CN112017430A - Intersection blind area auxiliary driving method and system based on V2X - Google Patents
Intersection blind area auxiliary driving method and system based on V2X Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- 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
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- 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
- G08G1/0125—Traffic data processing
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- 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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- 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
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention relates to a V2X-based intersection blind area auxiliary driving method and a system, wherein the method comprises the following steps: acquiring relevant information and self-position information of an intersection where the vehicle is located through a V2X module, and calculating a lane where the vehicle is located; obtaining the red light remaining time of a lane where the vehicle is located; after the red light remaining time corresponding to the current lane is less than or equal to the preset time, the roadside unit sends the dangerous traffic participants in the blind area range of the vehicle to the V2X module; the 2X module generates warning information and displays the picture information of the dangerous traffic participants on the front windshield through the HUD. According to the method, red light information of a current lane and dangerous traffic participants in a blind area range of a vehicle are obtained based on a roadside unit arranged at an intersection, warning information is generated, and picture information of the dangerous traffic participants is displayed on front windshield glass, so that a vehicle owner can see weak traffic participants in the blind area clearly by raising the head, the vehicle can slowly walk through the intersection, and traffic accidents caused by the blind area are greatly reduced.
Description
Technical Field
The invention relates to the technical field of V2X, in particular to a crossing blind area auxiliary driving method and system based on V2X.
Background
V2X (Vehicle-to-X) refers to the communication between Vehicle and peripheral equipment, X includes Vehicle, roadside facilities, service station, etc., at present, its wireless communication technology follows IEEE802.11P protocol, and is designed to have transmission distance of 300-1000M and transmission rate of 3M-27Mbps, V2X communication has advantages over 3G/4G in that the real-time transmission is high, no base station is needed, no operator traffic and charging are needed. The V2X is mainly used in the fields of intelligent transportation and driving active safety, so that traffic accidents are reduced, and traffic efficiency is improved.
The communication technology of the V2X mainly adopts WAVE (Wireless Access in Vehicular environments) ad hoc network communication, and the technology has good flexibility and is very suitable for vehicle-mounted environments with strong maneuverability. Wherein the physical layer adopts IEEE802.11P protocol, and uses 5.9GHZ wireless communication frequency band; the data link layer, the transmission layer and the transmission standards adopt an IEEE1609 protocol group.
The RSU is a hardware unit which is installed at the roadside, can realize V2X communication and supports V2X application. The working frequency range is 5.905-5.925GHz, the communication distance of open road conditions can reach 1000 meters, the urban environment is 500-800 meters, positioning systems such as differential high-precision positioning and GPS dual-mode positioning are supported, meanwhile, a camera, a laser radar and the like are carried, the environment where the vehicle is located can be monitored in real time, and the comprehensive output is used for making correct judgment for comfortable driving of a user.
At present, when the sight is poor or the vehicles are started at the crossroad in a rainy and foggy day, sight blind areas are easy to generate, so that the behaviors of weak traffic participants in the blind areas are ignored, and traffic accidents are easy to cause. Therefore, a driver is usually required to control the vehicle speed well and make a spare brake, namely, the vehicle is decelerated in advance, the right foot is placed on the brake, and the brake is stepped on to the bottom in case of some conditions, so that the occurrence of traffic accidents is reduced. The existing scheme needs to improve the vigilance of a driver, has higher requirements on the driver or pedestrians, and cannot acquire related information in a blind area in real time, so that subjective factors are excessively depended on, and meanwhile, the existing scheme is not intelligent enough.
Disclosure of Invention
The invention provides a V2X-based intersection blind area auxiliary driving method and system, aiming at solving the problems that in the prior art, when a vehicle is started at an intersection in a poor sight or in a rainy or foggy day, a sight blind area is easy to generate, and related information in the blind area cannot be acquired in real time, so that behaviors of vulnerable traffic participants in the blind area are ignored, and traffic accidents are easy to cause by using the V2V technology.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a crossing blind area auxiliary driving method based on V2X comprises the following steps:
acquiring related information and self-position information of an intersection where the vehicle is located through a V2X module;
calculating the lane of the vehicle through the acquired related information of the intersection where the vehicle is located and the position information of the vehicle; judging whether the lane where the vehicle is located and the lane where the current red light is located are located in the same lane, if so, acquiring the red light remaining time corresponding to the current lane according to the relevant information of the lane where the vehicle is located;
after the red light remaining time corresponding to the current lane is less than or equal to the preset time, the roadside unit sends the dangerous traffic participants in the blind area range of the vehicle to the V2X module;
the V2X module generates warning messages and displays the screen information of the dangerous traffic participants on the front windshield via the HUD.
Further, as a preferred technical solution, the acquired related information of the intersection where the vehicle is located includes:
the method comprises the steps that SPAT information and MAP information which are broadcasted by a roadside unit arranged at an intersection are obtained, the SPAT information comprises traffic light information, and the MAP information comprises MAP information of the intersection where a vehicle is located, including lane width, running track points of the vehicle, lane center lines, lane stop lines and lane course angle information.
Further, as a preferred technical solution, the calculating of the lane in which the host vehicle is located specifically includes:
and calculating the lane where the vehicle is located by combining the position information of the vehicle with the driving track points of the vehicle in the MAP message.
Further, as a preferred technical solution, the step of judging whether the lane where the vehicle and the current red light are located in the same lane specifically includes:
judging whether the lateral distance between the vehicle and the center line of the lane where the current red light is located is smaller than a first preset threshold value or not;
judging whether the distance between the vehicle and the stop line of the lane where the current red light is located is larger than 0 m;
judging whether the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is smaller than a second preset threshold value or not;
and when the lateral distance between the vehicle and the center line of the lane where the current red light is located is smaller than a first preset threshold value, the distance between the vehicle and the stop line of the lane where the current red light is located is larger than 0m, and the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is smaller than a second preset threshold value, judging that the vehicle and the lane where the current red light is located are located on the same lane.
Further, as a preferable technical solution, the dangerous traffic participants in the blind area range of the host vehicle include other weak traffic participants in the blind area or the shielded area of the host vehicle, or red light running vehicles and other abnormal vehicles existing in a direction crossing the traveling direction of the host vehicle.
Further, as a preferred technical solution, the V2X specifically includes, by the HUD, displaying the screen information of the dangerous traffic participant on the front windshield:
V2X sends the picture information of the dangerous traffic participants to the instrument through the CAN network;
the instrument displays the picture information on the front windshield through the HUD through the Ethernet so that the vehicle owner can clearly see the dangerous traffic participants in the blind area by raising the head.
Further, as a preferred technical scheme, the preset time is set within a range of 2-6 s.
Further, as a preferred technical solution, the setting range of the first preset threshold is 2-3m, and the setting range of the second preset threshold is 10-25 degrees.
A crossing blind area auxiliary driving system based on V2X adopts a crossing blind area auxiliary driving method based on V2X to realize auxiliary driving in the crossing blind area; the system comprises a V2X module, a meter, a front windshield and a roadside unit, wherein the V2X module is arranged on a vehicle;
the V2X module is respectively connected with the roadside unit and the instrument, and the V2X module is used for receiving SPAT and MAP messages broadcasted by the roadside unit, then acquiring dangerous traffic participants in the blind area range of the vehicle and generating alarm information, and sending the picture information of the dangerous traffic participants in the blind area range of the vehicle to the instrument through a CAN (controller area network); the instrument displays the received picture information on the front windshield through the HUD through the Ethernet.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
after matching red light information of a current lane, the method detects that weak traffic participants exist in a blind area of the vehicle or vehicles running the red light are in a direction crossing the driving direction of the vehicle through the RSU based on the SPAT and MAP information broadcasted by the RSU, generates an alarm and displays the alarm on a front windshield through a HUD, so that the vehicle owner can see the weak traffic participants in the blind area by raising the head, and can slowly pass through an intersection, thereby greatly reducing traffic accidents caused by the blind area.
Drawings
FIG. 1 is a flow chart of the method steps.
Fig. 2 is a block diagram of the system.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand for those skilled in the art and will therefore make the scope of the invention more clearly defined. .
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, if any, are used in the orientations and positional relationships indicated in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationships in the drawings are used for illustrative purposes only and are not to be construed as limiting the present patent.
Furthermore, if the terms "first," "second," and the like are used for descriptive purposes only, they are used for mainly distinguishing different devices, elements or components (the specific types and configurations may be the same or different), and they are not used for indicating or implying relative importance or quantity among the devices, elements or components, but are not to be construed as indicating or implying relative importance.
Example 1
The embodiment discloses a V2X-based intersection blind area auxiliary driving method, which comprises the following steps of:
s10, acquiring related information and self-position information of the intersection where the vehicle is located through a V2X module.
In this step, the acquired information about the intersection where the host vehicle is located includes: the method comprises the steps that SPAT information and MAP information which are broadcasted by a Road Side Unit (RSU) arranged at an intersection are obtained, the SPAT information comprises traffic light information, and the MAP information comprises MAP information of the intersection where a vehicle is located, including lane width, running track points of the vehicle, lane center lines, lane stop lines, lane course angle information and the like.
MAP messages broadcast by roadside units (RSUs) are acquired by GNSS modules connected thereto.
The method specifically comprises the following steps:
the vehicle acquires SPAT information and MAP information broadcast by a roadside unit (RSU) arranged at an intersection where the vehicle is located through a V2X module of the vehicle, and acquires self-position information through a self GPS.
The roadside unit (RSU) is a hardware unit which is installed at the roadside, can realize V2X communication and supports V2X application. The working frequency range is 5.905-5.925GHz, the communication distance of open road can reach 1000m, the urban environment is 500-800 m, positioning systems such as differential high-precision positioning and GPS dual-mode positioning are supported, meanwhile, a camera, a laser radar and the like are carried, the environment where the vehicle is located can be monitored in real time, and the accurate judgment can be made for comfortable driving of a user through comprehensive output.
S20, calculating a lane where the vehicle is located according to the acquired related information of the intersection where the vehicle is located and the self-position information; and judging whether the lane where the vehicle is located and the lane where the current red light is located are located in the same lane, if so, acquiring the red light remaining time corresponding to the current lane according to the relevant information of the lane where the vehicle is located, and otherwise, restarting the calculation.
The method specifically comprises the following steps:
and calculating the lane where the vehicle is located by combining the position information of the vehicle with the driving track points of the vehicle in the MAP message.
Judging whether the lateral distance between the vehicle and the center line of the lane where the current red light is located is smaller than a first preset threshold value or not;
judging whether the distance between the vehicle and the stop line of the lane where the current red light is located is larger than 0 m;
judging whether the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is smaller than a second preset threshold value or not;
and when the lateral distance between the vehicle and the center line of the lane where the current red light is located is smaller than a first preset threshold value, the distance between the vehicle and the stop line of the lane where the current red light is located is larger than 0m, and the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is smaller than a second preset threshold value, judging that the vehicle and the lane where the current red light is located are located on the same lane.
And then according to the SPAT message of the lane where the current red light is located, obtaining the red light remaining time corresponding to the current lane.
In this step, the first preset threshold is set to range from 2 to 3m, preferably 3m, and the second preset threshold is set to range from 10 to 25 degrees, preferably 20 degrees. Therefore, when the lateral distance between the vehicle and the center line of the lane where the current red light is located is less than 3m, the distance between the vehicle and the stop line of the lane where the current red light is located is greater than 0m, and the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is less than 20 degrees, the fact that the vehicle and the lane where the current red light is located are located in the same lane is judged, and the red light remaining time corresponding to the current lane is obtained according to the SPAT information of the lane where the vehicle is located.
And S30, after the red light remaining time corresponding to the current lane is less than or equal to the preset time, the roadside unit (RSU) sends the dangerous traffic participants in the blind area range of the vehicle to the V2X module.
The preset time setting range is 2-6s, preferably 3s, and the dangerous traffic participants in the blind area range of the vehicle comprise other weak traffic participants in the blind area or the shielded area of the vehicle, or red light running vehicles and other abnormal vehicles existing in the direction crossed with the driving direction of the vehicle.
And S40. the V2X module generates warning information and displays the picture information of the dangerous traffic participants on the front windshield through the HUD.
The method specifically comprises the following steps:
after the V2X module generates warning information, the picture information of the dangerous traffic participants is sent through the CAN network
Feeding the instrument;
the instrument passes through the ethernet and shows picture information through HUD on preceding shelves glass so that the car owner when starting the vehicle, the dangerous traffic participant in the blind area just can be seen clearly to the rising, and the car owner can slow down according to the dangerous traffic participant condition in the blind area and walk slowly through the crossing to the traffic accident that the blind area that significantly reduces leads to.
Example 2
The embodiment discloses an intersection blind area auxiliary driving system based on V2X, which adopts the intersection blind area auxiliary driving method based on V2X described in embodiment 1 to realize auxiliary driving in the intersection blind area; the system comprises a V2X module arranged on a vehicle, a meter, a front windshield and a Road Side Unit (RSU) installed at an intersection.
In the system, a V2X module is respectively connected with a roadside unit (RSU) and an instrument, and a V2X module is used for receiving SPAT and MAP messages broadcasted by the roadside unit (RSU), then acquiring dangerous traffic participants in the blind area range of the vehicle and generating alarm information, and sending the picture information of the dangerous traffic participants in the blind area range of the vehicle to the instrument through a CAN network; the instrument passes through the picture information that the ethernet will receive and shows on preceding shelves glass through HUD to make the car owner when starting the vehicle, the dangerous traffic participant in the blind area just can be seen clearly to the rising, and the car owner can slow down according to the dangerous traffic participant condition in the blind area and walk slowly through the crossing, thereby the traffic accident that the blind area that significantly reduces leads to.
The SPAT information comprises traffic light information, and the MAP information comprises MAP information of an intersection where the vehicle is located, including lane width, driving track points of the vehicle, lane center lines, lane stop lines, lane course angle information and the like. And the MAP message broadcasted by the Road Side Unit (RSU) is acquired by the GNSS module connected thereto.
The roadside unit (RSU) is a hardware unit installed at the roadside, which can realize V2X communication and support V2X application. The working frequency range is 5.905-5.925GHz, the communication distance of open road can reach 1000m, the urban environment is 500-800 m, positioning systems such as differential high-precision positioning and GPS dual-mode positioning are supported, meanwhile, a camera, a laser radar and the like are carried, the environment where the vehicle is located can be monitored in real time, and the accurate judgment can be made for comfortable driving of a user through comprehensive output.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A V2X-based intersection blind area auxiliary driving method is characterized by comprising the following steps:
acquiring related information and self-position information of an intersection where the vehicle is located through a V2X module;
calculating the lane of the vehicle through the acquired related information of the intersection where the vehicle is located and the position information of the vehicle; judging whether the lane where the vehicle is located and the lane where the current red light is located are located in the same lane, if so, acquiring the red light remaining time corresponding to the current lane according to the relevant information of the lane where the vehicle is located;
after the red light remaining time corresponding to the current lane is less than or equal to the preset time, the roadside unit sends the dangerous traffic participants in the blind area range of the vehicle to the V2X module;
the V2X module generates warning messages and displays the screen information of the dangerous traffic participants on the front windshield via the HUD.
2. The intersection blind area auxiliary driving method based on V2X as claimed in claim 1, wherein the obtained related information of the intersection where the vehicle is located includes:
the method comprises the steps that SPAT information and MAP information which are broadcasted by a roadside unit arranged at an intersection are obtained, the SPAT information comprises traffic light information, and the MAP information comprises MAP information of the intersection where a vehicle is located, including lane width, running track points of the vehicle, lane center lines, lane stop lines and lane course angle information.
3. The intersection blind area auxiliary driving method based on V2X as claimed in claim 2, wherein calculating the lane where the vehicle is specifically includes:
and calculating the lane where the vehicle is located by combining the position information of the vehicle with the driving track points of the vehicle in the MAP message.
4. The intersection blind area auxiliary driving method based on V2X as claimed in claim 2, wherein the determining whether the lane where the vehicle and the current red light are located on the same lane specifically comprises:
judging whether the lateral distance between the vehicle and the center line of the lane where the current red light is located is smaller than a first preset threshold value or not;
judging whether the distance between the vehicle and the stop line of the lane where the current red light is located is larger than 0 m;
judging whether the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is smaller than a second preset threshold value or not;
and when the lateral distance between the vehicle and the center line of the lane where the current red light is located is smaller than a first preset threshold value, the distance between the vehicle and the stop line of the lane where the current red light is located is larger than 0m, and the deviation between the course angle of the vehicle and the course angle of the lane where the current red light is located is smaller than a second preset threshold value, judging that the vehicle and the lane where the current red light is located are located on the same lane.
5. The intersection blind area auxiliary driving method based on V2X as claimed in claim 1, wherein the dangerous traffic participants in the range of the blind area of the host vehicle include other weak traffic participants in the blind area or shielded area of the host vehicle, or red light running vehicles and other abnormal vehicles existing in the direction crossing the driving direction of the host vehicle.
6. The V2X-based intersection blind area assistant driving method as claimed in claim 1, wherein the V2X displaying the screen information of the dangerous traffic participants on the front windshield via HUD specifically comprises:
V2X sends the picture information of the dangerous traffic participants to the instrument through the CAN network;
the instrument displays the picture information on the front windshield through the HUD through the Ethernet so that the vehicle owner can clearly see the dangerous traffic participants in the blind area by raising the head.
7. The V2X-based intersection blind zone assistant driving method according to claim 1, wherein the preset time setting range is 2-6 s.
8. The V2X-based intersection blind area auxiliary driving method according to claim 4, wherein the first preset threshold is set to range from 2 to 3m, and the second preset threshold is set to range from 10 to 25 degrees.
9. An intersection blind area auxiliary driving system based on V2X is characterized in that auxiliary driving is realized in an intersection blind area by adopting the V2X-based intersection blind area auxiliary driving method of any one of claims 1-8; the system comprises a V2X module, a meter, a front windshield and a roadside unit, wherein the V2X module is arranged on a vehicle;
the V2X module is respectively connected with the roadside unit and the instrument, and the V2X module is used for receiving SPAT and MAP messages broadcasted by the roadside unit, then acquiring dangerous traffic participants in the blind area range of the vehicle and generating alarm information, and sending the picture information of the dangerous traffic participants in the blind area range of the vehicle to the instrument through a CAN (controller area network); the instrument displays the received picture information on the front windshield through the HUD through the Ethernet.
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| CN115019527A (en) * | 2022-05-27 | 2022-09-06 | 江苏大学 | Traffic signal lamp information interaction method, intersection early warning method and system |
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