TWI662519B - Roadside display system, roadside unit and roadside display method thereof - Google Patents

Abstract

A roadside display system, a roadside device and a roadside display method thereof. The roadside display system includes a sensor, a roadside device, and a display panel. The roadside device receives the object information of the object from the sensor, and determines whether event information is generated according to the notification application and the object information of the object, wherein the object information includes the coordinate and speed information of the object. The display panel receives event information from the roadside device and displays the event information.

Description

Roadside display system, roadside device and roadside display method thereof

The disclosure relates to a roadside display system, a roadside device, and a roadside display method thereof.

Existing road signage boards can be classified into the following categories: 1. Static Electronic Sign, which is a static kanban that displays fixed road information; 2. Changeable Message Sign (CMS) ), this is also a static kanban, which can be updated through on-site operation or remote control center; 3. Portable CMS (Portable CMS) is a mobile kanban to solve temporary traffic problems. And update the information through on-site operations. The road signboards mentioned above are all set and displayed after the event occurs, and it is impossible to dynamically update the instant information to the kanban according to the multi-party vehicle. On the other hand, driving must also be within the visual distance of the kanban to judge the event, and it is not possible to warn in-car driving that requires the information.

Traditional Advanced Driver Assistance Systems (ADAS), while assisting drivers, are limited by line-of-sight (LOS) detection of vehicle sensors (eg, cameras or radar). Restrictions, unable to overcome Non-Line-of-Sight (NLOS) accidents, For example, Intersection Collision or Front Vehicle Emergency brake, etc., it is necessary to further assist the driver through the integration of roadside equipment and communication technology.

An exemplary embodiment of the present disclosure provides a roadside display system. The roadside display system includes at least one sensor, one side device, and one display panel. The sensor detects at least one object, so that the roadside device receives the object information of the detected object from the sensor, and the roadside device determines whether the device generates information according to the at least one notification application and the object information of the object. The event information of the coordinate and speed information of the object is included, and the display panel receives the event information from the roadside device and displays the event information.

An exemplary embodiment of the present disclosure provides a roadside device. The roadside device includes a wireless communication circuit, an event determination module and a processor circuit. The processor circuit is coupled to the wireless communication circuit and the event determination module. Receiving, by the processor circuit, the object information of the object and the speed information of the at least one object from the at least one sensor, the processor circuit transmits the event information to the object according to the at least one notification The object information determines whether an event information is generated.

An exemplary embodiment of the present disclosure provides a roadside display method. The roadside display method includes: receiving an event information of at least one object from the at least one sensor; and determining, by the event determining module, whether an event information is generated according to the at least one notification application and the object information of the object, wherein The object information includes coordinates and speed information of the object; and transmits event information to a display panel to display event information by the display panel.

The above described features and advantages of the present invention will be more apparent from the following description. Additional features and advantages of the present disclosure will be set forth in part in the description in the description herein. The features and advantages of the present invention are realized and attained by the elements and combinations particularly pointed out in the appended claims. It is to be understood that both the foregoing general description and

100‧‧‧Road side display system

102‧‧‧ Roadside infrastructure

104‧‧‧Road side devices

106‧‧‧Sensor

106a‧‧·Radar

106b‧‧‧ camera

108‧‧‧

110‧‧‧ display panel

202‧‧‧ processor circuit

204‧‧‧Wireless communication circuit

206‧‧‧Storage circuit

208‧‧‧Event Judgment Module

S301, S303, S305‧‧‧ steps of the roadside display method

S401, S403, S405, S407‧‧‧ steps of the roadside display method of the notification application

501‧‧‧ Vehicles

502‧‧‧Bicycle

503‧‧‧ Vehicles

510a, 510b, 510c‧‧‧ display panel

1 is a schematic diagram of operation of a roadside display system according to an exemplary embodiment of the present disclosure; FIG. 2 is a schematic block diagram of a roadside device according to an exemplary embodiment of the present disclosure; A flowchart of a roadside display method illustrated in an exemplary embodiment is provided. FIG. 4 is a flowchart of a roadside display method for a notification application according to an exemplary embodiment of the present disclosure; and FIG. 5 is a disclosure according to the disclosure. A schematic diagram showing event information displayed on a display panel according to an exemplary embodiment.

FIG. 1 is a schematic diagram of the operation of a roadside display system according to an exemplary embodiment of the present disclosure.

Referring to FIG. 1 , the roadside display system 100 includes a roadside infrastructure 102, a signal device 108, and a display panel 110. The roadside infrastructure 102 further includes a roadside unit (RSU) 104 and at least one sensor 106. The sensor 106 can be a sensing device such as a radar 106a, a camera 106b, or a combination thereof, and the sensor 106 can be installed on both sides of the road or at an intersection, and is used to detect at least one object within a detection range (object ). The sensor 106 detects an object within the detection range such as an automobile, a locomotive, a bicycle, or a pedestrian, but the disclosure is not limited thereto.

The roadside device 104 receives and collects object information for each object detected from the sensor 106, such as driving dynamics in different directions of the intersection, such that the object information can include the coordinates/position and speed of each object. The roadside device 104 can also receive the message information transmitted from the phone device 108, and can receive the object information of each object from the sensor 106 by wired/wireless communication. The roadside device 104 determines whether to generate an event information according to the different notification application and the object information of each object, and transmits the event information to the display panel 110. When the display panel 110 is a roadside billboard or a road signage board, the road condition information can be displayed. Give reference to passers-by. In another embodiment, the roadside device 104 determines whether to generate an event information according to the notification information sent by the notification device and the notification device 108, and transmits the event information to the display panel 110. In this way, the neighboring vehicle or pedestrian can be seen through the display panel 110 to see instant event information or warning information to reduce the occurrence of the accident. The notification application may include Intersection Movement Assist (IMA), Electronic Emergency Brake Light (EEBL), Left Turn Assist (LTA), Forward Collision Warning (Forward Collision Warning, FCW), blind Blind Spot Warning/Lane Change Warning (BSW/LCW), Intersection Collision Risk Warning (ICRW), Longitudinal Collision Risk Warning (LCRW), corner speed warning, and Road Hazard Signal (RHS), etc.

FIG. 2 is a schematic block diagram of a roadside device 104 according to an exemplary embodiment of the present disclosure.

Referring to FIG. 2, the roadside device 104 includes a processor circuit 202, a wireless communication circuit 204, a storage circuit 206, and an event determination module 208.

In the present exemplary embodiment, the processor circuit 202 is used to control the overall operation of the roadside device 104. The processor circuit 202 is, for example, a central processing unit (CPU), a programmable microprocessor (Microprocessor), a digital signal processor (DSP), a programmable controller, and a special application integrated body. The application specific integrated circuit (ASIC), Programmable Logic Device (PLD) or the like is not limited. The wireless communication circuit 204 is coupled to the processor circuit 202. The wireless communication circuit 204 is, for example, a Global System for Mobile Communication (GSM) system, a Personal Handy-phone System (PHS), and a Code Division Multiple Access (CDMA) system. , Wireless Fidelity (WiFi) system, Worldwide Interoperability for Microwave Access (WiMAX) system, 3rd generation wireless communication technology (3G), Long Term Evolution (Long Term) Evolution, LTE), communication medium of one or a combination of Wireless Access in Vehicular Environments/Dedicated Short Range Communication (WAVE/DSRC). The storage circuit 206 is configured to store the code of the roadside device 104, the received object information, and the like, and the storage circuit 206 can be a storage device such as a magnetic disk or a flash memory.

In the present exemplary embodiment, the roadside device 104 receives the object information of each object detected from the sensor 106 or the message information transmitted from the logger device 108. The roadside device 104 determines whether to generate an event information according to the different notification application and the object information and/or the log information of each object, and is implemented by the event judging module 208 including a plurality of code codes. That is, for example, the event determination module 208 is implemented in a software type and stored in the storage circuit 206, and when the roadside device 104 operates, the processor circuit 202 loads the event determination module 208 from the storage circuit 206. The code and the function of determining whether to generate an event information according to the different notification application and the object information or the log information of each object. However, it should be understood that the disclosure is not limited thereto. In another exemplary embodiment, the event judging module 208 determines whether to generate an event information according to different notification applications and object information or log information of each object. The hardware circuit type can also be implemented in the processor circuit 202. Thereafter, the roadside device 104 transmits the generated event information to the display panel 110 to transmit event information to the display panel 110 by the roadside device 104 via wired or wireless transmission. Taking the wireless transmission as an example, the roadside device 104 can transmit the generated event information to the display panel 110 through the wireless communication circuit 204. The roadside device 104 can further transmit the generated event information to the vehicle or object disposed adjacent to the On-board Unit (OBU) through the wireless communication circuit 204, so that the adjacent vehicle or object receiving the event information can be This event information is displayed on the in-vehicle.

In an exemplary embodiment, sensor 106 may be a device such as radar 106a, camera 106b, or a combination thereof. The object information sensed by the sensor 106 includes object information such as a relative position, a relative speed, and a vehicle length, but the disclosure is not limited thereto. In one embodiment, when the sensor 106 is a radar 106a device, the radar 106a detects all objects in a detection range through radar detection technology to obtain object information of each scan to the object. The relative position (relative moving coordinates) and relative speed of each item to the roadside device 104 may be included. In addition, the roadside device 104 receives the information transmitted from the radar 106a to further obtain the object position and object speed of each object. However, it must be understood that detecting objects by radar detection technology is only an example, and the disclosure is not limited thereto.

In an embodiment, when the sensor 106 is the camera 106b device, the camera 106b can identify all the objects in the image according to the captured image according to an image recognition technology, and obtain the object information of each captured object. The object information such as the relative position (relative moving coordinates) of each object and the roadside device 104 and the relative speed are calculated, and the object information of each object is transmitted to the roadside device 104. In another embodiment, the roadside device 104 can know the GPS coordinates of the camera 106b in advance, and receive image information from the camera 106b, for the roadside device 104 to recognize the image according to the image recognition technology. After all the objects in the image, object information such as relative position (relative moving coordinates) and relative speed of each object and the roadside device 104 are calculated to further obtain the object latitude and longitude coordinates and object speed of each object. However, it must be understood that the present disclosure does not limit the aspect of the sensor 106. As long as the sensor 106 can transmit the detected object information to the roadside device 104, the roadside device 104 can obtain the object of each object. Object information such as latitude and longitude coordinates/position and object speed.

FIG. 3 is a flow chart of a roadside display method according to an exemplary embodiment of the present disclosure.

Referring to FIG. 3 and FIG. 2 above, in step S301, the roadside device 104 receives the object information of at least one object from the sensor 106, and the roadside device 104 can also receive the log information from the logger device 108. In step S303, the event determining module 208 determines whether to generate an event information according to the at least one notification application and the object information of the at least one object, wherein the object information includes at least the object coordinates and the object speed. In step S305, the roadside device 104 transmits event information to the display panel 110 for the display panel 110 to display the event information. In step S303, the event judging module 208 can further determine whether to generate an event information according to different notification applications, object information of at least one object, and/or log information.

FIG. 4 is a flowchart of a roadside display method for a notification application according to an exemplary embodiment of the present disclosure, and the implementation details of steps S303 to S305 of FIG. 3 are illustrated by FIG. 4.

FIG. 5 is a schematic diagram showing event information displayed on a display panel according to an exemplary embodiment of the disclosure.

Please refer to FIG. 4, FIG. 5 and the above second figure. In this embodiment, the notification application uses the intersection mobile assistance (IMA) as an example. In step S401, the event determination module of the roadside device 104 is used. 208 Filters all objects within a range of angles (eg, angles 70° to 110°) in an intersection based on the received object information. In step S403, the event determination module 208 calculates the intersection time point of any two of the objects in the specific angle range according to any two object information in all the objects within the specific angle range. In step S405, the event judging module 208 determines whether the intersection time point of any two of the objects in the specific angle range is less than a threshold value, for example, the threshold value can be set to 3 seconds. If the intersection time of any two objects is not less than the threshold value, then return to step S403. When the intersection time of any two objects is less than the threshold value, in step S407, the event determination module 208 generates an event information, and transmits the generated event information to the display panel 510 for display.

Referring to FIG. 5 and FIG. 2 above, for example, in an intersection, the roadside device 104 receives object information of a vehicle 501 on a longitudinal road and another bicycle 502 on a lateral road sensed by the sensor 106. The event judging module 208 calculates whether the intersection time of the vehicle 501 and the driving path of the bicycle 502 is less than 3 seconds according to the intersection mobile assistance (IMA) notification application and the object information (position and speed) of the vehicle 501 and the bicycle 502. If it is determined that the intersection time of the vehicle 501 and the driving path of the bicycle 502 is less than 3 seconds, a collision may occur, and the event determination module 208 generates event information to transmit the right vehicle event information to the display panel 510a by the roadside device 104. Let the vehicle 501 see the display panel 510a On the right side of the car event information, and pay attention to the bicycle 502 on the right side; at the same time, the roadside device 104 will transmit the left car event information to the display panel 510b, so that the knight of the bicycle 502 can see the left side of the display panel 510b Car event information, while paying attention to the vehicle 501 coming from the left side, to avoid collisions. It should be added that if the vehicle 501 is equipped with an in-vehicle device, the roadside device 104 can also transmit the right-hand car event information to the in-vehicle device of the vehicle 501, and display the right-side car event information on the in-vehicle device for reminding The driving of the vehicle 501 pays attention to the coming car in the right direction.

In another embodiment, if the vehicle 501 is configured with an in-vehicle device (not shown) and the in-vehicle device has an event determination module having the same function as the roadside device 104, the roadside device 104 can transmit a specific angular range (for example, an angle of 70°). All object information in ~110°) is entered into the in-vehicle device of the vehicle 501, wherein the item information includes object information of the vehicle 501 and the bicycle 502. Then, the event judging module of the in-vehicle device calculates whether the intersection time of the driving path of the vehicle 501 and the bicycle 502 is less than 3 according to the intersection mobile assistance (IMA) notification application and the object information (position and speed) of the vehicle 501 and the bicycle 502. Seconds. If it is determined that the intersection time of the vehicle 501 and the driving path of the bicycle 502 is less than 3 seconds, the event judging module 208 may generate the right side car event information, and display the right side car event information on the in-vehicle device. .

In another embodiment, with the left turn assist (LTA) notification application as an example, while referring to FIG. 5, the roadside device 104 receives a vehicle 503 on the longitudinal road and the bicycle on the lateral road sensed by the sensor 106. 502 object information, event determination module 208 notifies the application according to the left turn assistance (LTA) The object information (position and speed) of the vehicle 503 and the bicycle 502 is calculated whether the intersection time of the left turn of the vehicle 503 and the driving path of the bicycle 502 is less than 2 seconds, and the intersection time of the driving path of the vehicle 503 and the bicycle 502 is determined. If there is a possibility of collision in less than 2 seconds, the event determination module 208 generates a left turn danger event information to transmit the left turn danger event information to the display panel 510c by the roadside device 104, so that the vehicle 503 can see the display panel 510c. Information, to remind the vehicle 503 driving if left turn may collide with the left side of the car. At the same time, the roadside device 104 roadside device 104 transmits the right side car event information to the display panel 510b, so that the knight of the bicycle 502 can see the right side car event information on the display panel 510b, and can pay attention to the vehicle 503 coming from the right side to avoid collision. happened.

In another embodiment, the electronic emergency stop light warning (EEBL) notification application is taken as an example, the roadside device 104 receives the object information of the position and speed of the two vehicles sensed by the sensor 106, and the event determination module 208 According to the electronic emergency brake light warning (EEBL) notification application and the position and speed of the two vehicles, it is judged whether the distance between the two vehicles is too close. If the distance between the two vehicles is too close, the event judging module 208 generates the information of the vehicle distance near event, so that the road side device 104 transmits the information of the passing distance event to the display panel.

In another embodiment, the event determining module 208 of the roadside device 104 determines whether at least one object generates an event information according to the object information and the log information of the received at least one object. For example, when a vehicle is running a red light, the roadside device 104 receives the object information and the log information of at least one object, and the event judging module 208 further obtains an acceleration of the object according to the object information and a combination of the log information to generate a left or right side. Come to the car Event information and send information to the display panel to remind the incoming car of the opposite lane. In another embodiment, the event judging module 208 can directly determine whether the vehicle does not obey the traffic sign based on the object information (position information) and the log information of the object, thereby generating event information and transmitting the information to the display panel for display.

In another embodiment, on a road having a large turning range, the roadside device 104 can receive object information of the speed of the vehicle passing through the road segment, and the event judging module 208 can apply the speed and the notification according to the vehicle (for example, a curve) Speed warning), determine the risk assessment of the speed during cornering, and then transmit the dangerous event information to the display panel to remind the car to drive.

In another exemplary embodiment, a vehicle or an object of an in-vehicle device having an event judging module having the same function as the roadside device 104 is disposed. In this way, the in-vehicle device can receive the object information and/or the log information of each object transmitted from the roadside device 104, and the event judging module on the in-vehicle device according to different notification applications and the object information and/or number of the at least one object. The information is used to determine whether event information is generated, and the event information is displayed on the in-vehicle device, and a warning message can be further issued.

Based on this, the roadside device 104 transmits the packet transmitted through the wireless communication circuit 204 to the vehicle in which the in-vehicle device is disposed. In an embodiment, the roadside device 104 can broadcast a packet through the WAVE/DSRC standard specification, for example, a Basic Safety Message (BSM) packet, which can contain a basic security information format. WAVE/DSRC can be vehicle-to-vehicle (V2V), vehicle-to-roadside (V2R) and vehicle-to-infrastructure communication (Vehicle-to-Infrastructure, V2I), or generally referred to as V2X communication technology, but the disclosure is not limited thereto. Therefore, the vehicle equipped with the OBU can know all the nearby objects (for example, cars, locomotives, bicycles, pedestrians, etc.) through the received V2X basic safety information, and judge by the event judgment module if there are objects that are too close. , a warning message will be issued to avoid a collision.

Additionally, in an embodiment, the sensor 106 can be disposed in the same location as the roadside device 104. In another embodiment, the roadside device 104 may also have a built-in sensor 106. Thus, the GPS coordinates of the sensor 106 are the same as the GPS coordinates of the roadside device 104, and the sensor 106 will include the sensed object information. The relative position and relative speed of the object and the roadside device are transmitted to the roadside device 104, so that the roadside device 104 can obtain the object latitude and longitude coordinates and the object velocity of each object according to the above description. In another embodiment, the sensor 106 can also be disposed at a different location from the roadside device 104, and the roadside device 104 can know the GPS coordinates of each sensor 106 in advance, or receive the GPS from the sensor 106. The coordinates and object information are used by the roadside device 104 to obtain the object latitude and longitude coordinates and the object velocity of each object according to the GPS coordinates of each sensor 106 and the object information received from each sensor 106.

In summary, the roadside display system, the roadside device, and the roadside display method of the above exemplary embodiments can use the roadside device to transmit event information to the roadside panel, so that adjacent vehicles or objects can learn the nearby road information from the roadside kanban message, and reduce The occurrence of accidents and the problem of overcoming the inefficiency of the in-vehicle machine (OBU).

The present disclosure has been disclosed in the above embodiments, but it is not intended to limit the disclosure, and any person skilled in the art can make some changes and refinements without departing from the spirit and scope of the disclosure. The scope of protection of this disclosure is subject to the definition of the scope of the patent application.

Claims (17)

A roadside display system includes: at least one sensor that detects at least one object; and a side device that receives object information of the object from the sensor for the first event judging module of the roadside device according to at least Notifying the application and the object information of the object to determine whether an event information is generated, wherein the object information includes coordinates and speed information of the object; and a display panel receiving the event information from the roadside device to display the event information The roadside device calculates, according to the at least one notification application, any two object items in a specific range of angles, whether the intersection time point of the two objects in the object in the specific angle range is less than A threshold value is generated when the intersection time of the two objects is less than the threshold value. The roadside display system of claim 1, further comprising at least one phonograph device, wherein the roadside device receives the nickname information transmitted from the phonograph device, the roadside device according to the at least one notification application Check with the message information to determine whether the event information is generated. The roadside display system of claim 2, wherein the processor circuit determines, by the first event determination module, whether the at least one notification application, the object information of the object, and/or the message information Generate event information. The roadside display system of claim 3, wherein the wireless communication circuit of the roadside device transmits the object information of the object and/or the message information to an object configured with an in-vehicle device, and the in-vehicle device The second event determination module includes, by the second event determination module, determining whether the event information is generated according to the at least one notification application, the object information of the object, and/or the message information. The roadside display system of claim 1, wherein the roadside device comprises a wireless communication circuit, the first event determination module, and a processor circuit, and the processor circuit is coupled to the wireless communication circuit And the first event determination module. The roadside display system of claim 1, wherein the at least one notification application comprises intersection movement assistance, electronic emergency stop light warning, left turn assistance, front collision warning, blind spot change warning, intersection risk Warning, vertical collision risk warning, cornering speed warning or road hazard signal. The roadside detection system of claim 1, wherein the sensor comprises at least one radar or at least one camera, and uses a radar detection technology or an image recognition technology to detect a detection range. The object is used to obtain the information of the object. A roadside device includes: a wireless communication circuit; a first event determination module; and a processor circuit coupled to the wireless communication circuit and the first thing a piece determining unit, wherein the roadside device receives an object information of at least one object from the at least one sensor, and the object information includes coordinate and speed information of the object, wherein the processor circuit determines through the first event The module determines whether to generate an event information according to the at least one notification application and the object information of the object, wherein the processor circuit uses the first event determination module to apply, according to the at least one notification application, all objects in a specific range of angles The information of any two objects in the calculation, whether the intersection time point of the two objects in the object in the specific angle range is less than a threshold value, and when the intersection time of the two objects is less than the threshold value, the road side The device generates the event information. The roadside device of claim 8, wherein the roadside device receives the first message from the No. 1 device, and the roadside device determines whether the message is generated according to the at least one notification application and the message information. The event information. The roadside device of claim 9, wherein the wireless communication circuit of the roadside device transmits the object information of the object and/or the message information to an object configured with an in-vehicle device, and the in-vehicle device includes a second event judging module, wherein the in-vehicle device determines whether the event information is generated according to the at least one notification application, the object information of the object, and/or the message information through the second event judging module. The roadside device of claim 8, wherein the at least A notification application includes intersection mobility assistance, electronic emergency stop light warning, left turn assistance, forward collision warning, blind spot lane warning, intersection collision risk warning, vertical collision risk warning, cornering speed warning or road danger signal. The roadside device of claim 8, wherein the roadside device further comprises at least one sensor, and the sensor comprises at least one radar and a camera, using a radar detection technology or an image recognition technology. To detect the object within a detection range to obtain the object information. A roadside display method includes: receiving an item information of at least one object transmitted from at least one sensor; and determining, by the first event judging module, the first event judging module according to the at least one notification application and the object information of the object Generating an event information, wherein the object information includes coordinates and speed information of the object; transmitting the event information to a display panel, and the display panel displays the event information; and the first event determining module is configured according to the at least one notification Applying any two object information in all objects within a certain range of angles, and calculating whether the intersection time of the two objects in the object in the specific angle range is less than a threshold value, when the two objects meet When the time point is less than the threshold value, the roadside device generates the event information. The roadside display method of claim 13, further comprising: receiving the first message information transmitted from the first device, and determining whether the event information is generated according to the at least one notification application and the message information. The roadside display method of claim 14, further comprising: transmitting the object information of the object and/or the message information to an object configured with an in-vehicle device, wherein the in-vehicle device is judged by a second event The module determines whether the event information is generated according to the at least one notification application, the object information of the object, and/or the message information. The roadside display method of claim 13, wherein the roadside device comprises a wireless communication circuit, the first event determination module, and a processor circuit, and the processor circuit is coupled to the wireless communication circuit And the first event determination module. The roadside display method of claim 13, wherein the at least one notification application comprises intersection movement assistance, electronic emergency stop light warning, left turn assistance, front collision warning, blind spot change warning, intersection risk Warning, vertical collision risk warning, cornering speed warning or road hazard signal.