CN113920716A - V2X device-based intersection perception system and method for visually impaired people - Google Patents
V2X device-based intersection perception system and method for visually impaired people Download PDFInfo
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention discloses a crossing sensing system and a method for vision-impaired people based on V2X equipment, which relate to the technical field of intelligent roadside infrastructure sensing and solve the technical problems or risks that the existing vision-impaired people cannot sense crossing position information and pedestrian crossing traffic light information, traffic accidents and the like caused by wrong passing direction or red light running can be caused and traffic congestion can be caused at the same time; the invention provides safety prompt for the vision disorder person crossing the road, and sends the vision disorder person to the intelligent networked automobile in real time to provide warning.
Description
Technical Field
The invention relates to the technical field of intelligent roadside infrastructure sensing, in particular to the technical field of intersection sensing systems and methods for vision-impaired people based on V2X equipment.
Background
With the increasing development of society and the continuous increase of urban population, road traffic is also increasingly complicated; the vision-impaired people as special people among the weak traffic participants need to give more care to them throughout the society; with the emergence and development of the intelligent network communication technology, a safer guarantee is provided for the appearance of the people with visual impairment; at present, aiming at the visual perception disorder of the visually impaired people when going out, the problem that how to identify traffic signals, identify the conditions of intersections and provide warnings for nearby vehicles can be solved, and safety guarantee is provided for the visually impaired people to cross roads.
The prior art discloses a crutch intelligent navigation system for the blind, which has a patent number of CN201811469907.7, and comprises a crutch body, a GPS positioning module arranged on the crutch body, a controller, a navigation map prestored in the controller, a voice receiving module, a voice recognition module and a voice broadcasting module; the GPS positioning module is used for acquiring the position information of the crutch body in real time; the voice receiving module is used for receiving external voice information; the voice recognition module is internally stored with a user sound ray and used for recognizing sound and audio contents; the voice broadcasting module is used for broadcasting the audio content identified by the voice identification module; the controller is internally pre-stored with a navigation map, is used for receiving the position information of the crutch body, is used for receiving the audio content identified by the voice identification module, sets a route according to the audio content, and broadcasts the real-time route information through the voice broadcast module.
Disclosure of Invention
The invention aims to: in order to solve the technical problem, the invention provides a system and a method for sensing an intersection of a visually impaired person based on a V2X device.
The technical scheme adopted by the invention is as follows: a crossing sensing system of vision disorder persons based on V2X equipment comprises a road side data transmission subsystem, a data acquisition subsystem, a data service subsystem, a vision disorder person terminal subsystem, a vehicle-mounted terminal subsystem and a data processing subsystem, wherein the data acquisition subsystem is connected with the data service subsystem through the data processing subsystem, and the vision disorder person terminal subsystem is connected with the vehicle-mounted terminal subsystem through the road side data transmission subsystem or the data service subsystem;
the road side data transmission subsystem is used for communication between the road junction RSU and the vulnerable traffic participant equipment, and between the vehicle-mounted equipment and the RSU;
the data acquisition subsystem is used for the cloud control platform to acquire GNSS positioning and direction data reported by the vision disorder person terminal and SPAT data reported by the RSU;
the data service subsystem is used for sending the data processed by the data processing subsystem to the corresponding vision disorder person terminal through a 4G/5G wireless network;
the vision disorder person terminal subsystem processes the SPAT data acquired by the data service subsystem, and carries out traffic suggestion, light state and countdown broadcasting on the intersection traffic light state and timing information of the direction pointed by the current terminal electronic compass by combining the algorithm in the implementation mode;
the vehicle-mounted terminal subsystem acquires the position and the traffic willingness state of the vulnerable traffic participants at the intersection without the RSU through the data service subsystem, and acquires the position and the traffic willingness state of the vulnerable traffic participants at the intersection with the RSU through the roadside data transmission subsystem;
the data processing subsystem is used for processing the SPAT data of each intersection and the GNSS positioning data of the vision disorder person terminal acquired by the data acquisition subsystem, and calculating to obtain the SPAT data of the intersection where the vision disorder person terminal is positioned.
The system does not depend on sensing equipment such as the existing roadside camera, radar and the like, status reporting is carried out only by combining a mobile phone and a terminal through the system described by the invention, and weak traffic participants such as visually-handicapped persons, pedestrians, bicycles and the like at the intersection are sensed by direct communication between the road and the vehicle through V2X and data processing of a cloud control platform issued by 4G/5G, so that the vehicle can sense the weak traffic participants such as the visually-handicapped persons.
The vision disorder person terminal subsystem comprises a vision disorder person terminal and a sight junction RSU device, and GNSS positioning data and azimuth data of the vision disorder person are directly communicated through V2X or reported to the RSU or a cloud control platform through a 4G/5G network according to the condition of the vision disorder person terminal and the sight junction RSU device.
The vision disorder person terminal comprises a 4G/5G communication module, an APP/application module, a GNSS positioning module, an electronic gyroscope, an electronic compass, a C-V2X direct connection communication module, an SoC decoding module and an OTG protocol interface, wherein the C-V2X direct connection communication module is used for providing C-V2X PC5 Mode 4 direct connection capability and receiving C-V2X data information of vehicle-end and road-side related equipment; the SoC decoding module is used for carrying out C-V2X protocol coding, decoding and processing on the V2X data and the self-made data; the OTG protocol interface provides a USB physical interface and protocol conversion for a mobile phone and a terminal; the 4G/5G communication, the APP/application, the GNSS positioning module, the electronic gyroscope and the electronic compass are used for data interaction to provide data processing, application and output.
A crossing perception method of a vision-impaired person based on a V2X device comprises the following steps:
s1, directly connecting the communication equipment or the APP end of the mobile equipment through C-V2X of the intersection, and reporting the positioning data and the advancing direction to the roadside equipment through a special message;
and S2, the message is processed by combining with the SPAT and MAP information, crossing channel information and pedestrian crossing traffic light timing information are fed back to the C-V2X direct connection communication equipment or the APP end of the mobile equipment, and voice broadcasting is carried out.
Step S1, directly connecting the communication equipment through C-V2X of the intersection, the concrete operation steps are as follows:
a. when the person with visual impairment arrives at the intersection, the person with visual impairment directly connects the communication equipment to obtain the current intersection information through C-V2X;
b. selecting a forward direction on the C-V2X direct connection communication equipment, and sending the forward direction to roadside equipment;
c. the roadside equipment selects the state of a traffic light in the advancing direction of the roadside equipment and countdown information is sent to the visually impaired;
d. the person with visual impairment can safely pass through the crosswalk under the condition of green light;
e. and the vision-impaired person is sent to the intelligent networked automobile in real time to provide warning.
Step S1, by the mobile device APP side, the specific operation steps are as follows:
a. when the vision-impaired person arrives at the intersection, reporting the position information of the vision-impaired person to the Internet of vehicles cloud control platform through the APP;
b. the car networking cloud control platform sends the SPAT information of the current intersection to the APP through calculation by combining the position information of the car networking cloud control platform with the SPAT information of the intersection;
c. the vision-impaired people select the forward direction on the APP, and the APP selects the traffic light state and countdown information of the front intersection and reports the traffic light state and countdown information through voice;
d. the person with visual impairment can safely pass through the crosswalk under the condition of green light;
e. the vision-impaired person is sent to the car networking cloud accuse platform in real time, provides the relevant warning of V2P to the car of intelligent networking through the cloud accuse platform.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the invention is based on the intersection perception method of the vision-impaired person under the V2X vehicle networking environment, road position information and pedestrian crossing traffic light information are informed to the vision-impaired person through V2X road side equipment and cloud service, so that convenience is provided for the safety of the person in trip; after the sight-impaired people reach the intersection, the traffic light state of the current pedestrian crossing cannot be determined, so that the traffic accident potential is caused and the normal traffic of vehicles is influenced when the people move ahead; the invention provides a safety prompt for the vision-impaired people to cross the road.
The invention solves the problems of identification and communication of V2P in a V2X scene, and vehicles and roads can acquire information such as positions, speeds, passing intentions and the like of visually impaired people, pedestrians, bicycles and other vulnerable traffic participants which need to be sensed by the vehicles and protected without the help of sensing equipment such as video identification, radars and the like, thereby reducing the investment of the sensing equipment and the sensing cost.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a schematic diagram of an RSU roadside information direct connection mode according to embodiment 1;
fig. 3 is a schematic diagram of an information acquisition mode of the cloud control platform of the internet of vehicles according to the embodiment 2;
FIG. 4 is an overall flow chart of the present invention;
FIG. 5 is a schematic diagram of the connection between the device principle of the present invention and a mobile phone and a terminal;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A crossing sensing system of vision disorder persons based on V2X equipment comprises a road side data transmission subsystem, a data acquisition subsystem, a data service subsystem, a vision disorder person terminal subsystem, a vehicle-mounted terminal subsystem and a data processing subsystem, wherein the data acquisition subsystem is connected with the data service subsystem through the data processing subsystem, and the vision disorder person terminal subsystem is connected with the vehicle-mounted terminal subsystem through the road side data transmission subsystem or the data service subsystem;
the road side data transmission subsystem is used for communication between the road junction RSU and the vulnerable traffic participant equipment, and between the vehicle-mounted equipment and the RSU;
the data acquisition subsystem is used for the cloud control platform to acquire GNSS positioning and direction data reported by the vision disorder person terminal and SPAT data reported by the RSU;
the data service subsystem is used for sending the data processed by the data processing subsystem to the corresponding vision disorder person terminal through a 4G/5G wireless network;
the vision disorder person terminal subsystem processes the SPAT data acquired by the data service subsystem, and carries out traffic suggestion, light state and countdown broadcasting on the intersection traffic light state and timing information of the direction pointed by the current terminal electronic compass by combining the algorithm in the implementation mode;
the vehicle-mounted terminal subsystem acquires the position and the traffic willingness state of the vulnerable traffic participants at the intersection without the RSU through the data service subsystem, and acquires the position and the traffic willingness state of the vulnerable traffic participants at the intersection with the RSU through the roadside data transmission subsystem;
the data processing subsystem is used for processing the SPAT data of each intersection and the GNSS positioning data of the vision disorder person terminal acquired by the data acquisition subsystem, and calculating to obtain the SPAT data of the intersection where the vision disorder person terminal is positioned.
The system does not depend on sensing equipment such as the existing roadside camera, radar and the like, status reporting is carried out only by combining a mobile phone and a terminal through the system described by the invention, and weak traffic participants such as visually-handicapped persons, pedestrians, bicycles and the like at the intersection are sensed by direct communication between the road and the vehicle through V2X and data processing of a cloud control platform issued by 4G/5G, so that the vehicle can sense the weak traffic participants such as the visually-handicapped persons.
The vision disorder person terminal subsystem comprises a vision disorder person terminal and a sight junction RSU device, and GNSS positioning data and azimuth data of the vision disorder person are directly communicated through V2X or reported to the RSU or a cloud control platform through a 4G/5G network according to the condition of the vision disorder person terminal and the sight junction RSU device.
The vision disorder person terminal comprises a 4G/5G communication module, an APP/application module, a GNSS positioning module, an electronic gyroscope, an electronic compass, a C-V2X direct connection communication module, an SoC decoding module and an OTG protocol interface, wherein the C-V2X direct connection communication module is used for providing C-V2X PC5 Mode 4 direct connection capability and receiving C-V2X data information of vehicle-end and road-side related equipment; the SoC decoding module is used for carrying out C-V2X protocol coding, decoding and processing on the V2X data and the self-made data; the OTG protocol interface provides a USB physical interface and protocol conversion for a mobile phone and a terminal; the 4G/5G communication, the APP/application, the GNSS positioning module, the electronic gyroscope and the electronic compass are used for data interaction to provide data processing, application and output.
A crossing perception method of a vision-impaired person based on a V2X device comprises the following steps:
s1, directly connecting the communication equipment or the APP end of the mobile equipment through C-V2X of the intersection, and reporting the positioning data and the advancing direction to the roadside equipment through a special message;
and S2, the message is processed by combining with the SPAT and MAP information, crossing channel information and pedestrian crossing traffic light timing information are fed back to the C-V2X direct connection communication equipment or the APP end of the mobile equipment, and voice broadcasting is carried out.
Step S1, directly connecting the communication equipment through C-V2X of the intersection, the concrete operation steps are as follows:
a. when the person with visual impairment arrives at the intersection, the person with visual impairment directly connects the communication equipment to obtain the current intersection information through C-V2X;
b. selecting a forward direction on the C-V2X direct connection communication equipment, and sending the forward direction to roadside equipment;
c. the roadside equipment selects the state of a traffic light in the advancing direction of the roadside equipment and countdown information is sent to the visually impaired;
d. the person with visual impairment can safely pass through the crosswalk under the condition of green light;
e. and the vision-impaired person is sent to the intelligent networked automobile in real time to provide warning.
Step S1, by the mobile device APP side, the specific operation steps are as follows:
a. when the vision-impaired person arrives at the intersection, reporting the position information of the vision-impaired person to the Internet of vehicles cloud control platform through the APP;
b. the car networking cloud control platform sends the SPAT information of the current intersection to the APP through calculation by combining the position information of the car networking cloud control platform with the SPAT information of the intersection;
c. the vision-impaired people select the forward direction on the APP, and the APP selects the traffic light state and countdown information of the front intersection and reports the traffic light state and countdown information through voice;
d. the person with visual impairment can safely pass through the crosswalk under the condition of green light;
e. the vision-impaired person is sent to the car networking cloud accuse platform in real time, provides the relevant warning of V2P to the car of intelligent networking through the cloud accuse platform.
Example 1, RSU roadside information direct mode, as shown in fig. 2;
s1, acquiring current positioning and direction data by using an electronic compass and a GNSS positioning technology;
s2, a vision-impaired person directly reports positioning data to an RSU (Road Side Unit) through a special message by a peripheral module mobile phone or other communication terminals with C-V2X direct-connection communication function through an access device C-V2X, wherein the RSU is short for a Road Side Unit (Road Side Unit), and V2X is short for vehicle-to-outside information exchange (vehicle-to-apparatus hanging);
s3, the Message is processed by combining with SPAT and MAP information, crossing channel information and pedestrian crosswalk traffic light Timing information are fed back to the terminal, SPAT is short for Signal phase and Timing Message;
s4, the vision-impaired people obtain the traffic light state and the timing information of the target direction by the obtained SPAT and MAP information and combining the direction data, and simultaneously perceive whether the road vehicles stop communicating or not by combining the intersection perception information; judging whether the traffic can be passed or not, and setting the duration time of the current green light state as t in a scene1The average walking speed of the visually impaired is
Maximum walking speed vmaxThe current pedestrian crossing length is L, and the estimated time of passing is
The recommended traffic speed is
If t isp>t1Or v>vmaxIf the vehicle does not suggest passing, otherwise, the vehicle suggests passing, the mobile phone or the terminal device broadcasts a passing suggestion, green light countdown and the current passing direction needing to be corrected, and meanwhile, the C-V2X direct-connected communication module broadcasts a customized message to broadcast the vision-impaired person to nearby vehicles for passing.
Embodiment 2, a vehicle networking cloud control platform information acquisition mode, as shown in fig. 3;
s1, when the vision-impaired person arrives at the intersection, reporting the position information of the vision-impaired person to the Internet of vehicles cloud control platform through the APP;
s2, the car networking cloud control platform sends the SPAT information of the current intersection to the APP through calculation by combining the position information with the SPAT information of the intersection;
s3, selecting a forward direction on the APP by the visually impaired, and reporting the traffic light state and countdown information of the front intersection by voice by the APP;
s4, the visually impaired people safely pass through the crosswalk under the condition of green light;
s5, the vision-impaired person is sent to the Internet of vehicles cloud control platform in real time, and V2P related warning is provided for the intelligent Internet of vehicles through the cloud control platform.
The difference between the embodiments 1 and 2 lies in the information acquisition mode, wherein one information acquisition mode is from RSU road side equipment, and the other information acquisition mode is from a traffic light signal system docked by a vehicle networking cloud control platform; the SPAT data can be directly acquired at the traffic intersection provided with the RSU road side equipment, and the SPAT data can be acquired at other intersections through the cloud control platform.
The algorithm is involved:
1. judging whether a visually impaired person enters an intersection area through a PNPoly algorithm, and automatically sending a positioning information request SPAT data;
2. the azimuth angle is obtained through an electronic compass, and the pedestrian crosswalk traffic light phase ID facing the azimuth of the visually impaired can be calculated through combining the azimuth angle and map data;
3. calculating the conventional speed of the vision disorder person by combining the GNSS positioning data;
4. and calculating a lower limit of the passing speed by the phase timing information of the traffic lights and the length of the crosswalk, and providing a passing suggestion (the passing suggestion is not suggested when the conventional speed is less than the lower limit of the speed) by combining the conventional speed of the visually-handicapped.
The method comprises the following steps:
as shown in fig. 5, the present invention provides a device capable of obtaining C-V2X direct communication data by linking with a device such as a mobile phone and a smart terminal.
The first part is a C-V2X direct connection communication module which is used for providing C-V2X PC5 Mode 4 direct connection capability and receiving C-V2X data information of vehicle-end and road-side related equipment;
the second part is an SoC decoding module which is used for carrying out C-V2X protocol coding, decoding and processing on V2X data and self-customization data;
the third part is an OTG protocol interface, which provides a USB physical interface and protocol conversion for a mobile phone and a terminal;
the fourth part is a mobile phone and a terminal, and provides data processing, application and output through data interaction with the equipment.
The device is not only used in the scene of the invention, but also can be used in various scenes needing to obtain V2X data, including but not limited to: visually impaired people, pedestrians, bicycles, electric bicycles, motorcycles, electric motorcycles, and the like.
Claims (8)
1. A crossing sensing system of vision-impaired people based on V2X equipment is characterized by comprising a road side data transmission subsystem, a data acquisition subsystem, a data service subsystem, a vision-impaired person terminal subsystem and a vehicle-mounted terminal subsystem, wherein the data acquisition subsystem is connected with the data service subsystem through the data processing subsystem;
the road side data transmission subsystem is used for communication between the road junction RSU and the vulnerable traffic participant equipment, and between the vehicle-mounted equipment and the RSU;
the data acquisition subsystem is used for the cloud control platform to acquire GNSS positioning and direction data reported by the vision disorder person terminal and SPAT data reported by the RSU;
the data service subsystem is used for sending the data processed by the data processing subsystem to the corresponding vision disorder person terminal through a 4G/5G wireless network;
the vision disorder person terminal subsystem processes the SPAT data acquired by the data service subsystem, and carries out passage suggestion, light state and countdown broadcasting on the intersection traffic light state and timing information of the direction pointed by the current terminal electronic compass by combining a PNPoly algorithm;
the vehicle-mounted terminal subsystem acquires the position and the traffic willingness state of the vulnerable traffic participants at the intersection without the RSU through the data service subsystem, and acquires the position and the traffic willingness state of the vulnerable traffic participants at the intersection with the RSU through the roadside data transmission subsystem;
the data processing subsystem is used for processing the SPAT data of each intersection and the GNSS positioning data of the vision disorder person terminal acquired by the data acquisition subsystem and calculating to obtain the SPAT data of the intersection where the vision disorder person terminal is positioned.
2. The intersection perception system of the visually impaired based on the V2X device as claimed in claim 1, wherein the visually impaired terminal subsystem comprises a visually impaired terminal and an intersection RSU device, and the visually impaired terminal transmits GNSS positioning data and orientation data of the visually impaired to the RSU or the cloud control platform through V2X direct communication or 4G/5G internet connection depending on whether the intersection RSU device is present or not.
3. The intersection perception system of the visually impaired based on the V2X device according to claim 2, wherein the visually impaired terminal comprises a 4G/5G communication module, an APP/application module, a GNSS positioning module, an electronic gyroscope, an electronic compass, a C-V2X direct communication module, an SoC decoding module, and an OTG protocol interface, the C-V2X direct communication module is configured to provide a C-V2X PC5 Mode 4 direct connection capability, and receive C-V2X data information of a vehicle end and a roadside related device; the SoC decoding module is used for carrying out C-V2X protocol coding, decoding and processing on the V2X data and the self-made data; the OTG protocol interface provides a USB physical interface and protocol conversion for a mobile phone and a terminal; the 4G/5G communication, the APP/application, the GNSS positioning module, the electronic gyroscope and the electronic compass are used for data interaction to provide data processing, application and output.
4. A crossing perception method of a vision-impaired person based on a V2X device is characterized by comprising the following steps:
s1, directly connecting the communication equipment or the APP end of the mobile equipment through C-V2X of the intersection, and reporting the positioning data and the advancing direction to the roadside equipment through a special message;
and S2, the message is processed by combining with the SPAT and MAP information, crossing channel information and pedestrian crossing traffic light timing information are fed back to the C-V2X direct connection communication equipment or the APP end of the mobile equipment, and voice broadcasting is carried out.
5. The intersection perception method for the visually impaired based on the V2X device as claimed in claim 4, wherein the C-V2X direct connection communication device passing through the intersection in step S1 includes the following steps:
a. when the person with visual impairment arrives at the intersection, the person with visual impairment directly connects the communication equipment to obtain the current intersection information through C-V2X;
b. selecting a forward direction on the C-V2X direct connection communication equipment, and sending the forward direction to roadside equipment;
c. the roadside equipment selects the state of a traffic light in the advancing direction of the roadside equipment and countdown information is sent to the visually impaired;
d. the person with visual impairment can safely pass through the crosswalk under the condition of green light.
6. The intersection perception method of the vision-impaired person based on the V2X device as claimed in claim 5, further comprising a step e of sending the vision-impaired person to the intelligent networked automobile in real time to provide a warning.
7. The intersection perception method of the visually impaired based on the V2X device as claimed in claim 4, wherein the step S1 includes the following steps:
a. when the vision-impaired person arrives at the intersection, reporting the position information of the vision-impaired person to the Internet of vehicles cloud control platform through the APP;
b. the car networking cloud control platform sends the SPAT information of the current intersection to the APP through calculation by combining the position information of the car networking cloud control platform with the SPAT information of the intersection;
c. the vision-impaired people select the forward direction on the APP, and the APP selects the traffic light state and countdown information of the front intersection and reports the traffic light state and countdown information through voice;
d. the person with visual impairment can safely pass through the crosswalk under the condition of green light.
8. The intersection perception method of the vision-impaired person based on the V2X device as claimed in claim 7, further comprising a step e of sending the vision-impaired person to a cloud control platform of the Internet of vehicles in real time, and providing the related warning of V2P to the intelligent Internet of vehicles through the cloud control platform.
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