CN112906031B - Analysis method, device and system for digital traffic sign based on vehicle-road cooperation - Google Patents
Analysis method, device and system for digital traffic sign based on vehicle-road cooperation Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/602—Providing cryptographic facilities or services
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
- G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
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 following steps: the first acquisition module is used for receiving 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 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 error problem caused by the traditional traffic sign image recognition means is avoided, and the traffic sign transmission speed and the analysis speed are improved.
Description
Technical Field
The disclosure relates to the technical field of vehicle cooperative control, in particular to a method, a device and a system for analyzing digital traffic signs based on vehicle-road cooperation.
Background
In a human, vehicle and road three-in-one road traffic system, traffic signs are one of the most important expression modes of traffic rules, and the road traffic signs are reasonably arranged, so that traffic flow can be guided, warned, planned or indicated, road traffic capacity is improved, blockage is prevented, vehicle and personal safety can be protected, traffic accidents are reduced, energy is saved, and pollution is reduced.
Traditional road traffic signs are made by using figures, symbols, lines, characters and the like with specific colors, and standardized visual information is transmitted to people. In other words, the conventional road traffic sign is visually recognized, and the set position, size, color, shape, visual recognition characteristics, etc. are designed according to the physiological and psychological characteristics of the person, the road characteristics, and the vehicle characteristics.
In recent years, the intelligent and automatic driving technology of road vehicles is vigorously developed, the intelligent automobiles and automatic driving are taken as important fields of high competition for new technological and industrial development in developed countries abroad, a series of innovative exploration is developed in the aspects of policy and regulation, technical research and development, application and the like, and the technical evolution and the industrial layout of automatic driving are promoted.
However, due to the limitation of the traditional traffic sign, the traffic sign recognition technology in the existing vehicle-road cooperation is limited to a video recognition method, mainly refers to the characteristics of human eye recognition, and performs recognition in a visual perception manner according to the characteristics of colors, shapes and the like of the traffic sign. In the identification process, firstly judging whether traffic marks are contained according to images acquired by a visual sensor, and if so, positioning, dividing and extracting the marks in the images; and then extracting the sign features, classifying and matching, and finally completing identification.
However, the existing traffic sign recognition method has the following defects:
1. the existing image recognition method can not meet the accurate requirement of vehicle-road cooperation
The existing identification method is mainly carried out according to the color and shape characteristics of the mark, and under a natural scene, the factors such as weather conditions, illumination change, mark fouling, object shielding, limited shooting conditions and the like can cause the problems of color distortion, shape distortion, blurring and the like of the acquired image, so that serious difficulty is caused to identification. In addition, a large number of marks with similar shapes exist in the traffic marks, and the accuracy and the real-time performance of the identification can be influenced. Under the cooperative environment of the automatic driving vehicle and road, a slight deviation of reading and analyzing the traffic sign can lead to irreparable consequences.
2. The existing image recognition method can not meet the high-efficiency requirement of vehicle-road cooperation
The precondition of image recognition is that video data with clearer and higher angle requirements are captured, and the processing efficiency of an image recognition algorithm with higher accuracy requirements is greatly reduced, so that the real-time performance, stability, accuracy and other aspects of the current technology for visually recognizing traffic signs are further enhanced.
3. The conventional traffic sign has the problems of difficulty in image recognition technology
Because traffic sign setting lacks detailed, unified and standard researches and standards, traffic signs set in different areas have certain differences. The traffic signs in many places have the conditions of few settings, size steal, material reduction and the like, so that the traffic sign system is incomplete, discontinuous, and not systematic, and even contradicts each other. The above problems will all present difficulties for 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, a device and a system for analyzing a digitized traffic sign based on vehicle-road cooperation.
According to a first aspect of embodiments of the present disclosure, there is provided a device for analyzing digitized traffic signs based on vehicle-road cooperation, the device including:
the first acquisition module is used for receiving 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 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 digitized traffic sign information is ciphertext encrypted by an encryption key, and the decryption module includes:
a public key acquisition unit for acquiring a decryption key;
and the decryption unit is used for decrypting the encrypted and coded digital traffic sign information by using the decryption key.
In one embodiment, preferably, the digitized traffic sign information is decoded 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, 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 encoded digital traffic sign information by using the decoding model;
for application range information encoded by using an application range encoding model, decoding is performed by using the following decoding formula:
the traffic sign is provided with an application range dimension n, the ith dimension comprises m information items, and the information items are positive integer number values; the applicable range code of the ith dimension is known as e i Maximum value of information item a max The number of selected information items is s i Let the information item selected by the ith dimension be denoted as A by the set i ＝{a i0 ，a i1 …a is }，a ij ∈A i ，j∈[0，s]，s∈[0，m]The result required to be obtained by the flag range decoding is A i ；
Wherein, for digital information, decoding into floating point numbers;
for the main mark type coded by adopting a main mark type coding model, adding 1010 before coded data, and adopting standard road traffic decoding rules as mark codes for decoding;
for the mark content coded by the mark content coding model, directly decoding the mark type without the mark value mark, and for the mark with the mark value, adopting a corresponding decoding mode according to different mark value unit classifications;
when the unit of the sign value is digital, decoding is carried out by adopting a 16-system to 10-system coding mode;
when the unit of the sign value is time type, calculating analysis time by taking half an hour as a unit;
when the unit of the sign value is a text font, decoding is carried out by adopting ASCII (ASCII code division multiple access) characters.
In one embodiment, preferably, the apparatus further comprises:
the storage module is used for storing configuration information, encrypted and coded digital traffic sign information, decryption keys and decoding models, wherein the configuration information comprises: road class information and sign type information.
According to a second aspect of embodiments of the present disclosure, there is provided a system for resolving a digitized traffic sign based on a vehicle-road cooperation technique, the system comprising:
the vehicle-road cooperative technology-based digital traffic sign analyzing device according to any one of the embodiments of the first aspect;
the terminal application is used for receiving the encrypted and encoded digital traffic sign information sent by the digital traffic sign encoding device at the road side end and forwarding the encrypted and encoded 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 the following:
two-dimensional code, RFID label, wifi equipment, LTE-V equipment, ETC.
In one embodiment, preferably, the terminal device includes at least one of:
mobile terminal, disability auxiliary assembly, on-vehicle controlling means and on-vehicle intelligent terminal.
In one embodiment, preferably, the mobile terminal performs voice broadcasting according to the received digital traffic sign information;
the handicap auxiliary equipment 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 a processing unit in the vehicle-mounted control device and the vehicle-mounted intelligent terminal, and convert instruction signals into control signals after 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 analyzing a digitized traffic sign based on vehicle-road cooperation, the method including:
receiving encrypted and coded digital traffic sign information sent by a terminal application;
decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
decoding the encoded digital traffic sign information to obtain digital traffic sign information, and decoding the application range information encoded by adopting an application range encoding model by adopting the following decoding formula:
the traffic sign is provided with an application range dimension n, the ith dimension comprises m information items, and the information items are positive integer number values; the applicable range code of the ith dimension is known as e i Maximum value of information item a max The number of selected information items is s i For information items selected by the ith dimensionThe set is denoted as A i ＝{a i0 ，a i1 …a is }，a ij ∈A i ，j∈[0，s]，s∈[0，m]The result required to be obtained by the flag range decoding is A i ；
Wherein, for digital information, decoding into floating point numbers;
for the main mark type coded by adopting a main mark type coding model, adding 1010 before coded data, and adopting standard road traffic decoding rules as mark codes for decoding;
for the mark content coded by the mark content coding model, directly decoding the mark type without the mark value mark, and for the mark with the mark value, adopting a corresponding decoding mode according to different mark value unit classifications;
when the unit of the sign value is digital, decoding is carried out by adopting a 16-system to 10-system coding mode;
when the unit of the sign value is time type, calculating analysis time by taking half an hour as a unit;
when the unit of the sign value is a text font, decoding is carried out by adopting ASCII (ASCII code division multiple access) characters.
And carrying out unified formatting processing on the digital traffic sign information, and outputting the digital 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 as in any of the embodiments of the first aspect.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
1) The digital traffic sign is encoded and encrypted at the road side according to a unified rule, and after the received information is decrypted and decoded, the digital traffic sign can ensure that accurate traffic sign information is received, so that the error problem caused by the traditional traffic sign image recognition means is avoided;
2) The digital traffic sign analysis system can receive information transmitted by WIFI, LTE-V, ETC and other equipment, so that the phenomenon of false identification and reading caused by the influence of factors such as weather conditions, illumination changes, sign offset, object shielding, limited shooting conditions and the like in the traditional traffic sign identification process of the image identification method is avoided;
3) The digital traffic sign transmission content is hundreds to thousands times smaller than the image data through coding, so that the traffic sign transmission speed and the analysis speed are greatly improved, the response, receiving and processing efficiency is improved, and the vehicle-road cooperative application in an 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 disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a block diagram illustrating a vehicle-road collaboration-based digitized traffic sign parsing apparatus according to an exemplary embodiment.
Fig. 2 is a block diagram illustrating a decryption module in a vehicle-road collaboration-based digital traffic sign parsing apparatus according to an exemplary embodiment.
Fig. 3 is a block diagram illustrating a decoding module in a vehicle-road collaboration-based digital traffic sign parsing apparatus according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating yet another vehicle-road collaboration-based digitized traffic sign parsing apparatus in accordance with an exemplary embodiment.
Fig. 5 is a block diagram illustrating a system for parsing digitized traffic signs based on vehicle-to-road coordination according to an exemplary embodiment.
Fig. 6 is a schematic block diagram illustrating a vehicle-road collaboration-based digitized traffic sign parsing system in accordance with an exemplary embodiment.
Fig. 7 is a flow chart illustrating a method of parsing a digitized traffic sign based on vehicle-road coordination according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The application provides a digital traffic sign coding device 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 digitally coding 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 multi-dimensional information such as road administrative grades, section plates and lane section classifications, the sign content information comprises traffic sign information, and the traffic sign comprises a sign without sign value sign and a sign with sign value sign;
each item of target traffic sign information is respectively digitally encoded, and the method specifically comprises the following steps:
setting the dimension of the traffic sign setting application range as n for the application range information, wherein the ith dimension contains m information items;
the information item corresponding to the ith dimension is denoted as A by the set i ＝{a i0 ，a i1 …a im }，a ij ∈A i ，j∈[0，m]Wherein a is ij A positive integer type number value for the jth information item in the ith dimension, the number value conforming to the uniqueness within the whole application range and a ij Is fixed to a max The method comprises the steps of carrying out a first treatment on the surface of the Ith (i)Dimension-selected information items are represented by a collection as K i ＝{k i0 ，k i1 …k im }，k ij ∈K i ，j∈[0，m]Wherein k is ij A tag is selected for the j-th information item in the i-th dimension, wherein:
the i-th dimension information item selection case is represented as S by a set i ＝{s i0 ，s i1 …s im }，s ij ∈S i ，j∈[0，m]Wherein s is ij The number of the information items which are selected before the jth information item in the ith dimension;
when j=0, s i0 =0; when j > 0:
the application range code of the ith dimension is:
the encoding mode can compress information quantity to the maximum on the basis of ensuring correct decoding.
The method comprises the steps of directly storing numbers without coding the height application range information and the longitudinal application range information;
for the main mark type information, adopting standard road traffic coding rules to code;
for the mark content information, the mark without a mark value directly encodes a descriptive mark by a mark type, and the mark with the mark value adopts a corresponding encoding mode according to different mark value unit classifications;
when the sign value unit is digital, adopting a 10-system to 16-system coding mode to code;
when the unit of the sign value is time type, calculating and storing time in a unit of half an hour;
when the unit of the sign value is a font, the ASCII coding mode is adopted for coding.
The encryption module is used for carrying out encryption processing on the encoded digital traffic sign information;
and the broadcasting module is used for broadcasting the encrypted digital traffic sign information to terminal applications in a preset range so that the terminal applications can analyze the target traffic sign information from the encrypted digital traffic sign information.
In one embodiment, preferably, the encoding module includes:
a determining unit, configured to determine a target sign type to which the target traffic sign information belongs;
a selecting unit, configured to select 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 acquisition unit configured to acquire an encryption key;
and the encryption unit is used for encrypting the coded digital traffic sign information by using the encryption key.
In one embodiment, preferably, the second obtaining module includes:
an information acquisition unit configured to acquire configuration information, where the configuration information includes: road class 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:
the processing module is used for acquiring various traffic sign information, processing the various traffic sign information according to a unified structuring mode and storing the processed traffic sign information into the storage module.
In one embodiment, preferably, the apparatus further comprises:
the setting module is used for receiving the traffic sign information setting command input by the user equipment and setting each piece of traffic sign information according to the setting command.
The application provides a method for coding 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 multi-dimensional information such as road administrative grades, section plates and lane section classifications, the sign content information comprises traffic sign information, and the traffic sign comprises a sign without sign value sign and a sign with sign value sign;
each item of target traffic sign information is respectively digitally encoded, and the method specifically comprises the following steps:
setting the dimension of the traffic sign setting application range as n for the application range information, wherein the ith dimension contains m information items;
the information item corresponding to the ith dimension is denoted as A by the set i ＝{a i0 ，a i1 …a im }，a ij ∈A i ，j∈[0，m]Wherein a is ij A positive integer type number value for the jth information item in the ith dimension, the number value conforming to the whole application rangeUniqueness is unchanged, and a ij Is fixed to a max The method comprises the steps of carrying out a first treatment on the surface of the The information item selected by the ith dimension is denoted by a set as K i ＝{k i0 ，k i1 …k im }，k ij ∈K i ，j∈[0，m]Wherein k is ij A tag is selected for the j-th information item in the i-th dimension, wherein:
the i-th dimension information item selection case is represented as S by a set i ＝{s i0 ，s i1 …s im }，s ij ∈S i ，j∈[0，m]Wherein s is ij The number of the information items which are selected before the jth information item in the ith dimension;
when j=0, s i0 =0; when j > 0:
the application range code of the ith dimension is:
the encoding mode can compress information quantity to the maximum on the basis of ensuring correct decoding.
The method comprises the steps of directly storing numbers without coding the height application range information and the longitudinal application range information;
for the main mark type information, adopting standard road traffic coding rules to code;
for the mark content information, the mark without a mark value directly encodes a descriptive mark by a mark type, and the mark with the mark value adopts a corresponding encoding mode according to different mark value unit classifications;
when the sign value unit is digital, adopting a 10-system to 16-system coding mode to code;
when the unit of the sign value is time type, calculating and storing time in a unit of half an hour;
when the unit of the sign value is a font, the ASCII coding mode is adopted for coding.
Encrypting the coded digital target traffic sign information;
broadcasting the encrypted digital traffic sign information to a terminal application within a preset range, so that the terminal application analyzes the target traffic sign information from the encrypted digital traffic sign information, and controlling the vehicle according to the target traffic sign information.
Specifically, an analysis device and an analysis method corresponding to the above-described encoding device and encoding method are also proposed.
Fig. 1 is a block diagram illustrating a vehicle-road collaboration-based digitized traffic sign parsing apparatus according to an exemplary embodiment.
As shown in fig. 1, a device 10 for analyzing digitized traffic signs based on vehicle-road cooperation includes:
a first obtaining module 11, configured to receive encrypted and encoded digitized traffic sign information sent by a terminal application;
the decryption module 12 is configured to decrypt the encrypted and encoded digitized traffic sign information to obtain encoded digitized traffic sign information;
the decoding module 13 is used for decoding the encoded digital traffic sign information to obtain digital traffic sign information;
and the output module 14 is used for carrying out unified formatting processing on the digitized traffic sign information and outputting the digitized traffic sign information to the terminal equipment.
In the embodiment, the traffic sign information is encoded and encrypted according to the unified 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, so that the error problem caused by the traditional traffic sign image recognition means is avoided, the analysis device can receive information applied by various terminals, the phenomenon that the image recognition method is erroneously recognized and read under the influence of factors such as weather conditions, illumination changes, sign fouling, object shielding, limited shooting conditions and the like in the traditional traffic sign recognition process is avoided, the encoded traffic sign information is hundreds to thousands times smaller than the image data, the transmission speed and the analysis speed of the traffic sign are greatly improved, the response, the receiving and the processing efficiency are improved, and the vehicle-road cooperative application under the automatic driving environment can be better supported.
Fig. 2 is a block diagram illustrating a decryption module in a vehicle-road collaboration-based digital traffic sign parsing apparatus according to an exemplary embodiment.
As shown in fig. 2, in one embodiment, the encrypted and encoded digitized traffic sign information is preferably ciphertext encrypted by an encryption key, and the decryption module 12 includes:
a public key acquisition unit 121 for acquiring a decryption key corresponding to the encryption key;
and a decryption unit 122, configured to decrypt the encrypted and encoded digitized traffic sign information using the decryption key.
In this embodiment, the traffic sign information is decrypted, so that the security in the information transmission process can be ensured.
Fig. 3 is a block diagram illustrating a decoding module in a vehicle-road collaboration-based digital traffic sign parsing apparatus according to an exemplary embodiment.
As shown in fig. 3, in one embodiment, the digitized traffic sign information is preferably encoded 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 encoding model, where the encoding model includes an application range encoding model, a main flag type encoding model, and a flag content encoding model;
a decoding unit 132, configured to perform decoding processing on the encoded digitized traffic sign information using the decoding model;
for application range information encoded by using an application range encoding model, decoding is performed by using the following decoding formula:
the traffic sign is provided with an application range dimension n, the ith dimension comprises m information items, and the information items are positive integer number values; the applicable range code of the ith dimension is known as e i Maximum value of information item a max The number of selected information items is s i Let the information item selected by the ith dimension be denoted as A by the set i ＝{a i0 ，a i1 …a is }，a ij ∈A i ，j∈[0，s]，s∈[0，m]The result required to be obtained by the flag range decoding is A i ；
The following is a test description:
let the application range code of the i-th dimension be 2062, the maximum value of the information items be 20, and the number of the selected information items be 3.
Wherein, for digital information, decoding into floating point numbers;
for the main mark type coded by adopting a main mark type coding model, adding 1010 before coded data, and adopting standard road traffic decoding rules as mark codes for decoding;
for the mark content coded by the mark content coding model, directly decoding the mark type without the mark value mark, and for the mark with the mark value, adopting a corresponding decoding mode according to different mark value unit classifications;
when the unit of the sign value is digital, decoding is carried out by adopting a 16-system to 10-system coding mode;
when the unit of the sign value is time type, calculating analysis time by taking half an hour as a unit;
when the unit of the sign value is a text font, decoding is carried out by adopting ASCII (ASCII code division multiple access) characters.
Traffic signs are classified into no sign value signs and no sign value signs, which are directly decoded with sign types, such as "continuous turn" signs; the flag value flag is used for decoding according to the type of the flag value, such as a 'suggested speed' flag, and a specific value of suggested speed needs to be decoded.
The sign value is one of traffic sign elements for describing information such as speed, distance, width, height, weight, duration, road name, place name, road number, direction, lane number change, mileage, stake number, exit number, broadcast frequency band, telephone number, arrow direction, time range, text and the like of the sign in detail, wherein each item of information corresponds to a unique sign value unit, such as a sign speed corresponding unit is km/h.
The units of the sign values comprise km/h, meters, kilometers, minutes, tons, individuals, hz, time, words and the like, and the units are mainly divided into digital types, time types and word types, and are specifically shown in a table 1.
TABLE 1
In the embodiment, the coded digital traffic sign information is hundreds to thousands times smaller than the image data, so that the traffic sign transmission speed and the analysis speed are greatly improved, the response, receiving and processing efficiency is improved, and the vehicle-road cooperative application in an automatic driving environment can be better supported.
Fig. 4 is a block diagram illustrating yet another vehicle-road collaboration-based digitized traffic sign parsing apparatus 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, encrypted and encoded digitized traffic sign information, a decryption key, and a decoding model, wherein the configuration information includes: road class information and sign type information.
In this embodiment, the data stored in the parsing means includes five types, namely, traffic sign encoded data, which is subdivided into received encrypted information, decrypted encoded data, and decoded digitized traffic sign information; the second is decryption key, which is used for data decryption; thirdly, road grade information is used for analyzing the application range of the mark; fourthly, the mark type information is used for analyzing mark content and mark additional description; fifth, the decoding model is used for different types of flag decoding.
Fig. 5 is a block diagram illustrating a system for parsing digitized traffic signs based on vehicle-to-road coordination according to 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 technique, the system 50 including:
the device 10 for analyzing digitized 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 configured to receive the encrypted and encoded digital traffic sign information sent by the digital traffic sign encoding device at the road side, and forward the encrypted and encoded digital traffic sign information to the parsing device;
and the terminal device 52 is configured to receive the decrypted and decoded digitized traffic sign information sent by the parsing 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, the terminal device 52 preferably includes at least one of:
mobile terminal, disability auxiliary assembly, on-vehicle controlling means and on-vehicle intelligent terminal.
In one embodiment, preferably, the mobile terminal performs voice broadcasting according to the received digital traffic sign information;
the handicap auxiliary equipment 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 a processing unit in the vehicle-mounted control device and the vehicle-mounted intelligent terminal, and convert instruction signals into control signals after data processing so as to control the automatic driving vehicle.
Specifically, as shown in fig. 6, the above-mentioned analysis system of digital traffic sign based on the vehicle-road cooperative technology can be divided into: 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, mainly a smart phone terminal of a non-motor vehicle or a pedestrian, and the mobile terminal is used as an auxiliary means for broadcasting the decoded traffic sign information in the terminal in a voice mode; secondly, handicapped auxiliary equipment, such as a hand-held or wearable device for the blind, can make a subject bank for the handicapped, and provides traffic information which is enough to support normal travel of the handicapped; 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 function 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 an auxiliary means for a satellite navigation system.
The business layer comprises four functions, namely, receiving configuration, wherein the receiving configuration is used for configuring a receiving software monitoring port; secondly, information receiving, connecting the configuration port, monitoring the data packet received by the port, performing data packetizing and merging operation, and finally transmitting the data to a decryption module; thirdly, decrypting the information, decrypting the data and transmitting the decrypted data to a mark decoding module; fourthly, the sign is decoded, and the decrypted information is decoded into digital traffic sign information according to rules; and fifthly, the sign information output module formats the decoded digital traffic sign information and outputs the digital traffic sign information to the terminal through the interface.
The data layer comprises five types of data, namely traffic sign coded data, wherein the traffic sign coded data is subdivided into received encrypted information, decrypted coded data and decoded digital traffic sign information; the second is decryption key, which is used for data decryption; thirdly, road grade information is used for analyzing the application range of the mark; fourthly, the mark type information is used for analyzing mark content and mark additional description; fifth, the decoding model is used for different types of flag decoding.
Fig. 7 is a flow chart illustrating a method of parsing a digitized traffic sign based on vehicle-road coordination according to 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 analyzing a digitized traffic sign based on vehicle-road cooperation, the method including:
step S701, receiving encrypted and coded digital traffic sign information sent by a terminal application;
step S702, the encrypted and encoded digital traffic sign information is decrypted to obtain the encoded digital traffic sign information;
step S703, performing decoding processing on the encoded digitized traffic sign information to obtain digitized traffic sign information;
step S704, performing unified formatting processing on the digitized traffic sign information, and outputting the formatted traffic sign information to a terminal device.
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 as in any of the embodiments of the first aspect.
It is further understood that the term "plurality" in this disclosure means two or more, and other adjectives are similar thereto. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is 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 is further understood that the terms "first," "second," and the like are used to describe various information, but such information should not be limited to 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 expressions "first", "second", etc. may be used entirely interchangeably. 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 will be further understood that although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, 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 adaptations, 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (6)
1. A vehicle-road cooperation-based digital traffic sign analyzing device, comprising:
(1) The first acquisition module is used for receiving encrypted and coded digital traffic sign information sent by the terminal application;
wherein the means for digitizing traffic sign information encryption comprises:
the encryption module is used for carrying out encryption processing on the encoded digital traffic sign information;
the broadcasting module is used for broadcasting the encrypted digital traffic sign information to terminal applications in a preset range so that the terminal applications can analyze the traffic sign information from the encrypted digital traffic sign information;
wherein the means for digitizing traffic sign information encoding comprises:
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 digitally coding the target traffic sign information according to a coding model;
the encoding module includes:
a determining unit, configured to determine a target sign type to which the target traffic sign information belongs;
a selecting unit, configured to select a target coding model corresponding to the target mark type from a plurality of coding models;
the coding unit is used for digitally coding the target traffic sign information by using the target coding model;
the method for digitally encoding the target traffic sign information specifically comprises the following steps:
for the application range information, setting the dimension of the application range of the traffic sign as n, wherein the ith dimension contains m information items;
the information item corresponding to the ith dimension is represented by a set as，/>，/>Wherein->Is the positive integer type number value of the jth information item in the ith dimension, the number value accords with the uniqueness within the whole application range and is unchanged +.>Is fixed to +.>The method comprises the steps of carrying out a first treatment on the surface of the The information item selected by the ith dimension is represented by a set asWherein->Is that
Whether a label is selected for the jth information item in the ith dimension, wherein:
；
the ith dimension information item selection case is represented by a set，/>，/>Wherein->The number of the information items which are selected before the jth information item in the ith dimension;
when (when)When (I)>When->When (1):
；
the application range code of the ith dimension is:
；
the method comprises the steps of directly storing numbers without coding the height application range information and the longitudinal application range information;
for the main mark type information, adopting standard road traffic coding rules to code;
for the mark content information, the mark without a mark value directly encodes a descriptive mark by a mark type, and the mark with the mark value adopts a corresponding encoding mode according to different mark value unit classifications;
when the sign value unit is digital, adopting a 10-system to 16-system coding mode to code;
when the unit of the sign value is time type, calculating and storing time in a unit of half an hour;
when the mark value unit is a text font, adopting an ASCII coding mode to code;
(2) The decryption module is used for decrypting the encrypted and encoded digital traffic sign information to obtain encoded digital traffic sign information;
the decryption module includes:
a key acquisition unit configured to acquire a decryption key;
the decryption unit is used for decrypting the encrypted and coded digital traffic sign information by using the decryption key;
(3) The decoding module is used for decoding the coded digital traffic sign information to obtain digital traffic sign information;
the decoding module includes:
the model acquisition unit is used for acquiring a decoding model corresponding to a 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 encoded digital traffic sign information by using the decoding model;
for application range information encoded by using an application range encoding model, decoding is performed by using the following decoding formula:
；
wherein, the dimension of the traffic sign setting application range is as followsFirst->The individual dimension contains->The information items are positive integer number values; known->The applicable range code of the individual dimension is +.>Maximum value of information item->The number of selected information items is +.>Let->The information items selected by the individual dimensions are denoted by the set +.>The result of the flag range decoding is +.>；
Wherein, for digital information, decoding into floating point numbers;
for the main mark type coded by adopting a main mark type coding model, adding 1010 before coded data, and adopting standard road traffic decoding rules as mark codes for decoding;
for the mark content coded by the mark content coding model, directly decoding the mark type without the mark value mark, and for the mark with the mark value, adopting a corresponding decoding mode according to different mark value unit classifications;
when the unit of the sign value is digital, decoding is carried out by adopting a 16-system to 10-system coding mode;
when the unit of the sign value is time type, calculating analysis time by taking half an hour as a unit;
when the unit of the mark value is a text font, decoding by adopting ASCII to change characters;
(4) 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;
(5) The processing module is used for acquiring various traffic sign information, processing the various traffic sign information according to a unified structuring mode and storing the processed traffic sign information into the storage module;
(6) The setting module is used for receiving the traffic sign information setting command input by the user equipment and setting each piece of traffic sign information according to the setting command.
2. The apparatus of claim 1, wherein the apparatus further comprises:
the storage module is used for storing configuration information, encrypted and coded digital traffic sign information, decryption keys and decoding models, wherein the configuration information comprises: road class information and sign type information.
3. A system for resolving a digitized traffic sign based on a vehicle-road cooperation technology, the system comprising:
the vehicle-road cooperation technology-based digital traffic sign analyzing device according to any one of claims 1 to 2;
the terminal application is used for receiving the encrypted and encoded digital traffic sign information sent by the digital traffic sign encoding device at the road side end and forwarding the encrypted and encoded 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.
4. A system according to claim 3, wherein the terminal application comprises any one of the following:
two-dimensional code, RFID label, wifi equipment, LTE-V equipment, ETC.
5. A system according to claim 3, characterized in that the terminal device comprises at least one of the following:
mobile terminal, disability auxiliary assembly, on-vehicle controlling means and on-vehicle intelligent terminal.
6. The system of claim 5, wherein the system further comprises a controller configured to control the controller,
the mobile terminal performs voice broadcasting according to the received digital traffic sign information;
the handicap auxiliary equipment 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 a processing unit in the vehicle-mounted control device and the vehicle-mounted intelligent terminal, and convert instruction signals into control signals after data processing so as to control the automatic driving vehicle.
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