CN113891281B - Dynamic adjustment method for road side unit map - Google Patents
Dynamic adjustment method for road side unit map Download PDFInfo
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- CN113891281B CN113891281B CN202111140393.2A CN202111140393A CN113891281B CN 113891281 B CN113891281 B CN 113891281B CN 202111140393 A CN202111140393 A CN 202111140393A CN 113891281 B CN113891281 B CN 113891281B
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- target road
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a dynamic adjustment method for a road side unit map, which is mainly designed in such a way that whether vehicles driving to a target road exist on the periphery or not is judged in real time according to V2X information aiming at a road without a lane line, the road is taken as one of conditions for adjusting an RSU map, and whether the RSU map needs to be dynamically adjusted is determined according to the number, the course angle and the driving speed of the vehicles driving to the target road. Compared with the setting of a solidified map, the RSU map dynamic updating strategy provided by the invention can avoid the waste of road resources and improve the running safety of vehicles.
Description
Technical Field
The invention relates to the field of Internet of vehicles, in particular to a dynamic adjustment method for a road side unit map.
Background
V2X (Vehicle to Everything) is a wireless communication technology of the Internet of vehicles, and information interaction and sharing such as vehicle-to-vehicle (V2V), vehicle-to-road (V2I), vehicle-to-person (V2P) and the like enable the vehicle and the surrounding environment to cooperate and cooperate, so that intelligent traffic management control, intelligent vehicle control and intelligent dynamic information service are realized.
A Road Side Unit (RSU) is a communication gateway deployed On the Road side, collects information of Road side traffic facilities and traffic participants, uploads the information to a V2X platform, and broadcasts V2X information to Road traffic participants, and a vehicle loaded with an On Board Unit (OBU) can know surrounding Road conditions, real-time information of signal lights and surrounding traffic participant conditions through the information broadcast by the RSU.
The application layer of the communication system for the CSAE 53-2020 cooperative intelligent transportation system and the application data interaction standard (first stage) are used for standardizing the map data broadcasted by the RSU: "broadcast by a roadside unit, transfer map information of a local area to a vehicle, including intersection information, link information, lane information, connection relationship between roads, and the like of the local area. Also, the standard requires a predicted trajectory of the vehicle itself as an indispensable content in a vehicle safety message (BSM, basic Safety Message) broadcasted by the vehicle.
At present, when an RSU manufacturer manufactures a map broadcasted outside, road acquisition points covered in the map are required to be calibrated according to an application layer and an application data interaction standard (a first stage) of a communication system for a CSAE 53-2020 cooperative intelligent transportation system vehicle, data such as longitude and latitude, altitude and the like of the road are calibrated, then map road perfection is carried out according to specified speed limit, running direction, steering and the like on the road, and finally the calibrated map is broadcasted outside. At present, a large number of untrimmed roads exist in China, and for the roads, the traffic behaviors of traffic participants cannot be predicted and restrained due to the lack of specified driving directions, lanes and the like. Aiming at the roads, the conventional map calibration and broadcasting method has a plurality of unreasonable conditions, which not only causes resource waste, but also can cause traffic accidents. For example, if a relatively narrow road without lane mark is set to be two-way traffic in the map, when a vehicle runs on the road, and the vehicle runs in the other direction, traffic jam and even running danger can exist; if the road is fixed in a map and is set to pass in a certain single direction, the waste of road resources is caused.
Disclosure of Invention
In view of the foregoing, the present invention is directed to providing a dynamic adjustment method for a road side unit map, so as to solve the aforementioned problem that the existing RSU map is unreasonable.
The technical scheme adopted by the invention is as follows:
a dynamic adjustment method for a roadside unit map, comprising:
pre-calibrating an original static map based on a target road without a lane line;
receiving traffic participation information sent by a V2X system in real time;
judging whether vehicles exist in a preset distance of the periphery of the target road or not according to the traffic participation message;
if not, broadcasting the original static map outwards;
if yes, acquiring a BSM message sent by the vehicle, and judging whether the vehicle drives to a target road according to track information in the BSM message;
if not, broadcasting the original static map outwards;
if yes, acquiring the number of vehicles driving to the target road and course angle information;
when the number of vehicles driving to a target road is 1, the lanes of the target road in the original static map are adjusted to be unidirectional lanes, the unidirectional lanes are consistent with the current traffic direction of the vehicles, and the adjusted map is broadcasted outwards;
when the number of vehicles driving to the target road is more than 1, judging whether the heading angles of all the current vehicles driving to the target road are consistent;
if the traffic directions are consistent, the lanes of the target road in the original static map are adjusted to be unidirectional lanes, the traffic directions of all the current vehicles are consistent, and the adjusted map is broadcasted outwards;
if the vehicle speeds are inconsistent, the running speeds of all the current vehicles which drive to the target road are obtained, and the time for each vehicle to reach the boundary of the target road is obtained according to the running speeds;
and adjusting the lane of the target road in the original static map to be a unidirectional lane based on the heading angle of the adjacent vehicle corresponding to the minimum time, enabling the lane to be consistent with the current passing direction of the adjacent vehicle, and broadcasting the adjusted map to the outside.
In at least one possible implementation manner, the adjusting the lane of the target road in the original static map to a unidirectional lane based on the heading angle of the adjacent vehicle corresponding to the minimum time includes:
and adjusting the lane of the target road in the original static map into a one-way lane sequentially based on the course angle of the adjacent vehicle corresponding to the minimum time, keeping until the adjacent vehicle leaves the target road, re-determining a new adjacent vehicle according to the running speeds of other vehicles which drive the target road, and the like, dynamically adjusting and broadcasting the map.
In at least one possible implementation manner, the adjusting the lane of the target road in the original static map to a unidirectional lane based on the heading angle of the adjacent vehicle corresponding to the minimum time includes:
and adjusting the lane of the target road in the original static map into a unidirectional lane sequentially based on the course angle of the adjacent vehicle corresponding to the minimum time, keeping until the adjacent vehicle leaves the target road, re-determining a new adjacent vehicle according to the time when other vehicles which travel to the target road reach the target road boundary, and the like, and dynamically adjusting and broadcasting the map.
In at least one possible implementation manner, the pre-calibrating the original static map based on the target road without lane lines includes: an initial lane line of the target road is pre-marked in an original static map.
In at least one possible implementation thereof, the traffic participation message includes: and vehicle driving information of the area around the target road, which is acquired by taking the vehicle as a traffic participant.
In at least one possible implementation manner, the calculating the time for each vehicle to reach the target road boundary according to the driving speed includes: and calculating the time when the vehicle edge reaches a preset position at the intersection of the target road.
In at least one possible implementation manner, the receiving, in real time, the traffic participation message sent by the V2X system includes: and periodically receiving traffic participation messages sent by the V2X system according to a preset sampling frequency.
In at least one possible implementation, the traffic participation message is acquired with a sampling period of 50 ms.
The main design concept of the invention is that whether vehicles driving to a target road exist around is judged according to V2X information in real time aiming at a lane-free road, the road is taken as one of conditions for adjusting an RSU map, and whether dynamic adjustment of the RSU map is needed is determined according to the number, the course angle and the driving speed of the vehicles driving to the target road. Compared with the setting of a solidified map, the RSU map dynamic updating strategy provided by the invention can avoid the waste of road resources and improve the running safety of vehicles.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a dynamic adjustment method for a road side unit map according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The present invention proposes an embodiment of a dynamic adjustment method for a road side unit map, specifically, as shown in fig. 1, including:
s1, calibrating an original static map in advance based on a target road without a lane line;
s2, receiving traffic participation information sent by a V2X system in real time;
s3, judging whether vehicles exist in a preset distance of the periphery of the target road or not according to the traffic participation message;
if not, executing step S100, and broadcasting the original static map outwards;
if yes, executing step S4, acquiring a BSM message sent by the vehicle, and judging whether the vehicle drives to a target road according to track information in the BSM message;
if not, executing step S100, and broadcasting the original static map outwards;
if yes, executing step S5, and acquiring the number of vehicles driving to the target road and course angle information;
s6, when the number of vehicles driving to the target road is 1, the lanes of the target road in the original static map are adjusted to be unidirectional lanes, the unidirectional lanes are consistent with the current traffic direction of the vehicles, and the adjusted map is broadcasted outwards;
s7, judging whether the heading angles of all the current vehicles driving to the target road are consistent or not when the number of the vehicles driving to the target road is more than 1;
if so, executing step S71, adjusting the lane of the target road in the original static map into a unidirectional lane, enabling the unidirectional lane to be consistent with the current passing direction of all vehicles, and broadcasting the adjusted map outwards;
if not, executing step S8, obtaining the running speeds of all the current vehicles running to the target road, and obtaining the time of each vehicle reaching the boundary of the target road according to the running speeds;
and step S9, based on the heading angle of the adjacent vehicle corresponding to the minimum time, the lane of the target road in the original static map is adjusted to be a one-way lane, the lane is consistent with the current passing direction of the adjacent vehicle, and the adjusted map is broadcasted outwards.
Further, the adjusting the lane of the target road in the original static map to a unidirectional lane based on the heading angle of the approaching vehicle corresponding to the minimum time includes:
and adjusting the lane of the target road in the original static map into a one-way lane sequentially based on the course angle of the adjacent vehicle corresponding to the minimum time, keeping until the adjacent vehicle leaves the target road, re-determining a new adjacent vehicle according to the running speeds of other vehicles which drive the target road, and the like, dynamically adjusting and broadcasting the map.
Further, the receiving, in real time, the traffic participation message sent by the V2X system includes: and periodically receiving traffic participation messages sent by the V2X system according to a preset sampling frequency.
In summary, the main design concept of the present invention is to determine whether there is a vehicle driving to the target road according to the V2X message in real time for the lane-free road, and to determine whether to dynamically adjust the RSU map according to the number, heading angle and driving speed of vehicles driving to the target road. Compared with the setting of a solidified map, the RSU map dynamic updating strategy provided by the invention can avoid the waste of road resources and improve the running safety of vehicles.
In the embodiments of the present invention, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The construction, features and effects of the present invention are described in detail according to the embodiments shown in the drawings, but the above is only a preferred embodiment of the present invention, and it should be understood that the technical features of the above embodiment and the preferred mode thereof can be reasonably combined and matched into various equivalent schemes by those skilled in the art without departing from or changing the design concept and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, but is intended to be within the scope of the invention as long as changes made in the concept of the invention or modifications to the equivalent embodiments do not depart from the spirit of the invention as covered by the specification and drawings.
Claims (8)
1. A dynamic adjustment method for a roadside unit map, comprising:
pre-calibrating an original static map based on a target road without a lane line;
receiving traffic participation information sent by a V2X system in real time;
judging whether vehicles exist in a preset distance of the periphery of the target road or not according to the traffic participation message;
if not, broadcasting the original static map outwards;
if yes, acquiring a BSM message sent by the vehicle, and judging whether the vehicle drives to a target road according to track information in the BSM message;
if not, broadcasting the original static map outwards;
if yes, acquiring the number of vehicles driving to the target road and course angle information;
when the number of vehicles driving to a target road is 1, the lanes of the target road in the original static map are adjusted to be unidirectional lanes, the unidirectional lanes are consistent with the current traffic direction of the vehicles, and the adjusted map is broadcasted outwards;
when the number of vehicles driving to the target road is more than 1, judging whether the heading angles of all the current vehicles driving to the target road are consistent;
if the traffic directions are consistent, the lanes of the target road in the original static map are adjusted to be unidirectional lanes, the traffic directions of all the current vehicles are consistent, and the adjusted map is broadcasted outwards;
if the vehicle speeds are inconsistent, the running speeds of all the current vehicles which drive to the target road are obtained, and the time for each vehicle to reach the boundary of the target road is obtained according to the running speeds;
and adjusting the lane of the target road in the original static map to be a unidirectional lane based on the heading angle of the adjacent vehicle corresponding to the minimum time, enabling the lane to be consistent with the current passing direction of the adjacent vehicle, and broadcasting the adjusted map to the outside.
2. The dynamic adjustment method for a roadside unit map according to claim 1, wherein said adjusting the lane of the target road within the original static map to a one-way lane based on the heading angle of the approaching vehicle corresponding to the minimum time comprises:
and adjusting the lane of the target road in the original static map into a one-way lane sequentially based on the course angle of the adjacent vehicle corresponding to the minimum time, keeping until the adjacent vehicle leaves the target road, re-determining a new adjacent vehicle according to the running speeds of other vehicles which drive the target road, and the like, dynamically adjusting and broadcasting the map.
3. The dynamic adjustment method for a roadside unit map according to claim 1, wherein said adjusting the lane of the target road within the original static map to a one-way lane based on the heading angle of the approaching vehicle corresponding to the minimum time comprises:
and adjusting the lane of the target road in the original static map into a unidirectional lane sequentially based on the course angle of the adjacent vehicle corresponding to the minimum time, keeping until the adjacent vehicle leaves the target road, re-determining a new adjacent vehicle according to the time when other vehicles which travel to the target road reach the target road boundary, and the like, and dynamically adjusting and broadcasting the map.
4. The dynamic adjustment method for a roadside unit map according to claim 1, wherein said lane-line-free-based target road pre-calibration original static map comprises: an initial lane line of the target road is pre-marked in an original static map.
5. The dynamic adjustment method for a roadside unit map according to claim 1, wherein the traffic participation message comprises: and vehicle driving information of the area around the target road, which is acquired by taking the vehicle as a traffic participant.
6. The dynamic adjustment method for a roadside unit map according to claim 1, wherein the obtaining a time for each vehicle to reach the target road boundary according to a traveling speed comprises: and calculating the time when the vehicle edge reaches a preset position at the intersection of the target road.
7. The dynamic adjustment method for a road side unit map according to any one of claims 1 to 6, wherein the receiving, in real time, the traffic participation message sent by the V2X system includes: and periodically receiving traffic participation messages sent by the V2X system according to a preset sampling frequency.
8. The dynamic adjustment method for a roadside unit map according to claim 7, wherein the traffic participation message is acquired with a sampling period of 50 ms.
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