CN114973690A - Green wave vehicle speed guide test system and method based on V2X and storage medium - Google Patents
Green wave vehicle speed guide test system and method based on V2X and storage medium Download PDFInfo
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- CN114973690A CN114973690A CN202210579866.7A CN202210579866A CN114973690A CN 114973690 A CN114973690 A CN 114973690A CN 202210579866 A CN202210579866 A CN 202210579866A CN 114973690 A CN114973690 A CN 114973690A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004806 packaging method and process Methods 0.000 claims abstract description 19
- 238000012856 packing Methods 0.000 claims abstract description 14
- 238000010998 test method Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- 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]
Abstract
The invention discloses a green wave vehicle speed guide test system, method and storage medium based on V2X, comprising S101: after the vehicle reaches the transverse range of the high-precision map of the intersection, the measuring system receives first packing information sent by the road side unit and calculates the distance S to be traveled; s102: the vehicle-mounted terminal obtains a green wave vehicle speed according to the first package information and the distance S to be driven, wherein the green wave vehicle speed comprises a first speed V 1 And a second speed V 2 (ii) a S103: the vehicle is at a second speed V 2 When the vehicle runs through the intersection, the test system receives second packaging information sent by the road side unit, wherein the second packaging information comprises second green light remaining time T 2 If the second green light remains for a time T 2 If the value is greater than or equal to the first threshold value, the step S104 is entered; if the second green light remains for a time T 2 If the value is smaller than the first threshold value, sending an alarm prompt; s104: according to the distance S to be traveled and the first speed V 1 Calculating the time T of the vehicle passing through the intersection 3 Will T 3 And T 2 Carrying out comparison; if T 2 ‑T 3 If the test result is more than or equal to 0, the test is finished; if T is 2 ‑T 3 If the value is less than 0, an alarm prompt is sent out.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperation, in particular to a green wave vehicle speed guide test system, a green wave vehicle speed guide test method and a green wave vehicle speed guide test storage medium based on V2X.
Background
With the development of the vehicle-road cooperation technology, the improvement of road-side basic supporting facilities emerges technologies for accelerating the traffic traveling efficiency, such as bus priority, green wave vehicle speed guidance and the like. The green wave vehicle speed guidance is a coordinated control mode which applies more urban main roads, namely, traffic light information of intersections is sent to vehicles through a V2X technology, and the vehicles receive the traffic light information and calculate the current recommended vehicle driving speed by calculating the distance of the traffic light intersections, so that the signal lights are always green when the vehicles drive to the intersections, the passing continuity of the vehicles is increased, and the traffic jam is reduced.
The current road side infrastructure does not have clear distance constraint to the high-precision map, and the intelligent road side unit RSU signal transmission range that leads to many producers is different, and vehicle-mounted unit OBU just can receive the signal lamp data that road side unit RSU sent and calculate after the vehicle got into the map.
The current main test method for testing green wave traffic of test engineers is to drive to a traffic light intersection at a certain speed, when the traffic light intersection enters a high-precision map range of the intersection, receive a green wave recommended vehicle speed, drive to the intersection at the lowest (or highest) speed of the recommended vehicle speed, observe whether the traffic light intersection can pass through smoothly, and judge whether the lowest (or highest) speed of the green wave recommended vehicle speed meets the requirement of green wave traffic. However, this method cannot test vehicles in the same phase at the intersection under the same vehicle condition, which results in insufficient reliability of the test result, more times of tests, waste of test time and low test efficiency.
Disclosure of Invention
Aiming at the problem that the green wave vehicle speed testing efficiency is reduced in the prior art, the invention provides a green wave vehicle speed guiding testing method, a green wave vehicle speed guiding testing system and a green wave vehicle speed guiding testing storage medium based on V2X.
In order to achieve the purpose, the invention provides the following technical scheme:
a green wave vehicle speed guide test method based on V2X specifically comprises the following steps:
s101: after the vehicle reaches the transverse range of the high-precision map of the intersection, the measuring system receives first packing information sent by the road side unit and calculates the distance S to be traveled;
s102: the vehicle-mounted terminal obtains a green wave vehicle speed according to the first package information and the distance S to be driven, wherein the green wave vehicle speed comprises a first speed V 1 And a second speed V 2 ；
S103: the vehicle is at a second speed V 2 When the road passes through the intersection, the test system receives second packaging information sent by the road side unit, wherein the second packaging information comprises second green light remaining time T 2 ，
If the second green light remaining time T 2 If the value is greater than or equal to the first threshold value, the step S104 is entered; if the second green light remains for a time T 2 If the value is smaller than the first threshold value, sending an alarm prompt;
s104: according to the distance S to be traveled and the first speed V 1 Calculating the time T of the vehicle passing through the intersection 3 Will T 3 And T 2 Carrying out comparison;
if T 2 -T 3 If the test result is more than or equal to 0, the test is finished; if T 2 -T 3 If the value is less than 0, an alarm prompt is sent out.
Preferably, in S102, the second speed is greater than the first speed, i.e., V 2 ＞V 1 。
Preferably, in S101, the first packing information includes a first green light remaining time T 1 And the position of the intersection.
Preferably, in S101, the distance S to be traveled is calculated by:
and positioning the vehicle by adopting a positioning module to obtain the actual position of the vehicle, and calculating the distance S to be traveled according to the actual position of the vehicle and the position of the intersection.
Preferably, in S103, when the alarm prompt is issued, the vehicle-mounted terminal needs to be adjusted again, and the green-wave vehicle speed needs to be redesigned.
Preferably, the green wave vehicle speed is designed to meet the following requirements:
vehicle at first speed V 1 The time of arriving at the junction and coming out of the position is M ═ S/V 1 At a second speed V 2 The time for arriving at the junction and coming out of the position is T ═ S/V 2 The time difference between T and M is equal to the duration of the green light and at a second speed V 2 When the intersection position is reached, the intersection light state just changes into green light.
A green wave vehicle speed guide test system based on V2X comprises:
a data acquisition module for acquiring packaging information of the drive test unit, wherein the packaging information includes first packaging information and second packaging information, and the first packaging information includes a first green light residual time T 1 And the position of the intersection;
the positioning module is used for positioning the actual position of the vehicle;
the distance calculation module is used for calculating the distance according to the actual position of the vehicle and the junction driving position, namely the distance S to be traveled by the vehicle;
a comparison module for comparing the threshold value with the second green light remaining time T 2 And the third green lamp residual time T 3 And comparing and sending an alarm prompt.
Preferably, the second package information includes a second green light remaining time T 2 (ii) a The first packing information comprises a first green light remaining time T 1 And the position of the intersection.
Preferably, the positioning module comprises a GPS + RTK high precision positioning.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the V2X-based green wave vehicle speed guided test method.
In summary, due to the adoption of the technical scheme, compared with the prior art, the invention at least has the following beneficial effects:
the method comprises the steps of obtaining intersection traffic light time and recommended speed by connecting an OBU, when a vehicle arrives at the traffic light intersection, driving at the highest speed of the recommended speed of green wave passing, recording the distance from the vehicle to the traffic light intersection when a green wave passing message is received, recording the remaining time of the green light received by the vehicle, and calculating whether the vehicle can normally pass the green light or not when the vehicle runs at the lowest speed of the green wave recommended speed to the intersection under the current condition after passing the intersection; according to the scheme, the same trolley is used, the traffic light time is received at the same time, and the data reliability of the lowest recommended vehicle speed and the highest recommended vehicle speed can be measured only by one test engineer, so that the manpower resource is saved, and the data is more reliable.
Description of the drawings:
FIG. 1 is a flowchart illustrating a green wave vehicle speed guidance test method based on V2X according to an exemplary embodiment of the invention.
FIG. 2 is a schematic illustration of an intersection according to an exemplary embodiment of the invention.
FIG. 3 is a schematic diagram of a green wave vehicle speed guidance test system based on V2X according to an exemplary embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Aiming at the technical scheme of green wave passing rapid test, the traditional test thought has the following two types:
(1) and (4) running at the highest speed of the suggested vehicle speed to test whether the vehicle can smoothly pass through the intersection, then returning to the starting point to run at the lowest vehicle speed to test whether the vehicle can smoothly pass through the intersection. The method has the advantages that the consumed manpower is less, one vehicle test engineer can test the vehicle, and the method has the defects that the phases of the intersection are inconsistent and the suggested vehicle speeds are inconsistent when the vehicle reaches the map range of the intersection every time, and the reliability of the minimum suggested vehicle speed and the maximum suggested vehicle speed data under the same condition cannot be ensured;
(2) the two vehicles and the two engineers simultaneously test, when the two vehicles arrive in the range of the intersection map, the two vehicles can receive the same green wave traffic proposal speed, then one vehicle runs at the highest speed of the proposal speed to observe whether the vehicles can smoothly pass through the intersection, and the other vehicle runs at the lowest speed of the proposal speed to observe whether the vehicles can smoothly pass through the traffic light intersection. The method has the advantages that the same phase enters after the intersection map is reached, and the same recommended green wave passing recommended speed is received; the method has the disadvantages that the manpower of two test engineers is consumed, the traffic conditions of each vehicle are inconsistent, the time for receiving the traffic lights of the intersection at the same time cannot be ensured, and the reliability of test data cannot be ensured.
As shown in FIG. 1, the invention provides a green wave vehicle speed guide test method based on V2X, which comprises the following steps:
s101: after the vehicle reaches the transverse range of the high-precision map of the intersection, the measuring system receives and analyzes the first packing information sent by the road side unit, and calculates the distance S to be traveled.
In this embodiment, a Road Side Unit (RSU) is installed at the intersection, is integrated with a high-precision map, and can send first packing information to a measurement system of a vehicle installed with V2X technology, where the first packing information includes a first green light remaining time T 1 Crossing location (which can be expressed by longitude and latitude) and maximum speed limit V max 。
In this embodiment, the measurement system includes a data acquisition module, a positioning module, and a distance calculation module.
The positioning module is used for positioning the actual position of the vehicle and can be represented by longitude and latitude; and the distance calculation module is used for calculating the distance S to be traveled by the vehicle according to the distance between the actual position of the vehicle and the intersection position, as shown in fig. 2.
In this embodiment, the positioning module adopts GPS + RTK high-precision positioning.
It can be understood that, in the specific implementation, the test system is internally provided with the high-precision map sdk for display layer development, configures high-precision map data, and provides sdk services related to the map data for programs to call data-related services, such as navigation, search, and v2x scenario applications, where the scenario application development sdk may encapsulate interfaces and programs may also perform corresponding functions.
S102: the OBU of the vehicle-mounted terminal can obtain the green wave vehicle speed according to the first package information and the distance S to be driven, and the green wave vehicle speed comprises the lowest first speed V 1 And a highest second speed V 2 。
The green wave vehicle speed includes a lowest first speed V 1 And a highest second speed V 2 The second speed being greater than the first speed, i.e. V max ≥V 2 ＞V 1 。
In this embodiment, when the measurement system receives the first packing information:
when the first green light remains for a time T 1 The red light remaining time is the highest second speed V 2 ＝S/T 1 When the vehicle runs to the intersection at the highest second speed, the red light is just changed into the green light; the lowest first speed V 1 ＝S/(T 1 +T 2 )，T 2 Indicating a green time, i.e., when the vehicle is passing through the intersection at the lowest first speed, the red light is turned to the green light and then just to the red light.
When the first traffic light remains for the time T 1 The maximum second speed V for the remaining time of the green light 2 ＝S/T 1 When the vehicle runs through the intersection at the highest second speed, the green light is just changed into the red light; the lowest first speed V 1 ＝S/(T 1 +T 3 )，T 3 Indicating a red time when the vehicle is passing the intersection at the lowest first speed, the first green light is changed to the first red light and the second green light is just changed.
In the present embodiment, the calculation of the green wave vehicle speed is prior art, and can be adjusted according to specific situations.
S103: the vehicle is at a second speed V 2 When the vehicle arrives at the intersection, the test system receives second packaging information sent by the road side unit, wherein the second packaging information comprises second green light remaining time T 2 If the second green light remains for a time T 2 If the speed is greater than or equal to the first threshold (the first threshold may be set to 0), indicating that the second speed (highest) can meet the requirement of green light passing of the vehicle, then the process goes to S104; if the second green light remaining time T 2 If the speed is less than the first threshold value (namely when the vehicle passes through the intersection), the second speed is indicated to not meet the requirement of green light passing of the vehicle, an alarm prompt is sent, and the green wave algorithm in the OBU needs to be adjusted.
In this embodiment, if the vehicle is at the second speed V 2 When the vehicle arrives at the intersection, the traffic light displays the red light, but the residual time T of the red light 4 If the error range is within (for example, 5S), the second speed can be considered to meet the requirement of the vehicle for green light passing, and the process goes to S104; if T 3 Exceeding the error range, e.g. T 4 And if the speed is 10s, the second speed does not meet the requirement of green light passing of the vehicle, and the green wave algorithm in the OBU needs to be adjusted.
S104: according to the distance S to be traveled and the lowest first speed V 1 Calculating the time T of the vehicle passing through the intersection 3 Will T 3 And T 2 Performing comparison if T 2 -T 3 If the speed is more than or equal to 0, the first speed (lowest) can also meet the requirement of the green light passing of the vehicle, and the test is finished; if T 2 -T 3 If the speed is less than 0, the first speed does not meet the requirement of green light passing of the vehicle, an alarm prompt is sent, and the green wave algorithm in the OBU needs to be adjusted.
In the embodiment, because the same trolley receives the traffic light at the same time, the testing environment of the same phase and the same vehicle condition is ensured, and the reliability of the testing data is improved; and only one test engineer is needed to test the data reliability of the lowest recommended vehicle speed and the highest recommended vehicle speed, so that the manpower resource is saved, and the data is more reliable.
In this embodiment, the test system accessible is connected the OBU and is obtained the packing information of road side unit, only need guarantee that the vehicle speed of traveling is the highest speed of green ripples current suggestion speed of a motor vehicle can, the test degree of difficulty is lower, and test data reference value is big, and has saved test time.
In this embodiment, as shown in fig. 3, a measurement system is further provided, which includes a data acquisition module, a positioning module, and a distance calculation module.
The data acquisition module is used for acquiring the packaging information of the drive test unit;
the positioning module is used for positioning the actual position of the vehicle and can be represented by longitude and latitude;
and the distance calculation module is used for calculating the distance according to the actual position of the vehicle and the junction driving position, namely the distance S to be traveled by the vehicle.
The storage module is used for storing data and a first threshold value;
a comparison module for comparing the first threshold value with the second green light residual time T 2 Comparing the residual time T of the second green light 2 And a travel time T 3 And comparing and sending an alarm prompt.
The first packing information comprises a first green light remaining time T 1 And the position of the intersection; the second package information includes a second green light remaining time T 2 。
In the present embodiment, the vehicle is at the first speed V 1 The time of arriving at the junction and coming out of the position is M ═ S/V 1 At a second speed V 2 The time for arriving at the junction and coming out of the position is T ═ S/V 2 When the time difference between T and M is equal to the duration of a green light and at a second speed V 2 When the intersection is reached to the intersection driving position, the intersection light state is just changed into green light, and the green wave speed data is ideal data.
The present invention further provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method according to the above embodiment when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which is characterized in that the computer program, when being executed by a processor, carries out the steps of the method according to the above-mentioned embodiments.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A green wave vehicle speed guide test method based on V2X is characterized by comprising the following steps:
s101: after the vehicle reaches the transverse range of the high-precision map of the intersection, the measuring system receives first packing information sent by the road side unit and calculates the distance S to be traveled;
s102: the vehicle-mounted terminal obtains a green wave vehicle speed according to the first packing information and the distance S to be driven, wherein the green wave vehicle speed comprises a first speed V 1 And a second speed V 2 ；
S103: the vehicle is at a second speed V 2 When the road passes through the intersection, the test system receives second packaging information sent by the road side unit, wherein the second packaging information comprises second green light remaining time T 2 ，
If the second green light remaining time T 2 If the value is greater than or equal to the first threshold value, the step S104 is entered; if the second green light remaining time T 2 If the value is smaller than the first threshold value, sending an alarm prompt;
s104: according to the distance S to be traveled and the first speed V 1 Calculating the time T of the vehicle passing through the intersection 3 Will T 3 And T 2 Carrying out comparison;
if T 2 -T 3 If the test result is more than or equal to 0, the test is finished; if T 2 -T 3 If the value is less than 0, an alarm prompt is sent out.
2. The V2X-based green wave vehicle speed guiding test method as claimed in claim 1, wherein in S102, the second speed is greater than the first speed, i.e. V 2 ＞V 1 。
3. A method as claimed in claim 1, based onThe green wave vehicle speed guiding test method of V2X, wherein in S101, the first packing information includes a first green light remaining time T 1 And the position of the intersection.
4. The green wave vehicle speed guidance test method based on V2X as claimed in claim 3, wherein in S101, the distance S to be traveled is calculated by:
and positioning the vehicle by adopting a positioning module to obtain the actual position of the vehicle, and calculating the distance S to be traveled according to the actual position of the vehicle and the position of the intersection.
5. The V2X-based green wave vehicle speed guiding test method as claimed in claim 1, wherein in S103, when the alarm prompt is given, the vehicle-mounted terminal needs to be readjusted to redesign the green wave vehicle speed.
6. The V2X-based green wave vehicle speed guiding test method according to claim 5, wherein the green wave vehicle speed is designed to meet the following requirements:
vehicle at first speed V 1 The time of arriving at the junction and coming out of the position is M ═ S/V 1 At a second speed V 2 The time for arriving at the junction and coming out of the position is T ═ S/V 2 The time difference between T and M is equal to the duration of the green light and at a second speed V 2 When the intersection position is reached, the intersection light state just changes into green light.
7. A green wave vehicle speed guided test system based on V2X according to any one of claims 1-6, comprising:
a data acquisition module for acquiring packaging information of the drive test unit, wherein the packaging information includes first packaging information and second packaging information, and the first packaging information includes a first green light residual time T 1 And the position of the intersection;
the positioning module is used for positioning the actual position of the vehicle;
the distance calculation module is used for calculating the distance according to the actual position of the vehicle and the junction driving position, namely the distance S to be traveled by the vehicle;
a comparison module for comparing the threshold value with the second green light remaining time T 2 And the third green lamp residual time T 3 And comparing and sending an alarm prompt.
8. The V2X-based green wave vehicle speed guidance test system according to claim 7, wherein the second package information includes a second green light remaining time T 2 (ii) a The first packing information comprises a first green light remaining time T 1 And the position of the intersection.
9. The V2X-based green wave vehicle speed guidance test system according to claim 7, wherein the positioning module comprises a GPS + RTK high precision positioning.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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