CN115019527A - Traffic signal lamp information interaction method, intersection early warning method and system - Google Patents
Traffic signal lamp information interaction method, intersection early warning method and system Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—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
- G08G1/096783—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 roadside individual element
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses a traffic signal lamp information interaction method, a crossroad early warning method and a system, wherein the crossroad early warning system comprises a road traffic signal controller, a traffic signal machine data acquisition system, a vehicle-mounted network data service system and a vehicle-mounted terminal, the vehicle-mounted terminal comprises an information receiving module, a self-vehicle information acquisition module, a vehicle-mounted wireless transceiving module, a camera, a data processing module, a HUD (head-up display) module and a voice warning module, the conditions of the phase position of a signal lamp of a crossroad, the presence or absence of a vehicle in front and a transverse lane are comprehensively considered, accurate driving suggestions and early warning information are provided for the current vehicle, the risk of traffic accidents at the crossroad is reduced, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic technology and communication, in particular to a traffic signal lamp information interaction method, an intersection early warning method and a system.
Background
With the rapid development of society and the integration of advanced technologies such as mobile internet, internet of things and the like, the traffic business of China also faces rapid development. The traffic transportation department issues national traffic control networks and intelligent road test point notifications, and the notifications comprise infrastructure digitization, road and transportation integrated vehicle-road cooperation, Beidou high-precision positioning integrated application, road network integrated management based on big data, internet + road network integrated service and a new generation national traffic control network. With the development of the intellectualization, the modernization and the science and technology of urban traffic, the traffic signal lamp at the intersection is also exploring the application of the traffic signal lamp in a new traffic system.
The phenomenon that drivers run red light is one of main reasons of traffic accidents among reasons of traffic accidents caused at intersections, the traffic accidents caused by the red light running tend to rise, and nearly thousands of people are lost in the red light running accidents in 2017, which is the highest in 10 years. In the case of traffic accidents at signalized intersections, 28% of deaths are caused by drivers running red lights. The economic loss caused by the illegal act of running red light is also very huge. Therefore, how to reduce the occurrence of red light running behavior at the intersection and avoid causing serious consequences is a traffic safety problem to be solved urgently at present.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems occurring in the prior art. Therefore, a traffic signal lamp information interaction method, an intersection early warning method and a system are needed, the internet of vehicles technology is applied to intersection signal lamps, real-time information of the signal lamps is provided for intersection vehicles based on the vehicle-road cooperation technology, safe and reliable driving suggestions are provided for drivers, and the method is an important method for reducing the incidence rate of red light running behaviors at the intersections.
The natural and social hazardous environments constitute a highway hazardous environment. The natural dangerous environment has ineligibility, the harm of natural disasters can be reduced only by early warning, the social dangerous environment is mainly caused artificially, and traffic accidents and secondary accidents can be avoided by early warning of dangerous scenes and early broadcasting of the traffic accidents. The present invention is proposed based on the above-mentioned ideas. The vehicle-road cooperation technology increases the information sensing capability of the intelligent vehicle in communication, and the vehicle networking platform, the traffic management platform and the meteorological department are interconnected and intercommunicated, so that the intelligent vehicle can acquire natural dangerous environments and social dangerous environments in advance. The invention provides different early warning schemes for natural dangerous environment and social dangerous environment respectively. For natural dangerous environment, firstly, the meteorological office issues the latest natural dangerous environment information, issues a warning road section to the Internet of vehicles platform, then the road side unit in the disaster area broadcasts the warning information, and the vehicle-mounted terminal in the broadcasting range can finally receive the warning information, so that natural dangerous disasters are avoided. For the social dangerous environment, firstly, the intelligent vehicle has the capability of sensing a dangerous area, including right-turning blind area warning and overspeed warning, so that accidents are avoided as far as possible, secondly, the traffic management platform issues the latest traffic accident and road construction information and issues a warning road section to the Internet of vehicles platform, then, the road side unit in the accident area broadcasts the warning information, and finally, the vehicle-mounted terminal in the broadcasting range can receive the warning information so as to select an unblocked road section. The early warning scheme affects both manned vehicles and unmanned vehicles. The early warning information affects the driving behavior of the manned vehicle, while the unmanned vehicle reacts to the road hazard environment by changing the traffic strategy. The invention has guiding function to the practical application of the vehicle-road cooperation and has reference significance to the research of heterogeneous traffic flows on the road.
According to a first aspect of the present invention, there is provided a traffic signal lamp information interaction method, including:
acquiring traffic signal lamp information; comparing the timestamp of the acquired traffic signal light information with the timestamp of the acquired traffic signal light information, and adjusting the traffic signal light information by the following formula:
tModify＝time-(date1-date0)/1000
wherein tModify is the adjusted remaining time of the traffic signal lamp, time is the acquired remaining time of the traffic signal lamp, date0 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp, and date1 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp; if time < (date1-date0), the sequence of red-green-yellow-red is changed, the times of the second not subtracted are subtracted according to the cycle time of the next phase, and the obtained time and phase are the adjusted traffic signal light information.
Further, the acquiring traffic signal light information includes: the method comprises the following steps that a traffic signal machine data acquisition system is installed in a traffic signal machine controller, and the traffic signal machine data acquisition system comprises a data acquisition interface, a data processing interface, a communication interface and a storage interface; the data acquisition interface is configured to acquire static data and dynamic data of the road traffic signal machine in real time and send the static data and the dynamic data to the data processing interface; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp; the data processing interface is configured to receive the static data and the dynamic data acquired by the data acquisition interface and perform data packaging to obtain traffic signal lamp information; the communication interface is configured to receive traffic signal lamp information of the data processing interface and send the traffic signal lamp information to the Internet of vehicles data service system; the traffic signal machine data acquisition system acquires static data and dynamic data of a road traffic signal machine in real time, packages the data to obtain traffic signal lamp information and sends the traffic signal lamp information to the internet of vehicles data service system; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp; and acquiring traffic signal lamp information through the Internet of vehicles data service system.
According to a second technical scheme of the invention, an intersection early warning method is provided, which comprises the following steps:
obtaining adjusted traffic signal light information according to the traffic signal light information method; judging whether a vehicle is in front or not; in the case of no vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the vehicle,
calculating the predicted time t of the vehicle to reach the intersection according to the current vehicle speed v and the current acceleration a:
if the phase is red light or yellow light and t is less than tModify, a warning of running the red light is sent out;
if the phase is green light and t is more than tModify, a red light running early warning is sent out;
converting the longitude and latitude information of the vehicle and the longitude and latitude information of the head vehicle of the transverse lane into GPS coordinates which are respectively (x, y) and (x) h ，y h ) Fitting the driving tracks of two vehiclesCalculating the intersection point (x) of the two vehicles' driving tracks c ，y c )；
Obtaining the speed v of the head car of the transverse lane h And acceleration a h ；
By passing
Calculating the distance s between the intersection point of the vehicle and the track and the distance s between the head vehicle of the transverse lane and the intersection point of the track h Then the time of the vehicle is estimated to reach the intersection point of the track
Predicted time for the head car of the transverse lane to reach the intersection point of the tracks
If | t 1 -t h And if the | < 1, giving out the collision early warning at the intersection.
Further, the method further comprises: in the case of a vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the front vehicle and the self vehicle 1 、d 2 Obtaining the current speed v of the vehicle 2 The current acceleration a of the vehicle 2 And the current speed v of the front vehicle 1 Current acceleration a of the preceding vehicle 1 The safe following distance is s;
calculating the predicted time t of the front vehicle to reach the intersection 1 ：
In the case where the phase is red or yellow at this time:
when t1 > tModify,
if it is
And is provided with
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
in the case of a green lamp at this time:
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is provided with
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 And when the current value is more than tModify, a red light running early warning is sent out.
According to a third technical aspect of the present invention, a traffic signal lamp information interaction system is provided, the system includes a vehicle-mounted terminal, and the vehicle-mounted terminal is configured to: acquiring traffic signal lamp information; comparing the timestamp of the acquired traffic signal light information with the timestamp of the acquired traffic signal light information, and adjusting the traffic signal light information by the following formula:
tModify＝time-(date1-date0)/1000
wherein tModify is the adjusted remaining time of the traffic signal lamp, time is the acquired remaining time of the traffic signal lamp, date0 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp, and date1 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp; if time < (date1-date0), the sequence of red-green-yellow-red is changed, the times of the second not subtracted are subtracted according to the cycle time of the next phase, and the obtained time and phase are the adjusted traffic signal light information.
The system further comprises a traffic signal machine data acquisition system, wherein the traffic signal machine data acquisition system is installed in a traffic signal controller and is configured to acquire static data and dynamic data of the road traffic signal machine in real time, package the data to obtain traffic signal lamp information and send the traffic signal lamp information to the internet of vehicles data service system; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp; the vehicle-mounted terminal is further configured to acquire traffic signal lamp information through the Internet of vehicles data service system.
Further, the traffic signal machine data acquisition system comprises a data acquisition interface, a data processing interface, a communication interface and a storage interface; the data acquisition interface is configured to acquire static data and dynamic data of the road traffic signal machine in real time and send the static data and the dynamic data to the data processing interface; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp; the data processing interface is configured to receive the static data and the dynamic data acquired by the data acquisition interface and perform data packaging to obtain traffic signal lamp information; the communication interface is configured to receive traffic signal lamp information of the data processing interface and send the traffic signal lamp information to the Internet of vehicles data service system; the storage interface is configured to back up traffic signal lamp information obtained after the data processing interface processes the traffic signal lamp information.
According to a fourth technical scheme of the invention, an intersection early warning system is provided, which is characterized in that the system comprises a vehicle-mounted terminal, the vehicle-mounted terminal comprises a data processing module, and the data processing module is configured to:
obtaining adjusted traffic signal light information according to the traffic signal light information method; judging whether a vehicle exists in front; in the case of no vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the vehicle,
calculating the predicted time t of the vehicle to reach the intersection according to the current vehicle speed v and the current acceleration a:
if the phase is red light or yellow light and t is less than tModify, a warning of running the red light is sent out;
if the phase is green light and t is more than tModify, a red light running early warning is sent out;
converting the longitude and latitude information of the vehicle and the longitude and latitude information of the head vehicle of the transverse lane into GPS coordinates which are respectively (x, y) and (x) h ，y h ) Fitting the driving tracks of the two vehicles and calculating the intersection point (x) of the driving tracks of the two vehicles c ，y c )；
Obtaining the speed v of the head car of the transverse lane h And acceleration a h ；
By passing
Calculating the distance s between the intersection point of the vehicle and the track and the distance s between the head vehicle of the transverse lane and the intersection point of the track h Then the time of the vehicle is estimated to reach the intersection point of the track
Predicted time for the head car of the transverse lane to reach the intersection point of the tracks
If t 1 -t h And if the | < 1, giving out the collision early warning at the intersection.
Further, the data processing module is further configured to: in the case of a vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the front vehicle and the self vehicle 1 、d 2 Obtaining the current speed v of the vehicle 2 The current acceleration a of the vehicle 2 And the current speed v of the front vehicle 1 Current acceleration a of the preceding vehicle 1 The safe following distance is s;
calculating the predicted time t of the front vehicle to reach the intersection 1 ：
In the case where the phase is red or yellow at this time:
when t is ＞ At the time of the tModify,
if it is
And is provided with
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is
Then send outEarly warning of red light running;
if it is
Sending out a collision early warning of the front vehicle;
in the case of a green lamp at this time:
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 And when the current value is more than tModify, a red light running early warning is sent out.
Further, the vehicle-mounted terminal also comprises an information receiving module, a self-vehicle information acquisition module, a vehicle-mounted wireless transceiver module, a camera, a HUD head-up display module and a voice alarm module; the information receiving module, the self-vehicle information acquisition module, the vehicle-mounted wireless transceiver module, the camera, the HUD head-up display module and the voice alarm module are all connected with the data processing module; the information receiving module is in communication connection with the Internet of vehicles data service system by using the communication module, and is configured to send a data request to the Internet of vehicles data service system, receive traffic signal lamp information and transmit the traffic signal lamp information to the data processing module when a vehicle enters a service range; the traffic signal lamp information is obtained by verifying and decrypting the real-time signal lamp information data through the Internet of vehicles data service system; the vehicle information acquisition module is configured to acquire the speed, the acceleration, the course angle information and the longitude and latitude information of a vehicle and transmit the information to the data processing module; the vehicle-mounted wireless transceiver module is configured to receive speed, acceleration, longitude and latitude information of a front vehicle and a transverse lane head vehicle and transmit the information to the data processing module; the camera is configured to acquire lane marking information and transmit the lane marking information to the data processing module; the HUD head-up display module is configured to receive intersection early warning information sent by the data processing module and display the intersection early warning information on a screen; the voice alarm module is configured to receive intersection early warning information sent by the data processing module and play the intersection early warning information in a voice mode; the intersection early warning information comprises red light running early warning, intersection collision early warning and front vehicle collision early warning.
According to the traffic signal lamp information interaction method, the intersection early warning method and the system in each scheme, safe and reliable driving suggestions and early warning information are provided for drivers according to intersection signal lamp information and traffic conditions, the risk of traffic accidents is reduced, and life and property safety is guaranteed.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
FIG. 1 is a schematic diagram of an intersection early warning system architecture;
FIG. 2 is a schematic structural view of a data acquisition system of a traffic signal machine;
fig. 3 is a schematic structural diagram of a vehicle-mounted terminal early warning system.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings and the detailed description of embodiments of the invention, but is not intended to limit the invention. The order in which the various steps described herein are described as examples should not be construed as a limitation if there is no requirement for a context relationship between each other, and one skilled in the art would know that sequential adjustments may be made without destroying the logical relationship between each other, rendering the overall process impractical.
The embodiment of the invention provides a traffic signal lamp information interaction method, which is an application scene schematic diagram of the method as shown in figure 1, realizes data transmission between a traffic signal machine and a vehicle to be used through three nodes, and is respectively a road traffic signal controller, an internet of vehicles data service system, a social vehicle or an industrial vehicle. It can be understood that a vehicle-mounted terminal is usually matched in a social vehicle or an industrial vehicle, the vehicle-mounted terminal has a processing chip, and the traffic signal lamp information interaction method provided by the embodiment of the invention is realized through the processing chip carried by the vehicle-mounted terminal. The method comprises the following steps:
and S100, acquiring traffic signal lamp information. In the step, the road traffic signal controller sends traffic signal lamp information to the internet of vehicles data service system, and the vehicle-mounted terminal further acquires the traffic signal lamp information from the internet of vehicles data service system. The LTE/5G, WiFi shown in fig. 1 is only an exemplary wireless communication method in this embodiment, and other wireless communication methods, such as Zigbee, bluetooth, and the like, may also be adopted in the present invention.
Step S200, comparing the time stamp of the acquired traffic signal lamp information with the time stamp of the acquired traffic signal lamp information, and adjusting the traffic signal lamp information according to the following formula:
tModify＝time-(date1-date0)/1000
wherein tModify is the adjusted remaining time of the traffic signal lamp, time is the acquired remaining time of the traffic signal lamp, date0 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp, and date1 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp; if time < (date1-date0), the sequence of red-green-yellow-red is changed, the times of the second not subtracted are subtracted according to the cycle time of the next phase, and the obtained time and phase are the adjusted traffic signal light information.
Through the processing of the two steps, the influence of communication time delay can be reduced, accurate signal lamp information is obtained, and accurate data support is provided for subsequent intersection early warning.
In some embodiments, the data synchronization of the road traffic signal is realized by installing a traffic signal data acquisition system in the traffic signal controller, as shown in fig. 2, the data acquisition system 200 includes a data acquisition interface 201, a data processing interface 202, a communication interface 203, and a storage interface 204.
The data acquisition interface 201 acquires static data and dynamic data of the road traffic signal machine in real time and sends the static data and the dynamic data to the data processing interface, the static data comprise basic information of the road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprise a traffic signal lamp use state, phase information, remaining time and a timestamp.
The data processing interface 202(MCU) actively receives data points acquired by the data acquisition interface, performs simple processing on the data, further performs data packaging and packaging into a suitable service structure body, and the service structure body in the method supports a JSON format.
The communication interface 203 is provided with a communication module for supporting LTE/5G, Wi-Fi communication, receives data packaged by the data processing interface MCU, and the internal chip transmits the data to a server with an appointed IP (Internet protocol) by utilizing a TCP/IP protocol, namely, a vehicle networking data service system, and simultaneously receives a command issued by the vehicle networking data service system and forwards the command to the MCU to execute the command.
The storage interface 204 backs up the finally processed data for querying.
After the wireless receiving module of the internet of vehicles receives the data sent by the road traffic signal machine for verification and decryption, the data is pushed to the queue and cached in the database. And meanwhile, the social vehicles and the industrial vehicles send data requests to the Internet of vehicles data service system through the Socket interface, and the Internet of vehicles data service system issues required information to the vehicle-mounted terminal for user interface display and traffic signal lamp information provision.
As shown in fig. 3, the intersection early warning system based on the road traffic signal lamp information interaction method includes a vehicle-mounted terminal 300, where the vehicle-mounted terminal 300 includes an information receiving module 301, a vehicle-mounted information collecting module 302, a vehicle-mounted wireless transceiving module 303, a camera 304, a data processing module 305, a HUD head-up display module 306, and a voice alarm module 307. The information receiving module 301, the self-vehicle information acquisition module 302, the vehicle-mounted wireless transceiver module 303, the camera 304, the HUD head-up display module 306 and the voice alarm module 307 are all connected with the data processing module 305.
When the system is implemented specifically, the road traffic signal machine and the internet of vehicles data service system are combined with the graph 1 to realize real-time data interconnection, and vehicles are waited to drive into the service range of the red light running early warning system. The method judges whether the mobile phone enters a service range, and the range can be judged by using an existing positioning system, such as a GPS system or a Beidou system. When the vehicle enters the service range of the red light running early warning system, the vehicle-mounted terminal 300 of the vehicle starts the connection of the internet-of-vehicles data service system.
The information receiving module 301 establishes communication connection with the internet of vehicles data service system by using the communication module, when a vehicle enters a service range, a data request is sent to the internet of vehicles data service system, the internet of vehicles data service system checks and decrypts the real-time signal lamp information data and then sends the real-time signal lamp information data to a vehicle client, and the information receiving module 301 is responsible for receiving the traffic signal lamp information and transmitting the information to the data processing module 305.
The vehicle information collection module 302 is responsible for collecting the speed, acceleration, course angle information, and longitude and latitude information of the vehicle, and transmitting the information to the data processing module 305.
The vehicle-mounted wireless transceiver module 303 receives speed, acceleration, longitude and latitude information of the front vehicle and the transverse lane head vehicle.
The camera 304 acquires lane marking information using a lane marking recognition algorithm and transmits the information to the data processing module 305.
The data processing module 305 integrates the road traffic signal light information, the vehicle information and the lane information to provide data support for the intersection early warning judgment. Judging the position of the vehicle and the intersection steering information according to the vehicle course angle information, the longitude and latitude information and the lane information; and judging whether the vehicle meets the early warning condition of running the red light or not according to the vehicle speed, the phase position of the traffic signal lamp and the remaining time.
HUD new line display module 306 receives intersection early warning information, shows early warning information on the screen to voice alarm module 307 links to each other with data processing module, sends early warning information through voice alarm module 307, warns driver driving safety, provides reasonable driving suggestion for the driver.
The data processing module 305 sends out corresponding early warning information according to the intersection early warning method provided by the embodiment of the invention, and the early warning information includes a red light running early warning and an intersection collision early warning. The intersection early warning method comprises the following specific steps:
first, it is determined whether there is a vehicle ahead, but the determination method includes, but is not limited to, acquiring a forward image with a camera and determining based on the image. And finally, making related early warning according to two different conditions of no vehicle in front and vehicle in front.
How to provide the warning information in the case where there is no vehicle in front and there is a vehicle in front will be described in detail below.
1. Front non-vehicle
Calculating the straight-line distance d of the vehicle to the intersection by using the position information of the road traffic signal lamp and the longitude and latitude information of the vehicle, wherein the current vehicle speed v, the current acceleration a and the estimated time t of the vehicle to the intersection are acquired by the vehicle information acquisition module;
when the phase is a red light (the red light and the yellow light are collectively regarded as the red light) and t is less than tModify, the situation that the vehicle cannot pass through the intersection in a green light state when reaching the intersection is indicated, namely, the red light running early warning is triggered, otherwise, the vehicle can normally pass through the intersection;
when the phase is green light and t is greater than tModify, the vehicle cannot pass through the intersection in a green light state when arriving at the intersection, namely red light running early warning is triggered, otherwise the vehicle can normally pass through the intersection.
The data processing module converts the longitude and latitude information of the vehicle and the longitude and latitude information of the head vehicle of the transverse lane into GPS coordinates which are respectively (x, y), (xh, yh), fits the driving tracks of the two vehicles, and calculates the intersection point (x) of the driving tracks c ，y c )。
The vehicle-mounted wireless transceiver module receives the speed and the acceleration v of the head vehicle of the transverse lane h 、a h 。
By
The distance s between the intersection point of the vehicle and the track and the distance s between the head vehicle of the transverse lane and the intersection point of the track can be calculated h Then the time of the vehicle is estimated to reach the intersection point of the track
Predicted time for the head car of the transverse lane to reach the intersection point of the tracks
If t 1 -t h And | < 1, the two vehicles have the risk of collision at the intersection, the intersection collision early warning is triggered, and otherwise, the risk of collision cannot exist.
2. Front vehicle
Calculating the straight-line distance d of the vehicle to the intersection by using the position information of the road traffic signal lamp and the longitude and latitude information of the front vehicle and the self vehicle 1 、d 2 The current speed v of the front vehicle received by the vehicle-mounted wireless transceiver module 1 The current acceleration is a 1 The current speed v of the vehicle is acquired by the vehicle information acquisition module 2 Current acceleration a 2 And recording the safe following distance as s. The predicted arrival time of the front vehicle at the intersection is t 1 ：
When the phase position is red light (red light and yellow light are unified as red light)
1)t 1 If the distance is more than tModify, the front vehicle can normally pass through the intersection. If it is
And judging the following formula when
When the road can not pass through the intersection in a green light state, the early warning of running red light is triggered, and when the road is in a green light state
The vehicle can normally pass through the intersection; if it is
Then there will be a risk of a preceding vehicle collision reminding the vehicle to slow down.
2)t 1 When tModify is less than or equal to, the front vehicle triggers the early warning of running the red light, if
And determining the following formula when
When the road can not pass through the intersection in the green light state, the early warning of red light running is triggered, and when the road passes through the intersection in the green light state, the early warning of red light running is triggered
The vehicle can normally pass through the intersection; if it is
Then there will be a risk of a preceding vehicle collision reminding the vehicle to slow down.
When the phase is green
1)t 1 When the traffic light is less than or equal to tModify, the front vehicle can normally pass through the intersection. If it is
And judging the following formula when
When the road can not pass through the intersection in a green light state, the early warning of running red light is triggered, and when the road is in a green light state
The vehicle can normally pass through the intersection; if it is
Then there will be a risk of a preceding vehicle collision reminding the vehicle to slow down.
2)t 1 When the traffic light is greater than tModify, the front vehicle cannot pass through the intersection in a green light state when arriving at the intersection, and the vehicle can keep following when arriving at the intersection, so that the red light running early warning is triggered.
Moreover, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be utilized by those of ordinary skill in the art upon reading the foregoing description. In addition, in the above-described embodiments, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that features of an invention not claimed are essential to any of the claims. Rather, inventive subject matter may lie in less than all features of a particular inventive embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims (10)
1. A traffic signal lamp information interaction method is characterized by comprising the following steps:
acquiring traffic signal lamp information;
comparing the timestamp of the acquired traffic signal light information with the timestamp of the acquired traffic signal light information, and adjusting the traffic signal light information by the following formula:
tModify＝time-(date1-dateO)/1000
wherein tModify is the adjusted remaining time of the traffic signal lamp, time is the acquired remaining time of the traffic signal lamp, date0 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp, and date1 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp;
if time < (date1-date0), the sequence of red-green-yellow-red is changed, the times of the second not subtracted are subtracted according to the cycle time of the next phase, and the obtained time and phase are the adjusted traffic signal light information.
2. The method of claim 1, wherein the obtaining traffic signal information comprises:
the method comprises the following steps that a traffic signal machine data acquisition system is installed in a traffic signal machine controller, and the traffic signal machine data acquisition system comprises a data acquisition interface, a data processing interface, a communication interface and a storage interface;
the data acquisition interface is configured to acquire static data and dynamic data of the road traffic signal machine in real time and send the static data and the dynamic data to the data processing interface; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp;
the data processing interface is configured to receive the static data and the dynamic data acquired by the data acquisition interface and perform data packaging to obtain the traffic signal lamp information;
the communication interface is configured to receive traffic signal lamp information of the data processing interface and send the traffic signal lamp information to the Internet of vehicles data service system;
the traffic signal machine data acquisition system acquires static data and dynamic data of a road traffic signal machine in real time, packages the data to obtain traffic signal lamp information and sends the traffic signal lamp information to the internet of vehicles data service system; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp;
and acquiring traffic signal lamp information through the Internet of vehicles data service system.
3. An intersection early warning method, characterized in that the method comprises:
obtaining adjusted traffic signal information according to the method of claim 1 or 2;
judging whether a vehicle exists in front;
in the case of no vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the vehicle,
calculating the predicted time t of the vehicle to reach the intersection according to the current vehicle speed v and the current acceleration a:
if the phase is red light or yellow light and t is less than tModify, a red light running early warning is sent out;
if the phase is green light and t is more than tModify, a red light running early warning is sent out;
converting the longitude and latitude information of the vehicle and the longitude and latitude information of the head vehicle of the transverse lane into GPS coordinates which are respectively (x, y) and (x) h ，y h ) Fitting the driving tracks of the two vehicles and calculating the intersection point (x) of the driving tracks of the two vehicles c ，y c )；
Obtaining the speed v of the head car of the transverse lane h And acceleration a h ；
By passing
Calculating the distance s between the intersection point of the vehicle and the track and the distance s between the head vehicle of the transverse lane and the intersection point of the track h Then the time of the vehicle is estimated to reach the intersection point of the track
Predicted time for the head car of the transverse lane to reach the intersection point of the tracks
If | t 1 -t h And if the | < 1, giving out the collision early warning at the intersection.
4. The method of claim 3, further comprising:
in the case of a vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the front vehicle and the vehicle 1 、d 2 Obtaining the current speed v of the vehicle 2 The current acceleration a of the vehicle 2 And the current speed v of the front vehicle 1 Current acceleration a of the preceding vehicle 1 The safe following distance is s;
calculating the predicted time t of the front vehicle to reach the intersection 1 ：
In the case where the phase is red or yellow at this time:
when t is 1 When the signal level is greater than tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
in the case of a green lamp at this time:
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 And when the current value is more than tModifify, a red light running early warning is sent out.
5. A traffic signal lamp information interaction system is characterized in that the system comprises a vehicle-mounted terminal, and the vehicle-mounted terminal is configured to:
acquiring traffic signal lamp information;
comparing the timestamp of the acquired traffic signal light information with the timestamp of the acquired traffic signal light information, and adjusting the traffic signal light information by the following formula:
tModify＝time-(date1-dateO)/1000
wherein tModify is the adjusted remaining time of the traffic signal lamp, time is the acquired remaining time of the traffic signal lamp, date0 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp, and date1 represents the number of milliseconds of the timestamp of the information of the traffic signal lamp;
if time < (date1-date0), the sequence of red-green-yellow-red is changed, the times of the second not subtracted are subtracted according to the cycle time of the next phase, and the obtained time and phase are the adjusted traffic signal light information.
6. The system of claim 5, further comprising a traffic signal data acquisition system installed within a traffic signal controller,
the traffic signal machine data acquisition system is configured to acquire static data and dynamic data of a road traffic signal machine in real time, perform data packaging to obtain traffic signal lamp information and send the traffic signal lamp information to the Internet of vehicles data service system; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp using state, phase information, remaining time and a timestamp;
the vehicle-mounted terminal is further configured to acquire traffic signal lamp information through the Internet of vehicles data service system.
7. The system of claim 6, wherein the traffic signal data acquisition system comprises a data acquisition interface, a data processing interface, a communication interface, and a storage interface;
the data acquisition interface is configured to acquire static data and dynamic data of the road traffic signal machine in real time and send the static data and the dynamic data to the data processing interface; the static data comprises basic information of a road traffic signal machine, intersection position information and a traffic signal lamp period, and the dynamic data comprises a traffic signal lamp use state, phase information, remaining time and a timestamp;
the data processing interface is configured to receive the static data and the dynamic data acquired by the data acquisition interface and perform data packaging to obtain the traffic signal lamp information;
the communication interface is configured to receive traffic signal lamp information of the data processing interface and send the traffic signal lamp information to the Internet of vehicles data service system;
the storage interface is configured to back up the traffic signal lamp information obtained after the data processing interface processes.
8. An intersection early warning system, characterized in that, the system includes vehicle-mounted terminal, vehicle-mounted terminal includes data processing module, the data processing module is configured to:
obtaining adjusted traffic signal information according to the method of claim 1 or 2;
judging whether a vehicle exists in front;
in the case of no vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the vehicle,
calculating the predicted time t of the vehicle to reach the intersection according to the current vehicle speed v and the current acceleration a:
if the phase is red light or yellow light and t is less than tModifify, a red light running early warning is sent out;
if the phase is green light and t is more than tModifify, a red light running early warning is sent out;
converting the longitude and latitude information of the vehicle and the longitude and latitude information of the head vehicle of the transverse lane into GPS coordinates which are respectively (x, y) and (x) h ，y h ) Fitting the driving tracks of the two vehicles and calculating the intersection point (x) of the driving tracks of the two vehicles c ，y c )；
Obtaining the speed v of the head car of the transverse lane h And acceleration a h ；
By passing
Calculating the distance s between the intersection point of the vehicle and the track and the distance s between the head vehicle of the transverse lane and the intersection point of the track h Then the time of the vehicle is estimated to reach the intersection point of the track
Predicted time for the head car of the transverse lane to reach the intersection point of the tracks
If | t 1 -t h And if the | < 1, giving out the collision early warning at the intersection.
9. The system of claim 8, wherein the data processing module is further configured to:
in the case of a vehicle in front:
calculating the straight-line distance d of the vehicle to the intersection according to the position information of the road traffic signal lamp and the longitude and latitude information of the front vehicle and the self vehicle 1 、d 2 Obtaining the current speed v of the vehicle 2 The current acceleration a of the vehicle 2 And the current speed v of the front vehicle 1 Current acceleration a of the preceding vehicle 1 The safe following distance is S;
calculating the predicted time t of the front vehicle to reach the intersection 1 ：
In the case where the phase is red or yellow at this time:
when t is 1 When the signal level is greater than tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is provided with
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
in the case of a green lamp at this time:
when t is 1 When the temperature is less than or equal to tModify,
if it is
And is
Then a red light running early warning is sent out;
if it is
Sending out a collision early warning of the front vehicle;
when t is 1 And when the current value is more than tModify, a red light running early warning is sent out.
10. The system according to claim 8 or 9, wherein the vehicle-mounted terminal further comprises an information receiving module, a vehicle information acquisition module, a vehicle-mounted wireless transceiver module, a camera, a HUD head-up display module and a voice alarm module; the information receiving module, the self-vehicle information acquisition module, the vehicle-mounted wireless transceiver module, the camera, the HUD head-up display module and the voice alarm module are all connected with the data processing module;
the information receiving module is in communication connection with the Internet of vehicles data service system by using the communication module, and is configured to send a data request to the Internet of vehicles data service system, receive traffic signal lamp information and transmit the traffic signal lamp information to the data processing module when a vehicle enters a service range; the traffic signal lamp information is obtained by verifying and decrypting the real-time signal lamp information data through the Internet of vehicles data service system;
the vehicle information acquisition module is configured to acquire the speed, the acceleration, the course angle information and the longitude and latitude information of a vehicle and transmit the information to the data processing module;
the vehicle-mounted wireless transceiver module is configured to receive speed, acceleration, longitude and latitude information of a front vehicle and a transverse lane head vehicle and transmit the speed, acceleration, longitude and latitude information to the data processing module;
the camera is configured to acquire lane marking information and transmit the lane marking information to the data processing module;
the HUD head-up display module is configured to receive intersection early warning information sent by the data processing module and display the intersection early warning information on a screen;
the voice alarm module is configured to receive intersection early warning information sent by the data processing module and play the intersection early warning information in a voice mode;
the intersection early warning information comprises red light running early warning, intersection collision early warning and front vehicle collision early warning.
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