CN117475652B - Vehicle-road cooperative service system - Google Patents
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- CN117475652B CN117475652B CN202311826956.2A CN202311826956A CN117475652B CN 117475652 B CN117475652 B CN 117475652B CN 202311826956 A CN202311826956 A CN 202311826956A CN 117475652 B CN117475652 B CN 117475652B
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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
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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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
- G08G1/095—Traffic lights
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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
- G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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Abstract
The application relates to a vehicle-road cooperative service system, comprising: providing vehicle-road coordination, unmanned vehicle scene service and traffic service, wherein the vehicle-road coordination service is a safe, efficient and environment-friendly road traffic system which is formed by comprehensively implementing vehicle-road and vehicle-road dynamic real-time information interaction by issuing relevant vehicle early warning information, signal lamp information and the like by a platform, and developing vehicle active safety control and road coordination management on the basis of full-time empty dynamic traffic information acquisition and fusion, fully realizing effective coordination of people and vehicles, ensuring traffic safety and improving traffic efficiency; the method and the device have the advantages that the collision risk between the weak traffic participants and the vehicles is judged, corresponding prompt is carried out when collision early warning occurs, traffic accidents can be prevented and avoided in advance, traffic safety and safety of drivers are improved, meanwhile, accurate surrounding environment perception information can be provided for the vehicles, and the drivers are helped to make decisions and control the vehicles to run better.
Description
Technical Field
The application relates to the technical field of vehicle-road cooperation, in particular to a vehicle-road cooperation service system.
Background
With the continuous development of economy, traffic is more and more convenient, more and more automobiles enter ordinary families, so that the life quality of people is continuously improved, with the rapid rise of the holding quantity of the automobiles, more travel modes are changed from walking and automobile driving, the rapid increase of the automobiles causes frequent occurrence of traffic accidents, especially in expressway driving, driving habit, weather, driving distance and the like, the small problems on the expressway can be amplified to the limit if the small problems cannot be well treated, and the damage caused by the small problems on the expressway can be amplified to the limit. Therefore, the expressway is driven, an effective solution is necessarily adopted to improve the traffic safety level and reduce the possibility of accidents.
At present, for a front fault vehicle and a traffic accident vehicle, a front collision early warning system is adopted for a rear vehicle, the front is monitored through a radar system, the distance, the direction and the relative speed of the vehicle and the front vehicle are judged, and when collision danger exists, a driver is warned. However, the existing technical solutions have the following drawbacks: the method is characterized in that the method is only used for judging through the position distance between the speed of the vehicle and other objects, the movement condition of the other objects cannot be referred, collision prompt is carried out only when collision is about to occur, and the thinking time of a driver is too short or the early warning time is too early.
The information disclosed in the background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
In order to solve the technical problems mentioned in the background art or at least partially solve the technical problems, the present application provides a vehicle-road collaborative service system, including: a vehicle-road cooperative service system, characterized by comprising: the intelligent vehicle-road cooperative service platform is used for providing services of signal lamp boarding prompt, green wave speed guidance, red light running early warning and overspeed early warning, the intelligent UI equipment is used for acquiring vehicle position and course angle information, providing V2I early warning and perception results, the service background is used for acquiring V2I information, front signal lamp information and traffic participant perception results around the vehicle and feeding back the results to the intelligent UI equipment, and the display device displays the signal lamp boarding prompt, the green wave speed guidance, the red light running early warning, the overspeed early warning, the V2I early warning and the perception results through popup windows;
the method for the intelligent UI device to acquire the sensing result is as follows:
the intelligent UI equipment acquires current vehicle position and course angle information and sends the current vehicle position and course angle information to the vehicle-road cooperative service platform, the vehicle-road cooperative service platform acquires periphery perception information based on the current vehicle position and course angle information and sends the periphery perception information back to the intelligent UI equipment, the periphery perception information comprises course angles, speeds and longitudes and latitudes of all periphery perception objects, the periphery perception objects comprise weak traffic participants and motor vehicles, the weak traffic participants comprise pedestrians and non-motor vehicles, the intelligent UI equipment judges whether the current vehicle is collided or not through calculation based on the received information, collision early warning is executed when the collision is possible, a display device displays the collision early warning through a popup window, the display device is arranged inside the vehicle, and the popup window displays a perception result when the collision is not possible.
The collision early warning comprises the collision early warning of the weak traffic participants and the collision early warning of the motor vehicle, and the pedestrian or non-motor vehicle position is displayed in the perception result when the pedestrian or non-motor vehicle position is in front of the vehicle;
the impact early warning algorithm of the weak traffic participants is as follows: calculating the course angle alpha of other objects relative to the vehicle, judging whether a pedestrian or a non-motor vehicle is in front of the vehicle, judging the running direction of the pedestrian or the non-motor vehicle, and judging whether the pedestrian or the non-motor vehicle and the vehicle have possibility of collision;
the method for judging whether collision possibility exists between the pedestrian or the non-motor vehicle and the vehicle is as follows:
if the heading angle of the pedestrian or the non-motor vehicle is deviated within 20 degrees to the right in the running direction of the vehicle, and the running direction of the pedestrian or the non-motor vehicle is from right to left, judging that the collision is possible;
if the pedestrian or the non-motor vehicle is located within 20 degrees of the left deviation of the heading angle of the traveling direction of the vehicle, and the traveling direction of the pedestrian or the non-motor vehicle is from left to right, it is determined that a collision is likely.
The method for calculating the heading angle alpha of other objects relative to the vehicle is as follows:
the first step, calculating the distance between other objects and the longitude and latitude of the vehicle, wherein the distance is specifically as follows:
calculating longitude distances of the vehicle and the relative object: calculating the distance between two points of the longitude of the host vehicle, the latitude of the host vehicle and the longitude of the relative object, wherein the distance is marked as X;
calculating the latitude distance between the vehicle and the relative object: calculating the distance between two points of the longitude of the vehicle, the latitude of the vehicle and the latitude of the vehicle relative to the latitude of the object, wherein the distance is marked as Y;
the second step, calculating which quadrant the relative object is located on the northbound coordinate system by taking the vehicle as an origin, wherein the second step is as follows:
if relative object longitude > =host longitude, relative object latitude > host latitude, then it is the first quadrant and the upper half of the Y-axis, where the relative angle α calculation formula is α=arctan (X/Y);
if the relative object longitude < the longitude of the host vehicle, the relative object latitude > the latitude of the host vehicle, the relative angle alpha is in the second quadrant, and the calculation formula of the relative angle alpha is alpha=360-arctan (X/Y);
if the relative object longitude= < vehicle longitude and the relative object latitude < vehicle latitude, the relative object longitude is the third quadrant and the lower half of the Y axis, and the calculation formula of the relative angle alpha is alpha=180+arctan (X/Y);
if the relative object longitude > the vehicle longitude and the relative object latitude < the vehicle latitude, the fourth quadrant is the relative angle alpha calculation formula is alpha=180-arctan (X/Y);
if relative object longitude > host vehicle longitude, relative object latitude=host vehicle latitude, then it is the upper half of the X-axis, at which point relative angle α=90;
if the relative object longitude < host longitude, relative object latitude=host latitude, then it is the lower half of the X-axis, where relative angle α=270;
if relative object longitude = host longitude, relative object latitude = host latitude, then this is the origin, and the result is ignored.
The method for judging whether the pedestrian or the non-motor vehicle is in front of the vehicle is as follows:
the pedestrian or non-motor vehicle is determined to be in front of the host vehicle when the following conditions are simultaneously satisfied:
the distance between pedestrians or non-motor vehicles and the vehicle is within 10 meters;
the current position of the pedestrian or the non-motor vehicle deviates within 20 degrees from the course angle of the running direction of the vehicle, namely, the relative angle < = 20 or the relative angle > = 340.
The method for judging the traveling direction of the pedestrian or the non-motor vehicle comprises the following steps that the pedestrian or the non-motor vehicle only travels leftwards or rightwards in a perception result prompt:
0< = pedestrian or non-motor vehicle heading angle minus the own vehicle heading angle < = 180: then it is determined to travel from left to right;
-360< = pedestrian or non-motor vehicle heading angle minus own vehicle heading angle < = -180: then it is determined to travel from left to right;
180< pedestrian or non-motor vehicle heading angle minus the host vehicle heading angle <360: then it is determined to travel from right to left;
-180< pedestrian or non-motor vehicle heading angle minus the own vehicle heading angle <0: it is determined to travel from right to left.
Other collision warning algorithms are as follows: when the motor vehicle is positioned right in front of the motor vehicle and the speed of the motor vehicle in front of the motor vehicle is more than 10km/h, collision early warning is displayed;
the motor vehicle is not displayed if the motor vehicle is behind the host vehicle, and the motor vehicle is judged to be behind the host vehicle when the following conditions are satisfied: the distance between the motor vehicle and the host vehicle is within 20 meters; the current position of the motor vehicle deviates within 20 degrees from the left and right of the course angle in the opposite direction of the running direction of the motor vehicle;
the relative position judging method of the motor vehicle comprises the following steps:
judging that the motor vehicle is right in front of the motor vehicle according to the relative angle < = 45 or the relative angle > = 315;
45< relative angle < = 135, judging the motor vehicle to be the right of the motor vehicle;
225< = relative angle <315, judge that the motor vehicle is the host vehicle left.
The working flow of the vehicle-road cooperative service platform is as follows:
s1, judging the distance between the vehicle and the intersection, and executing the step S2 when the distance between the vehicle and the intersection is less than or equal to 150m and the intersection has a signal lamp, otherwise, not performing any processing;
s2, judging whether a timing device exists in the intersection signal lamp, if so, executing a step S4, otherwise, executing a step S3;
s3, judging whether the overspeed of the vehicle is possible, executing overspeed early warning operation when the overspeed is possible, and executing signal lamp boarding operation when the overspeed is not possible;
s4, judging the color of the current signal lamp, executing the step S51 when the color of the signal lamp is green, executing the step S52 when the color of the signal lamp is red, otherwise, not performing any processing;
s51, when the expected running distance of the vehicle is greater than the distance between the vehicle and the signal lamp, the vehicle can normally pass through the green signal lamp, and the step S6 is executed, when the expected running distance of the vehicle is smaller than or equal to the distance between the vehicle and the signal lamp, the green signal lamp changes color, and the red light running early warning operation is executed, wherein the expected running distance of the vehicle = the current speed of the vehicle;
s52, when the expected running distance of the vehicle is greater than the distance between the vehicle and the signal lamp, the vehicle runs through the red signal lamp, the red signal lamp is subjected to early warning operation, and when the expected running distance of the vehicle is smaller than or equal to the distance between the vehicle and the signal lamp, the red signal lamp is subjected to color change, the vehicle does not run through the red signal lamp, and no operation is performed;
s6, judging whether the vehicle has possibility of overspeed, executing overspeed early warning operation when the vehicle has possibility of overspeed, and executing green wave guiding operation when the vehicle does not have possibility of overspeed.
The flow of the red light running early warning is as follows:
acquiring the current speed of a vehicle, the distance between the vehicle and a signal lamp, the phase data of the signal lamp of the current lane of the vehicle and the timing time of the signal lamp; the display device displays signal lamp phase information, and when the signal lamp has timing time information, the timing time of the signal lamp is displayed below the signal lamp phase information, and the distance between the vehicle and the signal lamp is displayed; the display device displays the early warning prompt of running the red light, and displays different early warning levels according to the current speed and the speed change condition of the vehicle.
The red light running early warning is divided into three stages of early warning, and the red light running early warning is prompted in a grading manner according to different conditions, and is specifically as follows:
three-stage early warning: the popup window displays early warning of red light running; the popup window displays red light running early warning, and signal lamp information is normally displayed; the text shows: the front red light has a higher speed; the document display time: 3 seconds;
second-level early warning: the popup window displays red light running early warning and signal lamp information is displayed in a flashing mode; the popup window displays early warning of red light running, and signal lamp information is used for flashing prompt; the document display time: 3 seconds; document case: the front red light has too high speed;
primary early warning: the popup window displays red light running early warning, signal lamp information flashes and displays, and voice alarm is output; the popup window displays red light running early warning, and signal lamp information is displayed in a flashing mode; the document display time: 3 seconds; voice broadcast time: completed within 3 seconds; text display document: the front red light has too high speed and is noted; voice alarm document: the front red light has too high speed and is noted;
the alarm level judging method comprises the following steps:
when the current speed is more than 80km/m and the speed is changed to be accelerated or not decelerated, performing secondary early warning when the distance between the current speed and the signal lamp is 150m, and performing primary early warning when the distance between the current speed and the signal lamp is 100m, 50m and 20 m;
when the current speed is more than 80km/m and the speed is changed to be reduced, performing secondary early warning when the distance between the vehicle speed and the signal lamp is 150m or 100m, and performing primary early warning when the distance between the vehicle speed and the signal lamp is 50m or 20 m;
when the current speed is 40-80 km/m and the speed is changed to be accelerated or not decelerated, performing three-level early warning when the distance between the current speed and the signal lamp is 150m, performing two-level early warning when the distance between the current speed and the signal lamp is 100m and 50m, and performing one-level early warning when the distance between the current speed and the signal lamp is 20 m;
when the current speed is 40-80 km/m and the speed is changed to be reduced, performing three-level early warning when the distance from the signal lamp is 100m, and performing two-level early warning when the distance from the signal lamp is 50m and 20 m;
when the current speed is 20-40 km/m and the speed is changed to be accelerated or not decelerated, performing three-level early warning when the distance from the signal lamp is 50m, and performing two-level early warning when the distance from the signal lamp is 20 m;
when the current vehicle speed is 20-40 km/m and the vehicle speed is changed to be reduced, three-level early warning is performed when the vehicle speed is 20m away from the signal lamp.
The method is characterized in that the method for judging the acceleration and deceleration of the vehicle comprises the following steps:
and recording the speed of the vehicle in the last second, judging to be reduced if the speed in the last second is greater than the current speed by 5km/h, judging to be not reduced if the difference between the speed in the last second and the current speed is within 5km/h, and judging to be increased if the speed in the last second is less than the current speed by 5 km/h.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: the vehicle-road cooperative service system provided by the embodiment of the application provides vehicle-road cooperative service, unmanned vehicle scene service and traffic service, wherein the vehicle-road cooperative service is a safe, efficient and environment-friendly road traffic system which is formed by comprehensively implementing vehicle-road dynamic real-time information interaction of vehicles and vehicles by releasing relevant vehicle early warning information, signal lamp information and the like by a platform, and developing vehicle active safety control and road cooperative management on the basis of full-time empty dynamic traffic information acquisition and fusion, so that the effective cooperation of the human-vehicle road is fully realized, the traffic safety is ensured, and the traffic efficiency is improved; the method and the device have the advantages that the collision risk between the weak traffic participants and the vehicles is judged, corresponding prompt is carried out when collision early warning occurs, traffic accidents can be prevented and avoided in advance, traffic safety and safety of drivers are improved, meanwhile, accurate surrounding environment perception information can be provided for the vehicles, and the drivers are helped to make decisions and control the vehicles to run better.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a working flow chart of a vehicle-road cooperative service platform of a vehicle-road cooperative service system provided in an embodiment of the present application;
fig. 2 is a flow chart of providing signal lamp on-board prompt for a vehicle-road cooperative service system according to an embodiment of the present application;
fig. 3 is a green wave vehicle speed guiding flow chart of a vehicle-road cooperative service system provided in an embodiment of the present application;
fig. 4 is a red light running early warning flow chart of a vehicle-road cooperative service system provided in an embodiment of the present application;
FIG. 5 is an overspeed early warning flow chart of a vehicle-road cooperative service system provided in an embodiment of the present application;
fig. 6 is a schematic view of a popup window of a vehicle-road collaborative service system according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
In order to facilitate understanding, a vehicle-road cooperative service system provided in the embodiment of the present application is described in detail below, as shown in fig. 1, including: the intelligent vehicle road cooperation service platform provides the services of signal lamp boarding prompt, green wave speed guidance, red light running early warning and overspeed early warning, the intelligent UI device is used for acquiring vehicle position and course angle information, the service background is used for acquiring V2I information, front signal lamp information and traffic participant perception results around the vehicle and feeding back the V2I information, the front signal lamp information and the traffic participant perception results to the intelligent UI device, the intelligent UI device provides V2I early warning and perception results, and the display device is used for displaying the signal lamp boarding prompt, the green wave speed guidance, the red light running early warning, overspeed early warning, the V2I early warning and perception results.
The working flow of the vehicle-road cooperative service platform is as follows:
s1, judging the distance between the vehicle and the intersection, and executing the step S2 when the distance between the vehicle and the intersection is less than or equal to 150m and the intersection has a signal lamp, otherwise, not performing any processing;
s2, judging whether a timing device exists in the intersection signal lamp, if so, executing a step S4, otherwise, executing a step S3;
s3, judging whether the overspeed of the vehicle is possible, executing overspeed early warning operation when the overspeed is possible, and executing signal lamp boarding operation when the overspeed is not possible;
s4, judging the color of the current signal lamp, executing the step S51 when the color of the signal lamp is green, executing the step S52 when the color of the signal lamp is red, otherwise, not performing any processing;
s51, when the expected running distance of the vehicle is greater than the distance between the vehicle and the signal lamp, the vehicle can normally pass through the green signal lamp, and the step S6 is executed, when the expected running distance of the vehicle is smaller than or equal to the distance between the vehicle and the signal lamp, the green signal lamp changes color, and the red light running early warning operation is executed, wherein the expected running distance of the vehicle = the current speed of the vehicle;
s52, when the expected running distance of the vehicle is greater than the distance between the vehicle and the signal lamp, the vehicle runs through the red signal lamp, the red signal lamp is subjected to early warning operation, and when the expected running distance of the vehicle is smaller than or equal to the distance between the vehicle and the signal lamp, the red signal lamp is subjected to color change, the vehicle does not run through the red signal lamp, and no operation is performed;
s6, judging whether the vehicle has possibility of overspeed, executing overspeed early warning operation when the vehicle has possibility of overspeed, and executing green wave guiding operation when the vehicle does not have possibility of overspeed.
As shown in fig. 2, the flow of the signal lamp get-on prompt is as follows:
the method comprises the steps of obtaining the current speed of a vehicle, the distance between the vehicle and a signal lamp, the signal lamp phase data of the current lane of the vehicle and the signal lamp timing time, displaying the signal lamp phase information by a display device, displaying the signal lamp timing time below the signal lamp phase information when the signal lamp has timing time information, and displaying the distance between the vehicle and the signal lamp.
Preferably, the intelligent UI device receives real-time signal lamp data around the current position of the vehicle through the gateway, and the receiving frequency is 1 second/time.
Preferably, as shown in fig. 6, the display device displays the prompt information in a form of a popup window, the position above the popup window is a front signal lamp, the distance between the current position of the vehicle and the signal lamp is displayed below the front signal lamp, the middle position of the popup window displays information of each lane, each lane information comprises the color of the signal lamp corresponding to each lane and the timing of the signal lamp, and the position below the popup window is a closing button.
As shown in fig. 3, the flow of the green wave vehicle speed guidance is as follows:
acquiring the current speed of a vehicle, the distance between the vehicle and a signal lamp, the phase data of the signal lamp of the current lane of the vehicle and the timing time of the signal lamp; the display device displays the signal lamp phase information, and when the signal lamp has timing time information, the signal lamp timing time is displayed below the signal lamp phase information, and the distance between the vehicle and the signal lamp is displayed; the display device displays the green light prompt and carries out animation prompt on the lane.
Preferably, the intelligent UI device receives real-time signal lamp data around the current position of the vehicle through the gateway, the receiving frequency is 1 second/time, the intelligent UI device calculates the vehicle speed which the vehicle should keep when passing through the intersection in a green light period according to the signal lamp phase data, if the vehicle speed is within a feasible range, the intelligent UI device calculates the driving speed which the vehicle needs to keep, and the popup window displays the green wave vehicle speed guidance.
Preferably, the display device displays the prompt information in a popup window mode, the middle position of the popup window displays the information of each lane, each lane information comprises the color of a signal lamp corresponding to each lane and the timing of the signal lamp, and the green lamp in the current lane direction is highlighted and blinks to remind.
As shown in fig. 4, the flow of the red light running early warning is as follows:
acquiring the current speed of a vehicle, the distance between the vehicle and a signal lamp, the phase data of the signal lamp of the current lane of the vehicle and the timing time of the signal lamp; the display device displays signal lamp phase information, and when the signal lamp has timing time information, the timing time of the signal lamp is displayed below the signal lamp phase information, and the distance between the vehicle and the signal lamp is displayed; the display device displays the early warning prompt of running the red light, and displays different early warning levels according to the current speed and the speed change condition of the vehicle.
Preferably, the intelligent UI device receives real-time signal lamp data around the current position of the vehicle through the gateway, the receiving frequency is 1 second/time, the intelligent UI device calculates whether the vehicle runs the red light risk according to the signal lamp phase data, and if the vehicle runs the red light risk, the intelligent UI device displays red light running early warning information.
Preferably, the display device displays prompt information in a popup window mode, the red light running early warning is displayed above the popup window, the distance between the current position of the vehicle and the signal lamp is displayed below the red light running early warning, the lane information is displayed in the middle of the popup window, the lane information comprises the color of the signal lamp corresponding to each lane and the timing of the signal lamp, the red light is highlighted and blinked in the current lane direction, and the current speed of the vehicle is displayed below the popup window.
More preferably, the red light running early warning is divided into three levels of early warning, and the red light running early warning is prompted in a grading manner according to different conditions, and is specifically as follows:
three-stage early warning: the popup window displays early warning of red light running;
the popup window displays red light running early warning and the signal lamp information is normally displayed.
The document display time: 3 seconds.
Document case: the front red light has a higher speed.
Second-level early warning: the popup window displays red light running early warning and signal lamp information is displayed in a flashing mode;
the popup window displays early warning of red light running, and signal lamp information is used for flashing prompt.
The document display time: 3 seconds.
Document case: front red light, too fast speed-!
Primary early warning: the popup window displays red light running early warning, signal lamp information flashes and displays, and voice alarm is output;
the popup window displays red light running early warning, and the signal lamp information is displayed in a flashing mode.
The document display time: 3 seconds
Voice broadcast time: finish in 3 seconds
Text display document: the front red light, the speed is too fast, please note-!
Voice alarm document: the front red light, the speed is too fast, please note-!
Preferably, the alarm level judging method is as shown in table 1 below.
TABLE 1 alarm level judgment table
The vehicle speed increasing and decreasing judging method comprises the following steps:
and recording the speed of the vehicle in the last second, judging to be reduced if the speed in the last second is greater than the current speed by 5km/h, judging to be not reduced if the difference between the speed in the last second and the current speed is within 5km/h, and judging to be increased if the speed in the last second is less than the current speed by 5 km/h.
The processing method after the alarm is generated is as follows:
if the time difference between the second alarm and the last alarm is less than 3 seconds and the alarm level is not increased, no new alarm is displayed; if the time difference between the second alarm and the last alarm is less than 3 seconds and the alarm level rises, a new alarm is displayed; and if the time difference between the second alarm and the last alarm is not less than 3 seconds, displaying a new alarm.
As shown in fig. 5, the flow of overspeed early warning is as follows:
acquiring current speed and current position speed limiting information of a vehicle; the display device displays overspeed early warning.
Preferably, the intelligent UI device receives the speed limit reminding in front of the vehicle through the gateway, the intelligent UI device performs speed limit early warning display according to different speed limit reminding levels, the red light running early warning level is higher than the speed limit early warning level, and if the red light running early warning is generated, the speed limit early warning display is not performed.
The speed limit reminding level is specifically as follows:
overspeed: if the current speed > =speed limit, displaying the current speed and the speed limit information for 3 seconds by using a popup window, broadcasting prompt information by using voice, and not broadcasting other information when broadcasting by using voice, wherein the design diagram needs to prominently display that the current speed is exceeded;
not overspeed: if the current speed is less than the speed limit, the popup window displays the current speed and the speed limit information for 3 seconds.
The flow of the V2I early warning is as follows:
after the intelligent UI device receives the V2I information, the early warning information is displayed in the information prompt area.
The V2I early warning content comprises:
road danger prompt, text display for 3 seconds, text acquisition by an interface, and 1 minute of information broadcast only once;
the front congestion reminding, the text display is carried out for 3 seconds, the text is obtained by the interface, and the same information is broadcasted only once within 1 minute.
The label in the car is displayed for 3 seconds, the same information is broadcasted only once in 1 minute, and the Title, the icon and the label content in the label in the car are all obtained from the rear end.
The method for obtaining the sensing result comprises the following steps:
the intelligent UI device is used for acquiring current vehicle position and course angle information and sending the current vehicle position and course angle information to the vehicle-road cooperative service platform, the vehicle-road cooperative service platform acquires current vehicle information and periphery perception information and returns the current vehicle information and the periphery perception information to the intelligent UI device, the periphery perception information comprises course angles, speeds and longitudes and latitudes of all periphery perception objects, the intelligent UI device judges whether collision possibility exists between the current vehicle and other objects through calculation based on the received information, when the collision possibility exists, collision early warning is displayed through a popup window of a display device, and when the collision possibility does not exist, the popup window displays a perception result;
the collision early warning comprises collision early warning of weak traffic participants and other collision early warning, the weak traffic participants comprise pedestrians and non-motor vehicles, and the current positions of the pedestrians and the non-motor vehicles are displayed in the perception result when the current positions of the pedestrians and the non-motor vehicles are in front of the vehicles;
the impact early warning algorithm of the weak traffic participants is as follows: and calculating the course angle alpha of other objects relative to the vehicle, judging whether the pedestrian or the non-motor vehicle is in front of the vehicle, judging the running direction of the pedestrian or the non-motor vehicle, and judging whether the pedestrian or the non-motor vehicle and the vehicle have possibility of collision.
The method for calculating the heading angle alpha of other objects relative to the vehicle is as follows:
the first step, calculating the distance between other objects and the longitude and latitude of the vehicle, wherein the distance is specifically as follows:
calculating longitude distances of the vehicle and the relative object: calculating the distance between two points of the longitude of the host vehicle, the latitude of the host vehicle and the longitude of the relative object, wherein the distance is marked as X;
calculating the latitude distance between the vehicle and the relative object: calculating the distance between two points of the longitude of the vehicle, the latitude of the vehicle and the latitude of the vehicle relative to the latitude of the object, wherein the distance is marked as Y;
the second step, calculating which quadrant the relative object is located on the northbound coordinate system by taking the vehicle as an origin, wherein the second step is as follows:
a. if relative object longitude > =host longitude, relative object latitude > host latitude, then it is the first quadrant and the upper half of the Y-axis, where the relative angle α calculation formula is α=arctan (X/Y);
b. if the relative object longitude < the longitude of the host vehicle, the relative object latitude > the latitude of the host vehicle, the relative angle alpha is in the second quadrant, and the calculation formula of the relative angle alpha is alpha=360-arctan (X/Y);
c. if the relative object longitude= < vehicle longitude and the relative object latitude < vehicle latitude, the relative object longitude is the third quadrant and the lower half of the Y axis, and the calculation formula of the relative angle alpha is alpha=180+arctan (X/Y);
d. if the relative object longitude > the vehicle longitude and the relative object latitude < the vehicle latitude, the fourth quadrant is the relative angle alpha calculation formula is alpha=180-arctan (X/Y);
e. if relative object longitude > host vehicle longitude, relative object latitude=host vehicle latitude, then it is the upper half of the X-axis, at which point relative angle α=90;
f. if the relative object longitude < host longitude, relative object latitude=host latitude, then it is the lower half of the X-axis, where relative angle α=270;
g. if relative object longitude = host longitude, relative object latitude = host latitude, then this is the origin, and the result is ignored.
Wherein it is determined that a pedestrian or a non-motor vehicle is in front of the host vehicle when the following condition is satisfied:
1. the distance between pedestrians or non-motor vehicles and the vehicle is within 10 meters;
2. the current position of the pedestrian or the non-motor vehicle deviates within 20 degrees from the course angle of the running direction of the vehicle, namely, the relative angle < = 20 or the relative angle > = 340.
The pedestrian or non-motor vehicle traveling direction judging method comprises the following steps that the pedestrian or non-motor vehicle only travels leftwards or rightwards in a perception result prompt:
0< = pedestrian or non-motor vehicle heading angle minus the own vehicle heading angle < = 180: then it is determined to travel from left to right;
-360< = pedestrian or non-motor vehicle heading angle minus own vehicle heading angle < = -180: then it is determined to travel from left to right;
180< pedestrian or non-motor vehicle heading angle minus the host vehicle heading angle <360: then it is determined to travel from right to left;
-180< pedestrian or non-motor vehicle heading angle minus the own vehicle heading angle <0: it is determined to travel from right to left.
The method for judging whether collision possibility exists between the pedestrian or the non-motor vehicle and the vehicle is as follows:
if the heading angle of the traveling direction of the pedestrian or the non-motor vehicle deviates within 20 degrees to the right (relative angle < =20), and the traveling direction of the pedestrian or the non-motor vehicle travels from the right to the left, judging that collision is possible;
if the heading angle of the pedestrian or the non-vehicle body traveling direction deviates within 20 degrees to the left (relative angle > =340), and the pedestrian or the non-vehicle traveling direction is traveling from left to right, it is determined that a collision is likely.
Other collision warning algorithms are as follows: if the motor vehicle is behind the vehicle, the motor vehicle is not displayed, and the motor vehicle is uniformly displayed with the front head facing upwards.
When the following condition is satisfied, it is determined that the motor vehicle is behind the host vehicle:
the distance between the motor vehicle and the host vehicle is within 20 meters;
the current position of the motor vehicle is deviated within 20 degrees from the left and right of the course angle in the opposite direction of the running direction of the motor vehicle (135 < relative angle < 225).
The relative position judging method of the motor vehicle comprises the following steps:
relative angle < = 45 or relative angle > = 315, judged to be directly in front;
45< relative angle < = 135, judged to be in the right;
225< = relative angle <315, judged to be in the left direction.
When the following conditions are met, the motor vehicle is judged to have collision early warning:
and when the motor vehicle is positioned right in front of the motor vehicle and the speed of the motor vehicle-the speed of the front motor vehicle is more than 10km/h, displaying collision early warning.
The weak traffic participant collision early warning algorithm: the algorithm is used for judging whether collision risks exist between the vehicles and the weak traffic participants such as pedestrians, non-motor vehicles and the like. And determining the position and the direction of the weak traffic participant relative to the vehicle by calculating the relative longitude and latitude distance and the relative angle, so as to carry out collision early warning prompt.
Design of collision early warning popup window display effect: according to the data in the sensing result, the display effect of the popup window is designed, including titles, icons, information content and the like. The popup window lasts for 3 seconds, and if new collision early warning or sensing information exists in the popup window, the information in the popup window is updated, and the timing is repeated.
And (3) comparing and processing perception result data: and sending the current position and course angle information to the rear end, and receiving the current vehicle information and the surrounding sensing information transmitted by the rear end. And comparing and calculating the data, judging whether the relative position relation between the collision possibility and other objects exists or not, and displaying corresponding warning information on a screen according to the situation.
The method for judging the traveling direction of the weak traffic participants comprises the following steps: and judging whether the travelling direction of the pedestrian or the non-motor vehicle is from left to right or from right to left according to the relative position and the angular relation between the pedestrian or the non-motor vehicle and the vehicle. The possibility of a collision is determined according to different situations.
The vehicle relative position judging method comprises the following steps: and judging whether the vehicle is positioned in front of or behind other objects according to the distance and relative angle relation between the vehicle and surrounding objects. According to different conditions, whether collision warning or other operations are needed or not is determined.
Judging collision alarm conditions: when collision early warning occurs, judging whether the collision is marked as possible according to conditions such as speed difference between the vehicle speed and other objects. And determining whether actual collision can occur between the vehicles according to different thresholds and judging standards.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A vehicle-road cooperative service system, characterized by comprising: the intelligent vehicle-road cooperative service platform is used for providing services of signal lamp boarding prompt, green wave speed guidance, red light running early warning and overspeed early warning, the intelligent UI equipment is used for acquiring vehicle position and course angle information, providing V2I early warning and perception results, the service background is used for acquiring V2I information, front signal lamp information and traffic participant perception results around the vehicle and feeding back the results to the intelligent UI equipment, and the display device displays the signal lamp boarding prompt, the green wave speed guidance, the red light running early warning, the overspeed early warning, the V2I early warning and the perception results through popup windows;
the method for the intelligent UI device to acquire the sensing result is as follows:
the intelligent UI equipment acquires current vehicle position and course angle information and sends the current vehicle position and course angle information to the vehicle-road cooperative service platform, the vehicle-road cooperative service platform acquires periphery perception information based on the current vehicle position and course angle information and sends the periphery perception information back to the intelligent UI equipment, the periphery perception information comprises course angles, speeds and longitudes and latitudes of all periphery perception objects, the periphery perception objects comprise weak traffic participants and motor vehicles, the weak traffic participants comprise pedestrians and non-motor vehicles, the intelligent UI equipment judges whether the current vehicle has collision possibility through calculation based on the received information, when the collision possibility exists, collision early warning is executed, a display device displays the collision early warning through a popup window, the display device is arranged in the vehicle, and when the collision possibility does not exist, the popup window displays a perception result;
the collision early warning comprises the collision early warning of the weak traffic participants and the collision early warning of the motor vehicle, and the pedestrian or non-motor vehicle position is displayed in the perception result when the pedestrian or non-motor vehicle position is in front of the vehicle;
the impact early warning algorithm of the weak traffic participants is as follows: calculating the course angle alpha of other objects relative to the vehicle, judging whether a pedestrian or a non-motor vehicle is in front of the vehicle, judging the running direction of the pedestrian or the non-motor vehicle, and judging whether the pedestrian or the non-motor vehicle and the vehicle have possibility of collision;
the method for judging whether collision possibility exists between the pedestrian or the non-motor vehicle and the vehicle is as follows:
if the heading angle of the pedestrian or the non-motor vehicle is deviated within 20 degrees to the right in the running direction of the vehicle, and the running direction of the pedestrian or the non-motor vehicle is from right to left, judging that the collision is possible;
if the heading angle of the pedestrian or the non-motor vehicle is within 20 degrees from left to right in the running direction of the vehicle, and the running direction of the pedestrian or the non-motor vehicle is from left to right, judging that collision is possible;
the method for calculating the heading angle alpha of other objects relative to the vehicle is as follows:
the first step, calculating the distance between other objects and the longitude and latitude of the vehicle, wherein the distance is specifically as follows:
calculating longitude distances of the vehicle and the relative object: calculating the distance between two points of the longitude of the host vehicle, the latitude of the host vehicle and the longitude of the relative object, wherein the distance is marked as X;
calculating the latitude distance between the vehicle and the relative object: calculating the distance between two points of the longitude of the vehicle, the latitude of the vehicle and the latitude of the vehicle relative to the latitude of the object, wherein the distance is marked as Y;
the second step, calculating which quadrant the relative object is located on the northbound coordinate system by taking the vehicle as an origin, wherein the second step is as follows:
if relative object longitude > =host longitude, relative object latitude > host latitude, then it is the first quadrant and the upper half of the Y-axis, where the relative angle α calculation formula is α=arctan (X/Y);
if the relative object longitude < the longitude of the host vehicle, the relative object latitude > the latitude of the host vehicle, the relative angle alpha is in the second quadrant, and the calculation formula of the relative angle alpha is alpha=360-arctan (X/Y);
if the relative object longitude= < vehicle longitude and the relative object latitude < vehicle latitude, the relative object longitude is the third quadrant and the lower half of the Y axis, and the calculation formula of the relative angle alpha is alpha=180+arctan (X/Y);
if the relative object longitude > the vehicle longitude and the relative object latitude < the vehicle latitude, the fourth quadrant is the relative angle alpha calculation formula is alpha=180-arctan (X/Y);
if relative object longitude > host vehicle longitude, relative object latitude=host vehicle latitude, then it is the upper half of the X-axis, at which point relative angle α=90;
if the relative object longitude < host longitude, relative object latitude=host latitude, then it is the lower half of the X-axis, where relative angle α=270;
if relative object longitude = host longitude, relative object latitude = host latitude, then it is the origin, ignoring this result;
the method for judging whether the pedestrian or the non-motor vehicle is in front of the vehicle is as follows:
the pedestrian or non-motor vehicle is determined to be in front of the host vehicle when the following conditions are simultaneously satisfied:
the distance between pedestrians or non-motor vehicles and the vehicle is within 10 meters;
the current position of the pedestrian or the non-motor vehicle deviates within 20 degrees from the course angle of the running direction of the vehicle, namely, the relative angle < = 20 or the relative angle > = 340;
the method for judging the traveling direction of the pedestrian or the non-motor vehicle comprises the following steps that the pedestrian or the non-motor vehicle only travels leftwards or rightwards in a perception result prompt:
0< = pedestrian or non-motor vehicle heading angle minus the own vehicle heading angle < = 180: then it is determined to travel from left to right;
-360< = pedestrian or non-motor vehicle heading angle minus own vehicle heading angle < = -180: then it is determined to travel from left to right;
180< pedestrian or non-motor vehicle heading angle minus the host vehicle heading angle <360: then it is determined to travel from right to left;
-180< pedestrian or non-motor vehicle heading angle minus the own vehicle heading angle <0: then it is determined to travel from right to left;
the motor vehicle collision early warning algorithm is as follows: when the motor vehicle is positioned right in front of the motor vehicle and the speed of the motor vehicle in front of the motor vehicle is more than 10km/h, collision early warning is displayed;
the motor vehicle is not displayed if the motor vehicle is behind the host vehicle, and the motor vehicle is judged to be behind the host vehicle when the following conditions are satisfied: the distance between the motor vehicle and the host vehicle is within 20 meters; the current position of the motor vehicle deviates within 20 degrees from the left and right of the course angle in the opposite direction of the running direction of the motor vehicle;
the relative position judging method of the motor vehicle comprises the following steps:
judging that the motor vehicle is right in front of the motor vehicle according to the relative angle < = 45 or the relative angle > = 315;
45< relative angle < = 135, judging the motor vehicle to be the right of the motor vehicle;
225< = relative angle <315, judging the motor vehicle is left of the motor vehicle;
the working flow of the vehicle-road cooperative service platform is as follows:
s1, judging the distance between the vehicle and the intersection, and executing the step S2 when the distance between the vehicle and the intersection is less than or equal to 150m and the intersection has a signal lamp, otherwise, not performing any processing;
s2, judging whether a timing device exists in the intersection signal lamp, if so, executing a step S4, otherwise, executing a step S3;
s3, judging whether the overspeed of the vehicle is possible, executing overspeed early warning operation when the overspeed is possible, and executing signal lamp boarding operation when the overspeed is not possible;
s4, judging the color of the current signal lamp, executing the step S51 when the color of the signal lamp is green, executing the step S52 when the color of the signal lamp is red, otherwise, not performing any processing;
s51, when the expected running distance of the vehicle is greater than the distance between the vehicle and the signal lamp, the vehicle can normally pass through the green signal lamp, and the step S6 is executed, when the expected running distance of the vehicle is smaller than or equal to the distance between the vehicle and the signal lamp, the green signal lamp changes color, and the red light running early warning operation is executed, wherein the expected running distance of the vehicle = the current speed of the vehicle;
s52, when the expected running distance of the vehicle is greater than the distance between the vehicle and the signal lamp, the vehicle runs through the red signal lamp, the red signal lamp is subjected to early warning operation, and when the expected running distance of the vehicle is smaller than or equal to the distance between the vehicle and the signal lamp, the red signal lamp is subjected to color change, the vehicle does not run through the red signal lamp, and no operation is performed;
s6, judging whether the vehicle has possibility of overspeed, executing overspeed early warning operation when the vehicle has possibility of overspeed, and executing green wave guiding operation when the vehicle does not have possibility of overspeed;
the flow of the red light running early warning is as follows:
acquiring the current speed of a vehicle, the distance between the vehicle and a signal lamp, the phase data of the signal lamp of the current lane of the vehicle and the timing time of the signal lamp; the display device displays signal lamp phase information, and when the signal lamp has timing time information, the timing time of the signal lamp is displayed below the signal lamp phase information, and the distance between the vehicle and the signal lamp is displayed; the display device displays the early warning prompt of red light running and different early warning levels according to the current speed and the change condition of the speed of the vehicle;
the red light running early warning level is divided into three levels of early warning, and the red light running early warning level is prompted in a grading manner according to different conditions, and is specifically as follows:
three-stage early warning: the popup window displays red light running early warning, and signal lamp information is normally displayed; the text shows: the front red light has a higher speed; the document display time: 3 seconds;
second-level early warning: the popup window displays early warning of red light running, and signal lamp information is used for flashing prompt; the document display time: 3 seconds; document case: the front red light has too high speed;
primary early warning: the popup window displays red light running early warning, signal lamp information flashes and displays, and voice alarm is output; the document display time: 3 seconds; voice broadcast time: 3 seconds; text display document: the front red light has too high speed and is noted; voice alarm document: the front red light has too fast speed and please notice.
2. The vehicle-road cooperative service system according to claim 1, wherein the alarm level judging method is as follows:
when the current speed is more than 80km/h and the speed is changed to be accelerated or not decelerated, performing secondary early warning when the distance between the current speed and the signal lamp is 150m, and performing primary early warning when the distance between the current speed and the signal lamp is 100m, 50m and 20 m;
when the current speed is more than 80km/h and the speed is changed to be reduced, performing secondary early warning when the distance between the vehicle speed and the signal lamp is 150m or 100m, and performing primary early warning when the distance between the vehicle speed and the signal lamp is 50m or 20 m;
when the current speed is 40-80 km/h and the speed is changed to be accelerated or not decelerated, performing three-level early warning when the distance between the current speed and the signal lamp is 150m, performing two-level early warning when the distance between the current speed and the signal lamp is 100m and 50m, and performing one-level early warning when the distance between the current speed and the signal lamp is 20 m;
when the current speed is 40-80 km/h and the speed is changed to be reduced, performing three-level early warning when the distance from the signal lamp is 100m, and performing two-level early warning when the distance from the signal lamp is 50m and 20 m;
when the current speed is 20-40 km/h and the speed is changed to be accelerated or not decelerated, performing three-level early warning when the distance from the signal lamp is 50m, and performing two-level early warning when the distance from the signal lamp is 20 m;
when the current speed is 20-40 km/h and the speed is changed to be reduced, executing three-level early warning when the distance from the signal lamp is 20 m;
the vehicle speed increasing and decreasing judging method comprises the following steps:
and recording the speed of the vehicle in the last second, judging to be reduced if the difference between the speed in the last second and the current speed is larger than 5km/h, judging to be not reduced if the difference between the speed in the last second and the current speed is smaller than 5km/h, and judging to be increased if the difference between the speed in the last second and the current speed is smaller than 5 km/h.
3. The vehicle-road cooperative service system according to claim 1, wherein the V2I pre-warning content includes road hazard prompt, front congestion prompt, and vehicle interior sign.
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