CN117207968A

CN117207968A - Vehicle running state adjusting method and device, storage medium and electronic device

Info

Publication number: CN117207968A
Application number: CN202210576278.8A
Authority: CN
Inventors: 刘伟良
Original assignee: Zte Terminal Co ltd; ZTE Corp
Current assignee: Zte Terminal Co ltd; ZTE Corp
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2023-12-12
Also published as: WO2023226506A1

Abstract

The embodiment of the application provides a vehicle running state adjusting method, a device, a storage medium and an electronic device, wherein the method can comprise the following steps: receiving road side information, wherein the road side information carries information of road traffic signs, and the information can comprise sign effective time and sign effective road sections; analyzing the road side information to obtain the effective time of the mark and the effective road section of the mark; the running state of the vehicle is adjusted according to the effective time and the effective road section of the mark, so that the problem of traffic jam and low traffic efficiency caused by poor timeliness of road traffic mark information in the related technology can be solved. According to the guiding method, the running state of the vehicle is adjusted according to the effective time of the road traffic sign and the road section with the effective sign, driving can be guided by using the road traffic sign information, and the running state can be adjusted autonomously according to the guiding method, so that violations are reduced, the traffic efficiency is improved, and the guiding method is suitable for complex road conditions.

Description

Vehicle running state adjusting method and device, storage medium and electronic device

Technical Field

The embodiment of the application relates to the field of communication, in particular to a vehicle running state adjusting method, a vehicle running state adjusting device, a storage medium and an electronic device.

Background

The definition of the existing related standard on road traffic sign information is imperfect, and only one time effective attribute exists. In addition, because of the timeliness problem of the road traffic sign information, the vehicle may be in a state of before, during and after the traffic sign is validated during the running of the vehicle. In these conditions, the vehicle may be congested and inefficient.

Aiming at the problems of traffic jam and low traffic efficiency caused by poor timeliness of road traffic sign information in the related technology, no solution is proposed yet.

Disclosure of Invention

The embodiment of the application provides a vehicle running state adjusting method, a vehicle running state adjusting device, a storage medium and an electronic device, which are used for at least solving the problems of traffic jam and low traffic efficiency caused by poor timeliness of road traffic sign information in the related technology.

According to an embodiment of the present application, there is provided a vehicle running state adjustment method applied to a vehicle-mounted terminal, the method including: receiving road side information, wherein the road side information carries information of road traffic signs, and the information of the road traffic signs comprises sign effective time and sign effective road sections; analyzing the road side information to obtain the effective time of the mark and the effective road section of the mark; and adjusting the running state of the vehicle according to the mark effective time and the mark effective road section.

According to another embodiment of the present application, there is also provided a vehicle running state adjustment method including: receiving road side information sent by a processor, wherein the road side information carries information of road traffic signs, and the information of the road traffic signs comprises sign effective time and sign effective road sections; and sending the road side information to a vehicle-mounted terminal so that the vehicle-mounted terminal can adjust the running state of the vehicle according to the mark effective time and the mark effective road section.

According to a further embodiment of the application, there is also provided a computer-readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

According to a further embodiment of the application, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

According to the embodiment of the application, the road side information sent by the road side equipment is received, and the road side information is analyzed to obtain the mark effective time and the mark effective road section; the running state of the vehicle is adjusted according to the effective time and the effective road section of the mark, so that the problem of traffic jam and low traffic efficiency caused by poor timeliness of road traffic mark information in the related technology can be solved. According to the guiding method, the running state of the vehicle is adjusted according to the effective time of the road traffic sign and the road section with the effective sign, driving can be guided by using the road traffic sign information, and the running state can be adjusted autonomously according to the guiding method, so that violations are reduced, the traffic efficiency is improved, and the guiding method is suitable for complex road conditions.

Drawings

Fig. 1 is a block diagram of a hardware configuration of a mobile terminal of a vehicle running state adjustment method according to an embodiment of the present application;

FIG. 2 is a flowchart of a method for adjusting a driving state of a vehicle according to an embodiment of the present application;

FIG. 3 is a second flowchart of a vehicle running state adjustment method according to an embodiment of the present application;

fig. 4 is a flowchart three of a vehicle running state adjustment method according to an embodiment of the present application;

fig. 5 is a schematic structural view of the msg_rsi according to the present embodiment;

fig. 6 is a flowchart of RSI delivery according to the present embodiment;

fig. 7 is a flowchart for guiding the driving of a vehicle according to the RSI validation time in accordance with the present embodiment;

fig. 8 is a flowchart for guiding a vehicle according to an RSI according to the present embodiment;

FIG. 9 is a schematic view of a tidal lane guided vehicle according to the present embodiment;

fig. 10 is a schematic view of a bus lane guidance vehicle according to the present embodiment;

fig. 11 is a block diagram one of a vehicle running state adjustment device according to the present embodiment;

fig. 12 is a block diagram two of a vehicle running state adjustment device according to the present embodiment;

fig. 13 is a block diagram three of a vehicle running state adjustment device according to the present embodiment.

Detailed Description

Embodiments of the present application will be described in detail below with reference to the accompanying drawings in conjunction with the embodiments.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking a mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal according to the vehicle driving state adjustment method of the embodiment of the present application, as shown in fig. 1, the mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processors 102 may include, but are not limited to, a microprocessor MCU, a programmable logic device FPGA, or the like) and a memory 104 for storing data, where the mobile terminal may further include a transmission device 106 for a communication function and an input/output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a vehicle driving state adjustment method in an embodiment of the present application, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and service chain address pool slicing processing, that is, implementing the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission means 106 is arranged to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.

In this embodiment, a method for adjusting a vehicle running state running on the mobile terminal or the network architecture is provided, fig. 2 is a flowchart of a method for adjusting a vehicle running state according to an embodiment of the present application, as shown in fig. 2, applied to a vehicle-mounted terminal, where the flowchart may include, but is not limited to, the following steps:

step S202, receiving road side information, wherein the road side information carries information of road traffic signs, and the information of the road traffic signs can include, but is not limited to, sign effective time and sign effective road sections;

in general, the vehicle receives the RSI sent by the road side Unit or sent by the On board Unit (On board Unit) of other vehicles through the PC5 interface, and of course, the vehicle may also directly receive the RSI through the base station network through the Uu interface, where the PC5 interface is an interface between a module of the vehicle and the vehicle, road side equipment, and human interaction, and is an interface that uses direct communication between V2X service UEs for D2D (Device to Device). Uu port is an empty port, not limited to 4G scene.

Step S204, analyzing the road side information to obtain the effective time of the mark and the effective road section of the mark;

in this embodiment, the flag validation time and the flag validation road segments are encapsulated in a time detail list (timedetails list) of the RSI, where the time detail list may be newly added or existing, and the flag validation road segments are encapsulated in a road segment set (references links) associated with traffic sign information and a path set (references paths) associated with traffic sign information of the RSI, and the step S204 may specifically include, but is not limited to: reading a time detail list (timeDetails list) of the RSI and analyzing the effective time of the mark from the time detail list, or analyzing the effective time of the mark from the time detail timeDetails of the RSI; the road traffic sign information-associated road segment sets (preferenceLinks) and the traffic sign information-associated road segment sets (preferencePaths) are parsed for the sign-effective road segments. Wherein the time detail list may include, but is not limited to: the type of the effective date, the effective period and the effective date range; the validation date type may include, but is not limited to: workday, holiday, week date.

Further, when only the effective date type exists in the time detail list, the mark effective time is effective all day; when only effective time periods exist in the time detail list, the mark effective time is effective for the time periods set in the date; when only the effective date range exists in the time detail list, the mark effective time is effective in the set date; in the case that at least two of the effective date type, the effective period and the effective date range exist in the time detail list, the flag effective time is an intersection of the at least two.

And S206, adjusting the running state of the vehicle according to the mark effective time and the mark effective road section.

Through the steps, the problem of traffic jam and low traffic efficiency caused by poor timeliness of road traffic sign information in the related technology can be solved. According to the guiding method, the running state of the vehicle is adjusted according to the effective time of the road traffic sign and the road section with the effective sign, driving can be guided by using the road traffic sign information, and the running state can be adjusted autonomously according to the guiding method, so that violations are reduced, the traffic efficiency is improved, and the guiding method is suitable for complex road conditions.

In this embodiment, the step S206 may include, but is not limited to:

s1, extracting road traffic sign requirements from description information (description) of the RSI;

s2, under the condition that the running state of the vehicle needs to be adjusted, an adjustment scheme is determined according to the effective time of the sign, the effective road section of the sign and the road traffic sign requirement;

s3, adjusting the running state of the vehicle according to the adjustment scheme; or prompting the adjustment scheme in an alarm mode.

In an embodiment, before the step S2, determining whether the vehicle running state needs to be adjusted according to the effective time of the sign, the effective road section of the sign and the road traffic sign requirement may further include, but is not limited to: judging whether the vehicle is in the mark effective time and the mark effective road section, and further acquiring the current time and the current position of the vehicle; judging whether the time difference between the current time and the initial time of the effective time of the mark is smaller than a preset time, or judging whether the current time belongs to the effective time of the mark, or judging whether the time difference between the ending time of the effective time of the mark and the current time is smaller than the preset time; if the judgment result is yes, determining that the vehicle is in the effective time of the mark; under the condition that the judgment result is negative, determining that the vehicle is not in the effective time of the mark; judging whether the distance difference between the current position and the initial position of the mark effective road section is smaller than a preset distance or whether the current position belongs to the mark effective road section, specifically, judging whether the current position is within the coverage range from the initial position to the end position of the mark effective road section or whether the distance difference between the end position of the mark effective road section and the current position is smaller than the preset distance; if the judgment result is yes, determining that the vehicle is positioned on the mark effective road section; under the condition that the judgment result is negative, determining that the vehicle is not positioned on the mark effective road section; judging whether the current running track meets the road traffic sign requirement or not under the condition that the vehicle is in the sign effective time and the sign effective road section; if the judgment result is negative, determining that the running state of the vehicle needs to be adjusted; and if the judgment result is yes, determining that the running state of the vehicle does not need to be adjusted.

According to another embodiment of the present application, there is further provided a vehicle driving state adjustment method, and fig. 3 is a second flowchart of the vehicle driving state adjustment method according to an embodiment of the present application, as shown in fig. 3, applied to a road side device or a vehicle terminal, where the method may include, but is not limited to:

step S302, receiving road side information sent by a processor, wherein the road side information carries information of road traffic signs, and the information of the road traffic signs can include, but is not limited to, sign effective time and sign effective road sections;

and step S304, the road side information is sent to the vehicle-mounted terminal, so that the vehicle-mounted terminal adjusts the running state of the vehicle according to the effective time and the effective road section of the mark.

In an embodiment, in step S304, in order to be applicable to the standard structure of the previous road side information, the road side device may convert the road side information into the previous standard and then forward the road side information to the vehicle-mounted terminal, or may directly forward the road side information, where the vehicle-mounted terminal needs to know the updating condition of the road side information structure in advance, specifically, extract the effective time of the mark from a time detail list (timeDetails list) of the road side information, encapsulate the effective time of the mark into time details timeDetails of the road side information, and send the encapsulated road side information to the vehicle-mounted terminal; or directly sending the road side information to the vehicle-mounted terminal.

According to another embodiment of the present application, there is further provided a vehicle driving state adjustment method, fig. 4 is a flowchart III of the vehicle driving state adjustment method according to an embodiment of the present application, as shown in fig. 4, applied to a processor, where the method may include, but is not limited to:

step S402, obtaining information of road traffic signs, wherein the information of the road traffic signs can include, but is not limited to, sign effective time and sign effective road sections;

step S404, encapsulating the mark effective time and the mark effective road section into road side information;

And step S406, transmitting the road side information to the vehicle-mounted terminal through the road side equipment so that the vehicle-mounted terminal adjusts the running state of the vehicle according to the effective time and the effective road section of the mark.

In an embodiment, the step S404 may specifically include, but is not limited to: encapsulating the mark effective time and the mark effective road section into a time detail list timedetails list of the road side information; and packaging the marking effective road sections into a road section set preferenceLinks associated with the information of the road traffic marking and a path set preferencePaths associated with the information of the traffic marking.

Further, the road traffic sign requirements are encapsulated into description information of the road traffic sign, so that when the vehicle-mounted terminal judges that the vehicle running state needs to be adjusted according to the sign effective time, the sign effective road section and the road traffic sign requirements, an adjustment scheme is determined according to the sign effective time, the sign effective road section and the road traffic sign requirements, and the vehicle running state is adjusted according to the adjustment scheme or the adjustment scheme is prompted in an alarming mode.

In this embodiment, the above-mentioned time detail list timedetails list may include, but is not limited to: effective date type effective date, effective time range, and/or effective date range; the effective days is used for setting the attribute of the date type for marking effective, wherein the date type comprises workdays, holidays and week dates; the effectivetime range is used for setting the effective period; the EffectiveDateRange is used to set the effective date.

In an embodiment, when only effectivesDays exists in the timeDetails list, the flag is validated for the whole day; when only effective TimeRange exists in the timeDetails list, the mark effective time is effective in a period set in the date; when only effective DateRange exists in the timeDetailsList, the mark effective time is effective in a set date; and when at least two of the effective database, the effective time range and the effective date range exist in the timedetails list, the effective time of the mark is the intersection of the at least two.

The road traffic sign message perfecting method related to the embodiment is mainly applied to the processes of recording, distributing, analyzing and the like of application data messages of a cooperative intelligent transportation system and a vehicle communication system, and can comprise, but is not limited to, a mode of recording, distributing and analyzing vehicles by adopting a platform. The method can be applied to equipment and flow of the road traffic sign information by adopting a cooperative intelligent transportation system and an automotive communication system to apply the data information, for example, platform input and distribution or distribution after camera and radar identification are adopted. The method is to complement the standard perfectly, and does not relate to the network environment, but the application and implementation of the standard information can relate to the system of inputting, distributing, broadcasting and the like related to the Internet of vehicles, and can also relate to the use of coding and decoding software of the corresponding message. The information related to the internet of vehicles is received in this embodiment, and may relate to communication with an RSU or use a distribution system of the RSI, and a codec system of a corresponding message should be further provided on the vehicle.

The embodiment realizes the support of the effective time of the segmentation and the aging date of the appointed type by complementarily defining some data types in the national standard and adding corresponding time period attributes in the RTSDA of the national standard. Fig. 5 is a schematic diagram of the structure of the msg_rsi according to the present embodiment, and as shown in fig. 5, the structure diagram shows various attributes in (Road Side Information, abbreviated as RSI), and the definition and types of the attributes are specifically described in the national standard. The embodiment adds a timeDetails list attribute to the (Road Traffic Sign, abbreviated as RTS) Data of the RSI, and defines its type as RSITimeDetails list. The code corresponding to the added portion of the embodiment is shown below, and it should be noted that the attribute, the type, and the like added in the embodiment are only for explanation, and the embodiment itself is not limited.

RTSData::＝SEQUENCE{

RTSId INTEGER(0..255),

--local ID of this RTS information set by RSU

signType SignType,

--Type of sign,according to China GB 5768.2-2009

signPos PositionOffsetLLV OPTIONAL,

--Position of the traffic sign,if exists

description Description OPTIONAL,

--Additional description to the sign

timeDetails RSITimeDetails OPTIONAL,

--start time or end time when this sign is active,if existed

priority RSIPriority OPTIONAL,

--the urgency of this RSI data,a relative

--degree of merit compared with other RSI data

referencePaths ReferencePathList OPTIONAL,

--Related paths of this traffic sign

referenceLinks ReferenceLinkList OPTIONAL,

--Related links of this traffic sign

timeDetailsList RSITimeDetailsList OPTIONAL

--A sequence of RSITimeDetails with TimeDetailsWithEffectiveDays

...

}

RSITimeDetarsList definition:

RSITimeDetailsList::＝SEQUENCE(SIZE(1..16))OF TimeDetails

TimeDetails is defined as follows:

TimeDetails::＝SEQUENCE{

effectiveDays EffectiveDays OPTIONAL,

effectiveTimeRange EffectiveRange OPTIONAL,

effectiveDateRange EffectiveRange OPTIONAL

}

the effective range is defined as follows:

EffectiveRange::＝SEQUENCE{

startTime DDateTime OPTIONAL

endTime DDateTime OPTIONAL

}

EffectiveDays is defined as follows:

EffectiveDays::＝BIT STRING{

--With bits as defined:

--RSI message effect in which days.

isMonday(0),

--effect in Monday

isTuesday(1),

--effect in Tuesday

isWednesday(2),

--effect in Wednesday

isThursday(3),

--effect in Thursday

isFriday(4),

--effect in Friday

isSaturday(5),

--effect in Saturday

isSunday(6),

--effect in Sunday

isWorkDay(7)，

--effect in work day

isHoliday(8),

--effect in holiday

}

the effectiveDays attribute is an attribute for setting a date type for marking effect, wherein the effect date type includes a weekday, holiday, and day of week setting. The effective date type is only exemplified herein, and other date types may be added thereto. The EffectiveDays type is derived from BIT stream, so the date of which type needs to be set to be effective sets the value of the corresponding type to 1, otherwise sets to 0.

The effectiveTimeRange attribute is a period for setting an effective date, and the effectiveDateRange attribute is a period for setting an effective date, both of which are of the effectivesrange type. In the effectivirange type, startTime is set as a start date or date, endTime is set as an end date or time, both attributes are optional attributes, and DDateTime is a data type already defined in the national standard for representing time.

TimeDetails WithEffectivDays is a combination of EffectiveTimeRange, effectiveDateRange and EffectivDays, each combination determining the time of validation of a set of flags at a certain time of a certain date.

The following examples enumerate how to set a timedetaillist.

A flag is in effect on monday through friday 8:00-9:00:

timeDetailsList:[{effectiveDays:000011111,effectiveTimeRange:{startTime:{hour:8,minute:0,second:0,offset:480},endTime:{hour:9,minute:0,second:0,offset:480}}}]。

a flag is in effect on all days of the workday:

timeDetailsList:[{effectiveDays:010000000}]。

a flag is in effect at 2022, 1 month, 1 day to 1 month, 7 days, 9:00-17:00:

timeDetailsList:[{effectiveTimeRange:{startTime:{hour:9,minute:0,second:0,offset:480},endTime:{hour:17,minute:0,second:0,offset:480},effectiveDateRange:{startTime:{year:2022,month:1,day:1,offset:480},endTime:{hour:2022,minute:1,second:7,offset:480}}]。

in addition, timeDetails list is an option, when not set, timeDetails are preferentially executed, and if timeDetails are not set, the flag is always valid. While timedetails list is set, the effectiveldys and EffectiveTimeRange, effectiveDateRange of each element in the list are selectable items, and in practice, at least one item of existence data should be kept, otherwise, the timedetails list is set without meaning. When only the effective days exist in the element, setting default full-day effect in the type date; when only effective TimeRange exists in the element, the set period is effective by default in all dates; when the element only has effective DateRange, the element takes effect within the appointed date range. When having multiple settings, take an intersection, i.e., take effect within a corresponding type period of a corresponding date type of a corresponding date range. A combination of date type and time period is generally used. Furthermore, the information added in the standard belongs to the options field, and the original message supports extensions, so that the modification is compatible with the existing standard.

Fig. 5 shows the definition of RSI in standard T/CSAE 53-2020, specific message body asn.1 definitions are as follows:

RoadSideInformation::＝SEQUENCE{

msgCnt MsgCount,

moy MinuteOfTheYear OPTIONAL,

id OCTET STRING(SIZE(8)),--RSU ID

refPos Position3D,--Reference position of this RSI message

rtes RTEList OPTIONAL,--All the rte data packed in this message

RTSs RTSList OPTIONAL,--All the RTS data packed in this message

...

}

wherein msgCnt denotes the number of the message; moy represents the transmission time of the message; id represents the number of the RSU device; refPos indicates the reference location of the roadside message; the rtes and the RTSs respectively contain road traffic event and road traffic sign information.

Wherein RTSs are sequences consisting of RTSDA.

RTSList::＝SEQUENCE(SIZE(1..16))OF RTSData

RTSId denotes the number of the RTS message; sign type is information representing traffic sign, and its value refers to the "traffic sign chinese name index" table number in national standard GB 5768.2-2009; sign pos is used to indicate coordinates of traffic signs.

The description is used for carrying out supplementary description or explanation on the related traffic sign, for example, the number 111 is the lowest speed limit sign, but the number only indicates the sign type of the traffic sign and does not reflect the lowest speed of the limit; for example, the multiple member vehicle-specific lane number 129, which is the number surface that is the multiple member vehicle-specific lane, but does not illustrate the limited floor number, vehicle type, etc.; for example a speed limit sign, numbered 85, but the number only indicates that it is a speed limit sign and does not indicate what his specific speed limit is. timeDetails is the start or end time of validation of a presentation flag.

The priority indicates the urgency of the RSI. The preferencePaths and preferenceLinks are used by the on-board units to determine the effective area of the traffic sign. Where referencePaths represent a set of paths associated with traffic sign information, the message describes the center line of the area of influence of the traffic event with ordered columns of location points, while the vertical distance of the boundary of the area of influence from the center line is represented with a radius reflecting the width of the area to cover the actual road segment. And references links represent a set of road segments to which traffic sign information is associated. Each piece of road section information contains the upstream and downstream node IDs of the road section, namely the intersection ID, and can also contain the lane information, if lanes are not specified, all lanes of the road section are contained by default. The road section is a directed line section, and the corresponding direction is determined by the upstream node and the downstream node.

timeDetails is an attribute inherent in the standard, where startTime represents the start time, endTime represents the end time, endtimefitting represents the confidence of the end time. the MinuteOfTheYear type used by the time in the timeDetails attribute is defined, and the value of this type is used to represent the total number of minutes (UTC time) that have passed for the current year. The resolution was 1 minute.

rte message no modification is involved in the present invention.

rtes is a sequence consisting of RTEData. RTEs are the events of road traffic,

RTEData::＝SEQUENCE{

rteId INTEGER(0..255),--local ID of this rte information set by RSU

eventType EventType,--Type of event,according to China GB/T 29100-2012

eventSource EventSource,

eventPos PositionOffsetLLV OPTIONAL,--Position of this event,if exists

eventRadius Radius OPTIONAL,--Radius of this event,if exists

description Description OPTIONAL,--Additional description to this event

timeDetails RSITimeDetails OPTIONAL,--Start time or end time when this event is active

priority RSIPriority OPTIONAL,--the urgency of this RSI data,a relative--degree of merit compared with other RSI data

referencePaths ReferencePathList OPTIONAL,--Related paths of this traffic event

referenceLinks ReferenceLinkList OPTIONAL,--Related links of this traffic event

eventConfidence Confidence OPTIONAL,--indicate the event confidence set by event source--the probability/confidence of the detected event--being truly extent at a certain place,--to help vehicle determine whether to trust the received information.

...

}

rteId is the number of the message, eventType is the event type, referring to national standard GB/T29100-2012, eventsource is the event source, eventPos is the event place, eventRadius is the radius of event occurrence, and timeDetails is the start and end time of event occurrence. priority is the priority of the RSI, references paths are the reference paths for the event to occur, and references links are the reference road segments and lanes for the event to occur. eventConfidence represents the event confidence of the event source settings.

According to the modification, two sets of modified RSI processing modes are provided. The present embodiment provides only two examples, and other flow may be adopted to transmit or obtain the road traffic sign information including the perfection of the present invention from different modes in practical application. For example, road traffic signs are recorded through a cloud platform, or collected through a camera, a radar and the like, and then sent to Road Side units (RSUs for short).

All devices, flows related to RSI apply the modified criteria in their entirety. Fig. 6 is a flowchart of RSI delivery according to the present embodiment, as shown in fig. 6, which may include, but is not limited to:

S601, recording or dynamically collecting data of each road traffic sign, and sending the data to road side equipment;

s602, the road side equipment broadcasts a corresponding message to surrounding vehicles;

s603, after the vehicle receives the corresponding message, comparing the effective condition of the mark through the current time;

s604, it is determined whether the vehicle running state meets the flag specification (corresponds to the request for the road traffic flag), and if the determination is negative, a warning is given to the driver or the running state is automatically adjusted.

The original standard is maintained in the communication between the vehicle end and the RSU, and the new standard is applied to the communication of other parts.

In the step S601, traffic sign data of each road is recorded or dynamically collected and sent to the road side device.

In step S602, the road side device dynamically converts the RSI after the modification of the standard according to the current time, and forwards the data of the original standard to the vehicle after the conversion is completed.

In step S603, the vehicle receives the corresponding message, and compares the validation condition of the flag with the current time.

In step S604, it is determined whether the running state of the single vehicle meets the flag specification, and a warning is given to the driver or the running posture is automatically adjusted.

The embodiment can also guide the vehicle to drive according to the effective time of the road traffic sign, and the vehicle can remind the vehicle driver according to the time-efficiency information of the RSI broadcast to the vehicle by the RSU and the effective road section, or guide the automatic driving vehicle to change the driving gesture. Fig. 7 is a flowchart for guiding vehicle driving according to RSI validation time according to the present embodiment, as shown in fig. 7, which may include, but is not limited to:

Step S701, a vehicle (specifically a vehicle-mounted terminal) acquires RSI and analyzes RTS information in the RSI;

in step S702, the vehicle analyzes information such as time-lapse and position in the RTS message. If no aging information exists, defaulting to take effect in all time periods; if other information such as road section information exists, corresponding information is analyzed;

step S703, judging whether the mark is in an effective state or not by combining information such as aging information, position information, road section information and the like, determining how the vehicle will adjust the running state of the vehicle to meet the mark information, obtaining an adjustment scheme, and sending alarm information to a driver;

step S704, according to the determined adjustment scheme, the vehicle running state is adjusted, and the vehicle running speed, the path, and the like are controlled.

The present embodiment also provides a solution for guiding the driving of a vehicle according to the RSI. It should be noted that this solution is only an example, and that it is possible that part of the steps may only be applied to part of the flags. The corresponding steps should be adjusted according to the flags in practical application. Fig. 8 is a flow chart for guiding a vehicle according to an RSI according to the present embodiment, as shown in fig. 8, may include, but is not limited to:

step S801, a vehicle enters an RSU broadcasting range;

step S802, a vehicle-mounted terminal of a vehicle receives an RSI;

Step S803, the vehicle-mounted terminal of the vehicle analyzes the RTS information;

step S804, determining whether the vehicle is in the time for which the flag is in effect, if the determination result is no, executing step S805, and if the determination result is yes, executing step S806;

step S805, determining whether the vehicle is still traveling on the upcoming road segment within the threshold time, if not, executing step S808, and if yes, executing step S807;

step S806, determining whether the vehicle is on the road section where the flag is validated, if not, executing step S805, and if yes, executing step S807;

step S807, determining whether the vehicle meets the road traffic sign requirement, if not, executing step S810, and if yes, executing step S811;

step S808, judging whether the road traffic sign requirement to be validated is met, if not, executing step S809, and if yes, executing step S811;

step S809, the state of the vehicle is adjusted, the vehicle meets the road traffic sign requirement, and a prompt is sent to a driver, and then step S811 is carried out;

Step S810, the running state of the vehicle is adjusted through modes of lane changing, speed reducing, speed increasing, parking and the like, and a driver is reminded to enable the vehicle to meet the road traffic sign requirements;

step S811, keeping normal running;

step S812, determining whether the link with the flag enabled is enabled within the threshold time, returning to step S811 if the determination result is no, and executing step S813 if the determination result is yes;

step S813, the vehicle running state is adjusted according to the traffic situation of the road section where the exit flag is validated.

Taking a tidal lane as an example, fig. 9 is a schematic diagram of a tidal lane guided vehicle according to the present embodiment, as shown in fig. 9, the vehicle A, B, C normally runs on lanes 901, 902, 903, respectively. Assuming a tidal lane 07:00-09:00, the direction is left to right; the remaining time direction is from right to left. According to the method, RTS information is modified, and information such as tidal lane mark information, effective time of the tidal lane and the like are carried. Assuming that the current time is 06:59:50 and the given threshold time is 10 seconds, the steps for guiding the driving of the vehicle B through the RSI according to the above scheme are as follows:

the vehicle B enters the broadcasting range of the RSU;

vehicle B receives RSI;

vehicle B parses RTS information;

The vehicle B is not in the effective time of the tide lane mark, and next judging whether the vehicle B still runs on the road section to be effective within the threshold time;

vehicle B will still be traveling on the active road segment for a threshold time;

the vehicle B does not meet the traffic sign requirement to be effective at present and is in a retrograde state;

the vehicle B adopts a lane changing method, drives out of the lane 902 and drives to the lane 901, and sends a prompt to a driver;

the vehicle starts to run normally;

the vehicle B changes the road to the lane 901 and has driven out of the corresponding road section;

the vehicle B adjusts its own state according to the preceding vehicle a.

Taking a bus lane as an example, fig. 10 is a schematic diagram of a bus lane guiding vehicle according to the present embodiment, and as shown in fig. 10, a vehicle a travels in a lane 1002. The direction of both lanes 1001, 1002 is left to right, with lane 1002 being the bus lane. Assume that the effective time is 07:00-09:00 and 17:00-19:00 on weekdays. According to the method, RTS information is modified, and the RTS information carries bus lane mark information, effective time period of the bus lane, effective time type and other information. Assuming a current time of 16:59:50 and a given threshold time of ten seconds, the steps for guiding vehicle a to drive through RSI according to the above scheme are as follows:

The vehicle A enters the broadcasting range of the RSU;

vehicle a receives RSI;

the vehicle A analyzes the RTS message, analyzes the effective time period and the effective time type contained in the RTS message, and converts the RTS message into the current time;

the vehicle A is not in the effective time of the bus lane mark, and next judging whether the vehicle A is in the effective road section within the threshold time;

vehicle a will still be traveling on the active road segment for a threshold time;

the vehicle A does not meet the traffic sign requirement to be effective at present and is in a road occupying running state;

vehicle a adopts a lane change method, drives out of lane 1002 and towards lane 1001, and gives a reminder to the driver;

the vehicle A starts to run normally;

vehicle a has driven into lane 1001 and has driven out of the bus lane segment;

the vehicle a adjusts the state such as the speed according to the road condition ahead.

By the guidance of the above-described guidance method, in the above-described example, the vehicle can travel with the free lane as much as possible while following the requirements of the road traffic sign, and can be automatically guided to exit the corresponding lane within the threshold time. The example shows that the guiding method of the invention effectively utilizes the lanes, improves the traffic rate of the roads and effectively reduces the occurrence of traffic violation events.

Compared with the existing standard, the method and the device have the advantages that the functions of adding effective time settings of various time types and allowing multiple groups of effective time to be added simultaneously are added, so that the time definition of the road traffic sign is more convenient, the analysis is quickened, the consumption is reduced, and the redundancy is reduced. Meanwhile, the guiding method provided by the application can improve the traffic rate of the road to a certain extent. The application perfects the providing mode of road traffic sign information in the cooperative intelligent transportation system.

According to another embodiment of the present application, there is further provided a vehicle running state adjustment device, fig. 11 is a block diagram of the vehicle running state adjustment device according to the present embodiment, as shown in fig. 11, applied to a vehicle-mounted terminal, and the device may include, but is not limited to:

a first receiving module 112, configured to receive road side information, where the road side information carries information of a road traffic sign, where the information of the road traffic sign may include, but is not limited to, a sign effective time and a sign effective road section;

the parsing module 114 is configured to parse the roadside information to obtain the flag validation time and the flag validation road section;

The adjustment module 116 is configured to adjust a vehicle driving state according to the flag validation time and the flag validation road section.

In one embodiment, the adjustment module 116 may include, but is not limited to:

the extraction sub-module is used for extracting road traffic sign requirements from the description information description of the road side information;

the determining submodule is used for determining an adjusting scheme according to the marking effective time, the marking effective road section and the road traffic marking requirement under the condition that the running state of the vehicle is determined to be required to be adjusted;

the adjustment sub-module is used for adjusting the running state of the vehicle according to the adjustment scheme; or prompting the adjustment scheme in an alarm mode.

In one embodiment, the adjustment module 116 may include a determination submodule including, but not limited to:

the first judging unit is used for judging whether the vehicle is in the mark effective time and the mark effective road section or not;

the second judging unit is used for judging whether the current running track meets the road traffic sign requirement or not under the condition that the vehicle is in the sign effective time and the sign effective road section;

a first determining unit, configured to determine that the vehicle running state needs to be adjusted if the determination result is no;

And the second determining unit is used for determining that the vehicle running state does not need to be adjusted when the judgment result is yes.

In an embodiment, the first determining unit is further configured to obtain a current time and a current position of the vehicle;

judging whether the time difference between the current time and the initial time of the effective time of the mark is smaller than a preset time, or judging whether the current time belongs to the effective time of the mark, or judging whether the time difference between the ending time of the effective time of the mark and the current time is smaller than the preset time;

if the judgment result is yes, determining that the vehicle is in the effective time of the mark;

under the condition that the judgment result is negative, determining that the vehicle is not in the effective time of the mark;

judging whether the distance difference between the current position and the initial position of the mark effective road section is smaller than a preset distance, or judging whether the current position belongs to the mark effective road section, or judging whether the distance difference between the end position of the mark effective road section and the current position is smaller than the preset distance;

if the judgment result is yes, determining that the vehicle is positioned on the mark effective road section;

And if the judgment result is negative, determining that the vehicle is not in the mark effective road section.

In an embodiment, the parsing module is further configured to parse the flag validation time from a time detail list timeDetails list of the roadside information, or parse the flag validation time from a time detail timeDetails of the roadside information;

and analyzing the road section effective by the road sign from a road section set refer links related to the information of the road traffic sign and a path set refer paths related to the information of the traffic sign.

In an embodiment, the time detail list may include, but is not limited to: the type of validation date, the time period of validation, and/or the range of validation dates;

the effective date type includes a workday, a holiday, and a week date.

In an embodiment, when only the effective date type exists in the time detail list, the flag effective time is effective all day; when only effective time periods exist in the time detail list, the mark effective time is effective for the time periods set in the date; when only an effective date range exists in the time detail list, the mark effective time is effective in a set date; in the case that at least two of the effective date type, the effective period and the effective date range exist in the time detail list, the flag effective time is an intersection of the at least two.

According to another embodiment of the present application, there is further provided a vehicle running state adjustment device, fig. 12 is a block diagram two of the vehicle running state adjustment device according to the present embodiment, as shown in fig. 12, applied to a road side apparatus or a vehicle-mounted terminal, and the device may include, but is not limited to:

a second receiving module 122, configured to receive the road side information sent by the processor, where the road side information carries information of a road traffic sign, where the information of the road traffic sign may include, but is not limited to, a sign validation time and a sign validation road section;

and the first sending module 124 is configured to send the road side information to a vehicle-mounted terminal, so that the vehicle-mounted terminal adjusts the vehicle running state according to the flag validation time and the flag validation road section.

In an embodiment, the first sending module 124 is further configured to read a time detail list of the road side information, extract the flag validation time from the time detail list, package the flag validation time into the time detail lists of the road side information, and send the packaged RSI to the vehicle-mounted terminal; or directly sending the road side information to the vehicle-mounted terminal.

According to another embodiment of the present application, there is further provided a vehicle running state adjustment device, fig. 13 is a block diagram three of the vehicle running state adjustment device according to the present embodiment, as shown in fig. 13, applied to a processor, and the device may include, but is not limited to:

an acquisition module 132 for acquiring information of road traffic signs, wherein the information of road traffic signs may include, but is not limited to, a sign validation time and a sign validation road segment;

a packaging module 134, configured to package the flag validation time and the flag validation road segment into road side information;

and the second sending module 136 is configured to send the roadside information to a vehicle-mounted terminal through a roadside device, so that the vehicle-mounted terminal adjusts a vehicle running state according to the mark effective time and the mark effective road section.

In an embodiment, the encapsulating module 134 is further configured to encapsulate the flag validation time and the flag validation road segment into a timedetails list of the roadside information;

and packaging the marking effective road sections into a road section set preferenceLinks associated with the information of the road traffic marking and a path set preferencePaths associated with the information of the traffic marking.

In an embodiment, the time detail list may include, but is not limited to: the type of the effective date, the effective period and the effective date range;

the validation date types may include, but are not limited to, workday, holiday, week date.

In an embodiment, the packaging module 134 is further configured to package a road traffic sign requirement into a description of road side information, so that when the vehicle-mounted terminal determines that the vehicle running state needs to be adjusted according to the sign effective time, the sign effective road section and the road traffic sign requirement, an adjustment scheme is determined according to the sign effective time, the sign effective road section and the road traffic sign requirement, and the vehicle running state is adjusted according to the adjustment scheme or the adjustment scheme is prompted by means of an alarm.

Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.

Embodiments of the application also provide an electronic device that may comprise a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.

Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.

It will be appreciated by those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle running state adjustment method, characterized by being applied to a vehicle-mounted terminal, the method comprising:

Receiving road side information, wherein the road side information carries information of road traffic signs, and the information of the road traffic signs comprises sign effective time and sign effective road sections;

analyzing the road side information to obtain the effective time of the mark and the effective road section of the mark;

and adjusting the running state of the vehicle according to the mark effective time and the mark effective road section.

2. The method of claim 1, wherein adjusting the vehicle travel state based on the flag validation time and the flag validation road segment comprises:

extracting the requirements of road traffic signs from the description information of the road side information;

under the condition that the running state of the vehicle is required to be regulated, a regulation scheme is determined according to the mark effective time, the mark effective road section and the requirement of the road traffic mark;

adjusting the running state of the vehicle according to the adjustment scheme; or prompting the adjustment scheme in an alarm mode.

3. The method according to claim 2, wherein after extracting the requirement of the road traffic sign from the descriptive information of the roadside information, the method further comprises:

judging whether the vehicle is in the mark effective time and the mark effective road section or not;

Judging whether the current running track meets the road traffic sign requirement or not under the condition that the vehicle is in the sign effective time and the sign effective road section;

if the judgment result is negative, determining that the running state of the vehicle needs to be adjusted;

and if the judgment result is yes, determining that the running state of the vehicle does not need to be adjusted.

4. A method according to claim 3, wherein determining whether the vehicle is within the flag validation time and the flag validation road segment comprises:

acquiring the current time and the current position of the vehicle;

5. The method of any one of claims 1 to 4, wherein parsing the roadside information to obtain the flag validation time and the flag validation road segment comprises:

reading a time detail list of the road side information, and analyzing the effective time of the mark from the time detail list, or analyzing the effective time of the mark from the time detail of the road side information;

and analyzing the road section with the effective sign from the road section set related to the information of the road traffic sign and the path set related to the information of the traffic sign.

6. The method of claim 5, wherein the list of time details comprises at least one of: the type of the effective date, the effective period and the effective date range;

the validation date type comprises at least one of: workday, holiday, week date.

7. The method of claim 6, wherein the step of providing the first layer comprises,

when only the effective date type exists in the time detail list, the mark effective time is effective all the day;

When only effective time periods exist in the time detail list, the mark effective time is effective for the time periods set in the date;

when only an effective date range exists in the time detail list, the mark effective time is effective in a set date;

in the case that at least two of the effective date type, the effective period and the effective date range exist in the time detail list, the flag effective time is an intersection of the at least two.

8. A vehicle running state adjustment method, characterized by comprising:

receiving road side information sent by a processor, wherein the road side information carries information of road traffic signs, and the information of the road traffic signs comprises sign effective time and sign effective road sections;

and sending the road side information to a vehicle-mounted terminal so that the vehicle-mounted terminal can adjust the running state of the vehicle according to the mark effective time and the mark effective road section.

9. The method of claim 8, wherein transmitting the roadside information to the vehicle-mounted terminal comprises:

extracting the effective time of the mark from the time detail list of the road side information, packaging the effective time of the mark into the time details of the road side information, and sending the packaged road side information to the vehicle-mounted terminal; or,

And directly sending the road side information to the vehicle-mounted terminal.

10. A computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method of any of claims 1 to 7, 8 to 9 when run.

11. An electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the method of any of claims 1 to 7, 8 to 9.