CN112750326B - Generalized vehicle-road cooperation method - Google Patents
Generalized vehicle-road cooperation method Download PDFInfo
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- CN112750326B CN112750326B CN202110007669.3A CN202110007669A CN112750326B CN 112750326 B CN112750326 B CN 112750326B CN 202110007669 A CN202110007669 A CN 202110007669A CN 112750326 B CN112750326 B CN 112750326B
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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
- G08G1/0967—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
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
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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
- G08G1/0108—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
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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
- G08G1/0133—Traffic data processing for classifying traffic situation
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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
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
- G08G1/164—Centralised systems, e.g. external to vehicles
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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
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
The invention discloses a generalized vehicle-road cooperation method, which comprises the following steps: collecting traffic related data and vehicle characteristic data through a traffic information acquisition module; the collected information is matched with a data acquisition position and a map data position in a space dimension, an information time sequence relation is formed in a time dimension, traffic structure feature points are fused on the basis of the map data, roadside intelligent facilities are used as relative positions, and related information is fused according to a facility coverage range to form traffic information based on the position; respectively processing different traffic information with spatial attributes to form traffic control and service information based on vehicle positions, classifying various information according to emergency degree, and issuing and controlling information according to different types of vehicles and different issuing means; the invention can realize traffic safety control and accurate service, ensure traffic safety and improve travel efficiency.
Description
Technical Field
The invention belongs to the field of intelligent transportation, and particularly relates to a generalized vehicle-road cooperation method for safety control and accurate service.
Background
The safety and the high efficiency are the targets and the development subjects of the highway operation, the highway operation management ensures the safe driving of people, vehicles and roads from two aspects of emergency monitoring, and the effective and efficient service, management and decision are realized. The intelligent high-speed demand analysis is developed from two aspects of safety control and accurate service. Through comprehensive deepening of data development and sharing, a monitoring system is sound, communication is guaranteed, and real-time knowing, measurable, controllable and service can be achieved. The development direction of intelligent traffic is necessarily a comprehensive traffic system integrating people, vehicles and roads. Vehicle-road cooperation is a key path for realizing an intelligent traffic system. At present, the vehicle-road cooperative system in China realizes information interaction and cooperative control among vehicles, roads and personnel through wireless communication and internet technologies. Through the information collection and fusion of the vehicle and the road, the information can be effectively exchanged between the vehicle and the road at any time in real time, and people, the vehicle, the road and facilities can be effectively and cooperatively controlled. Environmental pollution can be reduced through the cooperative vehicle-road system, the travel efficiency is improved, traffic safety is guaranteed, traffic jam is relieved, and traffic safety and convenience are improved. The vehicles and the roads cooperate to form a new traffic structure among vehicles, roads and people through various wireless communication modes. The conventional vehicle-road coordination system is limited to a special vehicle-mounted terminal and special road-side equipment, services for vehicles are realized through special communication between special terminals, and accompanying coordination of the vehicles and the roads cannot be realized for general vehicles and under the conventional highway system.
Disclosure of Invention
The invention aims to provide a generalized vehicle-road coordination method to realize traffic safety control and accurate service, guarantee traffic safety and improve travel efficiency.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
a generalized vehicle-road cooperation method.
The method comprises the following steps:
step 1: collecting traffic related data and vehicle characteristic data including a roadside intelligent unit, a snapshot camera, an ETC portal system, a meteorological detector, a vehicle-mounted terminal and a third-party system through a traffic information acquisition module;
the traffic related data comprises traffic operation information, traffic incident information, traffic infrastructure information, road network information, environmental data, road surface state information, emergency management and control information and dynamic traffic management and control information;
step 2: the collected information is matched with a data acquisition position and a map data position in a space dimension, an information time sequence relation is formed in a time dimension, traffic structure feature points are fused on the basis of the map data, roadside intelligent facilities are used as relative positions, and related information is fused according to a facility coverage range to form traffic information based on the position;
the method specifically comprises the following steps of 2.1: carrying out map data physical segmentation according to characteristic points of a traffic structure, including terrain, infrastructure setting, ramps, intersections, entrances and exits, administrative boundaries and up-down directions, calibrating the positions of map-fixed infrastructures, and forming infrastructure information with spatial attributes;
step 2.2: fusing roadside intelligent facility position information, calibrating according to the longitude and latitude positions of the facilities and the distance of the relatively fixed infrastructure, determining the position of the roadside intelligent facility, and defining an information acquisition space range according to the coverage range of the roadside intelligent facility to form traffic information with space attributes;
step 2.3: uniformly corresponding the collected data of different vehicle characteristic information through key data such as license plates and the like to form a unique vehicle identifier taking the vehicle characteristics as a main body, classifying the vehicles, setting a first class of vehicles as vehicles which are provided with vehicle-mounted devices and can communicate with a roadside intelligent unit, and setting a second class of vehicles as vehicles which do not have communication with the roadside intelligent unit;
step 2.4: splicing the vehicle positions of the data of the two types of vehicle characteristic information based on the data acquisition positions to form vehicle tracks and sensing the vehicle positions;
step 2.5: the vehicle position is matched with the map position, and the vehicle and the information position can be associated to form a spatial relationship;
and 3, step 3: respectively processing different traffic information with spatial attributes to form traffic control and service information based on vehicle positions, classifying various information according to time delay emergency degree, and issuing and controlling information according to different types of vehicles and different issuing means;
the method specifically comprises the following steps of 3.1: processing various types of traffic information with spatial attributes to form position-based traffic control and service information;
step 3.1.1: forming traffic facility information service information including tunnel length, bridge length, service area information, ramp distance and intersection distance according to the actual condition attribute of the traffic infrastructure, and generating infrastructure service audio-visual information;
step 3.1.2: according to different information acquisition ranges, road condition information of different scales is formed, according to traffic flow and average vehicle speed between the gantries, large-scale road conditions between the gantries are obtained, and the smooth traffic jam condition with the gantries as a unit is judged; judging the local traffic jam unblocked condition of the area according to the local traffic flow information, the speed and the queuing length information of the area obtained by a road side camera and a microwave or laser radar; generating average transit time prediction information according to the position of the vehicle; generating traffic service early warning audio-visual information;
step 3.1.3: acquiring road abnormal events and road accidents with position information according to real-time position attributes acquired by road side equipment and a vehicle terminal, judging according to the accident classification, and cooperating with the position information to obtain the accurate positions of the accident occurrence and the strong influence range on traffic, and obtaining the influence area and the influence traffic time of the accident by fusing traffic flow information and vehicle speed change information; generating traffic service management and control audio-visual information according to different vehicle positions;
step 3.1.5: acquiring the influence range and the influence degree of meteorological data by combining the acquired meteorological data with traffic road condition information, and generating traffic service control early warning audiovisual information according to different vehicle positions;
step 3.1.6: according to the collected construction information, a construction starting point and a construction stopping point and a construction affected lane are obtained, and traffic early warning service information is generated;
step 3.2: according to different traffic service management and control information and the range of influence radiation, different vehicles at the positions are released by means of different types of means such as mobile phone APP, FM broadcast, vehicle-mounted terminals, variable condition newspaper and the like according to the information delay sensitivity degree;
step 3.2.1: the service information comprises information with the lowest sensitivity to time delay, such as traffic infrastructure information service, road smoothness information service, normal meteorological condition information service and the like, and service information audio-visual broadcasting is carried out on all vehicles in the radiated range to the mobile phone terminal through a wireless network channel;
step 3.2.2: the early warning service information comprises road congestion state, event state, bad traffic weather state and construction state, the early warning information is related to the time delay sensitivity degree and the vehicle position, vehicles far away from the information generating position are regarded as low in time delay sensitivity degree, early warning information audio-visual broadcasting is carried out through a mobile phone terminal, and meanwhile visual release is carried out on equipment such as a far variable information board; regarding vehicles with relatively close distance information generating positions as being sensitive to time delay, and simultaneously issuing information of a collecting terminal, a variable information board and a vehicle-mounted terminal;
step 3.2.3: the early warning management and control type information comprises regional vehicle rapid deceleration braking early warning, blind spot warning, emergency vehicle avoidance, lane occupation of an incident accident, lane control and information with high time delay sensitivity of a severe meteorological state of sudden traffic, information release is required to be simultaneously realized through frequency modulation emergency broadcasting, a variable information board, a variable speed limit sign, a road side base station and a mobile phone terminal, the released information also comprises road management and control, vehicle induction and management and control type information besides the early warning information, and an auxiliary control means is adopted for one type of vehicles under a controllable condition.
The traffic-related data in step 1 specifically includes: the system comprises vehicle flow, vehicle speed, headway, traffic flow density, vehicle types, vehicle positioning, travel time, management and control information, construction information, various event information, road surface state information, road meteorological information and other information which influence the vehicle operation.
The invention has the following advantages and effects: the traffic multisource data obtained in multiple aspects are fully utilized, information of traffic service and traffic control is formed through fusion processing of the data, positioning distinguishing of vehicles is achieved, accurate traffic information service is formed according to relative positions of different vehicles and service control information, information issuing means of the highway is fully utilized, the cooperative target of generalized vehicle paths is achieved, and accurate service and traffic safety control based on the positions are achieved.
Drawings
Fig. 1 is a schematic block diagram of a generalized vehicle-road coordination system according to the present invention.
Detailed Description
The invention provides a generalized vehicle-road cooperative system for safety management and control and accurate service.
The schematic block diagram of the generalized vehicle-road cooperative system is shown in fig. 1, and it includes: the system comprises a traffic information acquisition module, a traffic information fusion module, a traffic information management and control service platform module and a traffic information publishing module;
the traffic information acquisition module is used for collecting various traffic-related data including an intelligent road side unit, a snapshot camera, a meteorological detector, an ETC portal system, a vehicle terminal and a third-party system, and carrying out primary processing on the data to form traffic position service information;
the intelligent road side units comprise but are not limited to traffic state sensors such as a traffic flow monitor, an inter-modulation device, a radar device and a weather monitoring device, and the plurality of intelligent road side units are distributed at the road side at certain intervals and are used for acquiring traffic state conditions in the coverage range of the road side units, including but not limited to traffic flow, road condition information, vehicle characteristic information, weather information, environment information, traffic events, traffic behaviors and the like;
the snapshot cameras are arranged on the road side at certain intervals and used for collecting vehicle characteristic information, traffic state information and event detection information in the coverage area of the cameras, wherein the vehicle characteristic information comprises but is not limited to vehicle type, vehicle color, license plate color and the like, the uniqueness of the vehicle is calibrated, and the traffic state information comprises but is not limited to flow, time, road condition and the like; the event detection information includes but is not limited to accidents, illegal parking, road surface throwing, illegal lane changing, emergency lane occupation and the like;
the ETC portal system acquires vehicle characteristic information through the snapshot fusion of ETC, CPC and a camera;
the meteorological detector acquires meteorological element information in a coverage range, including but not limited to temperature, humidity, wind speed, rain and snow, visibility, road surface state and the like;
the vehicle-mounted terminal is conditionally installed on a vehicle and acquires dynamic information of the vehicle-mounted terminal and surrounding road condition and environment information;
third party systems including but not limited to the internet, traffic management, other agency, and traffic other systems for accessing other supplemental traffic information;
the traffic information fusion module processes and fuses information collected and summarized by the traffic information collection module, fuses traffic information data collected by roadside equipment, fuses information influencing traffic such as weather and the like, and fuses data of vehicle characteristic information;
the method comprises the steps of fusing acquired traffic information of roadside equipment such as an intelligent roadside unit, a snapshot camera, an ETC portal frame and a vehicle terminal, and forming traffic state information based on positions by combining the geographical position and the coverage area of the roadside equipment and the geographical position of a map;
the meteorological element information and the traffic state information acquired by the meteorological detector are fused to form strong meteorological relevant information influencing traffic;
fusing data of the ETC portal frame, the snapshot camera and vehicle characteristic information of the vehicle terminal to form a vehicle track and vehicle identification information;
the traffic information management and control service platform module processes the fused traffic state and weather information based on the position, vehicle identification and vehicle position based on different vehicles and vehicle positions to form management and control and service information and issues the information aiming at the different vehicles;
the formed control information includes, but is not limited to, road construction, traffic control, traffic guidance and the like;
the formed service information includes, but is not limited to, traffic jam state, traffic events, traffic situations, traffic operation information, traffic weather information, traffic accident information, traffic dispersion information, peripheral road network information, and the like;
and the traffic information issuing module is used for realizing ordered issuing of information through intelligent roadside base stations, mobile phone APPs, vehicle-mounted terminals, variable information boards, variable speed limit signs and roadside intelligent FM broadcasting.
According to another aspect of the invention, a generalized vehicle-road cooperation method facing safety control and precise service is provided.
The method comprises the following steps:
step 1: collecting traffic related data and vehicle characteristic data comprising a roadside intelligent unit, a snapshot camera, an ETC portal system, a meteorological detector, a vehicle-mounted terminal and a third-party system through a traffic information acquisition module;
the traffic related data comprises traffic operation information, traffic incident information, traffic infrastructure information, road network information, environmental data, road surface state information, emergency control information, dynamic traffic control information and the like, and comprises information which influences the operation of vehicles, such as vehicle flow, vehicle speed, headway, traffic flow density, vehicle type, vehicle positioning, travel time, control information, construction information, various incident information, road surface state information, road meteorological information and the like;
and 2, step: the collected information is fused through space and time dimensions, the feature points of the traffic structure are fused on the basis of map data, the roadside intelligent facilities are used as relative positions, and the related information is fused according to the facility coverage range to form the traffic information based on the positions;
step 2.1: carrying out map data physical segmentation according to characteristic points of a traffic structure, including terrain, infrastructure setting, ramps, intersections, entrances and exits, administrative boundaries and up-down directions, calibrating the position of a map fixed infrastructure, and forming infrastructure information with spatial attributes;
step 2.2: fusing roadside intelligent facility position information, calibrating according to the longitude and latitude positions of the facilities and the distance of the relatively fixed infrastructure, determining the position of the roadside intelligent facility, and defining an information acquisition space range according to the coverage range of the roadside intelligent facility to form traffic information with space attributes;
step 2.3: fusing the collected data of the vehicle characteristic information to form a unique vehicle identifier, classifying the vehicles, setting a first vehicle as a vehicle provided with a vehicle-mounted device and capable of communicating with the intelligent roadside unit, and setting a second vehicle as a vehicle not provided with communication with the intelligent roadside unit;
step 2.4: respectively fusing data of the two types of vehicle characteristic information to form vehicle tracks and sense vehicle positions;
step 2.5: matching and fusing the vehicle position and the map position, and associating the vehicle with the information position to form a spatial relationship;
and step 3: the traffic information fused with the spatial attributes is further processed to form traffic control and service information based on vehicle positions, various information is classified according to time delay emergency degree, and information is issued and controlled according to different types of vehicles and different issuing means;
step 3.1: processing various types of traffic information with spatial attributes to form traffic control and service information based on positions;
step 3.1.1: forming traffic facility information service information such as tunnel length, bridge length, service area information, ramp distance, intersection distance and the like according to the actual condition attribute of the traffic infrastructure, and generating infrastructure service audio-visual information;
step 3.1.2: according to the acquired information, macroscopic traffic information is formed through fusion, road network macroscopic road condition information is obtained through fusion, large-scale road conditions among the portal frames are obtained according to traffic flow and average vehicle speed among the portal frames, and the traffic jam unblocked condition with the portal frames as units is judged; judging the local traffic jam unblocked condition of the area according to the local traffic flow information, the speed, the queuing length and other information of the area obtained by a road side camera, a microwave \ laser radar and the like; generating average passing time prediction information according to the vehicle position; generating traffic service early warning audio-visual information;
step 3.1.3: acquiring road abnormal events and road accidents with position information according to the information fusion acquired by road side equipment and a vehicle terminal, judging in a grading way according to the events and the accidents, cooperating with the position information to obtain the accurate positions of the events and the strong influence range on the traffic, and acquiring the influence area and the influence passing time of the events by fusing traffic flow information and vehicle speed change information; generating traffic service management and control audio-visual information according to different vehicle positions;
step 3.1.5: acquiring influence traffic range and influence degree of meteorological data by combining the acquired meteorological data with traffic road condition information, and generating traffic service control early warning audiovisual information according to different vehicle positions;
step 3.1.6: according to the collected construction information, a start point and a stop point of construction and a construction influence lane are obtained, and traffic early warning service information is generated;
step 3.2: issuing different vehicles at the positions according to different traffic service management and control information and the range of influence radiation by different types of means according to the information delay sensitivity degree;
step 3.2.1: the service information includes but is not limited to traffic infrastructure information service, road smooth information service, normal meteorological condition information service and the like, which have the lowest sensitivity to time delay, and the service information audiovisual broadcast can be carried out on all vehicles in the radiated range to the mobile phone terminal through a wireless network channel;
step 3.2.2: the early warning service information comprises road congestion state, event state, bad traffic weather state, construction state and the like, the early warning information is related to the time delay sensitivity degree and the vehicle position, the vehicle far away from the information generating position is considered as low in time delay sensitivity degree, the early warning information can be subjected to audio-visual broadcasting through a mobile phone terminal, and meanwhile, the early warning information can be visually issued on equipment such as a far variable information board and the like; regarding vehicles with relatively close distance information generating positions as being sensitive to time delay, and simultaneously issuing information of a collecting terminal, a variable information board and a vehicle-mounted terminal;
step 3.2.3: the early warning management and control information comprises regional vehicle rapid deceleration braking early warning, blind spot warning, emergency vehicle avoidance, lane occupation of an incident accident, lane control, sudden traffic severe meteorological states and other information with high sensitivity to time delay, information release is required to be simultaneously realized through frequency modulation emergency broadcasting, a variable information board, a variable speed limit sign, a road side base station and a mobile phone terminal, the released information also comprises management and control information such as road management and control, vehicle induction and avoidance besides the early warning information, and auxiliary control means can be adopted for one type of vehicles under controllable conditions.
Claims (2)
1. A generalized vehicle-road cooperation method comprises the following steps:
step 1: collecting traffic related data and vehicle characteristic data containing roadside intelligent facilities, snapshot cameras, an ETC portal system, a meteorological detector, a vehicle-mounted terminal and a third-party system through a traffic information acquisition module;
the traffic related data comprises traffic operation information, traffic incident information, traffic infrastructure information, road network information, environmental data, road surface state information, emergency management and control information and dynamic traffic management and control information;
step 2: the collected information is matched with a data acquisition position and a map data position in a space dimension, an information time sequence relation is formed in a time dimension, traffic structure feature points are fused on the basis of the map data, roadside intelligent facilities are used as relative positions, and related information is fused according to a facility coverage range to form traffic information on the basis of positions;
the method specifically comprises the following steps of 2.1: carrying out map data physical segmentation according to characteristic points of a traffic structure, including terrain, infrastructure setting, ramps, intersections, entrances and exits, administrative boundaries and up-down directions, calibrating the positions of map-fixed infrastructures, and forming infrastructure information with spatial attributes;
step 2.2: fusing roadside intelligent facility position information, calibrating according to the longitude and latitude positions of the facilities and the distance of the relatively fixed infrastructure, determining the position of the roadside intelligent facility, and defining an information acquisition space range according to the coverage range of the roadside intelligent facility to form traffic information with space attributes;
step 2.3: uniformly corresponding the acquired data of different vehicle characteristic information through license plate key data to form a vehicle unique identifier taking vehicle characteristics as a main body, classifying the vehicles, setting a first class of vehicles as vehicles provided with vehicle-mounted devices and capable of communicating with roadside intelligent facilities, and setting a second class of vehicles as vehicles without communication with the roadside intelligent facilities;
step 2.4: splicing the vehicle positions of the data of the two types of vehicle characteristic information based on the data acquisition positions to form vehicle tracks and sense the vehicle positions;
step 2.5: the vehicle position is matched with the map position, and the vehicle and the information position can be associated to form a spatial relationship;
and 3, step 3: respectively processing different traffic information with spatial attributes to form traffic control and service information based on vehicle positions, classifying various information according to emergency degree, and issuing and controlling information according to different types of vehicles and different issuing means;
the method specifically comprises the following steps of 3.1: processing various types of traffic information with spatial attributes to form position-based traffic control and service information;
step 3.1.1: forming traffic facility information service information including tunnel length, bridge length, service area information, ramp distance and intersection distance according to the actual condition attribute of the traffic infrastructure, and generating infrastructure service audio-visual information;
step 3.1.2: according to different ranges of the acquired information, road condition information with different scales is formed, according to the traffic flow and the average speed of vehicles between the door frames, large-scale road conditions between the door frames are obtained, and the smooth traffic jam condition with the door frames as units is judged; judging the local traffic jam unblocked condition of the area according to the local traffic flow information, the speed and the queuing length information of the area obtained by a road side camera and a microwave or laser radar; generating average passing time prediction information according to the vehicle position; generating traffic service early warning audio-visual information;
step 3.1.3: acquiring road abnormal events and road accidents with position information according to real-time position attributes acquired by road side equipment and a vehicle terminal, judging in a grading manner according to the events and accidents, obtaining the accurate positions of the events and the strong influence range on traffic in cooperation with the position information, and obtaining the influence areas and the influence passing time of the events by fusing traffic flow information and vehicle speed change information; generating traffic service control audio-visual information according to different vehicle positions;
step 3.1.5: acquiring the influence range and the influence degree of meteorological data by combining the acquired meteorological data with traffic road condition information, and generating traffic service control early warning audiovisual information according to different vehicle positions;
step 3.1.6: according to the collected construction information, a construction starting point and a construction stopping point and a construction affected lane are obtained, and traffic early warning service information is generated;
step 3.2: according to different traffic service management and control information and the range of influence radiation, different vehicles at the positions are released through different means of different types of mobile phone APP, FM broadcast, vehicle-mounted terminals and variable information versions according to the information delay sensitivity degree;
step 3.2.1: the service information comprises information with the lowest sensitivity to time delay of traffic infrastructure information service, road smoothness information service and normal meteorological condition information service, and the service information audiovisual broadcast is carried out on all vehicles in the radiated range to the mobile phone terminal through a wireless network channel;
step 3.2.2: the early warning service information comprises road congestion state, event state, bad traffic weather state and construction state, the early warning information is related to the time delay sensitivity degree and the vehicle position, vehicles far away from the information generating position are regarded as low in time delay sensitivity degree, early warning information audio-visual broadcasting is carried out through a mobile phone terminal, and meanwhile visual release is carried out on far variable information board equipment; regarding vehicles with relatively close distance information generating positions as being relatively sensitive to time delay, information publishing of a collecting terminal, a variable information board and a vehicle-mounted terminal needs to be carried out at the same time;
step 3.2.3: the early warning management and control type information comprises regional vehicle rapid deceleration braking early warning, blind spot warning, emergency vehicle avoidance, lane occupation of accidents, lane control and information of high time delay sensitivity degree of severe meteorological states of sudden traffic, information issuing is needed to be simultaneously realized through frequency modulation emergency broadcasting, a variable information board, a variable speed limit sign, roadside facilities and a mobile phone APP, the issued information comprises road management and control, vehicle induction and avoidance management and control type information besides the early warning information, and auxiliary control means is adopted for one type of vehicles under controllable conditions.
2. The generalized vehicle-road coordination method according to claim 1, wherein the traffic-related data in step 1 specifically includes: the system comprises vehicle flow, vehicle speed, headway, traffic flow density, vehicle types, vehicle positioning, travel time, management and control information, construction information, various event accident information, road surface state information and information of influence of road meteorological information on vehicle operation.
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