CN111489571B - V2X-based vehicle intersection priority passing method and system - Google Patents

V2X-based vehicle intersection priority passing method and system Download PDF

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Publication number
CN111489571B
CN111489571B CN202010399206.1A CN202010399206A CN111489571B CN 111489571 B CN111489571 B CN 111489571B CN 202010399206 A CN202010399206 A CN 202010399206A CN 111489571 B CN111489571 B CN 111489571B
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vehicle
intersection
file
map
lane
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CN111489571A (en
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张利
雷鸣
王薇
余宏伟
詹建华
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/091—Traffic information broadcasting
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • 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
    • G08G1/096783—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 a roadside individual element

Abstract

The invention belongs to the field of vehicle networking and discloses a vehicle intersection priority passing method and system based on V2X, wherein the method comprises the steps of setting an RSU (road side unit) for a road side communication terminal to receive collected intersection map information and broadcasting the intersection map information to all vehicle-mounted OBUs; and the vehicle-mounted terminal OBU downloads the intersection map information sent by the RSU and the vehicle real-time position uploaded by the vehicle-mounted GPS, calculates and matches the vehicle position and the intersection map information in real time through a vehicle real-time position and map configuration algorithm, and sends an instruction to the signal lamp through the Ethernet when a priority condition is triggered. The system comprises an on-board communication terminal (OBU), a road side communication terminal (RSU) and an intelligent signal lamp. The invention can improve the traffic efficiency of the special vehicle intersection to the maximum extent; the problem of preferential passing of special vehicles is solved.

Description

V2X-based vehicle intersection priority passing method and system
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a V2X-based vehicle intersection priority passing method and system.
Background
Along with the continuous propulsion of the urbanization process, road facilities in cities are more and more complex, and traffic signal lamps and other control facilities are densely arranged on the roads in cities, so that traffic jam is relieved, and meanwhile, rescue delay accidents caused by the limitation of the signal lamps under emergency conditions sometimes occur. Therefore, research into a method of priority crossing traffic for a special vehicle performing an emergency task is urgent and important.
At present, the mainstream intelligent traffic scheme based on the V2X intersection can only play an effective vehicle passing guiding role at the intersection with a large traffic flow, and for the intersection with a small traffic flow or the working condition of a single vehicle passing intersection, the system has higher software and hardware cost and lower vehicle passing guiding cost. And most technical schemes are suitable for automatic driving vehicles, and the application range is small. In addition, the system needs a background to participate in calculation and information processing, the whole scheduling process has more participating software and hardware systems, the single-vehicle scheduling cost is too high, and the system is not easy to be widely implemented.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a V2X-based vehicle intersection priority passing method and system, wherein an RSU sends intersection map information to all vehicles in a broadcasting mode, a vehicle OBU with priority passing authority downloads intersection map information, and the intersection traffic passing rate is improved through a vehicle real-time position and map configuration algorithm.
In order to achieve the purpose, the invention designs a vehicle intersection priority passing method based on V2X, which is characterized by comprising the following steps:
step 1: a road side communication terminal RSU arranged in a priority passage section area sends intersection map information in a broadcast mode;
step 2: the vehicle-mounted communication terminal OBU arranged on the prior passing vehicle receives the intersection map information, judges the relation between the position information of the GPS and the intersection map information in real time, calculates a prior passing preset position according to the vehicle real-time position and a map configuration algorithm, and completes GPS real-time position matching;
the vehicle real-time position and map configuration algorithm comprises the following steps:
(1) computing an earliest matching distance constraint Dmax：Dmax＝1.7×Vhost+1；
(2) Calculating the relative maximum vehicle speed distance D2：D2＝Vhost 2÷12+0.18×Vhost；
(3) Calculating the relative minimum velocity distance D1：D1＝Vhost 2÷12-0.18×Vhost
(4) Calculating a priority traffic matching distance D: d ═ max (D)min，min(D1×(1-K)，D2)×K)；D＝min(Dmax，D)；
In the formula: vhostFor the speed of the vehicle, DminSetting and calibrating the minimum matching distance of the map information for manual operation; k is a prior passage opportunity adjusting parameter and is manually set and calibrated;
(5) setting a position which is a priority passing matching distance D from a stop line of the intersection as a priority passing preset position of the intersection;
and step 3: when the real-time position of the vehicle passing preferentially reaches the preset position of passing preferentially, the vehicle-mounted communication terminal OBU sends a preferentially passing instruction to the roadside communication terminal RSU;
and 4, step 4: and the RSU sends the priority passing instruction to the intelligent traffic signal lamp through the Ethernet to control the change of the traffic signal lamp.
Preferably, the manufacturing process of the intersection map information in step 1 is as follows: acquiring track data of each lane at an intersection in a preferential passage section area; making the acquired track data into an intersection map file;
the intersection map file is implemented by a C language program running on a Ubuntu system, and includes: 1) the MapData directory folder is used for storing a directory of the generated map file; 2) the source folder is used for storing a catalogue of the intersection lane track data file; 3) cfg configuration files are used for attribute configuration of the lanes at the intersection; 4) sh file, used for map making execution file; 5) txt note this file, as an explanatory document.
Preferably, the manufacturing of the intersection map file includes: placing the collected lane data files under a source folder of a map making tool; modifying lane attribute file lane.cfg according to actual road conditions, and configuring attribute information of each lane at the intersection; and after the configuration of the lane track file and the lane attribute is finished, executing an execution program map _ gen.sh of the map making tool to make a map file.
Preferably, the trajectory data includes a lane trajectory file and a current lane stop line trajectory file.
Preferably, the vehicle-mounted communication terminal OBU and the road side communication terminal RSU communicate through an LTE-V technology.
Preferably, the vehicle real-time position and the minimum matching distance D of the map information in the map configuration algorithmminNot less than 50 m.
Preferably, the range of the priority passing time adjusting parameter K is 0< K <1, the value step length of K is 0.1, and the value of the parameter K can be adjusted according to the traffic flow condition of the intersection to ensure the time of priority passing.
The invention further provides a system of the vehicle intersection priority passing method based on V2X, the system comprises a roadside communication terminal RSU, a vehicle-mounted communication terminal OBU and an intelligent traffic signal lamp, and the system executes the steps of the method.
Compared with the prior art, the V2X-based vehicle intersection priority passing method and the system have the advantages that:
1. in the invention, the road side communication terminal RSU sends intersection map information to all vehicles in a broadcasting mode, and the vehicle OBU with the priority traffic authority downloads the intersection map information, so that the priority traffic load rate is easy to calculate, and the intersection traffic rate is improved;
2. in the invention, the priority traffic strategy calculation is realized in the vehicle-mounted OBU, and the vehicle-mounted GPS information and the intersection map information do not need to be sent to the background, thereby greatly improving the real-time performance and the accuracy of the strategy calculation;
3. in the invention, the influence of the speed of the passing vehicle is considered by designing a vehicle real-time position and map configuration algorithm, so that the preferential passing opportunity is more scientific and reasonable;
4. the RSU is directly connected with the intelligent traffic signal, the Ethernet and the signal lamp timing instruction are directly issued, so that the instruction is prevented from being transferred through a background, and the real-time performance and the accuracy of instruction execution are greatly improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a map track lane ID explanatory diagram.
Fig. 3 is an architecture diagram of the system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention provides a vehicle intersection priority passing method based on V2X, which comprises the following steps as shown in figure 1:
step 1: and the road side communication terminal RSU arranged in the priority passage section area transmits the intersection map information in a broadcasting mode.
Step 2: and the vehicle-mounted communication terminal OBU arranged on the prior passing vehicle receives the intersection map information, judges the relation between the position information of the GPS and the intersection map information in real time, calculates a prior passing preset position according to the vehicle real-time position and a map configuration algorithm, and completes the GPS real-time position matching.
The real-time position and map configuration algorithm of the vehicle is as follows:
(1) computing an earliest matching distance constraint Dmax：Dmax＝1.7×Vhost+1；
(2) Calculating the relative maximum vehicle speed distance D2：D2＝Vhost 2÷12+0.18×Vhost；
(3) Calculating the relative minimum velocity distance D1：D1＝Vhost 2÷12-0.18×Vhost
(4) Calculating a priority traffic matching distance D:
D＝min(Dmax，max(Dmin，min(D1×(1-K)，D2)×K))；
in the formula: min () is a minimum function, max () is a maximum function; vhostFor the speed of the vehicle, DminSetting and calibrating the minimum matching distance of the map information for manual operation; k is a prior passage time adjusting parameter and is manually set and calibrated.
The vehicle real-time position and map configuration algorithm mainly considers two factors of distance and speed. When the vehicle speed is higher, the triggering distance threshold value of the prior passing is larger so as to prevent the vehicle from not triggering the prior passing condition (the signal lamp is changed from red to green) in time when passing through the intersection due to external factors such as network communication and the like; when the vehicle speed is slow, the triggering distance threshold value of the prior passing should be small so as to prevent the triggered prior passing condition from returning to the normal mode (the signal lamp is within 30S, and the green lamp is changed into the red lamp) when the time for the vehicle to pass through the intersection is long. Minimum matching distance D between real-time position of vehicle and map information in map configuration algorithmminNot less than 50 m. The prior passage time adjusting parameter K is 0<K<1, the value step length of K is 0.1, the value of the parameter K can be adjusted according to the traffic flow condition of the intersection, and the time of preferential traffic is ensured.
(5) Setting a position which is a priority passing matching distance D from a stop line of the intersection as a priority passing preset position of the intersection;
and step 3: when the real-time position of the vehicle passing preferentially reaches the preset position of passing preferentially, the vehicle-mounted communication terminal OBU sends a preferentially passing instruction to the roadside communication terminal RSU; the vehicle-mounted communication terminal OBU and the roadside communication terminal RSU are communicated through an LTE-V technology;
and 4, step 4: and the RSU sends the priority passing instruction to the intelligent traffic signal lamp through the Ethernet to control the change of the traffic signal lamp.
Before the method is implemented, the vehicle-mounted GPS is used for collecting track data of each lane of the intersection needing to be deployed with the priority traffic scene and making intersection map information.
The manufacturing process of the intersection map information comprises the following steps: 1) acquiring track data of each lane at an intersection in a preferential passage section area; 2) making the acquired track data into an intersection map file; 3) and importing the map file of the intersection into the road end terminal RSU.
The trajectory data includes a lane trajectory file and a current lane stop line trajectory file.
The method comprises the steps that track files of a crossing driving-in lane are collected into track files which are driven to a stop line from a far place on a current lane, and track files of a crossing driving-out lane are collected into track files which are driven to the far place from the stop line at present and named as 'lane ID.log'; the stop line track file is a track file of a vehicle stopped at the position of the stop line and is named as 'lane ID _ p.log'.
Description of lane ID: the intersection related to the technical scheme of the invention is a cross intersection as shown in figure 2. All lanes are numbered from 0, with the vehicle driving-in and driving-out directions in the four directions of south, east and west numbering each lane. The following is a method for numbering lanes at an intersection by taking two-way two lanes as an example:
east-ward direction (E): the ID number of the vehicle driving-in direction lane is 0, and the ID number of the vehicle driving-out direction lane is 1;
true south direction (S): the ID number of the vehicle driving-in direction lane is 2, and the ID number of the vehicle driving-out direction lane is 3;
the ID number of a vehicle driving-in direction lane in the west direction (W) is 4, and the ID number of a vehicle driving-out direction lane is 5;
north direction (N): the vehicle entrance direction lane ID number is 6, and the vehicle exit direction lane ID number is 7.
The track file must be in a format that satisfies the NMEA-0183 format and contains a "GPRMC" or "GNRMC" field. The track file cannot have any invalid characters except for the field data in the NMEA-0183 format.
The intersection map file is implemented by a C language program running on the Ubuntu system, and includes: 1) the MapData directory folder is used for storing a directory of the generated map file; 2) the source folder is used for storing a catalogue of the intersection lane track data file; 3) cfg configuration files are used for attribute configuration of the lanes at the intersection; 4) sh file, used for map making execution file; 5) txt note this file, as an explanatory document.
The manufacturing steps of the intersection map file comprise: 1) placing the collected lane data files under a source folder of a map making tool; 2) modifying lane attribute file lane.cfg according to actual road conditions, and configuring attribute information of each lane at the intersection; 3) and after the configuration of the lane track file and the lane attribute is finished, executing an execution program map _ gen.sh of the map making tool to make a map file. When a program is executed, some operation instructions may refer to readme.
The lane attribute in the lane.cfg file comprises three characteristic vectors of lane ID, driving in/out and driving direction; the values of lane ID are explained with reference to fig. 3; taking values of the driving-in/driving-out characteristic quantity: the drive-in take-out 1 and the drive-out take-out 2; the value of the characteristic quantity of the driving direction is as follows: taking 1 in straight line, 2 in left turn and 3 in right turn.
The invention also provides a system for realizing the V2X-based vehicle intersection priority passing method, and as shown in FIG. 3, the system comprises a roadside communication terminal RSU, a vehicle-mounted communication terminal OBU and an intelligent traffic signal lamp.
The vehicle-mounted positioning module GPS or other map acquisition equipment on the prior traffic vehicle acquires the map information (including lane information and position information) of the intersection needing to be deployed for prior traffic in advance.
The road side communication terminal is provided with an RSU (road side unit) which is arranged at the road side of the intersection, is connected with a signal lamp through Ethernet line and is used for receiving intersection map information collected in advance and forwarding the intersection map information to vehicle-mounted communication terminals OBUs of all vehicles passing preferentially; when the priority condition is triggered, sending an instruction to a signal lamp through the Ethernet.
The vehicle-mounted communication terminal OBU is installed on a vehicle which is preferentially passed, the intersection map information sent by the RSU is downloaded, the vehicle position and the intersection map information are calculated and matched in real time through the real-time position of the vehicle uploaded by the vehicle-mounted GPS, and when the condition of the preferential passage is met, a preferential passage instruction is sent to the roadside communication terminal RSU.
And the intelligent signal lamp is used for receiving the priority passing instruction forwarded by the RSU, performing time distribution execution of the traffic lights and forming a priority passing scheme for execution.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the patent solution and not for limiting, and those skilled in the art should understand that the technical solution of the patent can be modified or substituted with equivalent without departing from the spirit and scope of the patent solution, which shall be covered by the claims of the patent.

Claims (7)

1. A vehicle intersection priority passing method based on V2X is characterized in that: the method comprises the following steps:
step 1: a road side communication terminal RSU arranged in a priority passage section area sends intersection map information in a broadcast mode;
step 2: the vehicle-mounted communication terminal OBU arranged on the prior passing vehicle receives the intersection map information, judges the relation between the position information of the GPS and the intersection map information in real time, calculates a prior passing preset position according to the vehicle real-time position and a map configuration algorithm, and completes GPS real-time position matching;
the vehicle real-time position and map configuration algorithm comprises the following steps:
(1) computing an earliest matching distance constraint Dmax：Dmax＝1.7×Vhost+1；
(2) Calculating the relative maximum vehicle speed distance D2：D2＝Vhost 2÷12+0.18×Vhost；
(3) Calculating the relative minimum velocity distance D1：D1＝Vhost 2÷12-0.18×Vhost
(4) Calculating a priority traffic matching distance D:
D＝min(Dmax，max(Dmin，min(D1×(1-K)，D2)×K))；
in the formula: vhostFor the speed of the vehicle, DminSetting and calibrating the minimum matching distance of the map information for manual work, wherein the minimum matching distance is not less than 50 m; k is a priority passage opportunity adjusting parameter, is manually set and calibrated, 0<K<1；
(5) Setting a position which is a priority passing matching distance D from a stop line of the intersection as a priority passing preset position of the intersection;
and step 3: when the real-time position of the vehicle passing preferentially reaches the preset position of passing preferentially, the vehicle-mounted communication terminal OBU sends a preferentially passing instruction to the roadside communication terminal RSU;
and 4, step 4: and the RSU sends the priority passing instruction to the intelligent traffic signal lamp through the Ethernet to control the change of the traffic signal lamp.
2. The V2X-based vehicle intersection priority passing method according to claim 1, characterized in that: the manufacturing process of the intersection map information in the step 1 is as follows: acquiring track data of each lane at an intersection in a preferential passage section area; making the acquired track data into an intersection map file;
the intersection map file is implemented by a C language program running on a Ubuntu system, and includes: 1) the MapData directory folder is used for storing a directory of the generated map file; 2) the source folder is used for storing a catalogue of the intersection lane track data file; 3) cfg configuration files are used for attribute configuration of the lanes at the intersection; 4) sh file, used for map making execution file; 5) txt note this file, as an explanatory document.
3. The V2X-based vehicle intersection priority passing method according to claim 2, characterized in that: the manufacturing steps of the intersection map file comprise: placing the collected lane data files under a source folder of a map making tool; modifying lane attribute file lane.cfg according to actual road conditions, and configuring attribute information of each lane at the intersection; and after the configuration of the lane track file and the lane attribute is finished, executing an execution program map _ gen.sh of the map making tool to make a map file.
4. The V2X-based vehicle intersection priority passing method according to claim 2, characterized in that: the trajectory data includes a lane trajectory file and a current lane stop line trajectory file.
5. The V2X-based vehicle intersection priority passing method according to claim 1, characterized in that: and the vehicle-mounted communication terminal OBU and the road side communication terminal RSU are communicated through an LTE-V technology.
6. The V2X-based vehicle intersection priority passing method according to claim 1, characterized in that: the range of the prior passage opportunity adjusting parameter K is 0< K <1, and the value step length of K is 0.1.
7. A system of a vehicle intersection priority passing method based on V2X comprises a road side communication terminal (RSU), a vehicle-mounted communication terminal (OBU) and an intelligent traffic signal lamp, and is characterized in that: the system performs the steps of the method of any one of claims 1 to 6.
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CN114141034B (en) * 2021-11-10 2024-04-09 上海木蚁机器人科技有限公司 Traffic control method, system and electronic equipment
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