CN211792049U - Vehicle-road cooperative auxiliary system and vehicle - Google Patents
Vehicle-road cooperative auxiliary system and vehicle Download PDFInfo
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- CN211792049U CN211792049U CN202020553757.4U CN202020553757U CN211792049U CN 211792049 U CN211792049 U CN 211792049U CN 202020553757 U CN202020553757 U CN 202020553757U CN 211792049 U CN211792049 U CN 211792049U
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Abstract
The embodiment of the utility model provides a vehicle road is auxiliary system and vehicle in coordination, this system includes the positioning device who sets up in the vehicle and the terminal equipment who is connected with this positioning device; the positioning device is connected with the positioning base station, acquires differential positioning data sent by the positioning base station, and generates positioning information with the precision higher than first preset precision according to the differential positioning data and the inertial navigation data; the terminal equipment is used for being connected with the OBU to acquire event information acquired by the OBU, and is also used for acquiring map information with the precision higher than second preset precision, determining lane-level positioning information according to the positioning information and the map information, screening the event information according to the lane-level positioning information, acquiring lane-level event information and pushing the lane-level event information to a user. The embodiment of the utility model provides a can realize high-efficient accurate V2X incident screening, improve user experience.
Description
Technical Field
The embodiment of the utility model provides a relate to autopilot technical field, especially relate to a vehicle road auxiliary system and vehicle in coordination.
Background
With the continuous development of the assistant driving and automatic driving technologies, the vehicle-road coordination system matched with the assistant driving and automatic driving technologies is more and more emphasized. The V2X vehicle-road cooperation technology senses the surrounding conditions of the vehicle in real time by means of wireless communication among vehicles, road-side equipment and people, and performs timely early warning of V2X events, so that the technology becomes a research hotspot for solving the problem of road safety at present. The vehicle-road cooperation system generates a V2X event by using the vehicle-road testing device to send the vehicle-pedestrian information, weather information and other information acquired by the infrastructure such as the weather station, radar and camera arranged at the intersection to the On-Board Unit (OBU), however, the OBU acquires many thousands of V2X events by using the road-side device, and the user needs to screen the V2X event which affects the running of the vehicle from the many thousands of V2X events.
In the prior art, for the screening of the V2X event, the first scheme may be performed manually, the second scheme may be performed by setting a controller, and the controller screens thousands of V2X events obtained from the OBU based on the GPS positioning information and the preset distance threshold, and displays the screened results through an instrument panel.
However, in the first scheme, manual screening can disperse the energy of users and is not beneficial to driving, and in the second scheme, the accuracy of the GPS positioning information is 5 meters to 10 meters, and redundant information can still be introduced, so that the accuracy of the screening result is affected.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a vehicle road auxiliary system and vehicle in coordination to improve the screening efficiency and the degree of accuracy of V2X incident.
In a first aspect, an embodiment of the present invention provides a vehicle road cooperative auxiliary system, including: the system comprises a positioning device arranged in a vehicle and a terminal device connected with the positioning device;
the positioning device is used for being connected with a positioning base station, acquiring differential positioning data sent by the positioning base station, generating positioning information with the precision higher than a first preset precision according to the differential positioning data and inertial navigation data, and sending the positioning information to the terminal device;
the terminal equipment is used for being connected with the OBU to acquire event information acquired by the OBU, and is also used for acquiring map information with the precision higher than second preset precision, determining lane-level positioning information according to the positioning information and the map information, screening the event information according to the lane-level positioning information, acquiring lane-level event information and pushing the lane-level event information to a user.
In one possible design, the vehicle-road cooperative assistance system further includes: an image acquisition device;
the image acquisition equipment is connected with the terminal equipment, arranged on the vehicle and used for acquiring image information around the vehicle and sending the image information to the terminal equipment;
the terminal device is also used for being connected with the data server, identifying the image information to obtain vehicle information and pedestrian information, and determining a V2X event outside the monitoring range of the drive test device during the driving of the vehicle according to the vehicle information and the pedestrian information.
In a possible design, the terminal device is further configured to connect to a data server, and is configured to identify the image information to obtain a map element, and send the map element to the data server, so that the data server updates the map information according to the map element.
In one possible design, the terminal device includes a first wireless communication module:
the first wireless communication module is used for realizing wireless communication between the terminal equipment and the positioning equipment.
In one possible design, the first wireless communication module is a bluetooth module or a WIFI module.
In one possible design, the terminal device includes a second wireless communication module;
and the second wireless communication module is used for realizing wireless communication between the terminal equipment and the OBU.
In one possible design, the terminal device includes a display screen and/or a voice broadcast module;
the terminal device is further used for displaying the lane-level event information to a user through the display screen;
and/or the presence of a gas in the gas,
and the terminal equipment is also used for broadcasting the lane-level event information to a user through the voice broadcasting module.
In a possible design, the terminal device is further configured to connect to a map server;
the terminal device is further configured to obtain map information with accuracy higher than a second preset accuracy, and the method includes:
the terminal device is further configured to send the positioning information to the map server, and obtain, by the map server, map information with accuracy higher than a second preset accuracy.
In one possible design, the first predetermined accuracy is greater than or equal to 0.4 meters and less than or equal to 0.6 meters.
In a second aspect, an embodiment of the present invention provides a vehicle, including: the vehicle-road cooperative assistance system according to the first aspect and various possible designs of the first aspect.
The vehicle-road cooperative auxiliary system and the vehicle provided by this embodiment are connected with a positioning base station through a positioning device arranged in the vehicle to acquire high-precision positioning information (for example, centimeter-level positioning information), and are connected with a terminal device through a positioning device arranged in the vehicle to acquire a high-precision map and determine lane-level positioning information of the vehicle according to the high-precision map and the positioning information, so as to screen lane-level event information from event information acquired by an OBU according to the lane-level positioning information and push the lane-level event information to a user. Therefore, efficient and accurate V2X event screening is realized, redundant information is reduced, and user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a vehicle-road coordination system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle-road cooperative auxiliary system according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a V2X vehicle-road cooperative auxiliary system according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle-road cooperative auxiliary system according to another embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle-road cooperative auxiliary system according to another embodiment of the present invention;
fig. 6 is a schematic view of a high-precision map display interface of a terminal device according to another embodiment of the present invention;
fig. 7 is a schematic view of an event early warning display interface of an RSU received by a terminal device according to another embodiment of the present invention;
fig. 8 is a schematic view of a pseudo three-dimensional building display interface of a terminal device according to another embodiment of the present invention;
fig. 9 is a schematic view of a lane-level matching positioning effect display interface of a terminal device according to another embodiment of the present invention.
Reference numerals:
101: an on-board unit (OBU);
102: a roadside apparatus;
103: a camera;
104: a meteorological base station;
105: a radar;
201: positioning equipment;
202: a terminal device;
203: an image acquisition device;
31: positioning a base station;
32: a map server;
33: and a data server.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a vehicle-road cooperative assistance system according to an embodiment of the present invention. As shown in fig. 1, the vehicle-road cooperation system includes an on-board unit OBU101 for placement in a vehicle, a roadside apparatus 102 provided on a road side, a camera 103 that can communicate with the roadside apparatus 102, a weather base station 104, and a radar 105. The cameras 103 may be disposed above the road at preset intervals, and may also be disposed in a specific area, for example, at an intersection, or a crosswalk. It is understood that the vehicle-road coordination system may also include other devices, such as devices associated with a road-based public transportation system, etc.
In a specific implementation process, the camera 103 shoots road condition information on a road in a monitoring range, the road condition information may include pedestrian information and traffic identification, and sends an image obtained by shooting to the OBU101, the weather base station 104 collects weather information of an area in a coverage range, the weather information includes rain, snow, wind, visibility, temperature and humidity and the like, and sends the weather information to the OBU101, the radar 105 identifies vehicles on the road in the monitoring range, can identify vehicle information such as license plate numbers and vehicle types of the vehicles, and sends the vehicle information to the OBU 101. The information sent by the camera 103, the meteorological base station 104 and the radar 105 is sent to the OBU101 after the drive test equipment 102 generates the V2X event.
It can be seen that in the process, the OBU101 may receive thousands of V2X events from roadside devices, and the thousands of V2X events do not all have an effect on the vehicle in which the OBU101 is located. In the prior art, the event screening of V2X can be performed manually, and the event screening can also be performed through GPS positioning information, for example, the event screening of V2X within 500 meters of a vehicle where the OBU101 is located can be performed, however, manual screening can disperse the energy of a user and is not beneficial to driving, the accuracy of the GPS positioning information is 5 meters to 10 meters, redundant information can still be introduced, the accuracy of the screening result is affected, and the coverage range of a GPS signal is limited, and stable communication connection cannot be guaranteed near indoor, tunnels or tall buildings. Based on this, the embodiment of the utility model provides a vehicle road auxiliary system in coordination to improve the screening efficiency and the degree of accuracy of V2X incident.
In this embodiment, by providing a special positioning device to connect with the terminal device, it is possible to transmit high-precision positioning information to the terminal device, so that the terminal device can accurately screen the V2X event transmitted by the OBU according to the high-precision positioning information.
The technical solution of the present invention will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic structural diagram of a vehicle-road cooperative assistance system according to another embodiment of the present invention. As shown in fig. 2, the system 20 includes: a positioning device 201 provided in a vehicle, and a terminal device 202 connected to the positioning device 201.
The positioning device 201 is configured to connect with a positioning base station, acquire differential positioning data sent by the positioning base station, generate positioning information with a precision higher than a first preset precision according to the differential positioning data and inertial navigation data, and send the positioning information to the terminal device 202.
The terminal device 202 is used for being connected with the on-board unit OBU101, acquiring event information acquired by the OBU101, acquiring map information with the accuracy higher than second preset accuracy, determining lane-level positioning information according to the positioning information and the map information, screening the event information according to the lane-level positioning information, acquiring lane-level event information and pushing the lane-level event information to a user.
Alternatively, the positioning base station includes a reference station and a wireless communication module, and the reference station can calculate the differential positioning data and transmit the differential positioning data to the positioning device 201 through the wireless communication module.
Optionally, the positioning device 201 may include a wireless communication module and a processor, the positioning device 201 may communicate with the positioning base station through the wireless communication module, acquire differential positioning data, and send the differential positioning data to the processor, the processor fuses the differential positioning data and inertial navigation data acquired by the inertial navigation system to obtain high-precision positioning information (sub-meter or centimeter positioning information), and sends the positioning information to the terminal device 202. Through setting up special positioning device, communicate with the location basic station, can avoid directly adopting the region restriction that the GPS signal leads to, for example in the unable problem that obtains the locating signal of tunnel, underground garage etc..
Optionally, in order to meet the screening of the lane-level event information, the accuracy of the positioning information obtained by the positioning device 201 needs to be higher than a first preset accuracy, where the first preset accuracy may be any value between 0.4 and 0.6 meters, and optionally, the accuracy of the positioning information may be selected to be any value between 0.2 and 0.5 meters. The accuracy of the map information can be chosen to be any value between 0.02 and 0.1 meters.
Optionally, the source of the map information acquired in this embodiment may be a map server in which each high-precision map is stored. The terminal device 202 is also used for connecting with the map server 32.
The terminal device 202 is further configured to obtain map information with accuracy higher than a second preset accuracy, including:
the terminal device 202 is further configured to send the positioning information to the map server 32, and obtain, by the map server, map information with accuracy higher than a second preset accuracy.
Specifically, the terminal device 202 sends the positioning information acquired from the positioning device 201 to the map server 32, and the map server 32 sends the map information matched with the positioning information to the terminal device 202 according to the positioning information, so that a large amount of calculation is completed through the map server, the calculation resources of the terminal device 202 can be saved, and the smooth operation of the terminal device 202 is ensured.
Optionally, the map information adopted in this embodiment may be an ADAS2.0 map. By adopting the ADAS map as a carrier, the display of the application scene of the lane-level event can be more accurate. Furthermore, the ADAS map and the three-dimensional city model can be combined, and navigation is combined, so that event prompt is more realistic
Optionally, the terminal device 202 includes a first wireless communication module.
The first wireless communication module is configured to implement wireless communication between the terminal device 202 and the positioning device.
Optionally, the first wireless communication module is a bluetooth module or a WIFI module.
Optionally, the terminal device 202 includes a second wireless communication module;
the second wireless communication module is configured to implement wireless communication between the terminal device 202 and the OBU.
The V2X events in this embodiment may include a V2I event (car and roadside device event) and a V2P event (car and person event). Specifically, the following related events may be included: road congestion, construction reminding, garage pedestrian and vehicle detection, weather early warning reminding, radar detection of people and vehicles in a specified range, vehicle convergence, curve reminding early warning, intersection traffic light state and time, reverse driving early warning and the like.
For example, when a vehicle runs on a lane of a road, a camera traffic light sensor acquires a V2X event, and sends the event to an OBU through an RSU, and the OBU sends the event to the terminal device 202, if the V2X event is three traffic lights at a next intersection 500 meters ahead, one left turn indicator light, one straight indicator light, and one right turn indicator light, if the vehicle is currently on a middle lane, the terminal device 202 may only display the straight road of the middle lane and the time of the indicator lights, and then may guide the vehicle to pass through the intersection, and if it is recognized that the vehicle is currently on the left lane through a high-precision map and high-precision positioning, the terminal device 202 may only display the time of the indicator light on the left side, and then guide the vehicle to pass through the intersection. The information of other irrelevant lanes is omitted, and the attention of the user is saved.
If the vehicle is identified to be in the middle lane currently, the vehicle information of the left lane currently can be identified, the radar can send all relevant vehicle information to the terminal device 202, and then the distance between each vehicle and the vehicle is calculated to judge, so that the quick passing and turning operation can be performed. More accurate early warning information is provided for the user.
Optionally, the terminal device 202 includes a display screen and/or a voice broadcast module.
The terminal device 202 is further configured to display the lane-level event information to a user through the display screen;
and/or the presence of a gas in the gas,
the terminal device 202 is further configured to broadcast the lane-level event information to a user through the voice broadcast module.
In this embodiment, the display screen may adopt a vehicle window head-up display. Combined display may also be performed in conjunction with AR navigation.
Illustratively, the interface presented by the display screen of the terminal device 202 is illustrated below.
Fig. 6 is a schematic view of a high-precision map display interface of a terminal device according to another embodiment of the present invention. As shown in fig. 6, the displayed high-precision map can be displayed accurately to the lane level, and a plurality of V2X events are displayed at the upper left corner of the interface, for example, a speed limit sign with a speed limit 30 at a distance of less than 10 meters ahead, a road ahead at a distance of 249 meters is wet, and a road ahead at a distance of 253 meters is constructed. Vehicle speed information is displayed at the lower left corner of the interface.
Fig. 7 is a schematic view of an event early warning display interface of an RSU received by a terminal device according to another embodiment of the present invention. As shown in fig. 7, the high-precision map is displayed at a lane level, and the event markers, as well as the running vehicles, are displayed on the road.
Fig. 8 is the utility model discloses a pseudo-three-dimensional building show interface schematic diagram of terminal equipment that still another embodiment provided, as shown in fig. 8, the high accuracy map is the show of lane level to the building is three-dimensional show, and the user of being convenient for more accurate grasp current road conditions drives safely.
Fig. 9 is a schematic view of a lane-level matching positioning effect display interface of a terminal device according to another embodiment of the present invention. As shown in fig. 9, the vehicle travels on the center lane of the four lanes in the same direction. The vehicles are shown on the middle lane in the form of dots in the display interface of the display screen. The method and the system facilitate the positioning of the user on the vehicle, and facilitate the terminal device 202 to screen the lane-level events influencing the lane where the vehicle is located according to the positioning, so as to reduce redundant information and facilitate the user to make a quick judgment.
The working process of the vehicle access system auxiliary system provided by this embodiment is that the high-precision positioning device 201 performs wireless communication with the terminal device 202 through the short-distance wireless communication module, the short-distance wireless communication module may be a bluetooth module or a WIFI module, and the high-precision positioning device 201 sends positioning information with precision higher than first preset precision to the terminal device 202. The terminal device 202 communicates with a map server storing ADAS2.0 map information via the internet, and acquires ADAS2.0 map information from the map server. The OBU is in wireless communication with the terminal device 202 through the WIFI module, sends the V2X event received from the RSU to the terminal device 202, after the terminal device 202 receives the V2X event, analyzes the event through a vehicle-road cooperation asn.1 protocol, performs lane-level screening on the analyzed V2X event according to the positioning information, displays the screened lane-level event through a display screen of the terminal device 202, and/or broadcasts the event through a voice playing module. Optionally, in order to improve the display effect, the terminal device 202 may obtain vector tile data from the map server 32, and after analyzing the vector tile data, complete road rendering and three-dimensional building rendering, and display rendered map information.
The vehicle-road cooperative assistance system provided by this embodiment is connected with a positioning base station through a positioning device 201 arranged in a vehicle to obtain high-precision positioning information (for example, centimeter-level positioning information), and is connected with a terminal device 202 arranged in the vehicle and connected with the positioning device 201 to obtain a high-precision map, determine lane-level positioning information of the vehicle according to the high-precision map and the positioning information, and further screen lane-level event information from event information obtained by an OBU according to the lane-level positioning information and push the lane-level event information to a user. Therefore, efficient and accurate V2X event screening is realized, redundant information is reduced, and user experience is improved.
For convenience of understanding, the following describes an architecture of the vehicle-road cooperation assisting system provided in this embodiment, and fig. 3 is a schematic architecture diagram of a V2X vehicle-road cooperation assisting system provided in another embodiment of the present invention, as shown in fig. 3, the system includes a base layer, a data layer, a service layer, an edge computing layer, and an application layer. Optionally, the base layer includes an HDFS distributed data storage database for providing ADAS road network data, and a multi-source database, which is a database provided by systems such as government enterprises, traffic management, big data, and the like, and may provide meteorological information, traffic data, and the like. The data layer comprises ADAS road network data, radar stations, meteorological stations, traffic data, training set models and the like. The service layer includes SMAP vector tile service, RSU/OBU 101. The edge calculation layer includes map/location matching, sensor fusion, and signage recognition or tracking. The application layer comprises ADAS map display, real-time event display and element result storage.
Fig. 4 is a schematic structural diagram of a vehicle-road cooperative assistance system according to another embodiment of the present invention. As shown in fig. 4, on the basis of the vehicle-road cooperative assistance system shown in fig. 2, in order to accurately collect pedestrian information and vehicle information in real time, in the present embodiment, an image collecting device is added in the vehicle, and the system 30 includes: a positioning device 201 provided in a vehicle, a terminal device 202 connected to the positioning device 201, and an image pickup device 203 connected to the terminal device 202.
The positioning device 201 is configured to connect with the positioning base station 31, acquire differential positioning data sent by the positioning base station, generate positioning information with a precision higher than a first preset precision according to the differential positioning data and inertial navigation data, and send the positioning information to the terminal device 202.
The terminal device 202 is used for being connected with the on-board unit OBU101, acquiring event information acquired by the OBU101, acquiring map information with the accuracy higher than second preset accuracy, determining lane-level positioning information according to the positioning information and the map information, screening the event information according to the lane-level positioning information, acquiring lane-level event information and pushing the lane-level event information to a user.
The image acquisition device 203 is connected with the terminal device 202, is arranged on a vehicle, and is used for acquiring image information around the vehicle and sending the image information to the terminal device 202;
the terminal device 202 is further configured to be connected to the data server 33, and configured to identify the image information, obtain vehicle information and pedestrian information, and determine, according to the vehicle information and the pedestrian information, a V2X event outside the monitoring range of the drive test device while the vehicle is running.
Optionally, in this embodiment, the image capturing device 203 may include a camera, and may employ one or more cameras, for example, one camera may be disposed at the head of the vehicle to capture an image of a road condition ahead of the vehicle, one camera may be disposed at the left side or the right side of the vehicle to obtain the road condition on the left side or the right side, and one camera may be disposed at the tail of the vehicle to capture an image of the road condition behind the vehicle. It will be appreciated that if the vehicle itself is provided with a camera, the camera may be connected to the terminal device 202, so that the terminal device 202 may determine the V2X event that is outside the detection range of the drive test device based on the image information obtained from the camera.
The vehicle-road cooperative auxiliary system provided by the embodiment can acquire road condition information in front of the vehicle by arranging the image acquisition device 203, and can detect and early warn the close-distance vehicle/pedestrian related V2X event. Compared with a V2X event which is sent by only depending on the RSU, the method can carry out more comprehensive event detection and early warning, overcomes the defect that full coverage detection cannot be carried out on the road surface due to the fact that the interval of cameras arranged on the road side is too far, and carries out danger early warning on potential pedestrians/vehicles in a blind area/error area range.
In practical application, in order to fully utilize the image collected by the image collecting device 203 to realize total package collection of map elements, optionally, fig. 5 is a schematic structural diagram of a vehicle-road cooperation auxiliary system provided by another embodiment of the present invention, as shown in fig. 5, on the basis of the embodiment shown in fig. 4, in the vehicle-road cooperation auxiliary system 40 provided by this embodiment, the terminal device 202 is further configured to be connected to the data server 33, and is configured to identify the image information, obtain the map elements, and send the map elements to the data server 33, so that the data server 33 updates the map information according to the map elements.
In this embodiment, the map elements include a signboard, a traffic light, and the like, and the terminal device 202 may send the map elements such as the content of the signboard extracted from the image information, the position information, the structure of the traffic light, and the position information to the data server 33, store the image elements by the data server 33, and update the map information stored by the map server 32 according to the map elements.
The vehicle-road cooperative auxiliary system provided by this embodiment is configured to recognize map elements by using the image acquisition device for acquiring images of road conditions in the RSU recognition dead zone or error zone range, so as to realize total packet acquisition of map data and make full use of images acquired by the image acquisition device 203.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description above, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A vehicle-road cooperative assistance system, comprising: the system comprises a positioning device arranged in a vehicle and a terminal device connected with the positioning device;
the positioning device is used for being connected with a positioning base station, acquiring differential positioning data sent by the positioning base station, generating positioning information with the precision higher than a first preset precision according to the differential positioning data and inertial navigation data, and sending the positioning information to the terminal device;
the terminal equipment is used for being connected with the OBU to acquire event information acquired by the OBU, and is also used for acquiring map information with the precision higher than second preset precision, determining lane-level positioning information according to the positioning information and the map information, screening the event information according to the lane-level positioning information, acquiring lane-level event information and pushing the lane-level event information to a user.
2. The vehicle-road cooperative auxiliary system according to claim 1, further comprising: an image acquisition device;
the image acquisition equipment is connected with the terminal equipment, arranged on the vehicle and used for acquiring image information around the vehicle and sending the image information to the terminal equipment;
the terminal device is also used for being connected with the data server, identifying the image information to obtain vehicle information and pedestrian information, and determining a V2X event outside the monitoring range of the drive test device during the driving of the vehicle according to the vehicle information and the pedestrian information.
3. The vehicle-road cooperation auxiliary system according to claim 2, wherein the terminal device is further configured to connect to a data server, and is configured to identify the image information, obtain a map element, and send the map element to the data server so that the data server updates the map information according to the map element.
4. The vehicle-road cooperative auxiliary system according to claim 1, wherein the terminal device includes a first wireless communication module:
the first wireless communication module is used for realizing wireless communication between the terminal equipment and the positioning equipment.
5. The vehicle-road cooperative auxiliary system according to claim 4, wherein the first wireless communication module is a Bluetooth module or a WIFI module.
6. The vehicle-road cooperative auxiliary system according to claim 1, wherein the terminal device includes a second wireless communication module;
and the second wireless communication module is used for realizing wireless communication between the terminal equipment and the OBU.
7. The vehicle-road cooperative auxiliary system according to claim 1, wherein the terminal device comprises a display screen and/or a voice broadcast module;
the terminal device is further used for displaying the lane-level event information to a user through the display screen;
and/or the presence of a gas in the gas,
and the terminal equipment is also used for broadcasting the lane-level event information to a user through the voice broadcasting module.
8. The vehicle-road cooperative auxiliary system according to claim 1, wherein the terminal device is further configured to connect to a map server;
the terminal device is further configured to obtain map information with accuracy higher than a second preset accuracy, and the method includes:
the terminal device is further configured to send the positioning information to the map server, and obtain, by the map server, map information with accuracy higher than a second preset accuracy.
9. The vehicle-road cooperative assistance system according to any one of claims 1 to 8, wherein the first preset precision is greater than or equal to 0.4 m and less than or equal to 0.6 m.
10. A vehicle characterized by comprising the vehicle-road cooperative auxiliary system as recited in any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020553757.4U CN211792049U (en) | 2020-04-15 | 2020-04-15 | Vehicle-road cooperative auxiliary system and vehicle |
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| CN202020553757.4U CN211792049U (en) | 2020-04-15 | 2020-04-15 | Vehicle-road cooperative auxiliary system and vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112700667A (en) * | 2020-12-22 | 2021-04-23 | 北京百度网讯科技有限公司 | Method, apparatus, electronic device, and medium for assisting vehicle driving |
| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
| CN115131978A (en) * | 2021-03-24 | 2022-09-30 | 北京万集科技股份有限公司 | Method, device and equipment for displaying data and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112700667A (en) * | 2020-12-22 | 2021-04-23 | 北京百度网讯科技有限公司 | Method, apparatus, electronic device, and medium for assisting vehicle driving |
| CN115131978A (en) * | 2021-03-24 | 2022-09-30 | 北京万集科技股份有限公司 | Method, device and equipment for displaying data and storage medium |
| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
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