CN111540224A - Road data processing method and related equipment - Google Patents

Road data processing method and related equipment Download PDF

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Publication number
CN111540224A
CN111540224A CN202010536920.0A CN202010536920A CN111540224A CN 111540224 A CN111540224 A CN 111540224A CN 202010536920 A CN202010536920 A CN 202010536920A CN 111540224 A CN111540224 A CN 111540224A
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CN
China
Prior art keywords
unit
vehicle
road
data
road side
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Pending
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CN202010536920.0A
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Chinese (zh)
Inventor
刘均
李晖龄
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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Priority to CN202010536920.0A priority Critical patent/CN111540224A/en
Publication of CN111540224A publication Critical patent/CN111540224A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/0104Measuring and analyzing of parameters relative to traffic conditions
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/0104Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125Traffic data processing

Abstract

The embodiment of the application discloses a road data processing method, which comprises the following steps: the vehicle-mounted unit acquires a steering signal; the vehicle-mounted unit determines a target lane according to the steering signal; the vehicle-mounted unit sends a data request to a road side unit near the target lane so that the road side unit sends road data of the target lane to the vehicle-mounted unit; the vehicle-mounted unit receives the road data sent by the road side unit; the on-board unit displays the road data to a vehicle driver. According to the scheme provided by the application, a vehicle driver can acquire the road data acquired by the road side unit, and the positions of the vehicle and the road side unit are different, so that the road data transmitted by the road side unit can obtain more comprehensive lane conditions, the influence of the lane conditions which are shielded by obstacles and cannot be acquired on the vehicle driver is avoided, and the driving safety is improved.

Description

Road data processing method and related equipment
Technical Field
The embodiment of the application relates to the field of traffic, in particular to a road data processing method and related equipment.
Background
At present, vehicles in China are the first in the world, the vehicle industry develops greatly, and more related industries and cultures are developed, but people in China are dense, the private vehicle industry is gradually prosperous, and the development degree of matched roads and driving environments is slightly insufficient, so that the current driving environment is crowded. The vehicle needs to pay attention to the change condition of the road and the surrounding environment at any time during the driving process, and particularly, during the turning process, the driver needs to pay attention to the information of the current lane where the vehicle is located and the lane to be turned at the same time, so that the information can be timely processed when an emergency occurs, and the safety of the vehicle and other pedestrians or vehicles on the lane can be guaranteed.
At the present vehicle in the turn in-process, in order to compensate the limited problem of driver's energy, often adopt other equipment such as on-vehicle camera or on-vehicle radar to gather and unified the demonstration in the lane that the preceding vehicle was located and the lane that is going to turn into to the driver acquires and corresponding processing.
However, auxiliary information provided by auxiliary equipment such as a vehicle-mounted camera or a vehicle-mounted radar has limitations, and certain problems are caused due to the fact that some information shielded by obstacles cannot be obtained due to the problem of visual angles.
Disclosure of Invention
A first aspect of an embodiment of the present application provides a method for processing road data, including:
the vehicle-mounted unit acquires a steering signal;
the vehicle-mounted unit determines a target lane according to the steering signal;
the vehicle-mounted unit sends a data request to a road side unit near the target lane so that the road side unit sends road data of the target lane to the vehicle-mounted unit;
the vehicle-mounted unit receives the road data sent by the road side unit;
the on-board unit displays the road data to a vehicle driver.
Based on the first aspect of the embodiment of the present application, optionally, the receiving, by the on-board unit, the road data sent by the roadside unit includes:
the vehicle-mounted unit receives the image data and the obstacle data sent by the road side unit;
the on-board unit displays the road data to a vehicle driver, including:
the on-board unit displays the image data and obstacle data to a vehicle driver;
and the vehicle-mounted unit sends warning information to a vehicle driver.
Based on the first aspect of the embodiment of the present application, optionally, the displaying the road data to a vehicle driver by the on-board unit includes:
the on-board unit displays the road data in the form of AR to a vehicle driver.
Based on the first aspect of the embodiment of the present application, optionally, the sending, by the on-board unit, a data request to a roadside unit located near the target lane includes:
the vehicle-mounted unit sends a data request to the road side unit near the target lane through the V2X technology.
Based on the first aspect of the embodiment of the present application, optionally, the method further includes:
and the vehicle-mounted unit sends warning information to the vehicle driver.
A second aspect of the embodiments of the present application provides a method for processing road data, including:
the road side unit receives a data request sent by the vehicle-mounted unit;
the road side unit acquires road data of a target lane;
the road side unit transmits the road data to the on board unit so that the on board unit displays the road data to a vehicle driver.
Based on the second aspect of the embodiment of the present application, optionally, after the road side unit acquires the road data of the target lane, the method further includes:
the road side unit identifies the road data and judges whether an obstacle exists in the target lane;
and if the target lane has an obstacle, the road side unit sends obstacle data of the obstacle to the vehicle-mounted unit.
Based on the second aspect of the embodiment of the present application, optionally, the receiving, by the roadside unit, the data request sent by the on-board unit includes:
and the road side unit receives a data request sent by the vehicle-mounted unit through a V2X technology.
A third aspect of the embodiments of the present application provides an on-board unit, including:
a steering signal acquisition unit for acquiring a steering signal;
the target lane determining unit is used for determining a target lane according to the steering signal;
a data request transmitting unit for transmitting a data request to a road side unit located near the target lane so that the road side unit transmits road data of the target lane to the on-board unit;
the road data receiving unit is used for receiving the road data sent by the road side unit;
a road data display unit for displaying the road data to a driver of the vehicle.
Optionally, the road data receiving unit may be further configured to receive the image data and the obstacle data sent by the road side unit; the road data display unit may be further configured to display the image data and the obstacle data to a driver of the vehicle
Optionally, the road data display unit may be further configured to display the road data in the form of AR to a driver of the vehicle.
Optionally, the data request sending unit may be further configured to send a data request to a roadside unit located near the target lane by using a V2X technique.
Optionally, the road data display unit may be further configured to send warning information to a driver of the vehicle.
A fourth aspect of the embodiments of the present application provides a road side unit, including:
the data request receiving unit is used for receiving the data request sent by the vehicle-mounted unit;
a road data acquisition unit for acquiring road data of a target lane;
and the road data sending unit is used for sending the road data to the vehicle-mounted unit so that the vehicle-mounted unit displays the road data to a vehicle driver.
Optionally, the roadside unit further includes:
the identification unit is used for identifying the road data and judging whether an obstacle exists in the target lane; if the obstacle exists in the target lane, triggering an obstacle data sending unit;
and the obstacle data sending unit is used for sending the obstacle data of the obstacle to the vehicle-mounted unit.
A fifth aspect of the embodiments of the present application provides an on-board unit, including:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processing unit is configured to communicate with the memory, and execute the instruction operations in the memory on the vehicle-mounted unit to execute the method of any one of the first aspect of the embodiments of the present application.
A sixth aspect of the embodiments of the present application provides a road side unit, including:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, and execute the instruction operations in the memory on the road side unit to perform the method of any one of the second aspects of the embodiments of the present application.
A seventh aspect of embodiments of the present application provides a computer-readable storage medium, including instructions that, when executed on a computer, cause the computer to perform the method according to any one of the first or second aspects of embodiments of the present application.
An eighth aspect of embodiments of the present application provides a computer program product containing instructions, which when executed on a computer, causes the computer to perform the method of any one of the first or second aspects of embodiments of the present application.
According to the technical scheme, the embodiment of the application has the following advantages: when the vehicle needs to turn, the vehicle-mounted unit sends request data to the road side unit located on the turning side lane, the road side unit sends the acquired road data to the vehicle-mounted unit, the vehicle-mounted unit displays the road data to a vehicle driver, so that the vehicle driver can acquire the road data acquired by the road side unit, and due to the fact that the vehicle and the road side unit are located at different positions, the road data sent by the road side unit can obtain more comprehensive lane conditions, the influence of the lane conditions which cannot be acquired due to the fact that some of the lane conditions are shielded by obstacles on the vehicle driver is avoided, and driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating an embodiment of a road data processing method according to the present application;
FIG. 2 is another schematic flow chart of an embodiment of a road data processing method according to the present application;
FIG. 3 is another schematic flow chart of an embodiment of a road data processing method according to the present application;
FIG. 4 is a schematic structural diagram of an embodiment of an on-board unit of the present application;
FIG. 5 is a schematic structural diagram of a roadside unit according to an embodiment of the present application;
FIG. 6 is another schematic structural diagram of a roadside unit according to an embodiment of the present application;
FIG. 7 is another schematic structural diagram of an embodiment of an on-board unit of the present application;
fig. 8 is another schematic structural diagram of the roadside unit according to the embodiment of the present application.
Detailed Description
This application is based on under the current driving condition, when vehicle driver need turn, is subject to the condition of vehicle position and visual angle, proposes through the interaction of on-board unit and road side unit, acquires the road data that road side unit gathered to show this scheme to vehicle driver, vehicle driver can confirm specific driving strategy according to this road data, with avoid because the road information acquisition that the visual angle leads to is incomplete, and then influences the problem of driving safety.
In order to make the technical solutions in the embodiments of the present application better understood, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
At present, vehicles in China are the first in the world, the vehicle industry develops greatly, and more related industries and cultures are developed, but people in China are dense, the private vehicle industry is gradually prosperous, and the development degree of matched roads and driving environments is slightly insufficient, so that the current driving environment is crowded. The vehicle needs to pay attention to the change condition of the road and the surrounding environment at any time during the driving process, and particularly, during the turning process, the driver needs to pay attention to the information of the current lane where the vehicle is located and the lane to be turned at the same time, so that the information can be timely processed when an emergency occurs, and the safety of the vehicle and other pedestrians or vehicles on the lane can be guaranteed.
At the present vehicle in the turn in-process, in order to compensate the limited problem of driver's energy, often adopt other equipment such as on-vehicle camera or on-vehicle radar to gather and unified the demonstration in the lane that the preceding vehicle was located and the lane that is going to turn into to the driver acquires and corresponding processing.
However, auxiliary information provided by auxiliary equipment such as a vehicle-mounted camera or a vehicle-mounted radar has limitations, and certain problems are caused due to the fact that some information shielded by obstacles cannot be obtained due to the problem of visual angles.
Based on the above problems, the scheme provides a road data processing method, road data collected by a road side unit is obtained through interaction between an on-board unit and the road side unit and is displayed to a vehicle driver, and the vehicle driver can determine a specific driving strategy according to the road data so as to avoid the problem that the road information is not comprehensively obtained due to the view angle and the driving safety is influenced. Referring to fig. 1, an embodiment of a road data processing method of the present application includes: step 101-step 105.
101. The on-board unit acquires a steering signal.
The on-board unit acquires a steering signal. The vehicle may have corresponding actions in the turning process, such as turning on a turn light, or a steering wheel rotating greatly, which indicates that the vehicle will turn in a certain direction, and the vehicle may determine whether to trigger to generate a specific turn signal according to the specific actions, or may directly recognize the actions as the turn signal, so as to execute the next step, which is not limited herein. The on-board unit may interact with the vehicle to obtain the steering signal for processing.
102. And the vehicle-mounted unit determines a target lane according to the steering signal.
And the vehicle-mounted unit determines a target lane according to the steering signal. After the vehicle-mounted unit receives the steering signal, the vehicle-mounted unit determines that the vehicle turns to a lane expected to turn to according to specific direction information contained in the steering signal, namely a target lane. Or the lane closest to the vehicle in the steering direction is the target lane, which may be determined according to the actual situation, and is not limited herein.
103. The on-board unit sends a data request to a roadside unit located near the target lane.
The on-board unit sends a data request to a roadside unit located near the target lane. So that the roadside unit transmits the road data of the target lane to the on-board unit. After a target lane is determined, a data request is sent to a roadside unit located near the lane, the roadside unit is a data unit which is arranged around a road and used for acquiring road information and vehicle information and performing payment and violation judgment, therefore, an image data acquisition device is generally configured, the roadside unit can acquire road data of the target lane based on the position where the roadside unit is located, the road data can include whether vehicles, pedestrians or other obstacles exist on the road at present, the roadside unit can acquire such information through the image acquisition device or radar device and other communication devices, and in addition, the roadside unit can also acquire basic information of the road, such as: speed limit, road width and other information, and sends the road data of the figure and shadow to the vehicle-mounted unit according to the type of the information requested by the vehicle-mounted unit. The interaction between the vehicle-mounted unit and the road-side unit can adopt V2X (vehicle to aircraft, namely the relationship between a vehicle and anything) technology for data interaction. Specifically, the on-board unit may determine the roadside units on both sides of the target lane and select the roadside unit closest to the current on-board unit for data interaction, which may be determined according to actual conditions, and is not limited herein.
104. And the vehicle-mounted unit receives the road data sent by the road side unit.
The road side unit acquires road data according to the data request sent by the vehicle-mounted unit and forwards the road data to the vehicle-mounted unit, and the vehicle-mounted unit receives the road data sent by the road side unit. The road data may also be transmitted by means of a data connection established by V2X, and it is understood that the road data may be in various forms, such as image data, radar monitoring data, and other types of data. The description will be given taking image data as an example.
It can be understood that the road data required by the vehicle in the turning process has real-time performance, so the image data received by the on-board unit should be the image data collected by the road side unit in real time, so as to transmit the information of the condition of the target lane to the vehicle driver, and meanwhile, because the turning process has a certain time length, the road side unit can continuously send the image data, namely the video signal received by the road side unit, to the road side unit within a certain time length. And the data connection is disconnected after a certain preset time, or when the distance between the vehicle-mounted unit and the road side unit is too large.
105. The on-board unit displays the road data to a vehicle driver.
The on-board unit receives the road data and displays the received road data to a driver of the vehicle. So as to facilitate the auxiliary judgment of the vehicle driver. Specifically, the on-board unit may display the received image data on a display screen mounted on the vehicle, or may display the obtained image data in an AR (Augmented Reality) manner, and the present invention is not limited thereto.
According to the technical scheme, the embodiment of the application has the following advantages: when the vehicle needs to turn, the vehicle-mounted unit sends request data to the road side unit located on the turning side lane, the road side unit sends the acquired road data to the vehicle-mounted unit, the vehicle-mounted unit displays the road data to a vehicle driver, so that the vehicle driver can acquire the road data acquired by the road side unit, and due to the fact that the vehicle and the road side unit are located at different positions, the road data sent by the road side unit can obtain more comprehensive lane conditions, the influence of the lane conditions which cannot be acquired due to the fact that some of the lane conditions are shielded by obstacles on the vehicle driver is avoided, and driving safety is improved.
Please refer to fig. 2, another embodiment of the road data processing method provided in the present application includes: step 201 to step 203.
201. And the road side unit receives the data request sent by the vehicle-mounted unit.
And the road side unit receives the data request sent by the vehicle-mounted unit. The road side unit receives a data request sent by the vehicle-mounted unit, the data request is used for enabling the road side unit to activate a data acquisition function, and the data request is triggered and sent by the road side unit according to a vehicle turning signal. Data interaction between the road side unit and the vehicle mounted unit can be realized through the V2I technology.
202. The roadside unit acquires road data of a target lane.
The roadside unit acquires road data of a target lane. The road data may include whether there are vehicles, pedestrians, or other obstacles on the road, the roadside unit may obtain such information through an image acquisition device or a radar device and other communication devices, and in addition, the roadside unit may also obtain basic information of the road, such as: the road side unit may determine whether an image capturing device disposed on the road side unit is in an activated state according to the request, and if the image capturing device is activated, intercept an image signal acquired by the image capturing device as road data. The image data received by the vehicle-mounted unit is image data collected by the road side unit in real time so as to transmit information of the condition of the target lane to a vehicle driver, and meanwhile, the road side unit can continuously send the image data, namely the video signal received by the road side unit, to the road side unit within a certain time length due to the fact that the turning process has a certain time length. And the data connection is disconnected after a certain preset time, or when the distance between the vehicle-mounted unit and the road side unit is too large.
203. And the road side unit sends the road data to the vehicle-mounted unit.
And the road side unit sends the road data to the vehicle-mounted unit. The roadside unit transmits the acquired image data to the on-board unit. So that the on-board unit displays the image data to the vehicle driver. The vehicle driver can conveniently acquire the image data and drive according to the specific situation of the target lane.
According to the technical scheme, the embodiment of the application has the following advantages: when the vehicle needs to turn, the vehicle-mounted unit sends request data to the road side unit located on the turning side lane, the road side unit sends the acquired road data to the vehicle-mounted unit, the vehicle-mounted unit displays the road data to a vehicle driver, so that the vehicle driver can acquire the road data acquired by the road side unit, and due to the fact that the vehicle and the road side unit are located at different positions, the road data sent by the road side unit can obtain more comprehensive lane conditions, the influence of the lane conditions which cannot be acquired due to the fact that some of the lane conditions are shielded by obstacles on the vehicle driver is avoided, and driving safety is improved.
Referring to fig. 3, another embodiment of the road data processing method provided in the present application includes: step 301 to step 308.
301. The on-board unit acquires a steering signal.
The on-board unit acquires a steering signal. The vehicle can have corresponding action in the course of turning, for example, turn on the indicator, or the steering wheel changes by a wide margin, indicate that the vehicle can carry out the course of turning to a certain direction, the vehicle can judge whether to produce specific turn signal according to these concrete behaviors, also can directly regard these behaviors as turn signal, in order to carry out next step, in this embodiment use on-vehicle unit obtain turn signal light signal as the example, the indicator sets up in vehicle both sides, can directly perceivedly confirm the specific direction of turning to of vehicle when the indicator glimmers, be convenient for carry out the determination of next step's target lane, it can be understood that, the indicator is when using, there are all indicator lights that glimmer on the automobile body simultaneously, in order to the function of warning to the periphery, should not think there is turn signal this moment.
302. And the vehicle-mounted unit determines a target lane according to the steering signal.
The vehicle-mounted unit determines a target lane according to the steering signal, and after the vehicle-mounted unit determines the steering signal, the vehicle-mounted unit can determine a specific target lane according to the direction indicated by the steering signal, wherein the target lane is the lane in which the vehicle is expected to turn. Specifically, the vehicle can judge whether the vehicle needs to turn left or right according to the position of the flickering steering lamp on the vehicle body, and the lane in which the vehicle is expected to turn is determined according to navigation software, namely the target lane. The specific situation may be determined according to actual circumstances, and is not limited herein.
303. And the vehicle-mounted unit sends a data request to the road side unit near the target lane.
And the vehicle-mounted unit sends a data request to the road side unit near the target lane. Specifically, the vehicle-mounted unit sends a data request to a roadside unit located near the target lane through a V2X technology, and the V2X technology is a key technology for realizing an intelligent transportation system. It enables communication between cars, between cars and base stations, and between base stations. Therefore, a series of traffic information such as real-time road conditions, road information, pedestrian information and the like is obtained, so that the driving safety is improved, the congestion is reduced, and the traffic efficiency is improved. The interaction process of the vehicle-mounted unit and the road side unit can adopt the V2I technology for interaction. The vehicle-mounted unit determines to specifically send data requests to one or more road side units near the target lane according to the difference between the target lane and the current vehicle. The road side units are generally arranged on two sides of a road and used for data interaction with the vehicle-mounted units. Meanwhile, the functions of judging whether the vehicle is overspeed, charging the vehicle and the like can be integrated. After the target lane that the vehicle specifically wants to drive into is determined, the vehicle may select the roadside units that are disposed on both sides of the target lane and have the closest distance to the vehicle to perform data interaction, or may select the roadside units that are located on the opposite side of the current vehicle driving direction to perform interaction, so as to obtain more comprehensive lane information, which is not limited herein.
304. The roadside unit acquires image data of a target lane.
And after the road side unit receives the data request sent by the vehicle-mounted unit, the road side unit acquires the image data of the target lane. Specifically, the roadside unit may determine whether an image acquisition device disposed in the roadside unit is in an activated state according to the request, and if the image acquisition device is activated, intercept an image signal acquired by the image acquisition device as image data, it is noted that image data required by a vehicle turning process has real-time property, so that image data received by the on-board unit should be image data acquired by the roadside unit in real time, so as to transmit information of a target lane condition to a vehicle driver, and meanwhile, because the turning process has a certain duration, the roadside unit may continuously transmit image data, that is, a video signal received by the roadside unit, to the roadside unit within the certain duration. And the data connection is disconnected after a certain preset time, or when the distance between the vehicle-mounted unit and the road side unit is too large, the data connection may be determined according to the actual situation, and the data connection is not limited herein.
305. The road side unit identifies the image data and judges whether an obstacle exists in the target lane
The road side unit transmits the image data to the vehicle-mounted unit, and the front road side unit can process the image data, namely the road side unit identifies the image data and judges whether an obstacle exists in the target lane. Specifically, the roadside unit may recognize the acquired image data using an image recognition technique, obtain specific information included in the target lane image, and determine whether an obstacle exists. The roadside unit can also interact with a region within a certain range of the target lane through the V2P technology and the V2V to judge whether a person or a vehicle influencing the driving process exists in the region, and if so, the region is determined as an obstacle.
306. The road side unit sends the obstacle data to the vehicle-mounted unit.
The road side unit sends the obstacle data to the vehicle-mounted unit. If the road side unit detects an obstacle, the road side unit can transmit the detected obstacle data to the vehicle-mounted unit so that the vehicle-mounted unit can display the obstacle. The vehicle driver can better know the road condition of the target lane conveniently.
307. The road side unit sends the image data to the vehicle-mounted unit.
And the road side unit sends the image data to the vehicle-mounted unit. The roadside unit transmits the acquired image data to the on-board unit. So that the on-board unit displays the image data to the vehicle driver. The vehicle driver can conveniently acquire the image data and drive according to the specific situation of the target lane. It can be understood that there is no logical relationship in time sequence between step 307 and step 306, and therefore in the actual implementation process of the present disclosure, step 307 may be executed first and then step 306 is executed, or both may be executed at the same time, which is not limited herein.
308. The on-board unit displays the image data and the obstacle data to a driver of the vehicle.
The on-board unit displays the image data and the obstacle data to a driver of the vehicle. Specifically, the onboard unit may perform AR (Augmented Reality) processing on the received image data and display it in an AR format. The obstacle data may be superimposed on the AR-processed image data for display for recognition by the vehicle driver. Thereby avoiding the influence of the barrier on the driving process.
309. The on-board unit sends warning information to a vehicle driver.
The on-board unit sends warning information to a vehicle driver. If the road data contains the obstacle data, the vehicle-mounted unit can send warning information to the vehicle driver in order to enable the vehicle driver to know the situation, and the specific vehicle-mounted unit can remind the vehicle driver of paying attention to the obstacle information in a voice broadcast mode. Or may be superimposed on the image data to be displayed in the form of text, such as a file like "please note, there is a pedestrian" or the like is superimposed on the displayed image. The vehicle driver is further helped to obtain road information, and the safety of the driving process is improved.
Referring to fig. 4, an embodiment of an on-board unit of the present application includes:
a steering signal acquisition unit 401 configured to acquire a steering signal;
a target lane determining unit 402, configured to determine a target lane according to the steering signal;
a data request transmitting unit 403, configured to transmit a data request to a roadside unit located near the target lane, so that the roadside unit transmits road data of the target lane to the on-board unit;
a road data receiving unit 404, configured to receive the road data sent by the road side unit;
a road data display unit 405 for displaying the road data to a driver of the vehicle.
Optionally, the road data receiving unit 404 may be further configured to receive the image data and the obstacle data sent by the road side unit, and the image data display unit 405 may be further configured to display the image data and the obstacle data to a vehicle driver.
Optionally, the road data display unit 405 may also be used to display the road data in the form of AR to the driver of the vehicle.
Optionally, the data request sending unit 403 may also be configured to send a data request to a roadside unit located near the target lane by using the V2X technology.
Optionally, the road data display unit 405 may also be used to send warning information to the driver of the vehicle.
Referring to fig. 5, an embodiment of the roadside unit apparatus of the present application includes:
a data request receiving unit 501, configured to receive a data request sent by an on-board unit;
a road data acquisition unit 502 for acquiring road data of a target lane;
a road data transmitting unit 503 for transmitting the road data to the on-board unit so that the on-board unit displays the road data to a vehicle driver.
Optionally, the roadside unit device may further include a recognition unit 604 and an obstacle data transmission unit 605 in addition to the data request receiving unit 601, the road data obtaining unit 602 and the road data transmission unit 603.
A recognition unit 604, configured to recognize the road data, determine whether an obstacle exists in the target lane, and trigger the obstacle data sending unit 605 if the obstacle exists.
Obstacle data transmitting section 605. And the obstacle data is used for sending the obstacle data of the obstacle to the vehicle-mounted unit.
The optional data request receiving unit 501 may also be configured to receive a data request sent by the onboard unit through the V2X technology.
Fig. 7 is a schematic structural diagram of an on-board unit provided in an embodiment of the present application, where the on-board unit 700 may include one or more Central Processing Units (CPUs) 701 and a memory 705, and the memory 705 stores one or more application programs or data.
In this embodiment, the specific functional module division in the central processing unit 701 may be similar to the functional module division manner of each unit described in the foregoing fig. 4, and details are not repeated here.
The memory 705 may be volatile storage or persistent storage, among others. The program stored in the memory 705 may include one or more modules, each of which may include a sequence of instructions operating on a server. Still further, central processor 701 may be configured to communicate with memory 705 and to perform a series of instruction operations in memory 705 on server 700.
The server 700 may also include one or more power supplies 702, one or more wired or wireless network interfaces 703, one or more input-output interfaces 704, and/or one or more operating systems, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The central processing unit 701 may perform the operations performed by the on-board unit in the embodiment shown in fig. 1, and details thereof are not repeated herein.
Fig. 8 is a schematic structural diagram of a rsu according to an embodiment of the present disclosure, where the rsu 800 may include one or more Central Processing Units (CPUs) 801 and a memory 805, and the memory 805 stores one or more applications or data.
In this embodiment, the specific functional module division in the central processing unit 801 may be similar to the functional module division manner of each unit described in the foregoing fig. 5, and is not described herein again.
Memory 805 may be volatile storage or persistent storage, among others. The program stored in the memory 805 may include one or more modules, each of which may include a sequence of instructions for operating on the server. Still further, the central processor 801 may be configured to communicate with the memory 805 to execute a series of instruction operations in the memory 805 on the server 800.
The server 800 may also include one or more power supplies 802, one or more wired or wireless network interfaces 803, one or more input-output interfaces 804, and/or one or more operating systems, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The central processing unit 801 may perform the operations performed by the on-board unit in the embodiment shown in fig. 1, and details thereof are not repeated herein.
Embodiments of the present application also provide a computer storage medium for storing computer software instructions for use as described above, including a program designed for executing a road data processing method.
The road data processing method may be the road data processing method described in the foregoing fig. 1 or fig. 2.
The embodiment of the present application further provides a computer program product, where the computer program product includes computer software instructions, and the computer software instructions may be loaded by a processor to implement the flow of the road data processing method in any one of fig. 1 and fig. 2.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other media capable of storing program codes.

Claims (10)

1. A method of road data processing, comprising:
the vehicle-mounted unit acquires a steering signal;
the vehicle-mounted unit determines a target lane according to the steering signal;
the vehicle-mounted unit sends a data request to a road side unit near the target lane so that the road side unit sends road data of the target lane to the vehicle-mounted unit;
the vehicle-mounted unit receives the road data sent by the road side unit;
the on-board unit displays the road data to a vehicle driver.
2. The road data processing method according to claim 1, wherein the on-board unit receiving the road data transmitted by the roadside unit comprises:
the vehicle-mounted unit receives the image data and the obstacle data sent by the road side unit;
the on-board unit displays the road data to a vehicle driver, including:
the on-board unit displays the image data and the obstacle data to a vehicle driver.
3. The road data processing method according to claim 1, wherein the on-board unit displays the image data to a vehicle driver, including:
the on-board unit displays the image data to a vehicle driver in the form of augmented reality AR.
4. The road data processing method of claim 1, wherein the sending of the data request by the on-board unit to the roadside unit located near the target lane comprises:
and the vehicle-mounted unit sends a data request to the road side unit near the target lane by the vehicle-to-outside information exchange V2X technology.
5. The road data processing method according to claim 1, characterized in that the method further comprises:
and the vehicle-mounted unit sends warning information to the vehicle driver.
6. A method of road data processing, comprising:
the road side unit receives a data request sent by the vehicle-mounted unit;
the road side unit acquires road data of a target lane;
the road side unit transmits the road data to the on board unit so that the on board unit displays the road data to a vehicle driver.
7. The road data processing method according to claim 6, wherein after the roadside unit acquires the road data of the target lane, the method further comprises:
the road side unit identifies the road data and judges whether an obstacle exists in the target lane;
and if the target lane has an obstacle, the road side unit sends obstacle data of the obstacle to the vehicle-mounted unit.
8. The road data processing method of claim 6, wherein the receiving, by the road side unit, the data request sent by the on-board unit comprises:
and the road side unit receives a data request sent by the vehicle-mounted unit through a V2X technology.
9. An on-board unit, comprising:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, the execution of the instructions in the memory on the on-board unit to perform the method of any of claims 1-5.
10. A road side unit, comprising:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, the instructions in the memory being executable on the road side unit to perform the method of any of claims 6-8.
CN202010536920.0A 2020-06-12 2020-06-12 Road data processing method and related equipment Pending CN111540224A (en)

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