CN114495544A - Signal lamp state reminding method and device based on vehicle road cloud cooperation and electronic equipment - Google Patents
Signal lamp state reminding method and device based on vehicle road cloud cooperation and electronic equipment Download PDFInfo
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- 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]
- 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 application discloses a signal lamp state reminding method and device based on vehicle-road cloud cooperation and electronic equipment, wherein the method comprises the following steps: acquiring vehicle positioning information sent by a vehicle end, wherein the vehicle positioning information comprises a vehicle position and a vehicle course angle; acquiring a preset geo-fence monitoring area of an intersection where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data; if the vehicle enters the intersection, signal lamp state data of the intersection where the vehicle is located is determined through the road end; and acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data and the vehicle course angle of the intersection where the vehicle is located, and sending the target signal lamp state data to the vehicle end for reminding. The method and the system have the advantages that the preset geo-fence monitoring areas of all intersections are managed in a unified mode through the pre-established geo-fence monitoring database, the target signal lamp state data are issued to corresponding vehicles based on the preset geo-fence monitoring areas, and timeliness of signal lamp state reminding is improved.
Description
Technical Field
The application relates to the technical field of intelligent traffic, in particular to a signal lamp state reminding method and device based on vehicle-road cloud cooperation and electronic equipment.
Background
In the driving process of the vehicle, the state of a driver for a traffic signal lamp, such as waiting time, is often fuzzy, the waiting time for the signal lamps of different lanes is not quite clear, and the driver does not have clear and clear judgment on speed control of the vehicle about to drive to a crossroad and other specific road scenes, so that the driver is possibly subjected to untimely braking or red light running and other conditions.
Disclosure of Invention
The embodiment of the application provides a signal lamp state reminding method and device based on vehicle-road cloud cooperation and electronic equipment, so that a driver can be reminded of the signal lamp state in time.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a signal lamp state reminding method based on vehicle-road cloud coordination, where the method is executed by a cloud server, and the method includes:
acquiring vehicle positioning information sent by a vehicle end, wherein the vehicle positioning information comprises a vehicle position and a vehicle course angle;
acquiring a preset geo-fence monitoring area of a crossing where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data;
under the condition that the vehicle enters the preset geo-fence monitoring area, signal lamp state data of an intersection where the vehicle is located are determined, and the signal lamp state data are obtained through a road end;
and acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
Optionally, the acquiring the vehicle positioning information sent by the vehicle end includes:
receiving a communication connection request sent by the vehicle end based on an HTTP (hyper text transport protocol);
establishing connection with the vehicle end according to the communication connection request:
upgrading the HTTP communication protocol to a WebSocket protocol under the condition of successful connection;
and acquiring the vehicle positioning information reported by the vehicle end through the WebSocket protocol.
Optionally, the geofence monitoring database is obtained by:
acquiring basic data of a high-precision map, wherein the basic data of the high-precision map comprises stop line positions of intersections in all directions, signal lamp course angles and lanes corresponding to signal lamps;
determining intersection marks, tile marks, lane turning marks and boundary point positions of a preset geographic fence monitoring area of the intersection according to the basic data of the high-precision map;
and storing the tile identification and the basic data of the high-precision map, the intersection identification, the tile identification, the lane turning identification and the boundary point position of the preset geofence monitoring area into the geofence monitoring database in a key-value form.
Optionally, the boundary point position of the preset geofence monitoring area is obtained by:
and respectively extending the preset distance in the reverse direction by taking the stop line position of the intersection in each direction as a starting point to obtain the boundary point position in each direction, and taking the boundary point position as the boundary point position of the preset geo-fence monitoring area.
Optionally, the obtaining, according to the vehicle position, a preset geofence monitoring area of an intersection where the vehicle is located from the geofence monitoring database includes:
based on the vehicle position, searching by using a Geohash algorithm to obtain a hash level corresponding to the vehicle position;
searching in a high-precision map database according to the hash level to obtain a tile identifier corresponding to the vehicle position;
searching in the geofence monitoring database according to the tile identifications to obtain intersection identifications corresponding to the tile identifications;
and determining the intersection where the vehicle is located according to the intersection identification, and acquiring a preset geofence monitoring area of the intersection where the vehicle is located from the geofence monitoring database.
Optionally, the obtaining, according to the vehicle position, a preset geofence monitoring area of an intersection where the vehicle is located from a geofence monitoring database, and determining whether the vehicle enters the preset geofence monitoring area includes:
comparing the vehicle location to a boundary point location of the preset geofence monitoring area for a distance;
and determining whether the vehicle enters the preset geo-fence monitoring area or not according to the distance comparison result.
Optionally, the signal lamp state data of the intersection where the vehicle is located includes signal lamp state data of the intersection in each direction, and the obtaining the target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle heading angle includes:
acquiring a corresponding relation between a vehicle course angle and a signal lamp course angle from the geo-fence monitoring database;
determining a signal lamp course angle corresponding to the current vehicle course angle according to the corresponding relation;
and determining target signal lamp state data corresponding to the vehicle in the signal lamp state data of the intersection in each direction according to the signal lamp course angle corresponding to the current vehicle course angle.
Optionally, after acquiring the target signal lamp status data corresponding to the vehicle, the method further includes:
acquiring lane information of the vehicle, wherein the lane information comprises a lane where the vehicle is located and a lane steering mark, and the lane steering mark is used for enabling the vehicle end to display signal lamp state data corresponding to the lane where the vehicle is located;
and sending the lane information of the vehicle and the target signal lamp state data corresponding to the vehicle end together.
In a third aspect, an embodiment of the present application further provides a signal lamp state reminding device based on vehicle-road cloud coordination, where the device is applied to a cloud server, and the device includes:
the first acquisition unit is used for acquiring vehicle positioning information sent by a vehicle end, and the vehicle positioning information comprises a vehicle position and a vehicle course angle;
the first determining unit is used for acquiring a preset geo-fence monitoring area of a crossing where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data;
the second determination unit is used for determining signal lamp state data of an intersection where the vehicle is located under the condition that the vehicle enters the preset geo-fence monitoring area, and the signal lamp state data are obtained through a road end;
and the sending unit is used for acquiring the target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: the signal lamp state reminding method based on vehicle road cloud cooperation comprises the steps of firstly obtaining vehicle positioning information sent by a vehicle end, wherein the vehicle positioning information comprises a vehicle position and a vehicle course angle; then according to the position of the vehicle, acquiring a preset geo-fence monitoring area of the intersection where the vehicle is located from a geo-fence monitoring database, and determining whether the vehicle enters the pre-fence monitoring area and the pre-fence monitoring database is constructed on the basis of high-precision map data; then, under the condition that the vehicle enters a preset geo-fence monitoring area, determining signal lamp state data of an intersection where the vehicle is located through a road end; and finally, acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data and the vehicle course angle of the intersection where the vehicle is located, and sending the target signal lamp state data to the vehicle end for reminding. According to the signal lamp state reminding method based on vehicle road cloud cooperation, the preset geo-fence monitoring areas of all intersections are managed and maintained in a unified mode through the pre-established geo-fence monitoring database, and when a vehicle is about to drive to a corresponding intersection, corresponding target signal lamp state data are sent to the vehicle based on the preset geo-fence monitoring areas corresponding to the intersection, so that signal lamp state reminding is carried out timely and pertinently, and a driver can conveniently and reasonably control driving speed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a signal lamp state reminding method based on vehicle-road cloud coordination in an embodiment of the present application;
fig. 2 is a schematic diagram of a vehicle-end-cloud server-road-end interaction process in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a signal lamp state reminding device based on vehicle-road cloud coordination in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. 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 application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the application provides a signal lamp state reminding method based on vehicle-road cloud cooperation, the method is executed by a cloud server, as shown in fig. 1, a schematic flow diagram of the signal lamp state reminding method based on vehicle-road cloud cooperation in the embodiment of the application is provided, and the method at least comprises the following steps S110 to S140:
step S110, vehicle positioning information sent by a vehicle end is obtained, and the vehicle positioning information comprises a vehicle position and a vehicle course angle.
The signal lamp state reminding method based on vehicle-road cloud cooperation in the embodiment of the application needs to acquire vehicle Positioning information reported by a vehicle end in real time, where the vehicle Positioning information may include a current position coordinate of a vehicle, such as a Global Positioning System (GPS) position, and a current heading angle of the vehicle, that is, a current driving direction of the vehicle.
Step S120, according to the position of the vehicle, acquiring a preset geo-fence monitoring area of the intersection where the vehicle is located from a geo-fence monitoring database, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed based on high-precision map data.
After the current vehicle positioning information is obtained, a preset geofence monitoring area of the intersection where the vehicle is located needs to be obtained from the geofence monitoring database. It should be noted that the geofence monitoring database stores in advance data of the preset geofence monitoring areas corresponding to each intersection obtained based on the high-precision map data, and the data of the preset geofence monitoring areas corresponding to each intersection is used as a judgment basis for whether signal lamp state reminding needs to be performed on a vehicle about to travel to the intersection. Therefore, the embodiment of the application needs to combine the vehicle position to quickly determine the preset geofence monitoring area of the intersection corresponding to the vehicle position from the geofence monitoring database, so as to provide powerful support for timely reminding of the state of the subsequent signal lamp.
After the preset geofence monitoring area of the intersection corresponding to the current vehicle is determined, whether the current vehicle enters the range of the preset geofence monitoring area needs to be further judged by combining the vehicle position, if the current vehicle does not enter the preset geofence monitoring area, the position of the current vehicle is indicated to be a certain distance away from the next intersection, signal lamp state reminding can be temporarily not carried out, otherwise, the position of the current vehicle is indicated to be about to reach the intersection, and signal lamp state reminding needs to be carried out in time.
Step S130, determining signal lamp state data of the intersection where the vehicle is located under the condition that the vehicle enters the preset geo-fence monitoring area, wherein the signal lamp state data are obtained through a road end.
As described above, if the current vehicle has entered the corresponding preset geofence monitoring area, which indicates that the current vehicle is about to travel to the next intersection, the signal lamp status data of the next intersection needs to be fed back to the vehicle end in time, so that the signal lamp status data of the intersection where the vehicle is located can be further determined, and the signal lamp status data can be obtained from the road end, including the color of the signal lamp, the countdown data, and the like.
And step S140, acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
The signal lamp state data of the intersection where the vehicle is located determined in the above steps are signal lamp state data of the intersection in each direction, for example, a scene of the intersection corresponds to signal lamp state data in four directions of south, east, west and north, and for the current vehicle, only the corresponding signal lamp state information in the vehicle driving direction needs to be issued.
According to the signal lamp state reminding method based on vehicle-road cloud cooperation, the preset geo-fence monitoring areas of all intersections are managed in the geo-fence monitoring database in a unified mode in advance, and when a vehicle is about to run to the corresponding intersection, the corresponding target signal lamp state data are sent to the vehicle based on the preset geo-fence monitoring areas corresponding to the intersection, so that signal lamp state reminding can be carried out timely and pertinently.
It should be noted that the signal lamp state reminding method based on vehicle-road cloud cooperation in the embodiments of the present application may be executed by the cloud server, so that the timeliness of the signal lamp state reminding can be guaranteed by using the powerful data calculation and processing capabilities provided by the cloud server, that is, the signal lamp state reminding is performed in time through information interaction among the vehicle-road-cloud server. Certainly, except that the signal lamp state reminding method based on vehicle route cloud cooperation of each embodiment of the application can be executed by the cloud server, the signal lamp state reminding method can also be realized by a vehicle end, and technical personnel in the field can flexibly adjust each embodiment of the application according to actual needs to adapt to vehicle end processing, so that the processing pressure of the cloud server is reduced.
In an embodiment of the present application, the acquiring vehicle positioning information sent by a vehicle end includes: receiving a communication connection request sent by the vehicle end based on an HTTP (hyper text transport protocol); establishing connection with the vehicle end according to the communication connection request: upgrading the HTTP communication protocol to a WebSocket protocol under the condition of successful connection; and acquiring the vehicle positioning information reported by the vehicle end through the WebSocket protocol.
When the vehicle positioning information sent by the vehicle end is obtained, communication connection can be established with the vehicle end firstly, specifically, an APP in vehicle end hardware equipment and a cloud server firstly perform communication connection based on HTTP (Hyper Text Transfer Protocol), if the connection is successful, the APP is upgraded to a WebSocket Protocol for data stream communication, the WebSocket is a Protocol for performing full duplex communication on a single TCP (Transmission Control Protocol), the WebSocket Protocol is adopted to transmit the vehicle positioning information more efficiently in the embodiment of the application, and requirements for real-time performance and timeliness under a signal lamp state reminding scene are met.
And then, the vehicle end APP can report vehicle positioning information including high-precision positioning longitude and latitude, vehicle course angle and other information in real time through long link connection based on a WebSocket protocol, and the cloud server can perform information consumption after receiving the vehicle positioning information reported by the vehicle end.
In one embodiment of the present application, the geofence monitoring database is obtained by: acquiring basic data of a high-precision map, wherein the basic data of the high-precision map comprises stop line positions of intersections in all directions, signal lamp course angles and lanes corresponding to signal lamps; determining intersection marks, tile marks, lane turning marks and boundary point positions of a preset geographic fence monitoring area of the intersection according to the basic data of the high-precision map; and storing the tile identification and the basic data of the high-precision map, the intersection identification, the tile identification, the lane turning identification and the boundary point position of the preset geofence monitoring area into the geofence monitoring database in a key-value form.
When the geofence monitoring database is constructed, the method is mainly realized based on basic data provided by the high-precision map, the basic data provided by the high-precision map mainly comprise the position coordinates of stop lines of all intersections in each direction, the heading angles of signal lamps, lanes corresponding to the signal lamps and the like, the heading angles of the signal lamps are used for representing the orientation of the signal lamps, and the heading angles of the signal lamps are fixed under a preset coordinate system.
On the basis of basic data provided by the high-precision map, the high-precision map data corresponding to each intersection are digitally processed, and intersection identifications such as intersection IDs can be obtained. The high-precision map data are divided into a plurality of levels, each level is divided into a plurality of tiles, so that a tile map similar to a pyramid structure can be obtained, each tile on the tile map can be represented as a tile ID through a unique mark of level and row number, and in a subsequent retrieval and matching stage, the map fragment data of the position where a vehicle is located can be quickly located through the tile ID, so that the matching and locating efficiency is improved. The high-precision map data corresponding to each lane are digitally processed, and lane turning marks such as left turning marks, straight marks or right turning marks can be obtained. And taking the stop line positions of the intersections in all directions as a reference, and extending reversely to obtain the boundary point positions in all directions so as to obtain the range of the preset geo-fence monitoring area corresponding to each intersection.
The process can be regarded as a map data cleaning process, and data obtained after cleaning can be stored in a geofence monitoring database for management according to a certain form. Specifically, since the tile ID represents a map area corresponding to a specific segment in a specific map hierarchy, the tile ID may be used as a key, and all remaining cleaned map data may be used as values and stored in a geofence monitoring database, such as a Redis database, in a key-value form.
In one embodiment of the present application, the boundary point position of the preset geofence monitoring area is obtained by: and respectively extending the preset distance in the reverse direction by taking the stop line position of the intersection in each direction as a starting point to obtain the boundary point position in each direction, and taking the boundary point position as the boundary point position of the preset geo-fence monitoring area.
When the preset geofence monitoring area of the intersection is determined, the embodiment of the application can reversely extend for a certain distance, for example, 100m, with the stop line position of the intersection in each direction as the starting point, so as to obtain the boundary point position in each direction. The stop line position generally comprises a start point position coordinate and an end point position coordinate, so that when the stop line in any direction extends, the position of a middle point can be determined according to a connecting line between the start point position coordinate and the end point position coordinate of the stop line, the middle point position is taken as a reference, the stop line extends in a reverse direction for a certain distance, and the position coordinate of the boundary point can be calculated.
Taking the scene of the intersection as an example, in four road directions of east, south, west and north, the stop line positions in the four directions are respectively extended reversely according to the above manner, so that boundary point positions in the four directions can be obtained, a rectangular area is constructed according to the boundary point positions in the four directions, the area can be used as a preset geo-fence monitoring area, and monitoring areas in other shapes can be constructed as long as the area passes through the boundary point positions in all the directions.
In one embodiment of the present application, said obtaining a preset geofence monitoring area of an intersection where the vehicle is located from the geofence monitoring database according to the vehicle location comprises: based on the vehicle position, searching by using a Geohash algorithm to obtain a hash level corresponding to the vehicle position; searching in a high-precision map database according to the hash level to obtain a tile identifier corresponding to the vehicle position; searching in the geofence monitoring database according to the tile identifications to obtain intersection identifications corresponding to the tile identifications; and determining the intersection where the vehicle is located according to the intersection identification, and acquiring a preset geofence monitoring area of the intersection where the vehicle is located from the geofence monitoring database.
According to the embodiment of the application, when the preset geo-fence monitoring area of the intersection where the vehicle is located is obtained from the geo-fence monitoring database according to the position of the vehicle, based on high-precision vehicle position data reported by a vehicle end, deep search is carried out by using a Geohash algorithm to obtain a hash level corresponding to the current vehicle position, namely, the current vehicle position is determined to be located on which map level, then tile IDs corresponding to the hash level are obtained by searching a link table in a high-precision map database, namely, the current vehicle position is determined to be located on which slice of the map level, finally, tile ID comparison is carried out according to road data obtained by cleaning in the geo-fence monitoring database to obtain the intersection ID corresponding to the tile ID, and further, other data of the preset geo-fence monitoring area corresponding to the intersection ID can be obtained.
The GeoHash algorithm is an algorithm for coding longitude and latitude, changing two dimensions into one dimension and partitioning an address position, the GeoHash uses a character string to represent two coordinates of longitude and latitude, indexes can be applied to a column in a database, the hash level in the GeoHash represents not a point but a rectangular area, and the map level where the current vehicle position is located can be determined according to the hash level, so that the range of subsequent retrieval matching is greatly reduced, the GeoHash algorithm is more efficient than a mode of directly retrieving and positioning by using the longitude and latitude, and the requirement of the GeoHash algorithm on the real-time property and the timeliness of data processing is met.
In an embodiment of the present application, said obtaining a preset geofence monitoring area of an intersection where a vehicle is located from a geofence monitoring database according to the vehicle location, and determining whether the vehicle enters the preset geofence monitoring area comprises: comparing the vehicle position with the boundary point position of the preset geo-fence monitoring area by distance; and determining whether the vehicle enters the preset geo-fence monitoring area or not according to the distance comparison result.
According to the embodiment of the application, when whether the vehicle enters the preset geo-fence monitoring area or not is determined according to the position of the vehicle, the current position coordinate of the vehicle and the position coordinate of the boundary point of the preset geo-fence monitoring area can be subjected to distance comparison, and therefore the distance comparison is used for filtering whether the vehicle enters a sending range of signal lamp state data or not. For example, if the distance value between the current position coordinate of the vehicle and the position coordinate of the corresponding nearest boundary point is less than or equal to 0, it indicates that the vehicle has entered the range of the preset geofence monitoring area, whereas if the distance value between the current position coordinate of the vehicle and the position coordinate of the corresponding nearest boundary point is greater than 0, it indicates that the vehicle has not entered the range of the preset geofence monitoring area.
In an embodiment of the present application, the signal lamp status data of the intersection where the vehicle is located includes signal lamp status data of the intersection in each direction, and the obtaining the target signal lamp status data corresponding to the vehicle according to the signal lamp status data of the intersection where the vehicle is located and the vehicle heading angle includes: acquiring a corresponding relation between a vehicle course angle and a signal lamp course angle from the geo-fence monitoring database; determining a signal lamp course angle corresponding to the current vehicle course angle according to the corresponding relation; and determining target signal lamp state data corresponding to the vehicle in the signal lamp state data of the intersection in each direction according to the signal lamp course angle corresponding to the current vehicle course angle.
The embodiment can determine the signal lamp state data in each direction of the intersection where the vehicle is located based on the vehicle position, but for the vehicle, only the signal lamp state data corresponding to the current driving direction of the vehicle needs to be provided for the vehicle, so the embodiment of the application can further determine the driving direction of the current vehicle by combining the current vehicle course angle, and then determine the signal lamp course angle corresponding to the vehicle course angle, namely the direction of the signal lamp, by combining the corresponding relation between the vehicle course angle and the signal lamp course angle stored in the geo-fence monitoring database in advance, so as to obtain the signal lamp state data corresponding to the signal lamp in the direction.
For example, if the current vehicle is driving from south to north, the vehicle heading angle is 0 degree, and the corresponding signal lamp heading angle is 180 degrees, the cloud server may return the state data of all signal lamps with signal lamp heading angles of 180 degrees to the vehicle end.
In one embodiment of the present application, after obtaining the target signal lamp status data corresponding to the vehicle, the method further includes: acquiring lane information of the vehicle, wherein the lane information comprises a lane where the vehicle is located and a lane steering mark, and the lane steering mark is used for enabling the vehicle end to display signal lamp state data corresponding to the lane where the vehicle is located; and sending the lane information of the vehicle and the target signal lamp state data corresponding to the vehicle end together.
Under the actual road scene, different lanes have its signal lamp that corresponds, consequently when carrying out the propelling movement of signal lamp state data, on the one hand will avoid high in the clouds server to cause too much interference or wrong warning to the signal lamp demonstration of car end, and on the other hand will make the car end can select the signal lamp state data that will show more directly perceivedly, nimble.
Based on this, the embodiment of the application can issue the target signal lamp state data and the lane information of the vehicle to the vehicle end, where the target signal lamp state data mainly includes the display state of each signal lamp in the current driving direction of the vehicle, such as a red light or a green light, the countdown duration, and the like, and the lane information of the vehicle mainly includes the lane where the vehicle is currently located and the lane turning mark, that is, the position of the vehicle is refined to the lane level through the lane information, so as to provide support for displaying the signal lamp state data at the lane level.
The vehicle end hardware equipment can carry out HMI page display according to the progress of marcing after receiving above-mentioned information, for example if be about to arrive the diversion road of intersection department and when having the turn sign, can obtain corresponding signal lamp state information according to the direction of turning to show to pronunciation warning inform driver signal lamp state, if be about to the red light warning driver speed reduction, the green light is reminded slowly to pass etc..
For example, assuming that the current road is a three-lane road, the three-lane road includes a left-side lane, namely a left-turn lane 01, a middle lane, namely a straight-through lane 02, and a right-side lane, namely a right-turn lane 03, the vehicle is currently running on the 02-side lane, namely the straight-through lane, when the vehicle enters a preset geofence monitoring area, the cloud server can send the signal lamp state data corresponding to the 01-side lane, the 02-side lane and the 03-side lane to the vehicle end, so that the signal lamp state data on the corresponding lane can be acquired at the same time even if the vehicle end is ready to change lanes to enter the left-side lane or the right-side lane, and the vehicle end can select the signal lamp state data corresponding to the lane where the vehicle end is located to display according to the self-demand after the vehicle end completes the lane change or when the vehicle is not ready to change lanes, so that the use demand of the actual application scene is met, and the vehicle end is more flexible.
In order to facilitate understanding of the embodiments of the present application, as shown in fig. 2, an interaction process diagram of a vehicle end, a cloud server, and a road end is further provided in the embodiments of the present application. Firstly, establishing communication connection among a vehicle end, a cloud server and a road end; then, the vehicle end reports vehicle positioning information to the cloud server in real time through an APP in the hardware equipment, and the road end uploads signal lamp state data of each intersection to the cloud server in real time; and finally, the cloud server sends the state data of the target signal lamp corresponding to the vehicle at a proper time according to the vehicle positioning information reported by the vehicle end so as to prompt the vehicle end in time.
The embodiment of the present application further provides a signal lamp state reminding device 300 based on vehicle road cloud is cooperative, the device is applied to the cloud server, as shown in fig. 3, a schematic structural diagram of a signal lamp state reminding device based on vehicle road cloud is cooperative in the embodiment of the present application is provided, the device 300 includes: a first obtaining unit 310, a first determining unit 320, a second determining unit 330, and a sending unit 340, wherein:
the first obtaining unit 310 is configured to obtain vehicle positioning information sent by a vehicle end, where the vehicle positioning information includes a vehicle position and a vehicle heading angle;
a first determining unit 320, configured to obtain, according to the vehicle position, a preset geofence monitoring area of an intersection where the vehicle is located from a geofence monitoring database, and determine whether the vehicle enters the preset geofence monitoring area, where the geofence monitoring database is constructed based on high-precision map data;
a second determining unit 330, configured to determine signal lamp status data of an intersection where the vehicle is located when the vehicle enters the preset geofence monitoring area, where the signal lamp status data is obtained through a road end;
the sending unit 340 is configured to obtain target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle heading angle, and send the target signal lamp state data to the vehicle end for prompting.
In an embodiment of the present application, the first obtaining unit 310 is specifically configured to: receiving a communication connection request sent by the vehicle end based on an HTTP (hyper text transport protocol); establishing connection with the vehicle end according to the communication connection request: upgrading the HTTP communication protocol to a WebSocket protocol under the condition of successful connection; and acquiring the vehicle positioning information reported by the vehicle end through the WebSocket protocol.
In one embodiment of the present application, the geofence monitoring database is obtained by: acquiring basic data of a high-precision map, wherein the basic data of the high-precision map comprises stop line positions of intersections in all directions, signal lamp course angles and lanes corresponding to signal lamps; determining intersection marks, tile marks, lane turning marks and boundary point positions of a preset geographic fence monitoring area of the intersection according to the basic data of the high-precision map; and storing the tile identification and the basic data of the high-precision map, the intersection identification, the tile identification, the lane turning identification and the boundary point position of the preset geofence monitoring area into the geofence monitoring database in a key-value form.
In one embodiment of the present application, the boundary point position of the preset geofence monitoring area is obtained by: and respectively extending the preset distance in the reverse direction by taking the stop line position of the intersection in each direction as a starting point to obtain the boundary point position in each direction, and taking the boundary point position as the boundary point position of the preset geo-fence monitoring area.
In an embodiment of the present application, the first determining unit 320 is specifically configured to: based on the vehicle position, searching by using a Geohash algorithm to obtain a hash level corresponding to the vehicle position; searching in a high-precision map database according to the hash level to obtain a tile identifier corresponding to the vehicle position; searching in the geofence monitoring database according to the tile identifications to obtain intersection identifications corresponding to the tile identifications; and determining the intersection where the vehicle is located according to the intersection identification, and acquiring a preset geofence monitoring area of the intersection where the vehicle is located from the geofence monitoring database.
In an embodiment of the application, the first determining unit 320 is specifically configured to: comparing the vehicle location to a boundary point location of the preset geofence monitoring area for a distance; and determining whether the vehicle enters the preset geo-fence monitoring area or not according to the distance comparison result.
In an embodiment of the present application, the signal lamp status data of the intersection where the vehicle is located includes signal lamp status data of the intersection in each direction, and the sending unit 340 is specifically configured to: acquiring a corresponding relation between a vehicle course angle and a signal lamp course angle from the geo-fence monitoring database; determining a signal lamp course angle corresponding to the current vehicle course angle according to the corresponding relation; and determining target signal lamp state data corresponding to the vehicle in the signal lamp state data of the intersection in each direction according to the signal lamp course angle corresponding to the current vehicle course angle.
In one embodiment of the present application, the apparatus further comprises: the second acquisition unit is used for acquiring lane information of the vehicle, wherein the lane information comprises a lane where the vehicle is located and a lane steering mark, and the lane steering mark is used for enabling the vehicle end to display signal lamp state data corresponding to the lane where the vehicle is located; the sending unit is further configured to: and sending the lane information of the vehicle and the target signal lamp state data corresponding to the vehicle end together.
It can be understood that, the signal lamp state reminding device based on the vehicle-road cloud coordination can realize each step of the signal lamp state reminding method based on the vehicle-road cloud coordination provided in the foregoing embodiment, and the related explanations about the signal lamp state reminding method based on the vehicle-road cloud coordination are applicable to the signal lamp state reminding device based on the vehicle-road cloud coordination, and are not repeated here.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 4, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory to the memory and then operates, and a signal lamp state reminding device based on vehicle road cloud cooperation is formed on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring vehicle positioning information sent by a vehicle end, wherein the vehicle positioning information comprises a vehicle position and a vehicle course angle;
acquiring a preset geo-fence monitoring area of a crossing where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data;
under the condition that the vehicle enters the preset geo-fence monitoring area, signal lamp state data of an intersection where the vehicle is located are determined, and the signal lamp state data are obtained through a road end;
and acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
The method executed by the signal lamp state reminding device based on the vehicle-road cloud coordination disclosed by the embodiment of fig. 1 of the application can be applied to a processor or implemented by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the signal lamp state reminding device based on vehicle-road cloud coordination in fig. 1, and implement the functions of the signal lamp state reminding device based on vehicle-road cloud coordination in the embodiment shown in fig. 1, which are not described herein again in this application embodiment.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, where the one or more programs include instructions, and when the instructions are executed by an electronic device that includes multiple application programs, the electronic device can be caused to perform the method that is performed by the signal lamp state reminding device based on vehicle-road cloud coordination in the embodiment shown in fig. 1, and is specifically configured to perform:
acquiring vehicle positioning information sent by a vehicle end, wherein the vehicle positioning information comprises a vehicle position and a vehicle course angle;
acquiring a preset geo-fence monitoring area of a crossing where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data;
under the condition that the vehicle enters the preset geo-fence monitoring area, signal lamp state data of an intersection where the vehicle is located are determined, and the signal lamp state data are obtained through a road end;
and acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A signal lamp state reminding method based on vehicle-road cloud cooperation is executed by a cloud server, and comprises the following steps:
acquiring vehicle positioning information sent by a vehicle end, wherein the vehicle positioning information comprises a vehicle position and a vehicle course angle;
acquiring a preset geo-fence monitoring area of a crossing where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data;
under the condition that the vehicle enters the preset geo-fence monitoring area, signal lamp state data of an intersection where the vehicle is located are determined, wherein the signal lamp state data are obtained through a road end;
and acquiring target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
2. The method of claim 1, wherein the obtaining of the vehicle positioning information sent by the vehicle end comprises:
receiving a communication connection request sent by the vehicle end based on an HTTP (hyper text transport protocol);
establishing connection with the vehicle end according to the communication connection request:
upgrading the HTTP communication protocol to a WebSocket protocol under the condition of successful connection;
and acquiring the vehicle positioning information reported by the vehicle end through the WebSocket protocol.
3. The method of claim 1, wherein the geofence monitoring database is obtained by:
acquiring basic data of a high-precision map, wherein the basic data of the high-precision map comprises stop line positions of intersections in all directions, signal lamp course angles and lanes corresponding to signal lamps;
determining intersection marks, tile marks, lane turning marks and boundary point positions of a preset geographic fence monitoring area of the intersection according to the basic data of the high-precision map;
and storing the tile identification and the basic data of the high-precision map, the intersection identification, the tile identification, the lane turning identification and the boundary point position of the preset geofence monitoring area into the geofence monitoring database in a key-value form.
4. The method of claim 3, wherein the boundary point location of the preset geofence monitoring area is obtained by:
and respectively extending the preset distance in the reverse direction by taking the stop line position of the intersection in each direction as a starting point to obtain the boundary point position in each direction, and taking the boundary point position as the boundary point position of the preset geo-fence monitoring area.
5. The method of claim 1, wherein said obtaining a preset geofence monitoring area of an intersection where a vehicle is located from a geofence monitoring database based on the vehicle location comprises:
based on the vehicle position, searching by using a Geohash algorithm to obtain a hash level corresponding to the vehicle position;
searching in a high-precision map database according to the hash level to obtain a tile identifier corresponding to the vehicle position;
searching in the geofence monitoring database according to the tile identifications to obtain intersection identifications corresponding to the tile identifications;
and determining the intersection where the vehicle is located according to the intersection identification, and acquiring a preset geofence monitoring area of the intersection where the vehicle is located from the geofence monitoring database.
6. The method of claim 1, wherein said obtaining a preset geofence monitoring area at an intersection where a vehicle is located from a geofence monitoring database based on the vehicle location and determining whether the vehicle enters the preset geofence monitoring area comprises:
comparing the vehicle location to a boundary point location of the preset geofence monitoring area for a distance;
and determining whether the vehicle enters the preset geo-fence monitoring area or not according to the distance comparison result.
7. The method of claim 1, wherein the signal lamp status data of the intersection where the vehicle is located includes signal lamp status data of the intersection in each direction, and the obtaining the target signal lamp status data corresponding to the vehicle according to the signal lamp status data of the intersection where the vehicle is located and the vehicle heading angle includes:
acquiring a corresponding relation between a vehicle course angle and a signal lamp course angle from the geo-fence monitoring database;
determining a signal lamp course angle corresponding to the current vehicle course angle according to the corresponding relation;
and determining target signal lamp state data corresponding to the vehicle in the signal lamp state data of the intersection in each direction according to the signal lamp course angle corresponding to the current vehicle course angle.
8. The method of claim 1, wherein after acquiring the corresponding target signal light status data for the vehicle, the method further comprises:
acquiring lane information of the vehicle, wherein the lane information comprises a lane where the vehicle is located and a lane steering mark, and the lane steering mark is used for enabling the vehicle end to display signal lamp state data corresponding to the lane where the vehicle is located;
and sending the lane information of the vehicle and the target signal lamp state data corresponding to the vehicle end together.
9. The utility model provides a signal lamp state reminding device based on car road cloud is cooperative, wherein, the device is applied to high in the clouds server, the device includes:
the first acquisition unit is used for acquiring vehicle positioning information sent by a vehicle end, and the vehicle positioning information comprises a vehicle position and a vehicle course angle;
the first determining unit is used for acquiring a preset geo-fence monitoring area of a crossing where a vehicle is located from a geo-fence monitoring database according to the position of the vehicle, and determining whether the vehicle enters the preset geo-fence monitoring area, wherein the geo-fence monitoring database is constructed on the basis of high-precision map data;
the second determination unit is used for determining signal lamp state data of an intersection where the vehicle is located under the condition that the vehicle enters the preset geo-fence monitoring area, and the signal lamp state data are obtained through a road end;
and the sending unit is used for acquiring the target signal lamp state data corresponding to the vehicle according to the signal lamp state data of the intersection where the vehicle is located and the vehicle course angle, and sending the target signal lamp state data to the vehicle end for reminding.
10. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 8.
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