知可变车道的状态，为驾驶员驾驶提供了方便。In the method for obtaining intersection traffic signal control information provided by the present invention, the variable lane indicator information is set in the traffic signal control information, so that the vehicle-mounted terminal can know the state of the variable lane by obtaining the information, which is a driver Driving provides convenience.
进一步具体地，所述方法还包括在所述显示所述当前时刻的行驶进口方向的交通信号控制信息的步骤后进行的：Further specifically, the method further includes performing after the step of displaying the traffic signal control information in the direction of the entrance at the current moment:
当显示的当前灯色剩余时间≤5秒时，发出提示信号。When the remaining time of the displayed current light color is less than or equal to 5 seconds, a prompt signal will be issued.
具体地，本发明提供的获取路口交通信号控制信息的方法的详细步骤包括以下步骤：Specifically, the detailed steps of the method for obtaining intersection traffic signal control information provided by the present invention include the following steps:
(a)路侧交通信号控制机通过路侧单元(RSU)的无线通信模块周期性广播(发布)交通信号控制信息(包括交通信号灯显示状态、可变车道标志显示信息和时间戳等信息)和对应的数字签名信息；(a) The roadside traffic signal control machine periodically broadcasts (publishes) traffic signal control information (including information such as traffic signal light display status, variable lane sign display information, and time stamps) through the wireless communication module of the roadside unit (RSU) and Corresponding digital signature information;
(b)进入信号覆盖范围的汽车利用车载终端(OBU)的无线通信模块接收相关信息，并利用行驶位置和方向等属性信息，过滤掉无效(或失效)信息，仅保留本进口方向i的交通信号控制信息等。如当前时间T-时间戳TS≥5秒时，则可将接收的信息判断为已超出时限的失效信息。(b) Cars entering the coverage area of the signal use the wireless communication module of the vehicle-mounted terminal (OBU) to receive relevant information, and use attribute information such as driving position and direction to filter out invalid (or invalid) information, and only keep the traffic in the direction i of this entrance Signal control information, etc. If the current time T-time stamp T S ≥ 5 seconds, the received information can be judged as invalid information that has exceeded the time limit.
(c)行驶中的汽车通过车载终端的安全模块及其密钥进行安全验证，获得可信的交通信号控制信息，并在汽车仪表盘或终端显示器上匹配显示前方左转、直行和右转信号灯状态实时信息或可变车道标志状态信息，而对安全验证不成功的，则放弃已接收的信息；(c) The vehicle in motion performs security verification through the security module of the vehicle-mounted terminal and its key, obtains credible traffic signal control information, and matches and displays the front left-turn, straight-going and right-turn signal lights on the car dashboard or terminal display Status real-time information or variable lane marking status information, and if the safety verification is unsuccessful, the received information will be discarded;
优先地，所述车载终端的安全模块及密钥亦可直接使用公安机关正在推进的汽车电子标识芯片中现有的SM7国密安全算法和密钥。Preferably, the security module and key of the vehicle terminal can also directly use the existing SM7 national secret security algorithm and key in the automotive electronic identification chip being promoted by the public security organ.
(d)当信号灯灯色(相位)变化前数秒时，及时提醒汽车和驾驶员选择正确的操作方式行驶。其中：提醒方式包括在信号灯灯色变化前数秒(如实时显示的当前灯色剩余时间≤5秒)采用数字闪烁显示或声音预警提示。(d) When the color (phase) of the signal light changes a few seconds before, remind the car and the driver to choose the correct operation mode to drive in time. Among them: the reminder method includes digital flashing display or sound warning prompt a few seconds before the signal light color changes (for example, the remaining time of the current light color displayed in real time is ≤ 5 seconds).
(e)汽车离开路口后将过滤该路口交通信号控制机发出的信息，准备接收下一个路口发出的交通信号控制信息。(e) After the car leaves the crossing, it will filter the information sent by the traffic signal control machine at the crossing, and prepare to receive the traffic signal control information sent by the next crossing.
需要说明的是，所述各进口方向的编号与所述交叉口所接入道路的条数相关。例如，对于交叉口类型为T型或Y型的，则上述进口方向i仅有三个，即i∈{1，2，3}；对于交叉口有5条道路接入的，则i∈{1，2，3，4，5}。It should be noted that the numbers of the entrance directions are related to the number of roads connected to the intersection. For example, if the intersection type is T-type or Y-type, there are only three entrance directions i, that is, i∈{1, 2, 3}; for an intersection with 5 road access, then i∈{1 , 2, 3, 4, 5}.
因此，本发明提供的获取路口交通信号控制信息的方法解决了目前车路协同V2I应用案例和专利中普遍存在的交互信息可信度问题，避免“黑客”和“伪基站”发布虚假的交通信号灯状态等，避免视频识读在恶劣天气下的不准确问题，使得车载终端能够获取路口交通信号控制机发出的、经数字签名认证的交通信号灯状态，为汽车和驾驶人掌握前方路口当前绿灯通行剩余时间和红灯等候时间以及可变车道标志状态等信息，作出正确的判断和驾驶操作，确保车辆运行安全。另外，针对不同路口信号灯设置现状，可按三种显示方式展示右转、直行和右转信号灯的相关信息，解决多相位信号灯状态显示问题。Therefore, the method for obtaining intersection traffic signal control information provided by the present invention solves the common problem of interactive information credibility in the current vehicle-road collaborative V2I application cases and patents, and avoids "hackers" and "pseudo base stations" from issuing false traffic lights Status, etc., to avoid the inaccurate problem of video reading in bad weather, so that the vehicle-mounted terminal can obtain the traffic signal status issued by the traffic signal control machine at the intersection and certified by digital signature, so that the car and the driver can grasp the remaining time of the current green light at the intersection ahead. Time and red light waiting time and variable lane marking status and other information, to make correct judgment and driving operation, to ensure safe operation of the vehicle. In addition, according to the current situation of signal lights at different intersections, relevant information of right-turn, straight-going and right-turn signal lights can be displayed in three display modes to solve the problem of multi-phase signal light status display.
作为本发明的第二个方面，提供一种车载终端，其中，如图2所示，所述车载终端30包括：As a second aspect of the present invention, a vehicle-mounted terminal is provided, wherein, as shown in FIG. 2 , the vehicle-mounted terminal 30 includes:
无线通信模块31，所述无线通信模块31用于与当前位置的路侧单元建立无线通信连接；A wireless communication module 31, the wireless communication module 31 is used to establish a wireless communication connection with the roadside unit at the current location;
接收模块32，所述接收模块32用于接收所述路侧单元周期性发送的经过数字签名的当前时刻的交叉口的各进口方向的交通信号控制信息；A receiving module 32, the receiving module 32 is used to receive the traffic signal control information of each entrance direction of the intersection at the current moment through the digital signature periodically sent by the roadside unit;
信息筛选模块33，所述信息筛选模块33用于根据当前车辆行驶方向筛选得到当前时刻的行驶进口方向的交通信号控制信息；Information screening module 33, described information screening module 33 is used for screening and obtaining the traffic signal control information of the driving entrance direction at the current moment according to the current vehicle driving direction;
安全模块34，所述安全模块34用于对所述经过数字签名的当前时刻的行驶进口方向的交通信号控制信息进行数字签名验证；Safety module 34, described safety module 34 is used for carrying out the digital signature verification to the traffic signal control information of the driving entrance direction of the current moment through the digital signature;
确认模块35，所述确认模块35用于当所述数字签名验证通过时，确认当前时刻的行驶进口方向的交通信号控制信息可信；Confirmation module 35, described confirmation module 35 is used for confirming that the traffic signal control information of the driving entrance direction at the current moment is credible when the digital signature verification is passed;
显示模块36，所述显示模块36用于显示所述当前时刻的行驶进口方向的交通信号控制信息。A display module 36, the display module 36 is used for displaying the traffic signal control information in the direction of the entrance at the current moment.
本发明提供的车载终端能够与路侧单元进行无线通信，且车载终端与路侧单元的数据交互的信息时经过数字签名认证的，从而能够避免“黑客”和“伪基站”发布虚假的交通信号灯状态等，以及避免视频识读在恶劣天气下的不准确的问题，提高了交互信息的可信度与安全性，因此车载终端能够安全的获取交通信号控制信息。The vehicle-mounted terminal provided by the present invention can perform wireless communication with the roadside unit, and the data exchange information between the vehicle-mounted terminal and the roadside unit is authenticated by a digital signature, thereby preventing "hackers" and "pseudo base stations" from issuing false traffic lights status, etc., and avoid inaccurate video reading in bad weather, which improves the reliability and security of interactive information, so the vehicle-mounted terminal can safely obtain traffic signal control information.
进一步地，如图3所示，所述车载终端30还包括：Further, as shown in FIG. 3 , the vehicle-mounted terminal 30 also includes:
提示模块37，所述提示模块37用于当显示的当前灯色剩余时间≤5秒时，发出提示信号。A prompting module 37, the prompting module 37 is used to send out a prompting signal when the remaining time of the displayed current light color is less than or equal to 5 seconds.
具体地，所述提示信号包括数字闪烁提示信号或声音预警提示信号。Specifically, the prompt signal includes a digital flashing prompt signal or an audio warning prompt signal.
优选地，所述无线通信模块31包括DSRC通信模块、LET-V通信模块或4G/5G通信模块。Preferably, the wireless communication module 31 includes a DSRC communication module, a LTE-V communication module or a 4G/5G communication module.
优选地，所述显示模块36包括汽车仪表盘或车载终端显示器。Preferably, the display module 36 includes a car dashboard or a vehicle terminal display.
为了更加清楚的理解本发明提供的车载终端的工作原理，以下结合附图和具体实施例，并假设交叉口为十字路口，对本发明提供的车载终端作进一步地详细说明。In order to understand more clearly the working principle of the vehicle-mounted terminal provided by the present invention, the vehicle-mounted terminal provided by the present invention will be further described in detail below in conjunction with the drawings and specific embodiments, assuming that the intersection is a crossroad.
如图4所示，对应于国家标准GB 14886-2016有关规定，显示方式A用于显示未分设左、直、右方向控制相位的路口信号灯状态信息，因此只显示一组圆盘信号灯和一个计时显示器；显示方式B用于显示设有独立的左转控制相位的路口信号灯状态信息，因此只显示1组圆盘信号灯、1组左转方向指示信号灯和2个计时显示器；显示方式C用于显示设有独立的左转和右转控制相位的路口信号灯状态信息，因此需显示1组圆盘信号灯、1组左转方向指示信号灯、1组右转方向指示信号灯和独立的3个计时显示器。As shown in Figure 4, corresponding to the relevant provisions of the national standard GB 14886-2016, the display mode A is used to display the status information of the intersection signal lights without separate left, straight and right direction control phases, so only a group of disc signal lights and a timer are displayed Display; display mode B is used to display the status information of intersection signal lights with independent left-turn control phases, so only one set of disc signal lights, one set of left-turn direction indicator lights and two timing displays are displayed; display mode C is used to display There are independent left-turn and right-turn control phase intersection signal status information, so it is necessary to display 1 set of disc signal lights, 1 set of left-turn direction indicator lights, 1 set of right-turn direction indicator lights and 3 independent timing displays.
如图5所示，所述路测设备端主要包括道路交通信号控制机10和路测单元20，其中所述道路交通信号控制机10包括主控模块11、灯控模块12和第一通信模块13，所述路测单元20主要包括第二通信模块21，因此在路侧设备端：As shown in Figure 5, the road test equipment end mainly includes a road traffic signal controller 10 and a road test unit 20, wherein the road traffic signal controller 10 includes a main control module 11, a light control module 12 and a first communication module 13. The drive test unit 20 mainly includes a second communication module 21, so at the roadside equipment side:
首先，所述路侧交通信号控制机(RTSC)的主控模块11将当前进口方向i的交通信号灯状态信息/可变车道指示标志信息SSi、交通信号控制机设备编号ID进行非对称加密运算，形成一个字符串DMi，即DMi＝AE(ID，SSi，Pkey)， First, the main control module 11 of the roadside traffic signal control machine (RTSC) performs asymmetric encryption calculation on the traffic signal status information/variable lane indicator information SS i of the current entrance direction i, and the equipment number ID of the traffic signal control machine , forming a character string DM i , that is, DM i =AE(ID, SS i , Pkey),
其中，AE为某个非对称加密运算函数，Pkey为加密公钥，在交通信号控制机主控模块内置该加密算法和公钥；交通信号灯显示状态信息SSi＝{进口方向编号i，(左转信号灯灯色LCi，灯色剩余时间RTi 1)，(直行信号灯灯色SCi，灯色剩余时间RTi 2)，(右转信号灯灯色RCi，灯色剩余时间RTi 3)，信息生成时间戳TSi}，而可变车道标志显示信息SSi＝{进口方向编号i、可变车道当前指示方向LDi及剩余时间RTi，信息生成时间戳TSi}。当某个转向信号灯无时，该转向的信号灯色LC和灯色剩余时间LT均设为零；无可变车道控制的路口交通信号控制机则不广播该信息。Wherein, AE is a certain asymmetric encryption operation function, and Pkey is an encryption public key, and the encryption algorithm and the public key are built into the main control module of the traffic signal control machine; the traffic signal lights display status information SS i = {import direction number i, (left Turn signal light color LC i , light color remaining time RT i 1 ), (straight signal light color SC i , light color remaining time RT i 2 ), (right turn signal light color RC i , light color remaining time RT i 3 ) , information generation time stamp TS i }, and variable lane sign display information SS i = {entrance direction number i, variable lane current indication direction LD i and remaining time RT i , information generation time stamp TS i }. When there is no turn signal light, the turn signal light color LC and light color remaining time LT are all set to zero; the intersection traffic signal controller without variable lane control does not broadcast this information.
其次，通过路侧单元(RSU)的第二通信模块21定期重复广播(发布)该交叉口各进口方向的经过数字签名的交通信号控制信息(即SSi和DMi)，持续2至5秒，然后返回重新产生当前交通信号控制信息。Secondly, through the second communication module 21 of the roadside unit (RSU), the digitally signed traffic signal control information (ie SS i and DM i ) of each entrance direction of the intersection is repeatedly broadcast (issued) for 2 to 5 seconds. , and then return to regenerate the current traffic signal control information.
由前文所述可知所述车载终端30的结构，因此在所述车载终端30端，具体的：The structure of the vehicle-mounted terminal 30 can be known from the foregoing, so at the vehicle-mounted terminal 30, specifically:
第一步，所述车载终端(OBU)的无线通信模块31实时接收到路侧交通信号控制设备发出的信号并进行过滤处理和判断(如可根据车辆行驶方向以及路侧交通信号控制设备位置信息等判断)，仅接收前方进口方向i的交通信号控制信息(即SSi和DMi)；利用所述车载终端30的安全模块34内置的非对称密码算法和解密私钥Rri_Key，对接收到的信息进行数字签名安全验证，即其中，异或运算。当DM′i安全验证成功的，则解析得到的SSi和TSi是可信的信息；当DM′i安全验证不成功的，则放弃已接收的信息，重复第一步工作。In the first step, the wireless communication module 31 of the vehicle-mounted terminal (OBU) receives the signal sent by the roadside traffic signal control device in real time and performs filtering and judgment (such as according to the direction of vehicle travel and the position information of the roadside traffic signal control device) etc.), only receive the traffic signal control information (i.e. SS i and DM i ) of the front entrance direction i; utilize the built-in asymmetric cryptographic algorithm and decryption private key Rri_Key of the safety module 34 of the vehicle terminal 30 to process the received The information is digitally signed for security verification, that is, in, XOR operation. When the security verification of DM' i is successful, the SS i and TS i obtained through analysis are credible information; when the security verification of DM' i is unsuccessful, the received information is discarded and the first step is repeated.
第二步，在所述车载终端30的显示模块36(泛指车载终端显示器或汽车仪表盘)匹配显示前方进口方向i的左转、直行和右转信号灯状态实时信息(包括当前灯色状态和灯色剩余时间)或可变车道标志状态信息(包括左转或直行或右转指示，以及剩余时间)。显示的当前灯色状态仍用“红”“黄”、“绿”表示，显示的某转向j的剩余时间ΔTi j为获取的灯色剩余时间-(当前时间T-时间戳)，j＝1，2，3分别表示左转、直行和右转)。例如，直行车道(j＝2)灯色剩余时间计算公式为：In the second step, the display module 36 of the vehicle-mounted terminal 30 (generally referring to the vehicle-mounted terminal display or the automobile instrument panel) matches and displays the real-time information of the left turn, straight ahead and right turn signal lamp status (comprising the current lamp color status and Light color remaining time) or variable lane sign status information (including left turn or straight ahead or right turn indication, and remaining time). The current status of the displayed light color is still represented by "red", "yellow", and "green", and the remaining time ΔT i j of a certain turn j displayed is the remaining time of the acquired light color-(current time T-time stamp), j= 1, 2, and 3 represent turning left, going straight and turning right respectively). For example, the formula for calculating the remaining time of the light color of the straight lane (j=2) is:
直行车道灯色剩余时间 Remaining time of straight lane light color
如果计算得到的可变车道标志灯色剩余时间ΔTi j≥100秒时，则ΔTi j取值99，即车载显示设备上最多显示99秒。If the calculated remaining time ΔT i j of the color of the variable lane marking lights is ≥100 seconds, then ΔT i j takes a value of 99, that is, the vehicle display device displays a maximum of 99 seconds.
第三步，在所述车载终端(OBU)的无线通信模块31在获得最新的交通信号控制信息DMi前，所述显示模块38每秒递减显示灯色剩余时间；否则返回第一步。In the third step, before the wireless communication module 31 of the vehicle-mounted terminal (OBU) obtains the latest traffic signal control information DM i , the display module 38 decrementally displays the remaining time of the light color every second; otherwise, return to the first step.
第四步，在当前灯色剩余时间≤5秒时，所述车载终端(OBU)通过数字闪烁或声音预警提示等方式提醒驾驶员注意信号灯灯色转换、选择正确的驾驶操作；当前灯色剩余时间＝0时，自动更新显示下一步信号相位内容。In the fourth step, when the remaining time of the current light color is less than or equal to 5 seconds, the vehicle-mounted terminal (OBU) reminds the driver to pay attention to the light color conversion of the signal light and select the correct driving operation through digital flashing or sound warning prompts; When time = 0, it will automatically update and display the content of the next signal phase.
需要补充说明的是，对于交叉口类型为T型或Y型的，则上述进口方向i仅有三个，即i∈{1，2，3}；对于交叉口有5条道路接入的，则i∈{1，2，3，4，5}。It needs to be added that, for the intersection type T-type or Y-type, there are only three entrance directions i, that is, i∈{1, 2, 3}; for the intersection with 5 road access, then i ∈ {1, 2, 3, 4, 5}.
关于本发明提供的车载终端的描述还可以参照前文的获取路口交通信号控制信息的方法的描述，此处不再赘述。For the description of the vehicle-mounted terminal provided by the present invention, reference may also be made to the foregoing description of the method for obtaining traffic signal control information at intersections, and details are not repeated here.
作为本发明的第三个方面，提供一种获取路口交通信号控制信息的系统，其中，如图5所示，所述系统1包括：As a third aspect of the present invention, a system for obtaining traffic signal control information at intersections is provided, wherein, as shown in FIG. 5 , the system 1 includes:
交通信号控制机10、路侧单元20和前文所述的车载终端30；Traffic signal control machine 10, roadside unit 20 and vehicle-mounted terminal 30 mentioned above;
所述交通信号控制机10与所述路侧单元20通信连接，所述交通信号控制机10用于对交叉口的交通信号控制信息进行数字签名，并将经过数字签名的交叉口的交通信号控制信息发送至所述路侧单元20；The traffic signal control machine 10 is communicatively connected with the roadside unit 20, and the traffic signal control machine 10 is used to digitally sign the traffic signal control information of the intersection, and control the traffic signal of the intersection through the digital signature. The information is sent to the roadside unit 20;
所述路侧单元20与多个所述车载终端30无线通信连接，用于在所述交通信号控制机10的控制下周期性向外发送经过数字签名的交叉口的交通信号控制信息。The roadside unit 20 is wirelessly connected to a plurality of vehicle-mounted terminals 30 , and is used to periodically send out the traffic signal control information of the digitally signed intersection under the control of the traffic signal control machine 10 .
本发明提供的获取路口交通信号控制信息的系统，车载终端能够与路侧单元进行无线通信，且车载终端与路侧单元的数据交互的信息时经过数字签名认证的，从而能够避免“黑客”和“伪基站”发布虚假的交通信号灯状态等，以及避免视频识读在恶劣天气下的不准确的问题，提高了交互信息的可信度与安全性，因此车载终端能够安全的获取交通信号控制信息。In the system for obtaining intersection traffic signal control information provided by the present invention, the vehicle-mounted terminal can communicate wirelessly with the roadside unit, and the data exchange information between the vehicle-mounted terminal and the roadside unit is certified by a digital signature, thereby avoiding "hackers" and "Pseudo base station" releases false traffic signal status, etc., and avoids inaccurate video reading in bad weather, which improves the credibility and security of interactive information, so the vehicle terminal can safely obtain traffic signal control information .
具体地，安装于路侧的交通信号控制机10主要包括主控模块11、灯控模块12和第一通信模块13，所述路侧单元20主要包括第二通信模块21，所述车载终端30包括前文所述的结构。其中，所述交通信号控制机10通过第一通信模块13与路侧单元20的第二通信模块21进行网络连接和数据传输，通过所述灯控模块12，实现对各方向信号灯灯色状态的显示控制；所述路侧单元20与车载终端30的无线通信模块31进行无线通信和数据传输。Specifically, the traffic signal controller 10 installed on the roadside mainly includes a main control module 11, a light control module 12 and a first communication module 13, the roadside unit 20 mainly includes a second communication module 21, and the vehicle terminal 30 including the structures described above. Wherein, the traffic signal control machine 10 performs network connection and data transmission with the second communication module 21 of the roadside unit 20 through the first communication module 13, and through the light control module 12, realizes the control of the light color status of each direction signal light Display control: the roadside unit 20 performs wireless communication and data transmission with the wireless communication module 31 of the vehicle-mounted terminal 30 .
需要说明的是，所述交通信号控制机10的主控模块11除了包括传统的交通信号处理功能外，还存储有非对称加密算法、密钥和唯一的交通信号控制机设备编码。It should be noted that, in addition to traditional traffic signal processing functions, the main control module 11 of the traffic signal controller 10 also stores an asymmetric encryption algorithm, a key and a unique device code of the traffic signal controller.
优选地，所述路侧单元20可以集成嵌入交通信号控制机10中，以提高集成可靠性并节约设备成本。Preferably, the roadside unit 20 can be integrated and embedded in the traffic signal control machine 10 to improve integration reliability and save equipment cost.
可以理解的是，以上实施方式仅仅是为了说明本发明的原理而采用的示例性实施方式，然而本发明并不局限于此。对于本领域内的普通技术人员而言，在不脱离本发明的精神和实质的情况下，可以做出各种变型和改进，这些变型和改进也视为本发明的保护范围。It can be understood that, the above embodiments are only exemplary embodiments adopted for illustrating the principle of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.
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