CN107545755A - A kind of matching process and system of vehicle receiver traffic lights information - Google Patents
A kind of matching process and system of vehicle receiver traffic lights information Download PDFInfo
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Abstract
The invention belongs to information data processing technology field, discloses a kind of matching process and system of vehicle receiver traffic lights information, and the first step, traffic lights corresponding region calculate；Second step, vehicle location calculate；Traffic lights corresponding region residing for 3rd step, vehicle calculates；4th step, the traffic lights corresponding region according to residing for vehicle, obtain matched traffic lights information group；5th step, after vehicle leaves crossing, stop voice broadcast or screen display.Real-time of the present invention is high, and stability is good, can ensure the display time phase difference of car-mounted terminal and traffic lights within 0.2 second；Car-mounted terminal need not install map system, and hardware cost is low, easy to maintenance.
Description
Technical Field
The invention belongs to the technical field of information data processing, and particularly relates to a matching method and a matching system for receiving traffic light information by a vehicle.
Background
At a traffic light intersection, a driver visually obtains current traffic light information. In special cases, such as: the front vehicles are large vehicles such as buses, and due to the fact that sight lines are shielded, driving of drivers is interfered, and traffic accidents such as running red lights or rear-end collisions are easily caused. For solving the problem of sight line shielding of a driver, the current main technical route is as follows: based on the internet technology, vehicles arriving at the intersection obtain the position and the driving direction of the vehicles through a map system, and traffic light information is obtained by accessing a server on the internet.
The problems existing in the prior art are as follows: when accessing a server on the internet, the latency is affected by many factors, such as: the current network congestion condition, server load and the like are difficult to guarantee; the vehicle needs to obtain the position and the driving direction of the vehicle through a map system, so that the map needs to be saved and updated in real time on the vehicle-mounted terminal.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a matching method and a matching system for receiving traffic light information by a vehicle.
The invention is realized in this way, a matching method for vehicle to receive traffic light information, the vehicle does not need to visit the Internet, and the matched traffic light information is obtained according to the self position and the corresponding area of the traffic light, the matching method for vehicle to receive traffic light information comprises the following steps:
firstly, calculating a traffic light corresponding region;
secondly, calculating the position of the vehicle;
thirdly, calculating a traffic light corresponding area where the vehicle is located;
fourthly, obtaining a matched traffic light information group according to the area corresponding to the traffic light where the vehicle is located;
and step five, stopping voice broadcasting or screen displaying after the vehicle leaves the intersection.
Further, in the first step, the traffic light corresponding region is calculated, specifically: the longitude and latitude coordinates of four vertexes of the corresponding area of the traffic light are respectively A (a) 1 ,a 2 )、B(b 1 ,b 2 )、C(c 1 ,c 2 ) And D (D) 1 ,d 2 ) The method comprises the following steps of adopting a plane rectangular coordinate system, taking a point C as an origin of coordinates, taking a CD direction as an x axis, taking a CA direction as a y axis, and calculating the positions of four vertexes of a corresponding area of a traffic light in the rectangular coordinate system according to the longitude and latitude of the four vertexes of the corresponding area of the traffic light: point C is located at the origin of coordinates (0, 0), point A is located at the y-axis, and coordinates (0, y) 1 ) With point D on the x-axis and the coordinates (x) 1 0), the B point is located in the first quadrant with coordinates (x) 1 ,y 1 ). The calculation method comprises the following steps:
wherein PI = 3.141592658979323846; r =6371004 m, which is the mean radius of the earth.
Further, in the second step, the vehicle position is calculated, specifically: calculating the longitude and latitude position (M) of the vehicle M by adopting the plane rectangular coordinate system in the first step 1 ,m 2 ) Position in rectangular coordinate system, coordinate is (x) m ,y m ). The calculation method comprises the following steps:
x m ＝|MC|×cos∠MCD；
y m ＝|MC|×sin∠MCD；
wherein the content of the first and second substances,
| MC |, | MD | and | CD | are the lengths of the three sides of the triangle MCD, and are respectively:
wherein PI = 3.141592658979323846; r =6371004 m, which is the average radius of the earth.
Further, in the third step, the area corresponding to the traffic light where the vehicle is located is calculated, and the calculation method is as follows: if the vehicle is located in a region corresponding to a certain traffic light, then: 0<x m <x 1 And 0<y m <y 1 (ii) a If the condition is met, the vehicle is located in the area corresponding to the traffic light; otherwise, the vehicle is positioned outside the corresponding area of the traffic light.
Further, in the fifth step, the method for judging that the vehicle leaves the intersection comprises the following steps: along with the forward movement of the vehicle, the position of the vehicle is changed from being positioned in the area corresponding to the traffic light to being positioned outside the area range corresponding to the traffic light. The calculation method comprises the following steps: if the vehicle is located in a region corresponding to a traffic light, the following steps are carried out: 0<x m <x 1 And 0<y m <y 1 (ii) a If the condition is met, the vehicle is located in the area corresponding to the traffic light; otherwise, the vehicle is positioned outside the corresponding area of the traffic light.
Another object of the present invention is to provide a matching system for receiving traffic light information by a vehicle, comprising:
traffic light information sending module for utilize wireless communication module for the multiunit traffic light, periodic broadcast traffic light information, the information includes: the ID of the traffic light, the area corresponding to the traffic light and the information of the reading of the traffic light;
the vehicle-mounted terminal unit is used for acquiring the longitude and latitude information of the vehicle through a GPS module or a Beidou module embedded in the vehicle-mounted terminal unit; the vehicle receives various groups of traffic light information broadcast and sent by a plurality of groups of traffic lights through a built-in traffic light information sending module through a wireless communication module embedded in a vehicle-mounted terminal unit; and the vehicle obtains the matched traffic light information group by the traffic light information matching method.
The invention has the advantages and positive effects that:
(1) High real-time performance and good stability. When the vehicle-mounted terminal communicates with the traffic lights, the vehicle-mounted terminal does not need to pass through the Internet or other nodes for forwarding, and the real-time performance of information transmission can be effectively guaranteed by the direct communication mode. By adopting the method, the display time difference between the vehicle-mounted terminal and the traffic light can be ensured within 0.2 second.
(2) The vehicle-mounted terminal does not need to be provided with a map system, so that the hardware cost is low and the maintenance is convenient. By adopting the method, the vehicle-mounted terminal identifies the required traffic lights through the position of the vehicle and the corresponding area of the traffic lights, compared with a navigation mode based on a map system, the method has the advantages of small requirement on storage space, small calculation amount, no map updating problem and convenient maintenance.
Drawings
Fig. 1 is a flowchart of a matching method for receiving traffic light information by a vehicle according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a road environment with 4 traffic lights according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a traffic light corresponding area according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a rectangular coordinate system according to an embodiment of the present invention.
Fig. 5 is a matching system for receiving traffic light information by a vehicle according to an embodiment of the present invention.
In the figure: 1. a traffic light information sending module; 2. a vehicle-mounted terminal unit; 3. a GPS module or a Beidou module; 4. and a wireless communication module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The problems in the prior art are that: when accessing a server on the internet, the latency is affected by many factors, such as: the current network congestion condition, server load and the like are difficult to guarantee in real time; the vehicle needs to obtain the position and the driving direction of the vehicle through a map system, so that the map needs to be saved and updated in real time on the vehicle-mounted terminal.
The application of the principles of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a matching method for receiving traffic light information by a vehicle. Different from the method based on the Internet, the method does not need to access the Internet for the vehicle, and the matched traffic light information is obtained according to the position of the vehicle and the corresponding area of the traffic light, so that voice broadcasting or screen display is realized.
As shown in fig. 1, a matching method for receiving traffic light information by a vehicle according to an embodiment of the present invention includes:
s101: and calculating the corresponding area of the traffic light.
S102: and calculating the position of the vehicle.
S103: and calculating the area corresponding to the traffic light where the vehicle is located.
S104: and obtaining the matched traffic light information group according to the area corresponding to the traffic light where the vehicle is located.
S105: and when the vehicle leaves the intersection, stopping voice broadcasting or screen displaying.
In S101, calculating a traffic light corresponding region, specifically: as shown in FIG. 4, the longitude and latitude coordinates of four vertexes of the corresponding area of the traffic light are respectively A (a) 1 ,a 2 )、B(b 1 ,b 2 )、C(c 1 ,c 2 ) And D (D) 1 ,d 2 ) By usingThe plane rectangular coordinate system takes a C point as a coordinate origin, a CD direction as an x axis and a CA direction as a y axis, and the positions of four vertexes of a corresponding area of the traffic light in the rectangular coordinate system are calculated according to the longitude and latitude of the four vertexes of the corresponding area of the traffic light: point C is located at the origin of coordinates (0, 0), point A is located at the y-axis, and coordinates (0, y) 1 ) D is located on the x-axis and has the coordinate of (x) 1 0), the B point is located in the first quadrant with coordinates (x) 1 ,y 1 ). The calculation method comprises the following steps:
wherein PI = 3.141592658979323846; r =6371004 m, which is the mean radius of the earth.
In S102, the vehicle position is calculated, specifically: the longitude and latitude position (M) of the vehicle M is calculated by adopting the plane rectangular coordinate system in S101 1 ,m 2 ) Position in rectangular coordinate system, coordinate is (x) m ,y m ). The calculation method comprises the following steps:
x m ＝|MC|×cos∠MCD
y m ＝|MC|×sin∠MCD
wherein the content of the first and second substances,
| MC |, | MD | and | CD | are the lengths of the three sides of the triangle MCD, and are respectively:
in S103, a traffic light corresponding region where the vehicle is located is calculated, and the calculation method is as follows: if the vehicle is located in a region corresponding to a certain traffic light, then: 0<x m <x 1 And 0<y m <y 1 (ii) a If the condition is met, the vehicle is located in the area corresponding to the traffic light; otherwise, the vehicle is positioned outside the corresponding area of the traffic light.
In S105, the method for determining that the vehicle leaves the intersection is: along with the forward movement of the vehicle, the position of the vehicle is changed from being positioned in the area corresponding to the traffic light to being positioned outside the area range corresponding to the traffic light. The calculation method comprises the following steps: if the vehicle is located in a region corresponding to a traffic light, the following steps are carried out: 0<x m <x 1 And 0<y m <y 1 (ii) a If the condition is met, the vehicle is located in the area corresponding to the traffic light; otherwise, the vehicle is positioned outside the corresponding area of the traffic light.
The matching method for receiving traffic light information by the vehicle is suitable for various road environments under the control of the traffic light. The road environment under the control of the usual traffic lights includes four types: the system comprises a crossroad environment containing 4 traffic lights, a T-shaped crossroad environment containing 3 traffic lights, a non-crossroad environment containing 2 traffic lights and a non-crossroad environment containing only 1 traffic light. Taking a typical intersection environment with 4 traffic lights as an example, as shown in fig. 2, the positions of the traffic lights are respectively expressed as follows based on the driving direction of the vehicle: front, back, left and right.
In the matching method for receiving the traffic light information by the vehicle, provided by the embodiment of the invention, the traffic light periodically broadcasts the traffic light information by using the wireless communication module. The broadcast period is T, and in general, T =1 second is taken. The traffic light information includes: traffic light ID, traffic light corresponding area, red/green light reading. The traffic light corresponding region refers to a position region where a vehicle paying attention to the traffic light information is located.
Fig. 3 shows a schematic diagram of the corresponding area of the traffic light. The shape of the corresponding area of the traffic light is a rectangle, and A, B, C and D are four vertexes of the rectangle. The setting principle of the rectangle position and size is as follows: the corresponding areas of the traffic lights in all directions are not overlapped; the positions of the point C and the point D are set according to the effective distance of wireless communication, and the distances from the point C and the point D to the traffic light are equivalent to the effective distance of the wireless communication; the coverage range between the sides AC and BD of the rectangle is slightly larger than the range of the lane where the vehicle is located, so that the error of longitude and latitude information acquired by the vehicle through the GPS module or the Beidou module is eliminated.
In the aspect of specific implementation, the wireless communication module can adopt various wireless communication technologies such as bluetooth/ZigBee/WiFi, and each traffic light can send the traffic light information of the group independently, and a certain traffic light can send all the traffic light information of each group in a unified manner.
The vehicle acquires the longitude and latitude information of the vehicle through a GPS module or a Beidou module on the vehicle-mounted terminal.
The vehicle receives each group of traffic light information sent by the traffic light broadcast through the wireless communication module on the vehicle-mounted terminal.
After the vehicle receives the traffic light information, the traffic light information group of the driving direction of the vehicle is calculated by combining the longitude and latitude position of the vehicle and a traffic light matching method.
The vehicle takes out the red/green light reading in the traffic light information group and starts voice broadcast or screen display; and after the vehicle leaves the intersection, the voice broadcast or the screen display is stopped.
The method for acquiring the longitude and latitude information of the vehicle when the vehicle arrives at the intersection through the GPS module or the Beidou module on the vehicle-mounted terminal comprises the following steps: and reading the RMC message in the NMEA format output by the GPS or Beidou module, and extracting the longitude and the latitude from the RMC message.
As shown in fig. 5, the matching system for receiving traffic light information by a vehicle according to an embodiment of the present invention includes:
the traffic light information sending module 1 is used for periodically broadcasting traffic light information for a plurality of groups of traffic lights by utilizing the wireless communication module 4, and the information comprises: the ID of the traffic light, the area corresponding to the traffic light and the information of the reading of the traffic light;
the vehicle-mounted terminal unit 2 is used for acquiring the longitude and latitude information of the vehicle through a GPS module or a Beidou module 3 embedded in the vehicle-mounted terminal unit; the vehicle receives various groups of traffic light information broadcast and sent by a plurality of groups of traffic lights through a built-in traffic light information sending module 1 through a wireless communication module 4 embedded on a vehicle-mounted terminal unit; and the vehicle obtains the matched traffic light information group by the traffic light information matching method.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A matching method for receiving traffic light information by a vehicle is characterized in that the vehicle does not need to access the Internet and obtains the matched traffic light information according to the position of the vehicle and a corresponding area of a traffic light, and the matching method for receiving the traffic light information by the vehicle comprises the following steps:
firstly, calculating a traffic light corresponding region;
secondly, calculating the position of the vehicle;
thirdly, calculating a traffic light corresponding region where the vehicle is located;
fourthly, obtaining a matched traffic light information group according to the area corresponding to the traffic light where the vehicle is located;
and step five, stopping voice broadcasting or screen displaying after the vehicle leaves the intersection.
2. The matching method for a vehicle to receive traffic light information according to claim 1,
in the first step, the traffic light corresponding region is calculated, specifically: the longitude and latitude coordinates of four vertexes of the corresponding area of the traffic light are respectively A (a) 1 ,a 2 )、B(b 1 ,b 2 )、C(c 1 ,c 2 ) And D (D) 1 ,d 2 ) Adopting a plane rectangular coordinate system, taking a point C as an origin of coordinates, a CD direction as an x axis and a CA direction as a y axis, and calculating the four vertexes of the corresponding area of the traffic light to be in the straight direction according to the longitude and latitude of the four vertexes of the corresponding area of the traffic lightPosition in angular coordinate system: point C is located at the origin of coordinates of (0, 0), point A is located at the y-axis of coordinates of (0, y) 1 ) D is located on the x-axis and has the coordinate of (x) 1 0), the B point is located in the first quadrant with coordinates (x) 1 ,y 1 )；
The calculation method comprises the following steps:
wherein PI = 3.141592658979323846; r =6371004 m, which is the mean radius of the earth.
3. The matching method for a vehicle to receive traffic light information according to claim 1,
in the second step, the vehicle position is calculated, specifically: calculating the longitude and latitude position (M) of the vehicle M by adopting the plane rectangular coordinate system in the first step 1 ,m 2 ) The position in the rectangular coordinate system has the coordinate of (x) m ,y m ) (ii) a The calculation method comprises the following steps:
x m ＝|MC|×cos∠MCD；
y m ＝|MC|×sin∠MCD；
wherein the content of the first and second substances,
| MC |, | MD | and | CD | are the lengths of the three sides of the triangle MCD, and are respectively:
4. the matching method for a vehicle to receive traffic light information according to claim 1,
in the third step, in the calculation of the corresponding area of the traffic light where the vehicle is located, if the vehicle is located in the corresponding area of a certain traffic light, the following steps are performed: 0<x m <x 1 And 0<y m <y 1 (ii) a If the condition is met, the vehicle is positioned in the area corresponding to the traffic light; otherwise, the vehicle is positioned outside the corresponding area of the traffic light.
5. The matching method for a vehicle to receive traffic light information according to claim 1,
in the fifth step, the method for judging that the vehicle leaves the intersection comprises the following steps: along with the forward movement of the vehicle, the position of the vehicle is changed from being positioned in the area corresponding to the traffic light to being positioned outside the area range corresponding to the traffic light; if the vehicle is located in a region corresponding to a traffic light, the following steps are carried out: 0<x m <x 1 And 0<y m <y 1 (ii) a If the condition is met, the vehicle is located in the area corresponding to the traffic light; otherwise, the vehicle is positioned outside the corresponding area of the traffic light.
6. A vehicle received traffic light information matching system of the vehicle received traffic light information matching method according to claim 1, wherein the vehicle received traffic light information matching system comprises:
traffic light information sending module for utilize wireless communication module for the multiunit traffic light, periodic broadcast traffic light information, the information includes: the ID of the traffic light, the area corresponding to the traffic light and the information of the reading of the traffic light;
the vehicle-mounted terminal unit is used for acquiring the longitude and latitude information of the vehicle through a GPS module or a Beidou module embedded in the vehicle-mounted terminal unit; the vehicle receives various groups of traffic light information broadcast and sent by a plurality of groups of traffic lights through a built-in traffic light information sending module through a wireless communication module embedded in a vehicle-mounted terminal unit; and the vehicle obtains the matched traffic light information group by the traffic light information matching method.
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