CN112906031A - Method, device and system for analyzing digital traffic signs based on vehicle-road cooperation - Google Patents
Method, device and system for analyzing digital traffic signs based on vehicle-road cooperation Download PDFInfo
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Abstract
The disclosure relates to a method, a device and a system for analyzing a digital traffic sign based on vehicle-road cooperation, wherein the device comprises: the first acquisition module is used for receiving the encrypted and coded digital traffic sign information sent by the terminal application; the decryption module is used for decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information; the decoding module is used for decoding the coded digital traffic sign information to obtain the digital traffic sign information; and the output module is used for carrying out unified formatting processing on the digital traffic sign information and outputting the digital traffic sign information to the terminal equipment. By the technical scheme, the problem of errors caused by the traditional traffic sign image identification means is avoided, and the traffic sign transmission speed and the traffic sign analysis speed are improved.
Description
Technical Field
The present disclosure relates to the field of vehicle cooperative control technologies, and in particular, to a method, an apparatus, and a system for analyzing a digitized traffic sign based on vehicle-road cooperation.
Background
In a road traffic system integrating people, vehicles and roads, a traffic sign is one of the most important expression modes of traffic rules, and the road traffic sign is reasonably arranged, so that the traffic flow can be guided, warned, planned or indicated, the road traffic capacity is improved, the blockage is prevented, the safety of vehicles and people can be protected, traffic accidents are reduced, the energy is saved, and the pollution is reduced.
The traditional road traffic sign is made of figures, symbols, lines, characters and the like with specific colors and transmits standardized visual information to people. In other words, the conventional road traffic sign is visible, and the position, size, color, shape, visual recognition characteristics, etc. thereof are designed according to human psychophysiological characteristics, road characteristics, and vehicle characteristics.
In recent years, the intelligent and automatic driving technology of road vehicles is developed vigorously, intelligent automobiles and automatic driving are taken as important fields of new science and technology and high-point competition of industrial development in developed countries abroad, and a series of innovative exploration is developed in the aspects of policy and regulation, technical research and development, application and the like, so that the technical evolution and industrial layout of automatic driving are promoted.
However, due to the limitation of the traditional traffic signs, the traffic sign recognition technology in the conventional vehicle-road cooperation is limited to a video recognition method, and recognition is performed in a visual perception mode according to the characteristics of the traffic signs such as colors and shapes mainly by referring to the characteristics of human eyes. In the identification process, firstly, whether a traffic sign is included is judged according to an image acquired by a visual sensor, and if the traffic sign is included, the sign in the image is positioned, segmented and extracted; then, carrying out mark feature extraction and classification matching, and finally completing identification.
However, the existing traffic sign identification method has the following defects:
1. the existing image recognition method can not meet the precise requirement of vehicle-road cooperation
Because the existing identification method is mainly carried out according to the color and shape characteristics of the identification, in a natural scene, factors such as weather conditions, illumination changes, identification fouling, object shielding, limited shooting conditions and the like can cause the problems of color distortion, shape distortion, fuzzy loss and the like of the acquired image, and serious difficulty is caused for identification. In addition, the traffic signs have a large number of signs with similar shapes, and the accuracy and the real-time performance of recognition are also influenced. In the environment of autonomous vehicle-road coordination, a slight deviation in the reading and interpretation of the traffic signs can lead to irreparable consequences.
2. The prior image recognition method can not meet the high-efficiency requirement of vehicle-road cooperation
The image recognition is premised on capturing video data with higher definition and angle requirements, and the image recognition algorithm with higher accuracy requirement is greatly discounted in processing efficiency, so that the current technology for visually recognizing the traffic sign needs to be further strengthened in the aspects of real-time performance, stability, accuracy and the like.
3. The existing problems of the traditional traffic sign bring difficulties to the image recognition technology
Due to the lack of detailed, unified and normative research and standard of traffic sign setting, traffic signs set in different regions have certain differences. The traffic signs in many places have the conditions of less design, labor-stealing and material-reducing in size and the like, so that the traffic sign system is incomplete, discontinuous, systematic and even contradictory. The above problems will bring difficulties to the application of image recognition in vehicle-road coordination.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a method, an apparatus, and a system for analyzing a digitized traffic sign based on vehicle-road coordination.
According to a first aspect of the embodiments of the present disclosure, there is provided a device for resolving a digitized traffic sign based on vehicle-road coordination, the device including:
the first acquisition module is used for receiving the encrypted and coded digital traffic sign information sent by the terminal application;
the decryption module is used for decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
the decoding module is used for decoding the coded digital traffic sign information to obtain the digital traffic sign information;
and the output module is used for carrying out unified formatting processing on the digital traffic sign information and outputting the digital traffic sign information to the terminal equipment.
In one embodiment, preferably, the encrypted and encoded digital traffic sign information is a ciphertext encrypted by an encryption key, and the decryption module includes:
a public key obtaining unit for obtaining a decryption key;
and the decryption unit is used for decrypting the encrypted and encoded digital traffic sign information by using the decryption key.
In one embodiment, preferably, the digital traffic sign information is decoded by using a preset type of decoding model, and the decoding module includes:
the model acquisition unit is used for acquiring a decoding model corresponding to the preset type of coding model, and the coding model comprises an application range coding model, a main mark type coding model and a mark content coding model;
the decoding unit is used for decoding the coded digital traffic sign information by using the decoding model;
for the application range information coded by the application range coding model, the following decoding formula is adopted for decoding:
the dimension of the application range of the traffic sign is set to be n, the ith dimension comprises m information items, and the information items are positive integer type number values; the applicability of the known ith dimension is coded as eiThe maximum value of the information item is amaxThe number of selected information items is siLet the information items selected in the ith dimension be collectively denoted as Ai＝{ai0，ai1…ais}，aij∈Ai，j∈[0，s]，s∈[0，m]The result to be obtained for the decoding of the marker ranges is Ai；
Wherein, for digital type information, decoding into floating point numbers;
adding 1010 to the main mark type coded by the main mark type coding model before the coded data, and decoding the coded data by adopting a standard road traffic decoding rule as mark coding;
for the mark content coded by adopting the mark content coding model, directly decoding the mark type of the mark without the mark value, and for the mark with the mark value, adopting a corresponding decoding mode according to the difference of the mark value unit classification;
when the unit of the mark value is digital, decoding by adopting a 16-system to 10-system coding mode;
when the unit of the mark value is a time type, calculating the analysis time by taking half an hour as a unit;
when the mark value unit is a character type, decoding is performed by using ASCII (American standard code for information interchange) conversion characters.
In one embodiment, preferably, the apparatus further comprises:
the storage module is used for storing configuration information, encrypted and encoded digital traffic sign information, a decryption key and a decoding model, wherein the configuration information comprises: road grade information and sign type information.
According to a second aspect of the embodiments of the present disclosure, there is provided a system for resolving a digitized traffic sign based on a vehicle-road cooperation technology, the system including:
the device for resolving the digital traffic signs based on the vehicle-road cooperation technology according to any one of the embodiments of the first aspect;
the terminal application is used for receiving the encrypted and coded digital traffic sign information sent by the coding device of the digital traffic sign at the road side end and forwarding the encrypted and coded digital traffic sign information to the analysis device;
and the terminal equipment is used for receiving the decrypted and decoded digital traffic sign information sent by the analysis device.
In one embodiment, preferably, the terminal application includes any one of:
two-dimensional code, RFID label, Wifi equipment, LTE-V equipment, ETC.
In one embodiment, preferably, the terminal device includes at least one of:
the system comprises a mobile terminal, a handicap auxiliary device, a vehicle-mounted control device and a vehicle-mounted intelligent terminal.
In one embodiment, preferably, the mobile terminal performs voice broadcast according to the received digital traffic sign information;
the handicap assisting device outputs traffic information according to the received digital traffic sign information;
the vehicle-mounted control device and the vehicle-mounted intelligent terminal input the received digital traffic sign information into the processing unit inside the vehicle-mounted control device and the vehicle-mounted intelligent terminal, and the command signal is converted into the control signal after the data processing so as to control the automatic driving vehicle.
According to a third aspect of the embodiments of the present disclosure, there is provided a method for resolving a digital traffic sign based on vehicle-road coordination, the method including:
receiving the encrypted and coded digital traffic sign information sent by the terminal application;
decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
decoding the coded digital traffic sign information to obtain digital traffic sign information, and decoding the application range information coded by adopting an application range coding model by adopting the following decoding formula:
the dimension of the application range of the traffic sign is set to be n, the ith dimension comprises m information items, and the information items are positive integer type number values; the applicability of the known ith dimension is coded as eiThe maximum value of the information item is amaxThe number of selected information items is siLet the information items selected in the ith dimension be collectively denoted as Ai＝{ai0，ai1…ais}，aij∈Ai，j∈[0，s]，s∈[0，m]The result to be obtained for the decoding of the marker ranges is Ai；
Wherein, for digital type information, decoding into floating point numbers;
adding 1010 to the main mark type coded by the main mark type coding model before the coded data, and decoding the coded data by adopting a standard road traffic decoding rule as mark coding;
for the mark content coded by adopting the mark content coding model, directly decoding the mark type of the mark without the mark value, and for the mark with the mark value, adopting a corresponding decoding mode according to the difference of the mark value unit classification;
when the unit of the mark value is digital, decoding by adopting a 16-system to 10-system coding mode;
when the unit of the mark value is a time type, calculating the analysis time by taking half an hour as a unit;
when the mark value unit is a character type, decoding is performed by using ASCII (American standard code for information interchange) conversion characters.
And uniformly formatting the digital traffic sign information and outputting the traffic sign information to terminal equipment.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method according to any one of the embodiments of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
1) the digitalized traffic sign is encoded and encrypted at the roadside end according to a uniform rule, and the information received at the analysis end is decrypted and decoded to ensure that accurate traffic sign information is received, so that the error problem caused by the traditional traffic sign image identification means is avoided;
2) the digital traffic sign analysis system can receive information transmitted by devices such as WIFI (wireless fidelity), LTE-V, ETC and the like, and avoids the phenomena of error recognition and reading caused by the influence of factors such as weather conditions, illumination changes, mark fouling, object shielding, limited shooting conditions and the like in the traditional traffic sign recognition process by the image recognition method;
3) the transmission content of the digital traffic sign is hundreds of times to thousands of times smaller than the image data through coding, so that the transmission speed and the analysis speed of the traffic sign are greatly improved, the response, receiving and processing efficiency are improved, and the cooperative application of the vehicle and the road under the automatic driving environment can be better supported.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a block diagram illustrating a device for resolving a digitized traffic sign based on vehicle-to-road coordination according to an exemplary embodiment.
Fig. 2 is a block diagram illustrating a decryption module in a vehicle-road coordination-based digital traffic sign parsing apparatus according to an exemplary embodiment.
Fig. 3 is a block diagram illustrating a decoding module in a device for parsing a digitized traffic sign based on vehicle-road coordination according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating yet another apparatus for resolving digitized traffic signs based on vehicle-to-road coordination in accordance with an exemplary embodiment.
FIG. 5 is a block diagram illustrating a vehicle-to-road coordination-based digital traffic sign resolution system in accordance with an exemplary embodiment.
FIG. 6 is a schematic block diagram illustrating a vehicle-to-road coordination-based digitized traffic sign resolution system in accordance with an exemplary embodiment.
Fig. 7 is a flow chart illustrating a method for resolving digitized traffic signs based on vehicle-to-road coordination in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The invention provides a coding device of a digital traffic sign based on vehicle-road cooperation, which comprises:
the first acquisition module is used for acquiring current road information and current environment information;
the second acquisition module is used for acquiring corresponding target traffic sign information according to the current road information and the current environment information;
the coding module is used for carrying out digital coding on the target traffic sign information according to a coding model;
the target traffic sign information comprises application range information, main sign type information and sign content information of a traffic sign, wherein the application range information comprises multidimensional information such as road administration grades, section plates and lane section classifications, the sign content information comprises traffic sign information, and the traffic sign comprises a no-sign-value sign and a sign-value sign;
for each item of target traffic sign information, respectively carrying out digital coding, specifically comprising:
setting the dimension of the application range as n by the traffic sign for the application range information, wherein the ith dimension comprises m information items;
the information items corresponding to the ith dimension are represented as A by a seti＝{ai0，ai1…aim}，aij∈Ai，j∈[0，m]Wherein a isijA positive integer type number value of the j information item in the ith dimension, the number value is consistent with the uniqueness within the whole application range, and aijIs fixed to amax(ii) a The information items selected in the ith dimension are collectively denoted as Ki＝{ki0，ki1…kim}，kij∈Ki，j∈[0，m]Wherein k isijIs whether a tag is selected for the jth information item in the ith dimension, wherein:
the selection condition of the ith dimension information item is represented as S by a seti＝{si0，si1…sim}，sij∈Si，j∈[0，m]Wherein s isijThe number of information items which are selected before the jth information item in the ith dimension is used;
when j is 0, si00; when j > 0:
the applicable range of the ith dimension is encoded as:
the coding mode can compress the information amount to the maximum extent on the basis of ensuring correct decoding.
Wherein, the high application range information and the longitudinal application range information are not coded and are directly stored with numbers;
for the main mark type information, coding by adopting a standard road traffic coding rule;
for the mark content information, the mark without mark value directly uses the mark type to code the describable mark, and the mark with mark value adopts the corresponding coding mode according to the different classification of the mark value unit;
when the unit of the mark value is a digital type, coding is carried out by adopting a coding mode of converting 10 system into 16 system;
when the unit of the mark value is a time type, calculating and storing time by taking half an hour as a unit;
when the unit of the mark value is a character type, the mark value is coded by adopting an ASCII coding mode.
The encryption module is used for encrypting the coded digital target traffic sign information;
and the broadcasting module is used for broadcasting the encrypted digital target traffic sign information to a terminal application in a preset range so that the terminal application can analyze the target traffic sign information from the encrypted digital target traffic sign information.
In one embodiment, preferably, the encoding module includes:
a determination unit configured to determine a target sign type to which the target traffic sign information belongs;
the selecting unit is used for selecting a target coding model corresponding to the target mark type from a plurality of coding models;
and the coding unit is used for digitally coding the target traffic sign information by using the target coding model.
In one embodiment, preferably, the encryption module includes:
a private key obtaining unit for obtaining an encryption key;
and the encryption unit is used for encrypting the coded digital target traffic sign information by using the encryption key.
In one embodiment, preferably, the second obtaining module includes:
an information obtaining unit, configured to obtain configuration information, where the configuration information includes: road grade information and sign type information;
and the information determining unit is used for determining corresponding target traffic sign information according to the configuration information, the current road information and the current environment information.
In one embodiment, preferably, the apparatus further comprises:
and the storage module is used for storing the configuration information, the target traffic sign information, the coding model data and the encryption key.
In one embodiment, preferably, the apparatus further comprises:
and the processing module is used for acquiring various traffic sign information, processing the various traffic sign information according to a unified structural mode and storing the various traffic sign information into the storage module.
In one embodiment, preferably, the apparatus further comprises:
and the setting module is used for receiving a traffic sign information setting command input by user equipment and setting each piece of traffic sign information according to the setting command.
The invention provides a coding method of a digital traffic sign based on vehicle-road cooperation, which comprises the following steps:
acquiring current road information and current environment information;
acquiring corresponding target traffic sign information according to the current road information and the current environment information;
digitally encoding the target traffic sign information according to an encoding model;
the target traffic sign information comprises application range information, main sign type information and sign content information of a traffic sign, wherein the application range information comprises multidimensional information such as road administration grades, section plates and lane section classifications, the sign content information comprises traffic sign information, and the traffic sign comprises a no-sign-value sign and a sign-value sign;
for each item of target traffic sign information, respectively carrying out digital coding, specifically comprising:
setting the dimension of the application range as n by the traffic sign for the application range information, wherein the ith dimension comprises m information items;
the information items corresponding to the ith dimension are represented as A by a seti＝{ai0，ai1…aim}，aij∈Ai，j∈[0，m]Wherein a isijA positive integer type number value of the j information item in the ith dimension, the number value is consistent with the uniqueness within the whole application range, and aijIs fixed to amax(ii) a The information items selected in the ith dimension are collectively denoted as Ki＝{ki0，ki1…kim}，kij∈Ki，j∈[0，m]Wherein k isijIs whether a tag is selected for the jth information item in the ith dimension, wherein:
the selection condition of the ith dimension information item is represented as S by a seti＝{si0，si1…sim}，sij∈Si，j∈[0，m]Wherein s isijThe number of information items which are selected before the jth information item in the ith dimension is used;
when j is 0, si00; when j > 0:
the applicable range of the ith dimension is encoded as:
the coding mode can compress the information amount to the maximum extent on the basis of ensuring correct decoding.
Wherein, the high application range information and the longitudinal application range information are not coded and are directly stored with numbers;
for the main mark type information, coding by adopting a standard road traffic coding rule;
for the mark content information, the mark without mark value directly uses the mark type to code the describable mark, and the mark with mark value adopts the corresponding coding mode according to the different classification of the mark value unit;
when the unit of the mark value is a digital type, coding is carried out by adopting a coding mode of converting 10 system into 16 system;
when the unit of the mark value is a time type, calculating and storing time by taking half an hour as a unit;
when the unit of the mark value is a character type, the mark value is coded by adopting an ASCII coding mode.
Carrying out encryption processing on the coded digital target traffic sign information;
and broadcasting the encrypted digital target traffic sign information to a terminal application in a preset range, so that the terminal application analyzes the target traffic sign information from the encrypted digital target traffic sign information and performs vehicle control according to the target traffic sign information.
Specifically, an analysis device and an analysis method corresponding to the encoding device and the encoding method are also provided.
Fig. 1 is a block diagram illustrating a device for resolving a digitized traffic sign based on vehicle-to-road coordination according to an exemplary embodiment.
As shown in fig. 1, the apparatus 10 for analyzing a digitized traffic sign based on vehicle-road coordination includes:
the first acquisition module 11 is configured to receive encrypted and encoded digital traffic sign information sent by a terminal application;
the decryption module 12 is configured to decrypt the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
the decoding module 13 is configured to perform decoding processing on the encoded digital traffic sign information to obtain digital traffic sign information;
and the output module 14 is used for performing unified formatting processing on the digital traffic sign information and outputting the traffic sign information to the terminal equipment.
In the embodiment, the traffic sign information is coded and encrypted according to the uniform rule and then sent to the analysis device, the information received by the analysis device can ensure that the accurate traffic sign information is received after decryption and decoding, the error problem caused by the traditional traffic sign image identification means is avoided, the analysis device can receive information of various terminal applications, avoids the phenomena of error identification and reading caused by factors such as weather conditions, illumination changes, mark defiling, object shielding, limited shooting conditions and the like in the traditional traffic sign identification process, and the coded traffic sign information is hundreds of times to thousands of times smaller than the image data, so that the transmission speed and the analysis speed of the traffic sign are greatly improved, the response, receiving and processing efficiency are improved, and the cooperative application of the vehicle and the road under the automatic driving environment can be better supported.
Fig. 2 is a block diagram illustrating a decryption module in a vehicle-road coordination-based digital traffic sign parsing apparatus according to an exemplary embodiment.
As shown in fig. 2, in an embodiment, preferably, the encrypted and encoded digital traffic sign information is a cipher text encrypted by an encryption key, and the decryption module 12 includes:
a public key obtaining unit 121 configured to obtain a decryption key corresponding to the encryption key;
and the decryption unit 122 is configured to decrypt the encrypted and encoded digital traffic sign information by using the decryption key.
In the embodiment, the traffic sign information is decrypted, so that the safety in the information transmission process can be ensured.
Fig. 3 is a block diagram illustrating a decoding module in a device for parsing a digitized traffic sign based on vehicle-road coordination according to an exemplary embodiment.
As shown in fig. 3, in an embodiment, preferably, the digital traffic sign information is encoded by using a preset type of encoding model, and the decoding module 13 includes:
a model obtaining unit 131, configured to obtain a decoding model corresponding to the preset type of coding model, where the coding model includes an application range coding model, a main flag type coding model, and a flag content coding model;
a decoding unit 132, configured to perform decoding processing on the encoded digital traffic sign information by using the decoding model;
for the application range information coded by the application range coding model, the following decoding formula is adopted for decoding:
the dimension of the application range of the traffic sign is set to be n, the ith dimension comprises m information items, and the information items are positive integer type number values; the applicability of the known ith dimension is coded as eiThe maximum value of the information item is amaxThe number of selected information items is siLet the information items selected in the ith dimension be collectively denoted as Ai＝{ai0，ai1…ais}，aij∈Ai，j∈[0，s]，s∈[0，m]The result to be obtained for the decoding of the marker ranges is Ai；
The following are descriptions of the tests:
let the applicability of the ith dimension be coded as 2062, the maximum value of the information items be 20, and the number of selected information items be 3.
Wherein, for digital type information, decoding into floating point numbers;
adding 1010 to the main mark type coded by the main mark type coding model before the coded data, and decoding the coded data by adopting a standard road traffic decoding rule as mark coding;
for the mark content coded by adopting the mark content coding model, directly decoding the mark type of the mark without the mark value, and for the mark with the mark value, adopting a corresponding decoding mode according to the difference of the mark value unit classification;
when the unit of the mark value is digital, decoding by adopting a 16-system to 10-system coding mode;
when the unit of the mark value is a time type, calculating the analysis time by taking half an hour as a unit;
when the mark value unit is a character type, decoding is performed by using ASCII (American standard code for information interchange) conversion characters.
The traffic sign is divided into a no-sign-value sign and a sign-value sign, and the no-sign-value sign is directly decoded by using a sign type, such as a 'continuous turning' sign; the flag with flag value is decoded according to the flag value type, such as a 'suggested speed' flag, and a specific value of the suggested speed needs to be decoded.
The tag value is one of traffic tag elements for describing information such as speed, distance, width, height, weight, duration, road name, place name, road number, direction, lane number variation, mileage, stake number, quantity, exit number, broadcast frequency band, telephone number, arrow direction, time range, and text of the tag in detail, wherein each item of information corresponds to a unique tag value unit, and the tag speed corresponds to a unit of km/h.
The units of the mark values comprise km/h, meters, kilometers, minutes, tons, units, Hz, time, characters and the like, and the units are mainly classified into a digital type, a time type and a character type, and are specifically shown in Table 1.
TABLE 1
In the embodiment, the coded digital traffic sign information is hundreds of times to thousands of times smaller than the image data, so that the transmission speed and the analysis speed of the traffic sign are greatly improved, the response, receiving and processing efficiency are improved, and the cooperative application of the vehicle and the road under the automatic driving environment can be better supported.
Fig. 4 is a block diagram illustrating yet another apparatus for resolving digitized traffic signs based on vehicle-to-road coordination in accordance with an exemplary embodiment.
As shown in fig. 4, in one embodiment, preferably, the apparatus further comprises:
a storage module 41, configured to store configuration information, the encrypted and encoded digital traffic sign information, the digital traffic sign information, a decryption key, and a decoding model, where the configuration information includes: road grade information and sign type information.
In the embodiment, the data stored in the analysis device comprises five types, one is traffic sign coded data which is subdivided into received encrypted information, decrypted coded data and decoded digital traffic sign information; the second is a decryption key used for data decryption; thirdly, road grade information is used for analyzing the applicable range of the mark; fourthly, the mark type information is used for analyzing the mark content and the mark additional description; and fifthly, decoding models are used for decoding different types of marks.
FIG. 5 is a block diagram illustrating a vehicle-to-road coordination-based digital traffic sign resolution system in accordance with an exemplary embodiment.
As shown in fig. 5, according to a second aspect of the embodiments of the present disclosure, there is provided a system for resolving a digitized traffic sign based on a vehicle-road cooperation technology, where the system 50 includes:
the device 10 for resolving the digital traffic signs based on the vehicle-road cooperation technology according to any one of the embodiments of the first aspect;
the terminal application 51 is used for receiving the encrypted and coded digital traffic sign information sent by the coding device of the digital traffic sign at the road side end and forwarding the encrypted and coded digital traffic sign information to the analysis device;
and the terminal equipment 52 is used for receiving the decrypted and decoded digital traffic sign information sent by the analysis device.
In one embodiment, preferably, the terminal application 51 includes any one of the following:
two-dimensional code, RFID label, Wifi equipment, LTE-V equipment, ETC.
In one embodiment, preferably, the terminal device 52 includes at least one of:
the system comprises a mobile terminal, a handicap auxiliary device, a vehicle-mounted control device and a vehicle-mounted intelligent terminal.
In one embodiment, preferably, the mobile terminal performs voice broadcast according to the received digital traffic sign information;
the handicap assisting device outputs traffic information according to the received digital traffic sign information;
the vehicle-mounted control device and the vehicle-mounted intelligent terminal input the received digital traffic sign information into the processing unit inside the vehicle-mounted control device and the vehicle-mounted intelligent terminal, and the command signal is converted into the control signal after the data processing so as to control the automatic driving vehicle.
Specifically, as shown in fig. 6, the system for analyzing the digitized traffic sign based on the vehicle-road cooperation technology may be divided into: the system comprises an application layer, a service layer, a data layer and an acquisition layer.
The application layer comprises four types of application objects, namely a mobile terminal, a smart phone terminal mainly used for non-motor vehicles or pedestrians, and the application layer is used as an auxiliary means for broadcasting the decoded traffic sign information in a terminal voice; secondly, the handicapped auxiliary equipment, such as handheld or wearable equipment for the blind, can make a special question bank for the handicapped and provide traffic information enough for supporting the handicapped to normally travel; thirdly, the vehicle-mounted control unit takes the digital traffic information as an input signal to enter a microcomputer part of the control unit, and converts an instruction signal into a control signal after data processing, so that the auxiliary decision-making effect of the digital traffic sign on the automatic driving vehicle is realized; and fourthly, the vehicle-mounted intelligent terminal provides driving safety monitoring management for the vehicle and provides an auxiliary means for the satellite navigation system.
The service layer comprises four functions, namely, receiving configuration and configuring a receiving software monitoring port; secondly, receiving information, connecting a configuration port, monitoring a data packet received by the port, performing data packetization and combination operation, and finally transmitting data to a decryption module; thirdly, decrypting the information, decrypting the data and transmitting the data to a mark decoding module; fourthly, sign decoding, namely decoding the decrypted information into digital traffic sign information according to rules; and fifthly, a mark information output module formats the decoded digital traffic mark information and outputs the traffic mark information to a terminal through an interface.
The data layer comprises five types of data, namely traffic sign coded data which is subdivided into received encrypted information, decrypted coded data and decoded digital traffic sign information; the second is a decryption key used for data decryption; thirdly, road grade information is used for analyzing the applicable range of the mark; fourthly, the mark type information is used for analyzing the mark content and the mark additional description; and fifthly, decoding models are used for decoding different types of marks.
Fig. 7 is a flow chart illustrating a method for resolving digitized traffic signs based on vehicle-to-road coordination in accordance with an exemplary embodiment.
As shown in fig. 7, according to a third aspect of the embodiments of the present disclosure, there is provided a method for resolving a digitized traffic sign based on vehicle-road coordination, the method including:
step S701, receiving encrypted and coded digital traffic sign information sent by a terminal application;
step S702, carrying out decryption processing on the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
step S703, decoding the coded digital traffic sign information to obtain digital traffic sign information;
step S704, the digital traffic sign information is processed in a unified format and output to the terminal equipment.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method according to any one of the embodiments of the first aspect.
It is further understood that the use of "a plurality" in this disclosure means two or more, as other terms are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the terms "first," "second," and the like are fully interchangeable. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. An apparatus for analyzing a digitized traffic sign based on vehicle-road coordination, the apparatus comprising:
the first acquisition module is used for receiving the encrypted and coded digital traffic sign information sent by the terminal application;
the decryption module is used for decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
the decoding module is used for decoding the coded digital traffic sign information to obtain the digital traffic sign information;
and the output module is used for carrying out unified formatting processing on the digital traffic sign information and outputting the digital traffic sign information to the terminal equipment.
2. The apparatus of claim 1, wherein the encrypted and encoded digital traffic sign information is a ciphertext encrypted by an encryption key, and the decryption module comprises:
a key acquisition unit configured to acquire a decryption key;
and the decryption unit is used for decrypting the encrypted and encoded digital traffic sign information by using the decryption key.
3. The apparatus of claim 1, wherein the digitized traffic sign information is decoded using a preset type of decoding model, and the decoding module comprises:
the model acquisition unit is used for acquiring a decoding model corresponding to the preset type of coding model, wherein the coding model comprises an application range coding model, a main mark type coding model and a mark content coding model;
the decoding unit is used for decoding the coded digital traffic sign information by using the decoding model;
for the application range information coded by the application range coding model, the following decoding formula is adopted for decoding:
the dimension of the application range of the traffic sign is set to be n, the ith dimension comprises m information items, and the information items are positive integer type number values; the applicability of the known ith dimension is coded as eiThe maximum value of the information item is amaxThe number of selected information items is siLet the information items selected in the ith dimension be collectively denoted as Ai＝{ai0,ai1…ais},aij∈Ai,j∈[0,s],s∈[0,m]The result to be obtained for the decoding of the marker ranges is Ai；
Wherein, for digital type information, decoding into floating point numbers;
adding 1010 to the main mark type coded by the main mark type coding model before the coded data, and decoding the coded data by adopting a standard road traffic decoding rule as mark coding;
for the mark content coded by adopting the mark content coding model, directly decoding the mark type of the mark without the mark value, and for the mark with the mark value, adopting a corresponding decoding mode according to the difference of the mark value unit classification;
when the unit of the mark value is digital, decoding by adopting a 16-system to 10-system coding mode;
when the unit of the mark value is a time type, calculating the analysis time by taking half an hour as a unit;
when the mark value unit is a character type, decoding is performed by using ASCII (American standard code for information interchange) conversion characters.
4. The apparatus of claim 1, further comprising:
the storage module is used for storing configuration information, encrypted and encoded digital traffic sign information, a decryption key and a decoding model, wherein the configuration information comprises: road grade information and sign type information.
5. A system for analyzing a digital traffic sign based on a vehicle-road cooperation technology is characterized by comprising:
the device for resolving the digital traffic sign based on the vehicle-road cooperation technology according to any one of claims 1 to 4;
the terminal application is used for receiving the encrypted and coded digital traffic sign information sent by the coding device of the digital traffic sign at the road side end and forwarding the encrypted and coded digital traffic sign information to the analysis device;
and the terminal equipment is used for receiving the decrypted and decoded digital traffic sign information sent by the analysis device.
6. The system of claim 1, wherein the terminal application comprises any one of:
two-dimensional code, RFID label, Wifi equipment, LTE-V equipment, ETC.
7. The system of claim 1, wherein the terminal device comprises at least one of:
the system comprises a mobile terminal, a handicap auxiliary device, a vehicle-mounted control device and a vehicle-mounted intelligent terminal.
8. The system of claim 7,
the mobile terminal carries out voice broadcast according to the received digital traffic sign information;
the handicap assisting device outputs traffic information according to the received digital traffic sign information;
the vehicle-mounted control device and the vehicle-mounted intelligent terminal input the received digital traffic sign information into the processing unit inside the vehicle-mounted control device and the vehicle-mounted intelligent terminal, and the command signal is converted into the control signal after the data processing so as to control the automatic driving vehicle.
9. A method for analyzing a digital traffic sign based on vehicle-road cooperation is characterized by comprising the following steps:
receiving the encrypted and coded digital traffic sign information sent by the terminal application;
decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
decoding the coded digital traffic sign information to obtain digital traffic sign information;
and uniformly formatting the digital traffic sign information and outputting the traffic sign information to terminal equipment.
10. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method of any one of claims 1 to 4.
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