CN116386352A - Intelligent network-connected automobile lane-level traffic light information acquisition method - Google Patents
Intelligent network-connected automobile lane-level traffic light information acquisition method Download PDFInfo
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- CN116386352A CN116386352A CN202310384488.1A CN202310384488A CN116386352A CN 116386352 A CN116386352 A CN 116386352A CN 202310384488 A CN202310384488 A CN 202310384488A CN 116386352 A CN116386352 A CN 116386352A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to an intelligent network-connected automobile lane-level traffic light information acquisition method, which comprises the following steps: the V2X cloud platform generates a V2X_MAP according to the acquired intersection MAP and sends the V2X_MAP to a road side unit RSU; the RSU acquires traffic light control data of the signal controller, generates SPAT, establishes a corresponding relation between traffic light numbers in the SPAT and lane numbers in the V2X_MAP, and sends the corresponding relation and the V2X_MAP to the on-board unit OBU; the OBU obtains the position information of the vehicle by receiving the differential correction data of the positioning system, determines the running direction and the lane number of the vehicle by combining the MAP information in the V2X_MAP, obtains the corresponding red and green lamp number phase_ID according to the running direction and the lane number of the vehicle, obtains the lamp color and countdown information corresponding to the phase_ID according to the SPAT, and displays the lamp color and countdown information by the display terminal. The technical scheme can realize the efficient operation of the intelligent traffic system, improve the road traffic efficiency and the safety, and provide technical support for the further application in the intelligent traffic field.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted display traffic information, in particular to an intelligent network-connected automobile lane-level traffic light information acquisition method.
Background
At present, the intelligent network-connected automobile only relies on a pure visual mode to identify traffic light information, and is easily influenced by factors such as illumination, weather, traffic light shape, installation position and shielding, so that the intelligent network-connected automobile cannot realize hundred percent accurate identification of the traffic light information. If the traffic light information is once misidentified or not identified, the risk that the intelligent network-connected automobile runs the red light or even collides with other vehicles in the running process can be caused.
In the first prior art, a vehicle obtains longitude and latitude information of the vehicle through a GPS module or a Beidou module on a vehicle-mounted terminal; the vehicle receives each group of traffic light information sent by traffic light broadcasting through a wireless communication module on the vehicle-mounted terminal; after the vehicle receives the traffic light information, calculating a traffic light information group of the running direction of the vehicle by combining the longitude and latitude positions of the vehicle and a traffic light matching method; the vehicle takes out the traffic light reading in the traffic light information group and starts voice broadcasting or screen display; and stopping voice broadcasting or screen display after the vehicle leaves the intersection. The method is only suitable for road environment intersections with the number of traffic lights not more than 4, and if two or more traffic lights are arranged in a single direction of the intersection, the method cannot acquire real-time traffic light information.
In the second prior art, a road side unit RSU periodically broadcasts traffic light signals, a vehicle-mounted unit OBU receives the traffic light signals broadcast by the RSU, converts the traffic light signals into visual signals, and sends the visual signals to an LED display screen for displaying traffic light state information of an intersection. In the second prior art, traffic light information of a lane where a vehicle is currently located cannot be obtained in real time, and if only one LED display screen is installed on the vehicle, only left steering traffic light information, right steering traffic light information and straight traffic light information of the vehicle can be displayed in sequence.
Disclosure of Invention
The invention aims to provide an intelligent network-connected automobile lane-level traffic light information acquisition method so as to realize accurate identification of traffic light information of an intelligent network-connected automobile.
In order to solve the technical problems, the invention provides a technical scheme that: an intelligent network-connected automobile lane-level traffic light information acquisition method comprises the following steps,
s1, compiling and generating a V2X_MAP by the V2X cloud platform according to the acquired intersection MAP;
s2, the V2X cloud platform sends the V2X_MAP to a road side unit RSU of an intersection where the own vehicle is located;
s3, a road side unit RSU acquires traffic light control data of a signal controller and generates SPAT;
s4, the road side unit RSU establishes a corresponding relation between traffic light numbers phase_ID in the SPAT and lane numbers in the V2X_MAP, and sends the SPAT and the V2X_MAP which establish the corresponding relation to the vehicle-mounted unit OBU in the radiation range of the road side unit RSU;
s5, the on-board unit OBU obtains the position information of the own vehicle by receiving and resolving the differential correction data from the positioning system, and then obtains the lane number of the own vehicle according to the position information of the own vehicle and the MAP information in the V2X_MAP;
s6, the vehicle-mounted unit OBU obtains a corresponding phase_ID according to the lane number of the vehicle, and obtains lamp color and countdown information corresponding to the phase_ID according to the SPAT; and S7, the display terminal displays according to the lamp color and the countdown information output by the on-board unit OBU.
According to the scheme, the intersection MAP and the MAP information contained in the V2X_MAP generated according to the intersection MAP comprise longitude and latitude information of an intersection reference point, a lane number, a lane steering attribute, a connection relationship between an upstream lane and a downstream lane, lane line longitude and latitude information, lane center line longitude and latitude information, stop line longitude and latitude information, traffic sign board position information and traffic light position information.
According to the scheme, the traffic light control data comprise the inlet direction of each traffic light lamp group, the lamp group type of the traffic light lamp group, the current lamp color and the countdown number; the SPAT comprises traffic light numbers phase_ID, current light colors corresponding to the phase_IDs and countdown information.
According to the above scheme, the specific method for obtaining the lane where the own vehicle is located in S5 according to the position information of the own vehicle and the MAP information in v2x_map is to use the lane where the center line of the lane closest to the own vehicle is located as the lane where the own vehicle is located according to the position information of the own vehicle and the longitude and latitude information of the center line of the lane, if there are two lanes with the same distance from the center line of the own vehicle at the current moment, the lane where the own vehicle is located at the previous moment is used as the lane where the own vehicle is located at the current moment.
According to the scheme, the longitude and latitude information of the lane center line in the V2X_MAP is expressed as sampling points which are uniformly distributed along the lane center line at certain intervals and have different longitudes and latitudes; the specific method for obtaining the lane where the own vehicle is located according to the position information of the own vehicle and the MAP information in the V2X_MAP in S5 is that the lane where the sampling point closest to the distance of the own vehicle is used as the lane where the own vehicle is located, and if the distance between the two sampling points and the own vehicle is the same at the current moment, the lane where the own vehicle is located at the previous moment is used as the lane where the own vehicle is located at the current moment.
According to the scheme, when the distance S between the own vehicle and the intersection reference point 1 Distance S between center point of stop line of lane where own vehicle is located and intersection reference point 2 Satisfy S 2 -S 1 When the traffic light is not less than deltaS, the OBU stops acquiring SPAT and V2X_MAP, and the display terminal stops displaying the lamp color and the countdown information; wherein Δs is a calibrated preset value.
An intelligent network-connected car lane-level traffic light information acquisition system comprises,
the V2X cloud platform is used for compiling and generating a V2X_MAP according to the acquired intersection MAP;
the road side unit RSU is used for acquiring traffic light control data of the signal controller to generate SPAT, and establishing a corresponding relation between traffic light numbers phase_ID in the SPAT and lane numbers in the V2X_MAP;
the vehicle-mounted unit OBU is used for receiving and resolving differential correction data from the positioning system to obtain position information of the vehicle, obtaining a lane number of the vehicle according to the position information of the vehicle and MAP information in the V2X_MAP, further obtaining a corresponding phase_ID according to the lane number of the vehicle, and obtaining lamp color and countdown information corresponding to the phase_ID according to the SPAT;
and the display terminal is used for displaying the lamp color and the countdown information.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the intelligent networked automotive lane-level traffic light information acquisition method as described above when the computer program is executed.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the intelligent networked automotive lane-level traffic light information acquisition method as described above.
An automobile acquires traffic light information by adopting the intelligent network-connected automobile lane-level traffic light information acquisition method.
The beneficial effects of the invention are as follows: the invention can greatly improve the accuracy of intelligent network-connected automobile traffic light information identification, and the time delay of the intelligent network-connected automobile traffic light identification can be reduced to within 200ms, when the intelligent network-connected automobile runs to a traffic light intersection, the traffic light color and countdown information of the current lane can be quickly obtained in advance, and the traffic efficiency and running safety of the intelligent network-connected automobile are further improved.
Drawings
FIG. 1 is a schematic diagram of an intelligent network-connected vehicle lane-level traffic light information acquisition system according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an actual intersection in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of an intersection map according to an embodiment of the present invention;
FIG. 4 is a schematic view of a V2X_MAP according to an embodiment of the invention;
fig. 5 is a display terminal display image diagram of an embodiment of the present invention;
fig. 6 is a diagram of a lane acquisition method of a host vehicle according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
An intelligent network-connected automobile lane-level traffic light information acquisition method comprises the following steps,
s1, compiling and generating a V2X_MAP by the V2X cloud platform according to the acquired intersection MAP;
the MAP information contained in the intersection MAP and the v2x_map generated according to the intersection MAP compilation comprises longitude and latitude information of an intersection reference point, a lane number, lane steering attributes, a connection relation between an upstream lane and a downstream lane, lane line longitude and latitude information, lane center line longitude and latitude information, stop line longitude and latitude information, traffic sign position information, traffic light position information and an intersection node number (the starting point or the end point of a same-direction lane at the intersection position is an intersection node, as shown in fig. 2-4, an intersection node is arranged in four directions of east, west and north, and the connection relation between an intersection node positioned at the upstream and an intersection node positioned at the downstream; the longitude and latitude information of the lane center line in the V2X_MAP is expressed as sampling points which are uniformly distributed at 15m intervals along the lane center line and have different longitudes and latitudes; see fig. 2-4;
s2, the V2X cloud platform sends the V2X_MAP to a road side unit RSU at the frequency of 1 Hz;
s3, a road side unit RSU acquires traffic light control data of a signal controller and generates SPAT;
the traffic light control data of the signal control machine are collected through a communication board card or a learner which is arranged in the signal control machine, and are transmitted to a road side unit RSU at the frequency of 10Hz by utilizing an optical fiber or a network cable; the traffic light control data of the signal control machine comprises the inlet direction (east, south, west and north) of each traffic light lamp group, the lamp group type (left-turn arrow lamp, disc lamp and right-turn arrow lamp) of each traffic light lamp group, the current lamp color (red lamp, green lamp and yellow lamp) and the countdown number; the SPAT comprises traffic light numbers phase_ID, current light colors corresponding to the phase_IDs and countdown information;
s4, the road side unit RSU establishes a corresponding relation between traffic light numbers phase_ID in the SPAT and lane numbers in the V2X_MAP, and broadcasts the SPAT and the V2X_MAP which establish the corresponding relation to the vehicle-mounted unit OBU at the frequency of 10 Hz;
the SPAT and the V2X_MAP in the embodiment also establish the corresponding relation between the intersection nodes and the traffic light lamp groups;
s5, the vehicle-mounted unit OBU obtains the position information (in centimeter level) of the own vehicle by receiving the differential correction data from the positioning system and calculating, and then obtains the lane number of the own vehicle according to the position information of the own vehicle and the MAP information in the V2X_MAP;
taking fig. 6 as an example to illustrate the acquisition mode of the lane where the own vehicle is located, the distance L between the nearest sampling point of the own vehicle and the own vehicle on different lanes is acquired 1 、L 2 、L 3 If L 2 <L 1 And L is 2 <L 3 Judging that the vehicle is on lane 2, if L 2 ＝L 1 Or L 2 ＝L 3 The vehicle-mounted unit OBU inquires a historical track, and takes a lane where the vehicle is located at the last moment as a current lane;
s6, the vehicle-mounted unit OBU obtains a corresponding phase_ID according to the lane number of the vehicle, and obtains lamp color and countdown information corresponding to the phase_ID according to the SPAT;
s7, the display terminal displays according to the lamp color and the countdown information output by the OBU; see fig. 5;
s8, when the distance S between the own vehicle and the intersection reference point 1 Distance S between center point of stop line of lane where own vehicle is located and intersection reference point 2 Satisfy S 2 -S 1 When the traffic light is not less than deltaS, the OBU stops acquiring SPAT and V2X_MAP, and the display terminal stops displaying the lamp color and the countdown information; wherein Δs is a calibrated preset value.
Referring to fig. 1, an intelligent networked car lane-level traffic light information acquisition system includes,
the V2X cloud platform is used for compiling and generating a V2X_MAP according to the acquired intersection MAP;
the road side unit RSU is used for acquiring traffic light control data of the signal controller to generate SPAT, and establishing a corresponding relation between traffic light numbers phase_ID in the SPAT and lane numbers in the V2X_MAP;
the vehicle-mounted unit OBU is used for receiving and resolving differential correction data from the positioning system to obtain position information of the vehicle, obtaining a lane number of the vehicle according to the position information of the vehicle and MAP information in the V2X_MAP, further obtaining a corresponding phase_ID according to the lane number of the vehicle, and obtaining lamp color and countdown information corresponding to the phase_ID according to the SPAT;
and the display terminal is used for displaying the lamp color and the countdown information.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the intelligent networked automotive lane-level traffic light information acquisition method as described above when the computer program is executed.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the intelligent networked automotive lane-level traffic light information acquisition method as described above.
An automobile acquires traffic light information by adopting the intelligent network-connected automobile lane-level traffic light information acquisition method.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. An intelligent network-connected automobile lane-level traffic light information acquisition method is characterized by comprising the following steps of: the method comprises the steps of,
s1, compiling and generating a V2X_MAP by the V2X cloud platform according to the acquired intersection MAP;
s2, the V2X cloud platform sends the V2X_MAP to a road side unit RSU of an intersection where the own vehicle is located;
s3, a road side unit RSU acquires traffic light control data of a signal controller and generates SPAT;
s4, the road side unit RSU establishes a corresponding relation between traffic light numbers phase_ID in the SPAT and lane numbers in the V2X_MAP, and sends the SPAT and the V2X_MAP which establish the corresponding relation to the vehicle-mounted unit OBU in the radiation range of the road side unit RSU;
s5, the on-board unit OBU obtains the position information of the own vehicle by receiving and resolving the differential correction data from the positioning system, and then obtains the lane number of the own vehicle according to the position information of the own vehicle and the MAP information in the V2X_MAP;
s6, the vehicle-mounted unit OBU obtains a corresponding phase_ID according to the lane number of the vehicle, and obtains lamp color and countdown information corresponding to the phase_ID according to the SPAT;
and S7, the display terminal displays according to the lamp color and the countdown information output by the on-board unit OBU.
2. The intelligent network-connected lane-level traffic light information acquisition method according to claim 1, wherein the method comprises the following steps: the crossing MAP and the MAP information contained in the V2X_MAP generated according to crossing MAP compiling comprise longitude and latitude information of crossing reference points, lane numbers, lane steering attributes, connection relations between upstream lanes and downstream lanes, lane line longitude and latitude information, lane center line longitude and latitude information, stop line longitude and latitude information, traffic sign board position information and traffic light position information.
3. The intelligent network-connected lane-level traffic light information acquisition method according to claim 1, wherein the method comprises the following steps: the traffic light control data comprise the inlet direction of each traffic light lamp group, the lamp group type of the traffic light lamp group, the current lamp color and the countdown number; the SPAT comprises traffic light numbers phase_ID, current light colors corresponding to the phase_IDs and countdown information.
4. The intelligent network-connected lane-level traffic light information acquisition method according to claim 2, wherein the method comprises the following steps: the specific method for obtaining the lane where the own vehicle is located according to the position information of the own vehicle and the MAP information in the V2X_MAP in S5 is that the lane where the center line of the lane closest to the own vehicle is located is taken as the lane where the own vehicle is located according to the position information of the own vehicle and the longitude and latitude information of the center line of the lane, and if the two center lines of the lanes are the same as the distance of the own vehicle at the current moment, the lane where the own vehicle is located at the previous moment is taken as the lane where the own vehicle is located at the current moment.
5. The intelligent network-connected lane-level traffic light information acquisition method according to claim 2, wherein the method comprises the following steps: the longitude and latitude information of the lane center line in the V2X_MAP is expressed as sampling points which are uniformly distributed at certain intervals along the lane center line and have different longitudes and latitudes; the specific method for obtaining the lane where the own vehicle is located according to the position information of the own vehicle and the MAP information in the V2X_MAP in S5 is that the lane where the sampling point closest to the distance of the own vehicle is used as the lane where the own vehicle is located, and if the distance between the two sampling points and the own vehicle is the same at the current moment, the lane where the own vehicle is located at the previous moment is used as the lane where the own vehicle is located at the current moment.
6. The intelligent network-connected lane-level traffic light information acquisition method according to claim 2, wherein the method is characterized in that: when the distance S between the own vehicle and the intersection reference point 1 Distance S between center point of stop line of lane where own vehicle is located and intersection reference point 2 Satisfy S 2 -S 1 When the traffic light is not less than deltaS, the OBU stops acquiring SPAT and V2X_MAP, and the display terminal stops displaying the lamp color and the countdown information; wherein Δs is a calibrated preset value.
7. An intelligent network-connected car lane-level traffic light information acquisition system is characterized in that: comprising the steps of (a) a step of,
the V2X cloud platform is used for compiling and generating a V2X_MAP according to the acquired intersection MAP;
the road side unit RSU is used for acquiring traffic light control data of the signal controller to generate SPAT, and establishing a corresponding relation between traffic light numbers phase_ID in the SPAT and lane numbers in the V2X_MAP;
the vehicle-mounted unit OBU is used for receiving and resolving differential correction data from the positioning system to obtain position information of the vehicle, obtaining a lane number of the vehicle according to the position information of the vehicle and MAP information in the V2X_MAP, further obtaining a corresponding phase_ID according to the lane number of the vehicle, and obtaining lamp color and countdown information corresponding to the phase_ID according to the SPAT;
and the display terminal is used for displaying the lamp color and the countdown information.
8. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized by: the steps of the intelligent network-connected car lane-level traffic light information acquisition method according to any one of claims 1-6 are realized when the processor executes the computer program.
9. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program, when executed by a processor, implements the steps of the intelligent networked automotive lane-level traffic light information acquisition method of any one of claims 1-6.
10. An automobile, characterized in that: an intelligent network-connected automobile lane-level traffic light information acquisition method according to any one of claims 1 to 6.
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| CN116824895A (en) * | 2023-08-29 | 2023-09-29 | 成都通广网联科技有限公司 | Network connection system and method for controlling automatic driving vehicle to enter intersection waiting area |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116824895A (en) * | 2023-08-29 | 2023-09-29 | 成都通广网联科技有限公司 | Network connection system and method for controlling automatic driving vehicle to enter intersection waiting area |
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