WO2020048350A1 - Road condition information processing method, apparatus and system - Google Patents

Abstract

Disclosed are a road condition information processing method, apparatus and system. The system comprises multiple roadside units (RSU) (101) deployed according to a pre-set networking mode and a terminal device (102) associated with a traffic participant. The RSU (101) is provided with a sensor module (1011), a data processing module (1012) and a communication module (1013), wherein the sensor module (1011) is used for sensing a target entering a sensing range; the data processing module (1012) is used for collecting road condition relevant data, and generating, according to the collected road condition relevant data, a data packet meeting a pre-set data structure, with the collected road condition relevant data at least comprising a sensing result of the sensor module (1011); and the communication module (1013) is used for sending the generated data packet. The terminal device (102) is used for obtaining road condition information by means of parsing the received data packet, so that the security performance of the system can be improved.

Description

Road condition information processing method, device and system

This application claims priority from a Chinese patent application filed on September 5, 2018 with an application number of 201811034271.3 and an invention name of "Traffic Information Processing Method, Device, and System", the entire contents of which are incorporated herein by reference.

Technical field

The present application relates to the technical field of road condition information processing, and in particular, to a method, device, and system for road condition information processing.

Background technique

In the fields of autonomous driving and intelligent transportation, highly intelligent autonomous vehicles can effectively sense their surroundings, obtain information on the type, location, orientation, size, and speed of nearby targets, and make a reasonable combination of their driving conditions. The driving decision completes the driving of the vehicle, thereby replacing manual driving labor and realizing a highly automated driving process.

At present, there are two common autonomous driving sensing systems: vehicle sensor network sensing and vehicle communication network sensing. In the way of in-vehicle sensor network sensing, autonomous vehicles need to be equipped with a large number of sensors (lidar, millimeter-wave radar, cameras, etc.) to obtain sufficient and diverse sensor information, coupled with powerful computing equipment to process data in real time and quickly Get complete perception results. However, due to the limitations brought by the low perspective of the car itself, it is in a variety of traffic driving environments, and there are many deficiencies in its perception process and it is difficult to complete a comprehensive perception function. For example, when the volume of the front vehicle is too large to block the effective sensing area of the sensor, the autonomous vehicle cannot obtain accurate information in front. In the event of an emergency (such as a pedestrian vehicle appearing behind the obstruction), it is difficult for the autonomous vehicle to deal with it in a timely manner. Easy to cause traffic accidents. At the same time, due to the limitations of the sensor's transmitting power, resolution, direction angle, and other factors, the range of information it collects is relatively limited, and it is impossible to perceive the environment of traffic driving in a larger space. In situations like this, it is often difficult for autonomous vehicles to effectively ensure driving safety. In addition, this method relies heavily on the vehicle's own sensor system. Once a failure occurs, it will have a great impact on the safety of autonomous driving.

In the in-vehicle communication network-aware mode, high-speed wireless communication equipment needs to be equipped on autonomous vehicles. Currently, V2X (Vehicle-to-everything) technology can be used to share information between the vehicle and any entity affected by the vehicle )to realise. In simple terms, V2X is a security system that implements two-way communication and multi-directional communication. Similar to the WIFI connection method, it can allow infrastructure between vehicles (V2V), between people (V2P), and vehicles and traffic lights. Between (V2I), send signals to send to the other side similar to position, speed, obstacles, danger, etc., thereby improving driving safety.

Among them, V2I is one of the important components. In the prior art, traffic participants, such as vehicles, broadcast their position, speed, and other information to the network. Roadside infrastructure such as RSUs realize the perception of vehicles by receiving broadcast messages from vehicles. At the same time, RSUs can receive them. The information of the traffic participants is broadcast in the form of data packets. The on-board unit OBU in the vehicle receives the data packets of the RSU to learn the surrounding environment information, and then makes driving decisions. However, this method relies on the reporting of vehicle information. Once any vehicle cannot report its own position, it means that it cannot be perceived by other vehicles, and thus becomes a safety hazard.

In short, how to further upgrade the existing systems such as autonomous driving to improve its safety performance has become a technical problem that needs to be solved by those skilled in the art.

Summary of the Invention

This application provides a method, device, and system for processing road condition information, which can improve the safety performance of the system.

This application provides the following solutions:

A road condition information processing system includes:

Multiple roadside unit RSUs deployed according to a preset networking mode, and terminal equipment associated with traffic participants;

The RSU is equipped with a sensor module, a data processing module, and a communication module, wherein:

The sensor module is configured to sense a target entering a sensing range;

The data processing module is configured to collect road condition related data, and generate a data packet conforming to a preset data structure according to the collected road condition related data; the collected road condition related data includes at least a sensing result of the sensor module, The generated data packet includes at least one data record corresponding to information of at least one discovered target;

The communication module is configured to send the generated data packet;

The terminal device is configured to obtain traffic condition information by performing parsing processing on the received data packet.

A road condition information processing method, which is applied to a roadside unit RSU and includes:

Obtaining the sensing result of the current RSU sensor module perceiving a target within its sensing range;

Receiving a data packet from at least one external signal source through a communication module of the current RSU; the data packet sent by the external signal source includes at least one data record corresponding to information of at least one target discovered by the external signal source;

Perform data aggregation according to a current RSU sensing result and / or data in the data packet received from an external signal source to generate the data packet that conforms to a preset data structure;

Providing the data packet to the communication module of the current RSU for sending.

A road condition information processing method, which is applied to a terminal device associated with a traffic participant and includes:

Receive a data packet from at least one roadside device RSU, the data packet is generated by the RSU by sensing a target in a sensing range and / or data aggregation processing is performed on data packets from an external signal source of;

By processing the data packet of the RSU, road condition information is obtained, where the road condition information includes at least one target perceived in the surrounding environment and its corresponding information.

A road condition information processing device, which is applied to a roadside unit RSU and includes:

A sensing result obtaining unit, configured to obtain a sensing result of a sensor module of the current RSU sensing a target that enters its sensing range;

A data packet receiving unit, configured to receive, through the communication module of the current RSU, a data packet sent by at least one external signal source; the data packet sent by the external signal source includes at least one data record corresponding to at least one of the external signals Information about the target discovered by the source;

A data aggregation unit, configured to perform data aggregation according to a current RSU sensing result and / or data in the data packet received from an external signal source to generate the data packet that conforms to a preset data structure;

A data packet providing unit is configured to provide the data packet to a communication module of the current RSU for transmission.

A road condition information processing device applied to a terminal device associated with a traffic participant includes:

A data packet receiving unit, configured to receive a data packet from at least one roadside device RSU, where the data packet is a sensing result by the RSU by sensing a target within a sensing range, and / or data from an external signal source Packets are generated after data aggregation processing;

A data processing unit is configured to obtain road condition information by processing a data packet of the RSU, where the road condition information includes at least one target perceived in a surrounding environment and corresponding information.

A computer system includes:

One or more processors; and

A memory associated with the one or more processors, where the memory is used to store program instructions, and when the program instructions are read and executed by the one or more processors, perform the following operations:

Obtaining the sensing result of the current RSU sensor module perceiving a target within its sensing range;

Receiving a data packet from at least one external signal source through a communication module of the current RSU; the data packet sent by the external signal source includes at least one data record corresponding to information of at least one target discovered by the external signal source;

Perform data aggregation according to a current RSU sensing result and / or data in the data packet received from an external signal source to generate the data packet that conforms to a preset data structure;

Providing the data packet to the communication module of the current RSU for sending.

According to the specific embodiments provided by the present application, the present application discloses the following technical effects:

Through the multi-node RSU system provided in the embodiments of this application, and the ability to provide autonomous sensing for each RSU, the infrastructure has the ability to provide real-time, large-scale information based on RSUs, so any vehicle or other capable of receiving data packets Traffic participants (for example, using V2X receivers) can use infrastructure information to improve safety, instead of relying on the reporting of specific vehicle information.

In addition, the embodiments of the present application also provide data aggregation capabilities for the terminal equipment of the RSU and traffic participants, so that the RSU can expand its own sensing range by aggregating information from other signal sources, and through deduplication processing, it can also achieve Accurate perception of the number of targets in the surrounding environment to avoid misjudgments.

Furthermore, the time stamp is configured for a specific data packet, and the time stamp is determined according to the time when the target in the data packet is perceived. Therefore, the actual position of the target can be predicted to compensate for the delay time and improve Data accuracy.

Of course, the implementation of any product of this application does not necessarily need to achieve all the advantages described above at the same time.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present application. For those of ordinary skill in the art, other embodiments may be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic diagram of a system provided by an embodiment of the present application;

2 is a schematic diagram of RSU sensing and signal transmission provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of target position prediction provided by an embodiment of the present application; FIG.

4 is a schematic diagram of target position derivation provided by an embodiment of the present application;

5 is a flowchart of a first method according to an embodiment of the present application;

6 is a flowchart of a second method according to an embodiment of the present application;

7 is a schematic diagram of a first device according to an embodiment of the present application;

8 is a schematic diagram of a second device according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a computer system according to an embodiment of the present application.

detailed description

In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art fall within the protection scope of this application.

In the embodiment of the present application, in order to reduce the dependence of the roadside equipment RSU on the information reported by traffic participants such as vehicles, the RSU has realized the ability of autonomous perception. Specifically, the RSU can be equipped with sensors, including lidar, millimeter-wave radar, and cameras. When a vehicle or other target enters the RSU's sensing range, the RSU can autonomously sense the target through the sensor and can be generated by the data processing module. The data packet is transmitted by broadcasting or the like (including sending by broadcasting, or it can also be sent to the relevant receiving and sending by other methods, etc.). In this way, even if a vehicle on the road cannot report its related information, the RSU can sense its existence and broadcast it to other vehicles on the road, thereby improving the safety of the system.

On the basis of achieving autonomous perception of RSUs, RSUs can be networked, used in actual roads and other environments, and provided with autonomous driving information for traffic participants on specific roads. That is, a multi-node RSU system can be provided, each node of which has autonomous sensing capabilities. In a preferred manner, it can also route, aggregate, predict, and merge multiple RSUs information for various scenarios to improve automation. Safety of the driving system.

The specific implementation manners provided in the embodiments of the present application are described in detail below.

Embodiment one:

First, the first embodiment provides an automatic driving data processing system. Referring to FIG. 1, the system may include:

Multiple roadside units RSU 101 deployed according to a preset networking mode, and terminal devices 102 associated with traffic participants;

The RSU 101 is equipped with a sensor module 1011, a data processing module 1012, and a communication module 1013. Among them,

The sensor module 1011 is configured to autonomously sense information of a target that enters its sensing range;

The data processing module 1012 is configured to collect road condition-related data and generate a data packet that conforms to a preset data structure according to the collected road condition-related data; the collected road condition-related data includes at least a sensing result of the sensor module , The generated data packet includes at least one data record corresponding to information of at least one discovered target;

The communication module 1013 is configured to send the generated data packet;

The terminal device 102 is configured to obtain traffic condition information by performing parsing processing on the received data packet.

In specific implementation, multiple different sensor modules can be deployed on the same RSU, for example, lidar, millimeter wave radar, camera, etc. are deployed at the same time. In this way, the data processing module 1012 can fuse data from different sensor modules to form a unified multi-mode High-dimensional data collection. That is to say, by merging the sensing results of multiple different sensor modules to jointly perform target discovery, information of multiple dimensions of the same target can be obtained. In addition, in a specific implementation, a detection model may be set in advance, and a target may be found based on the sensing data of the sensor module and a preset detection model, and information of the target may be given. Among them, the so-called target may specifically be a traffic participant perceived by the sensor module. The information of the target may specifically include the position of the target (including latitude and longitude, altitude, etc.), speed, height, width, depth, and so on.

Specifically, the RSU may generate data packets and broadcast the data packets according to a certain period or time interval, for example, generating 10 data packets per second, and so on. However, the sensing operation of the sensor module may be continuously performed. Therefore, in the same processing cycle, there may be new targets that enter the sensing range, or the same target may be repeatedly sensed by the same RSU in the same processing cycle. To (for example, a target travels slowly, etc.), therefore, specifically when recording, you can save the record of each perception, and associate the currently detected target with the target in the historical record and update The information record of the existing target is initialized.

Among them, there may be multiple ways to perform specific networking. For example, when used in a road scenario, multiple RSUs may be deployed along the road at a certain distance. Among them, in the embodiment of the present application, the RSU's autonomous perception capability is used to realize the perception of targets on the road (including various traffic participants, or other unexpected objects, etc.), and this autonomous perception capability is achieved through The sensor module is implemented. The sensor module includes a variety of sensors such as a camera and a radar. In order to obtain more accurate data through a sensor module such as a camera, the sensing range needs to be controlled within a relatively limited range to improve the sensing accuracy. Therefore, the distance between adjacent RSUs can be determined according to the size of the sensing range of a single RSU, and multiple autonomously sensing RSUs that are relatively densely deployed can provide more and more comprehensive road condition information for road participants on the road . For example, assuming that the sensing range of an RSU is 200 meters, the distance between each RSU can be less than or equal to 200 meters, thereby achieving full coverage of the road surface.

On the other hand, the signal transmission range of the communication sensor in the RSU is usually larger than the above-mentioned sensing range. For example, the signal transmission range can usually be 800 meters or more, which can make one RSU near one or more RSUs. Signal transmission range. The above characteristics can bring the following advantages: In addition to autonomously sensing the targets on the road, the RSU can also receive more target information from other RSUs. For example, as shown in Figure 2, it is assumed that vehicles 201, 202, and 203 can be sensed within the autonomous sensing range of RSU A (right side), and vehicle 204 is not within the sensing range of RSU A, so RSU A cannot directly sense it. . However, since the signal transmission range is larger than the sensing range of the RSU, the RSU A can receive data packets from the neighboring RSU B. That is, although RSU A cannot perceive vehicle 204 by itself, by receiving the data packet of RSU B, it can actually have all relevant information about vehicle 204. More importantly, by expanding this function, the RSU can theoretically sense all the objects on the road, although in actual applications, an RSU usually only needs to provide 2 to 3 kilometers of road environment information for nearby vehicles. In addition, by expanding this function, even if a sensor module of an RSU fails, etc., and the autonomous sensing ability is lost, the RSU can still realize the target perception through data packets broadcast from other RSUs around it, and After this packet is generated, it is broadcast.

However, while bringing the above advantages, there may be the following problems that need to be resolved: Since the distance between different RSUs is relatively close, the same target may appear in the data packets of multiple different RSUs, and these RSUs All packets can be received by the same RSU. At this time, if you do not take some measures and simply superimpose the data in the data packets of other RSUs into the data packets of the current RSU, the following situation may occur: there are actually only m vehicles in a certain road range, but, However, RSU believes that there are n vehicles, where n> m, because some of these vehicles are repeatedly perceived by multiple RSUs. In addition, because the distances between RSUs are relatively close, and the signal transmission range is relatively large, the data packets of RSUs are broadcast and are not directed to a receiver. Therefore, for traffic participants such as vehicles , Usually also receive data packets from multiple RSUs, at this time, when driving decisions based on these RSU data packets, if there is no special processing, the situation may also misjudge the surrounding environment. For vehicles that specifically receive these data packets, the presence of data packets from multiple RSUs has instead formed an interference that is not conducive to making correct decisions.

In addition, from the perception of a target by RSU to the final generation of a data packet, the vehicle may receive a data packet during this period, which may experience a period of calculation delay and transmission delay. In this process, the specific vehicle continues on the road. Driving. Therefore, when a vehicle receives a data packet, although the data packet indicates that a target is at a certain position, the position of the target has actually changed. At this time, if the vehicle directly uses the received data Records in the package are used to make driving decisions, errors may occur and the accuracy of the decisions is relatively low.

In view of the foregoing problems, corresponding solutions are provided in the embodiments of the present application. First, to address the problem that data packets from multiple signal sources may cause misjudgment or mutual interference to the surrounding environment, in the embodiment of the present application, a data aggregation function is first implemented for the RSU. The communication module is further configured to receive a data packet from an external signal source, and the data processing module may be specifically configured to, according to the current RSU autonomous sensing perception result and the external signal source (other RSU, and / or traffic participation) Data packets of terminal devices associated with the user, etc., to perform data aggregation processing to generate data packets conforming to a preset data structure. Specifically, when performing aggregation, the information of the target that is not perceived by the current RSU can be added to the data packet, and / or the information of the target that has been perceived by the current RSU in more dimensions can be added to the data packet. . In addition, it is also possible to determine whether a target perceived by the current RSU is the same target as a target perceived by an external signal source, and if so, the information of the target is described in a unified manner.

In other words, when performing data aggregation, on the one hand, data packets from external signal sources can be used to extend the current RSU's perceived results; on the other hand, information on the same target contained in different data packets can be deduplicated. Processing to improve the accuracy of data perception of surrounding environment information. Specifically, when performing the expansion, the information of other targets that the current RSU cannot autonomously sense can be extended into the data packet of the current RSU. Specifically, the targets included in the data packets of various different signal sources can be firstly The perception results are compared to determine whether there is a situation in which the same target is located in different data packets. For example, suppose that the current RSU A targets include three vehicles a, b, and c. At the same time, the RSUA also receives data packets broadcast by RSU B, including two vehicles c and d. Among them, since the vehicle d does not appear in the sensing range of the RSU A, the information of the vehicle d can be directly added to the data packet of the RSU A. As for vehicle c, since both RSU A and RSU B perceive the vehicle, the information about the vehicle c in the two data packets can be combined, that is, deduplication processing is performed, and the vehicle is unified by a unified entry. The information of c is recorded, that is, the information of the same target corresponds to only one data record in the same data packet. Specifically, when merging, the information about the position and speed of the vehicle can be based on the data in the RSU packet that recently sensed the vehicle c. For example, when RSU A perceives the vehicle c after RSU B, the vehicle The position and speed information of c can be based on the information recorded in the data packet of RSU. Information about the timing relationship between different RSUs perceiving an object will be described in detail in the later section on timestamps. In short, each data packet can have a timestamp, which is used to indicate that the RSU is in the data packet. The perceived time of each target. For information on other dimensions such as height, width, and depth, there may be information in some dimensions that is perceived by RSU B, but not by RSU A. For example, information about the height of a vehicle may be due to RSUA perception. When a vehicle is in use, the sensor module of the RSUA is located directly above the vehicle, so that the RSUA cannot sense the height information of the vehicle; however, when RSUB senses the vehicle, the angle of view of the sensor module of the vehicle can just accurately sense the vehicle. The height can therefore be recorded, and so on. In this case, more dimension information recorded in the data packet of RSU B can be added to the data packet of RSU A, and so on.

In addition, since a specific vehicle participant, such as a vehicle, may also receive data packets broadcast by multiple RSUs at the same time, a data aggregation function may also be implemented for terminal devices (for example, on-board equipment OBU, etc.) associated with the vehicle participant. Specifically, similar to the aggregation function of RSU, the terminal device can also identify the targets contained in different data packets, and determine whether there are cases where different data packets contain the same target. If they exist, they can be merged first, and then Then make decision processing. What needs to be explained here is that for a terminal device, after receiving data packets from multiple RSUs and performing aggregation processing, a target list can be obtained, which includes information about each perceived target after deduplication processing. The information in the list lists the targets around the terminal device, their respective locations, and speed. Therefore, driving decisions can be made based on this information, such as whether a lane change is required, whether a deceleration is required, and so on.

Among them, for the RSU, the data packets of the so-called external signal source may include, in addition to data packets broadcast by other nearby RSUs, data packets broadcast by terminal devices associated with traffic participants. In other words, for specific traffic participants such as vehicles, in addition to realizing autonomous driving based on the information provided by the RSU, they can also contribute some information to the RSU or other vehicles. For example, in a specific implementation, the terminal device may broadcast information such as its own speed and location. In addition, the terminal device may also be equipped with a sensor module and a communication module. The sensor module of the terminal device is used to sense information about targets in the surrounding environment and broadcast to the outside through the communication module. In this way, when a terminal device approaches an RSU, so that the RSU enters the signal transmission range of the terminal device, the RSU can receive the data packet broadcast by the terminal device. When RSU specifically performs data fusion, in addition to data packets of other RSUs, data packets of this terminal device can also be fused. As a result, the RSU and the vehicle form two sensing modes of “one motion, one quiet, one high and one low”, and then the communication between the two sensory information through communication means, which can compensate for the low perspective and detection of the vehicle during the process of vehicle perception. Insufficient information due to factors such as limited distance. In the daily traffic, a car-road cooperative automatic driving system is established between the two important carriers, the road and the vehicle, which fully combines the different technical features and advantages of the two to improve the safety and stability of autonomous driving.

Of course, in specific implementation, a data packet from the terminal device and a data packet from another RSU may have different source flag information, so that the RSU can distinguish them. In addition, the data processing module may also buffer the data packets from the external signal source, and after the buffered data packets are used for aggregation, they may be removed from the cache. Alternatively, if the buffered data packet has not been used for aggregation, after receiving a new data packet of the same signal source, the newly received data packet may be used to replace the previous data packet of the signal source in the buffer.

Through the above-mentioned data aggregation function, it is possible to avoid misjudgment of the number of targets in the surrounding environment and the like, and regarding the accuracy of the information due to the delay, it can be achieved by adding a time stamp to the data packet. In specific implementation, the data structure of the data packet may include a time stamp field, and the data processing module may further add time stamp information to the data packet according to the time point when the sensor module senses the target. It should be noted that, in the embodiment of the present application, the time stamp specifically added to the data packet is the time when the RSU senses the specific target, not the time when the data packet is generated to ensure the accuracy of the data. In addition, for a data packet, it may contain information corresponding to multiple targets. Although the actual time that each target is perceived by the same RSU may be slightly different, the frequency of generating packets by RSU is usually high. Therefore, the impact of this difference can be ignored, and a common timestamp is used to represent the time when the target was perceived. Of course, in actual applications, if a more accurate expression of the perceived time corresponding to each target is required, a more accurate time stamp can also be added to the data record entry corresponding to each target in the data packet, and so on.

In this way, after receiving a data packet broadcast by an RSU, the terminal device can first obtain the delay time between the timestamp information and the current receiving time, and according to the delay time, determine the specific target in the data packet. The current position information is predicted, and then a new target is generated based on the predicted position information and added to the target list. The terminal device may specifically obtain the speed information of the target from the data packet when performing prediction, and then, based on the speed information, the calculated delay time length, and preset map data, the specific The current position information of the target is predicted. For example, as shown in FIG. 3, suppose that information about a target in a data packet of an RSU is, at time t0, located at point p0, and when a specific terminal device receives the data packet, it is already time t1, At this time, the terminal device can predict the possible position p1 of the target at time t1 according to the speed, position p0 of the target, and preset map data recorded in the data packet, and then, based on (t1, p1), And other information about the target in the data package to generate a new target and add the new target to the target list.

In addition, in specific implementation, the maximum trusted time offset information can also be configured for the data packet in advance, that is, if the terminal device receives a data packet, the delay time between the data packet and the time stamp of the data packet is less than the maximum Trusted time offset, you can think that the information in the data packet is accurate and no prediction is necessary. Therefore, the maximum trusted time offset information field can be provided in the data structure of the data packet, and the terminal device can determine whether the current position information of the corresponding target is required according to the maximum confidence time offset information and the delay time length. Prediction is performed, and if not required, the target is directly added to the preset target list, and if required, the prediction is added to the target list.

Furthermore, in order to reduce the amount of calculations measured by the terminal device, after the RSU perceives a specific target, the time point at which the target is perceived and the position information of the target at the perceived moment may be used as the The initial data of the target, and multiple copies of the data packet are generated according to the preset time offset. Each copy of the packet is used to record the corresponding time point of the target after each time offset and the target time. Predicting the location of the target, and adding a time-shift derivative flag to the packet copy. For example, as shown in FIG. 4, suppose an RSU perceives that a target is located at p0 at time t0. At this time, it can first generate an original data packet together with the information of other perceived targets; in addition, you can also Based on these original data, multiple data packet copies are synthesized, and each data packet copy includes the predicted position information of each target after a certain length of time offset Δt backward based on time t0. That is, in the original data packet, the position information of each target at time t0 is recorded (of course, it also includes information in other dimensions), while in the first copy of the data packet, each target is recorded at t0 + △ At time t, the corresponding predicted position information. The second data packet copy records the corresponding predicted position information of each target at time t0 + 2 △ t, and so on. Of course, in order to enable the terminal device to distinguish between the original data packet and the data packet copy, a time-shift derivative flag field can also be provided in the data packet data structure, so that a time-shift derivative flag can be added to the data packet copy. In this way, after receiving a specific data packet copy, the terminal device can directly calculate the delay time from the current receiving time according to the time stamp information of the corresponding original data packet, and then obtain the current receiving time from the data packet copy. Location prediction information of each target corresponding to the closest point in time. For example, if the calculated delay time is approximately equal to 2Δt, the information of each target recorded in the second data packet copy can be used to generate a specific target list, which can prevent the terminal device from performing a prediction operation again.

In addition, the data structure of the data packet may further include a transmission interval field, and the data processing module may be further configured to configure information of the data packet transmission interval of the RSU. The so-called transmission time interval is the transmission period of a specific data packet. In specific implementation, the same RSU can generate a data packet and broadcast it at a certain period. The transmission period information can be added to the field corresponding to the data structure of the data packet. in. After receiving the data packet of an RSU, the terminal device may also determine whether to wait for the next data packet of the RSU before making a driving decision according to the transmission interval of the RSU.

Furthermore, the confidence level of the data contained in it may be different according to the way in which the specific data packet is generated. For example, the aforementioned copy of the data packet is synthesized based on the perceived information, so , Its confidence will be relatively low. For the original data packet generated directly based on the perceived information, the confidence level is relatively high, and this confidence level information can also be provided to the terminal device for reference in the calculation. Therefore, the data structure of the data packet may further include a confidence field. At this time, the data processing module may also determine a corresponding confidence level according to the generation method of the data packet, and add it to the data packet. Correspondingly, the terminal device can make specific driving decisions based on the confidence of the specific data packet.

In addition, some of the data packets generated by RSU may be generated solely based on autonomously perceived information, and some may be generated by aggregating information in data packets from external signal sources. Different generation methods can also be distinguished. So that the terminal device can perform different processing on the data in it according to whether the aggregation is performed. To this end, the data structure of the data packet can also include a flag field to indicate whether data aggregation has been performed; in this way, if the data packet generated by aggregating the perception result of autonomous perception with the data packet of an external signal source , You can also add a data aggregation flag to the packet.

As mentioned above, since the data packets in the system include those generated by the RSU and terminal devices such as vehicles, the data structure of the data packets can also include a flag field to indicate the type of the signal source. Record specific signal source types, so that when data aggregation is performed, different signal source types can be distinguished and different processing methods can be performed.

In addition, the data structure of the data packet may further include some basic information fields, for example, it may include fields for describing longitude, latitude, altitude information of the location where the RSU is located, and so on.

Each field described above is a field for describing a data packet, and is applicable to the entire data packet. In specific implementation, the specific data packet is mainly used to record detailed information corresponding to each perceived target. Therefore, the data structure of the data packet also includes multiple data record entries, and each data record entry corresponds to a discovered target. And its information in multiple dimensions. These data record entries may first include fields for representing basic information such as longitude, latitude, altitude, speed, title, height, width, and depth of the target location. After perceiving the information in the above-mentioned various dimensions of an object, a data record entry can be created respectively, and the information in each dimension is added to the corresponding field.

In addition to the above-mentioned basic information fields, priority fields can be set for specific data record entries. Specifically, the danger level of the target may be determined according to the perception data corresponding to the target, and priority information may be added to the target according to the danger level. For example, in the highway scene, very slow or very fast vehicles have high danger levels. For this kind of target, after perceiving basic information such as specific speed, you can also determine specific details for it. Priority information. For example, a target with a higher danger level has a higher priority, which can remind terminal equipment such as vehicles to pay special attention.

In addition, for targets with a higher priority, when RSU performs data aggregation processing, it can also be treated differently. For example, when the RSU performs data aggregation, it may receive multiple data packets broadcast by other RSUs, which may include some packets of RSUs that are far away, or may include data packets broadcast a long time ago, etc. For these data packets, since the reference value to vehicles near the RSU is not great, they can usually be discarded and no longer participate in data aggregation. However, if a data packet contains a higher-priority data record entry, it can be retained and continued to be used for data aggregation processing, so that this higher-risk factor can have more opportunities to be more Perceived by the vehicle.

Moreover, as mentioned above, a timestamp field can be provided for a data packet to indicate the time when each target in the data packet was perceived. For a data packet generated by aggregation, it may The target information perceived by the RSU. Therefore, it is not accurate enough to represent all targets in the data packet with a uniform time stamp to indicate the perceived time. For this reason, in an optional implementation manner of the present application, the data record entry may further include a field for representing a time offset. If the data packet is generated by aggregating the sensing result of autonomous perception with the data packet of the external signal source, the target information in the data packet from the external signal source included in the data packet can be determined according to The time difference between the data packet of the external signal source and the time stamp of the current data packet is added to the data record entry corresponding to the target. For example, a packet 1 generated by an RSUA includes targets a, b, and c, where a and b are perceived by the RSU A, and c is obtained from the data packet 2 of the RSU B. Based on the time difference between the timestamp of the data packet 1 and the timestamp of the data packet 2, a time offset can be obtained and added to the data record entry corresponding to the target c. In this way, for a terminal device, after receiving a data packet 1, according to the data aggregation flag of the data packet, it can be learned that the data packet is generated by aggregating data from multiple signal sources. When reading the specific entry corresponding to each target, regarding the timestamp information of each target, the time offset information (if any) can be read from the data record entry corresponding to the specific target, and then according to the data packet 1 The timestamp of the target is calculated, and the actual timestamp of the target is calculated. The timestamp information can more accurately reflect the time when the target is actually perceived.

It should be noted that, in the solution provided in the embodiment of the present application, communication needs to be performed between the terminal devices of traffic participants such as vehicles and the RSU, and since various types of vehicles and devices are produced by different manufacturers, therefore, In order for the incompatible devices to communicate with each other in an orderly, efficient, and fair manner, it is usually necessary to establish communication standards to regulate their signaling and receiving behaviors. For example, in the existing technology, there are two major communication standards in the V2X field, namely DSRC (dedicated short-range communications) and LTE-V (long-term evolution technology-vehicle communication). However, in the prior art, the perception is realized by the vehicle reporting its speed, location and other information to the RSU, and there is basically no communication between different RSUs, and there is no data aggregation or delay. Processing of information such as time, therefore, whether it is DSRC or LTE-V, the data structure defined therein cannot directly support the scenario in the embodiment of the present application. For this reason, in specific implementation, the data structure and the syntax elements (fields) therein may be defined in advance. The definition of the fields in the data packet and each data record entry in the data packet belongs to this category. In specific implementation, RSUs, vehicles, etc. can generate specific data packets and broadcast them according to the definition, and other nearby RSUs or vehicles can receive such data packets by listening to the broadcast, and according to the pre-configured The protocol implements parsing of data packets and identification of information.

For example, in one implementation, the syntax elements and corresponding semantics in the specific data structure of the data packet can be expressed as follows:

message_packet_objects () {

msg_profile_level // indicates the profile and the level of this standard that specifies the message package. In a much simpler form, it may indicate a version number

num_objects // specifies the number of objects present in this message packet (specify the number of objects that exist in this packet)

msg_source_id // the identifier of the packet sender

perception_time_stamp // represents the perception time of this message, the time instance instance when the application is applied. The timetime stamp is time 1970-01-01 00:00:00 to the current instance instance timestamp of the data packet

max_confidence_time_offset // indicates maximum delay time, by comparing the current time time instance instance and the perceptual time, in unit unit of the millisecond, with which which OBU shouldshould take the the current current message packed the objects within the message package may be updated with certain prediction mechanisms (the maximum trusted time offset of the packet)

transmission_gap // indicates the perception and time difference references in milliseconds, between, the next message packets from the same source source and the message message packets of the current messages message packet transmission.

source_latitude // indicates the latitude of the current RSU, in unit of 0.0000001 degree. Note that such a value of latitude can have a precision value as the latitude of the signal source location

source_longitude // indicates the longitude of the current RSU, in unit of 0.0000001 degree (longitude of the signal source location)

source_elevation // indicates the elevation of the current RSU, in unit of 0.01 (the altitude of the signal source location)

confidence_idc // specifies the confidence of the current message packet. The current values of the confidence_idc are listed in the following table (confidence of the packet)

(Where: the specific confidence value and the corresponding semantics can be as follows:

15: Highest confidence (original message, packet, with minimum aggregation)

14: High confidence (original message, packet, with aggregation)

13-9: Reserved

8: Medium confidence (the original message packet may be not aggregated from the message packet generated from the current RSU)

7 to 5: Reserved

4: Low confidence (a synsthesis message packet)

0 to 3: Reserved)

time_shift_derived_flag // equal to 1 indicates if the current current message packet is a synthesizing message packet (produced from from an original basis message packaged by applying a shift (precedence) on the basis of the RSU data side shifts (Derivative logo)

sensor_source_type_flag // equal toto1 in the indicates of the packet message generated from the source of RSU.sensor_source_type_flag equal to 0 0 indicates to the packet tomessynthesis can be more than the same. indicates more types of sensing source (signal source type flag of the packet)

info_aggregated_flag // specifies the current current message generated from the message aggregation process (the aggregation flag of the packet)

reserved_one_zero_bit // reserved bit

for (i = 0; i <num_objects; i ++) {

object_type [i] // indicates the type of object for the i-th object (type of the i-th target)

(Among them, the value of the specific type and the corresponding semantics can be as follows:

1: Pedestrian

2: Car

3: Bus / Truck

4: Motorcycle

5: Bicycle

6: Animal

7 ~ 15: Reserved)

latitude [i] // indicates the latitude of the i-th object (the latitude of the i-th target location)

longitude [i] // indicates the longitude of the i-th object (the longitude of the i-th target position)

elevation [i] // indicates the elevation of the i-th object (the altitude of the i-th target location)

(Alternatively, in order to improve the signalling efficiency, the relative values of the latitude, longitude, and elevation are signaled relativeally to the relative values of latitude, longitude, and altitude in order to improve the efficiency of the signal. Relative to the value of RSU is relative):

del_rsu_lat [i] (16)

del_rsu_long [i] u (16)

del_rsu_elev [i] u (16)

Among them, del_rsu_lat [i] indicates the elevation of the i-th object and the source_elevation

del_rsu_long [i] indicates the longitude of the i-th object relative to the source_longitude.

del_rsu_elev [i] indicates the elevation of the i-th object relative to the source_elevation.)

speed [i] // indicates the speed of the i-th object, in unit of 0.01m / s. (the speed of the i-th target)

heading [i] // indicates the heading of the i-th object, in unit of 0.01 degree (the title of the i-th target)

height [i] // indicates the height of the i-th object, in unit of 0.01meter (the height of the i-th target)

width [i] // indicates the width of the i-th object, in unit of 0.01meter (the width of the i-th target)

depth [i] // indicates the depth of the i-th object, in unit of 0.01meter (the depth of the i-th target)

priority [i] // indicates the priority of the i-th object. A higher priority value value indicates the object should be preserved, transmitted or processed with the higher priority (the priority of the i target)

obj_confidence [i] // indicates the confidence of the i-th object (confidence of the i-th target)

if (info_aggregated_flag) // If the packet has an aggregation flag

time_offset [i] // indicates the time difference between the time and the time of the object of time and the time of the message of the packet, in unit of the time (the time offset of the i-th target relative to the packet timestamp)

}

}

Of course, in specific implementation, the names of various fields can also be defined in other ways, which is not limited here.

In short, through the multi-node RSU system provided in the embodiments of this application, and providing the ability of autonomous sensing for each RSU, the infrastructure has the ability to provide real-time, large-scale information according to RSUs, so any vehicle that can receive data packets Or other traffic participants (for example, using V2X receivers) can use infrastructure information to improve safety, instead of relying on the reporting of specific vehicle information.

In addition, the embodiments of the present application also provide data aggregation capabilities for the terminal equipment of the RSU and traffic participants, so that the RSU can expand its own sensing range by aggregating information from external signal sources, and through deduplication processing, it can also Accurate perception of the number of targets in the surrounding environment to avoid misjudgments.

Furthermore, the time stamp is configured for a specific data packet, and the time stamp is determined according to the time when the target in the data packet is perceived. Therefore, the actual position of the target can be predicted to compensate for the delay time and improve Data accuracy.

Example two

This second embodiment corresponds to the first embodiment. From the perspective of the roadside unit RSU, a method for processing automatic driving data is provided. Referring to FIG. 5, the method may specifically include:

S501: Obtain a sensing result of a sensor module of the current RSU sensing a target that enters its sensing range;

S502: Receive a data packet from at least one external signal source through the communication module of the current RSU; the data packet sent by the external signal source includes at least one data record corresponding to at least one target discovered by the external signal source information;

S503: Perform data aggregation according to a current RSU sensing result and / or data in the data packet received from an external signal source to generate the data packet that conforms to a preset data structure;

S504: Provide the data packet to a communication module of the current RSU for sending.

Wherein, the specific data aggregation processing may include: adding information of the target that is not perceived by the current RSU to the data packet, and / or, adding the target that the current RSU has perceived in more dimensions. Information is added to the packet.

In addition, the data aggregation processing may further include: determining whether a target perceived by the current RSU and a target perceived by an external signal source are the same target, and if so, describing the information of the target in a unified manner.

In addition, during implementation, the data packets from the external signal source may be buffered. After the buffered data packets are used for aggregation, they may be removed from the cache, or the data packets received from the same signal source may be After the new data packet, replace the previous data packet of the signal source in the buffer with the newly received data packet.

In order to solve the delay problem, the data structure of the data packet may further include a time stamp field;

At this time, time stamp information may also be added to the data packet according to the time point when the sensor module senses the target, so that the receiver can obtain the time stamp information and the current reception after receiving the data packet broadcast by the RSU. The length of the delay time between moments, and the current position information of the specific target in the data packet is predicted according to the delay time length.

In addition, the data structure of the data packet may further include a maximum trusted time offset field;

At this time, the maximum confidence time offset information may be configured for the data packet, so that the receiver determines whether to predict the current position information of the corresponding target according to the maximum confidence time offset information and the length of the delay time, If not needed, the target is directly added to the preset list, and if needed, the target is added to the list after prediction.

Furthermore, in order to prevent the terminal device from performing a prediction operation, the data structure of the data packet may further include a time-shift derivative flag field;

At this time, the time when the target is perceived and the position information of the target at the perceived time may be used as the initial data of the target; multiple copies of data are generated respectively according to a preset time offset. A copy of the packet, each copy of the packet is used to record the target point in time and the location information of the target after each time offset has elapsed; then, a time-shift derivative flag is added to the copy of the packet So that the receiver obtains from the data packet copy the location information of each target corresponding to the point in time closest to the time when the data packet was received.

In addition, the data structure of the data packet may further include a transmission interval field;

At this time, the packet transmission interval information of the RSU can also be configured, so that after receiving the data packet of an RSU, the receiver determines whether to wait until the next packet of the RSU arrives according to the transmission interval of the RSU. Make formal decisions.

The data structure of the data packet may further include a confidence field;

At this time, the corresponding confidence degree may also be determined according to the generation manner of the data packet, and added to the data packet.

Furthermore, the data structure of the data packet may further include a flag field for indicating whether data aggregation has been performed;

At this time, if the data packet generated by aggregating the current RSU's sensing result with the data packet of the external signal source, a data aggregation flag can also be added to the data packet.

The data record entry may include a priority field;

At this time, the danger level of the target may also be determined according to the perception data corresponding to the target, and priority information may be added to the target according to the danger level.

When performing the aggregation processing, for a data packet from an external signal source that is too far away from the current RSU, or a data packet sent from an external signal source that takes a long time to send, it can also be determined whether it contains a packet that meets the priority criteria Data record entries, if included, are reserved for aggregation processing, otherwise discarded.

Furthermore, the data record entry may further include a field for representing a time offset;

At this time, for the information of the destination in the data packet from the external signal source included in the data packet, the time difference between the data packet of the external signal source and the time stamp of the current data packet may be The data record entry corresponding to the target adds time offset information.

Example three

This third embodiment also corresponds to the first embodiment. From the perspective of the terminal devices associated with the traffic participants, a method for processing automatic driving data is provided. Referring to FIG. 6, the method may specifically include:

S601: Receive a data packet from at least one roadside device RSU. The data packet is a sensing result obtained by the RSU by sensing a target within a sensing range, and / or data aggregation processing is performed on a data packet from an external signal source After generation

S602: Obtain road condition information by processing a data packet of the RSU, where the road condition information includes at least one target and its corresponding information that are perceived in the surrounding environment.

Specifically, when performing aggregation processing on data packets of multiple RSUs, it may be determined whether the data packets of the multiple RSUs include the same target, and if they are included, merge processing is performed.

Wherein, the data structure of the data packet includes a timestamp field, which carries time point information of the target in the data packet being perceived;

At this time, the information about the same target in the data packet corresponding to the latest timestamp may be determined as the information of the target.

In addition, when obtaining the traffic condition information, a delay time length between the timestamp information and the current receiving time can also be obtained, and the current position information of the specific target in the data packet is predicted according to the delay time length.

Wherein, the data structure of the data packet may further include a maximum trusted time offset field; at this time, before the prediction, it may also be determined according to the maximum confidence time offset information and the delay time length. The current position information of the corresponding target needs to be predicted, and if not needed, the target is directly added to the preset target list, and if required, the prediction is added to the target list.

In addition, the data packet includes a copy of the data packet, and the copy of the data packet includes the time point at which the perceived target is perceived, and after each time offset, the corresponding time point and the target is about to appear. Position prediction information; the data structure of the data packet copy also includes a time-shift derivative flag; at this time, position prediction information of each target corresponding to the closest point in time to the current reception time can also be obtained from the data packet copy .

In addition, the data structure of the data packet also includes a transmission interval field; after receiving a data packet of an RSU, it can also determine whether to wait for the next data packet of the RSU to make a form decision based on the transmission interval of the RSU. .

In addition, the data structure of the data packet further includes a confidence field; a driving decision may be made according to the confidence information corresponding to the data packet.

In addition, the data record entry includes a priority field, which is used to indicate a danger level of the target; at this time, the terminal device can make a driving decision according to the priority information corresponding to the target.

Corresponding to the second embodiment, an embodiment of the present application further provides an automatic driving data processing device. Referring to FIG. 7, the device is applied to a roadside unit RSU and includes:

A sensing result obtaining unit 701, configured to obtain a sensing result of a sensor module of the current RSU autonomously sensing a target that enters its sensing range;

A data packet receiving unit 702 is configured to receive, through the communication module of the current RSU, a data packet sent by at least one external signal source; the data packet sent by the external signal source includes at least one data record, corresponding to at least one data packet sent by the external Information about the target found by the signal source;

A data aggregation unit 703 is configured to perform data aggregation according to a current RSU sensing result and / or data in the data packet received from an external signal source to generate the data packet that conforms to a preset data structure;

A data packet providing unit 704 is configured to provide the data packet to a communication module of the current RSU for transmission.

The data aggregation unit may be specifically configured to add information of the target that is not perceived by the current RSU to the data packet, and / or add the target of the target that has been perceived by the current RSU in more dimensions. Information is added to the packet.

In addition, the data aggregation unit may also be specifically used to determine whether a target perceived by the current RSU and a target perceived by an external signal source are the same target, and if so, describe the information of the target in a unified manner.

Specifically, the device may further include:

A buffer processing unit, configured to buffer the data packet from the external signal source, and after the buffered data packet is used for aggregation, remove it from the cache, or receive new data from the same signal source After the packet, the last data packet of the signal source in the buffer is replaced with the newly received data packet.

The data structure of the data packet includes a time stamp field;

The device further includes:

A timestamp adding unit is configured to add timestamp information to the data packet according to the time point when the sensor module senses the target, so that the terminal device associated with the traffic participant receives the data packet broadcasted by the RSU and obtains the The delay time length between the timestamp information and the current receiving time is described, and the current position information of the specific target in the data packet is predicted according to the delay time length.

The data structure of the data packet further includes a maximum trusted time offset field;

The device may further include:

The maximum trusted time offset configuration unit is configured to configure the maximum confidence time offset information for the data packet, so that the receiver determines whether the corresponding target needs to be determined according to the maximum confidence time offset information and the delay time length. To predict the current position information of, if not needed, directly add the target to the preset list, and if needed, add the target to the list after prediction.

The data structure of the data packet further includes a time-shift derived flag field;

The device may further include:

An initial data determining unit, configured to use the point in time at which the target is perceived and the position information of the target at the perceived moment as initial data of the target;

A data packet copy generating unit is configured to generate multiple data packet copies according to a preset time offset, and each data packet copy is used to record a corresponding time point of the target after each time offset has passed. And where the target is about to appear;

A time-shift derivative flag adding unit is configured to add a time-shift derivative flag to the data packet copy, so that the receiver obtains the position information of each target corresponding to the closest point in time when the data packet is received from the data packet copy. .

The data structure of the data packet further includes a transmission interval field;

The device further includes:

A transmission interval configuration unit, configured to configure data transmission interval information of the RSU, so that after receiving a data packet of an RSU, the receiver determines whether to wait for the next data packet of the RSU according to the transmission interval of the RSU Then make a formal decision.

The data structure of the data packet further includes a confidence field;

The device further includes:

The confidence level determining unit is configured to determine a corresponding confidence level according to a generation manner of the data packet, and add the corresponding confidence level to the data packet.

In addition, the data structure of the data packet further includes a flag field for indicating whether data aggregation has been performed;

The device may further include:

An aggregation flag adding unit is configured to add a data aggregation flag to a data packet generated by aggregating a sensing result of autonomous perception with a data packet of an external signal source.

Specifically, the data record entry includes a priority field;

The device may further include:

A priority determining unit is configured to determine a danger level of the target according to the perception data corresponding to the target, and determine to add priority information to the target according to the danger level.

The data aggregation unit is specifically configured to determine, when performing the aggregation processing, on a data packet of an external signal source that is too far away from the current RSU or a data packet sent by an external signal source that takes a long time to send, to determine whether it contains Data record entries with priority matching conditions are reserved for aggregation processing if they are contained, otherwise discarded.

The data record entry further includes a field for representing a time offset;

The device may further include:

A time offset information adding unit, configured to, according to a difference between a data packet of the external signal source and a time stamp of a current data packet, for information of a target in a data packet from an external signal source included in the data packet Value to add time offset information to the data record entry corresponding to the target.

Corresponding to the three-phase embodiment, the embodiment of the present application further provides a road condition information processing device, which is applied to a terminal device associated with a traffic participant. Referring to FIG. 8, the device may include:

A data packet receiving unit 801 is configured to receive a data packet from at least one roadside device RSU, where the data packet is a sensing result obtained by the RSU through sensing a target within a sensing range, and / or from an external signal source Data packets are generated after data aggregation processing;

A data processing unit 802 is configured to obtain road condition information by processing a data packet of the RSU, where the road condition information includes at least one perceived target and corresponding information in a surrounding environment.

The data processing unit may be specifically used for:

It is determined whether the same target is included in the data packets of multiple RSUs, and if they are included, merge processing is performed.

Wherein, the data structure of the data packet includes a timestamp field, which carries time point information of a target in the data packet being perceived;

The device may further include:

The target information determining unit is configured to determine information about the same target in a data packet corresponding to the latest timestamp as the information of the target.

In addition, the device may also include:

A prediction unit, configured to obtain the delay time between the timestamp information and the current receiving time before generating the target list, and predict the current position information of the specific target in the data packet according to the delay time length .

The data structure of the data packet further includes a maximum trusted time offset field;

The device may also include:

A judging unit, configured to determine whether it is necessary to predict the current position information of the corresponding target according to the maximum confidence time offset information and the delay time before the prediction, and if not, directly add the target to In the target list, if necessary, the prediction is added to the target list.

Wherein, the data packet includes a copy of the data packet, and the copy of the data packet includes a time point at which the perceived target is perceived, and after each time offset, the corresponding time point and the target is about to appear. Position prediction information; the data structure of the data packet copy further includes a time-shift derived flag;

The device may further include:

The location prediction information obtaining unit is configured to obtain, from the data packet copy, location prediction information of each target corresponding to a point in time closest to the current receiving time.

The data structure of the data packet further includes a transmission interval field;

At this time, the decision unit may be specifically configured to determine whether to wait for the next data packet of the RSU to make a form decision after receiving a data packet of the RSU according to the transmission interval of the RSU.

The data structure of the data packet further includes a confidence field;

The decision unit may be specifically configured to make a driving decision according to the confidence information corresponding to the data packet.

In addition, the data structure of the data packet includes multiple data record entries, and each data record entry corresponds to a discovered target and information in multiple dimensions;

Wherein, the data record entry includes a priority field, and the priority field is used to indicate a danger level of the target;

At this time, the decision unit may be specifically used to:

Make a driving decision based on the priority information corresponding to the target.

In addition, an embodiment of the present application further provides a computer system, including:

One or more processors; and

A memory associated with the one or more processors, where the memory is used to store program instructions, and when the program instructions are read and executed by the one or more processors, perform the following operations:

Obtaining the sensing result of the current RSU sensor module perceiving a target within its sensing range;

Receiving a data packet from at least one external signal source through a communication module of the current RSU; the data packet sent by the external signal source includes at least one data record corresponding to information of at least one target discovered by the external signal source;

Perform data aggregation according to a current RSU sensing result and / or data in the data packet received from an external signal source to generate the data packet that conforms to a preset data structure;

Providing the data packet to the communication module of the current RSU for sending.

Among them, FIG. 9 exemplarily shows the architecture of the computer system, which may specifically include a processor 910, a video display adapter 911, a disk drive 912, an input / output interface 913, a network interface 914, and a memory 920. The processor 910, the video display adapter 911, the magnetic disk drive 912, the input / output interface 913, and the network interface 914 can communicate with the memory 920 through a communication bus 930.

The processor 910 may be implemented by using a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits. Relevant procedures are executed to implement the technical solution provided in this application.

The memory 920 may be implemented in the form of ROM (Read Only Memory, Read Only Memory), RAM (Random Access Memory, Random Access Memory), static storage devices, dynamic storage devices, and the like. The memory 920 may store an operating system 921 for controlling the operation of the computer system 900, and a basic input output system (BIOS) 922 for controlling the low-level operations of the computer system 900. In addition, a web browser 923, a data storage management system 924, and a road condition information processing system 925 can be stored. The above-mentioned road condition information processing system 925 may be an application program that specifically implements the foregoing steps in the embodiments of the present application. In short, when the technical solution provided in the present application is implemented by software or firmware, the relevant program code is stored in the memory 920 and is called and executed by the processor 910.

The input / output interface 913 is used to connect an input / output module to implement information input and output. The input / output / module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, and an indicator light.

The network interface 914 is used to connect a communication module (not shown in the figure) to implement communication interaction between the device and other devices. The communication module can implement communication through a wired method (such as USB, network cable, etc.), and can also implement communication through a wireless method (such as mobile network, WIFI, Bluetooth, etc.).

The bus 930 includes a path for transmitting information between various components of the device (for example, the processor 910, the video display adapter 911, the disk drive 912, the input / output interface 913, the network interface 914, and the memory 920).

In addition, the computer system 900 may also obtain information of specific receiving conditions from the virtual resource object receiving condition information database 941 for use in performing condition judgment, and the like.

It should be noted that although the above device only shows the processor 910, video display adapter 911, disk drive 912, input / output interface 913, network interface 914, memory 920, bus 930, etc., in the specific implementation process, the The device may also include other components necessary for proper operation. In addition, those skilled in the art can understand that the foregoing device may also include only the components necessary to implement the solution of the present application, and does not necessarily include all the components shown in the figure.

It can be known from the description of the foregoing embodiments that those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary universal hardware platform. Based on such an understanding, the technical solution of this application that is essentially or contributes to the existing technology can be embodied in the form of a software product, which can be stored in a storage medium, such as ROM / RAM, magnetic disk , Optical discs, and the like, including a number of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in each embodiment or some parts of the application.

Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for a system or a system embodiment, since it is basically similar to the method embodiment, it is described relatively simply. For the relevant part, refer to the description of the method embodiment. The system and system embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, It can be located in one place or distributed across multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment. Those of ordinary skill in the art can understand and implement without creative efforts.

The road condition information processing method, device, and system provided in this application have been described in detail above. Specific examples have been used in this document to explain the principle and implementation of this application. The description of the above embodiments is only to help understand this application. Method and its core ideas; at the same time, for those of ordinary skill in the art, according to the ideas of this application, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as a limitation on this application.

Claims (38)

1. A road condition information processing system, comprising:

   Multiple roadside unit RSUs deployed according to a preset networking mode, and terminal equipment associated with traffic participants;

   The RSU is equipped with a sensor module, a data processing module, and a communication module, wherein:

   The sensor module is configured to sense a target entering a sensing range;

   The data processing module is configured to collect road condition related data, and generate a data packet conforming to a preset data structure according to the collected road condition related data; the collected road condition related data includes at least a sensing result of the sensor module, The generated data packet includes at least one data record corresponding to information of at least one discovered target;

   The communication module is configured to send the generated data packet;

   The terminal device is configured to obtain traffic condition information by performing parsing processing on the received data packet.
2. The system according to claim 1, wherein:

   The communication module is further configured to receive a data packet sent by at least one external signal source; the data packet sent by the external signal source includes at least one data record corresponding to information of at least one target discovered by the external signal source;

   The road condition-related data collected by the data processing module further includes: data in a data packet received by the communication device from the external signal source;

   The data processing module is specifically configured to perform data aggregation according to a current RSU sensing result and data in a data packet received from the external signal source to generate the data packet that conforms to a preset data structure.
3. The system according to claim 2, wherein:

   The external signal source includes other RSUs and / or the terminal equipment.
4. The system according to any one of claims 1 to 3, wherein

   A data structure of the data packet includes a time stamp field;

   The data processing module is further configured to add time stamp information to the data packet according to a time point when the sensor module senses the target.
5. The system according to claim 4, wherein:

   The terminal device is specifically configured to obtain a delay time length between the timestamp information and the current receiving time after receiving the data packet broadcasted by the RSU, and according to the delay time length, specifically determine the specific time in the data packet. The current position information of the target is predicted.
6. The system according to claim 5, wherein:

   The terminal device is specifically configured to obtain speed information of the target from the data packet, and predict current position information of the specific target based on the speed information, a delay time length, and preset map data.
7. The system according to claim 5, wherein:

   The data structure of the data packet further includes a maximum trusted time offset field;

   The data processing module is further configured to configure maximum confidence time offset information for the data packet;

   The terminal device is specifically configured to determine whether the current position information of the corresponding target needs to be predicted based on the maximum confidence time offset information and the delay time length, and if not required, directly add the target to the preset In the target list, if necessary, the forecast is added to the target list.
8. The system according to claim 4, wherein:

   The data structure of the data packet further includes a time-shift derived flag field;

   The data processing module is further configured to use the time point at which the target is perceived and the position information of the target at the perceived time as initial data of the target, and according to a preset time offset, Generate multiple data packet copies, each of which is used to record the target point in time and the location of the target's forthcoming information after each time offset of the target, and is a copy of the data packet Add time-shift derivative flags;

   The terminal device is specifically configured to, after receiving the data packet broadcast by the RSU, obtain, from the copy of the data packet, position prediction information of each target corresponding to a point in time closest to the current reception time.
9. The system according to any one of claims 1 to 3, wherein

   The data structure of the data packet further includes a transmission interval field;

   The data processing module is further configured to configure data packet transmission interval information of the RSU;

   The terminal device is specifically configured to, after receiving a data packet of an RSU, determine whether to wait for the next data packet of the RSU to make a driving decision according to a transmission interval of the RSU.
10. The system according to any one of claims 1 to 3, wherein:

    The data structure of the data packet further includes a confidence field;

    The data processing module is further configured to determine a corresponding confidence level according to a generation mode of the data packet, and add the corresponding confidence level to the data packet.
11. The system according to any one of claims 1 to 3, wherein:

    The data structure of the data packet further includes a flag field for indicating whether data aggregation has been performed;

    The data processing module is further configured to add a data aggregation flag to the data packet if the data packet is generated by aggregating a current RSU sensing result with a data packet of an external signal source.
12. The system according to any one of claims 1 to 3, wherein:

    The data structure of the data packet further includes a flag field for indicating a signal source type;

    The data processing module is further configured to add flag information of a signal source type to the data packet.
13. The system according to claim 2 or 3, wherein:

    Each data record of the data packet further includes a priority field;

    The data processing module is further configured to determine a danger level of the target according to the perception data corresponding to the target, and determine to add priority information to the target according to the danger level.
14. The system according to claim 13, wherein:

    The data processing module is further configured to: when the sensing result of the current RSU is aggregated with a data packet of an external signal source, for a data packet of an external signal source that is too far away from the current RSU, or an external signal that takes too long The data packet sent by the signal source determines whether it contains data record entries with a matching priority. If it contains, it is reserved for aggregation processing, otherwise it is discarded.
15. The system according to claim 2 or 3, wherein:

    The data record entry further includes a field for representing a time offset;

    The data processing module is further configured to: if a data packet generated by aggregating a current RSU sensing result and a data packet of an external signal source is used, for the data packet included in the data packet from the external signal source, The information of the target adds time offset information to the data record entry corresponding to the target according to the difference between the time stamp of the data packet of the external signal source and the current data packet.
16. The system according to any one of claims 1 to 3, wherein

    The terminal device is specifically configured to receive data packets from multiple RSUs and aggregate the data packets of multiple RSUs to generate a target list, where the target list includes at least one target perceived in the surrounding environment and Its corresponding information.
17. A road condition information processing method, characterized in that the method is applied to a roadside unit RSU and includes:

    Obtaining the sensing result of the current RSU sensor module perceiving a target within its sensing range;

    Receiving a data packet from at least one external signal source through a communication module of the current RSU; the data packet sent by the external signal source includes at least one data record corresponding to information of at least one target discovered by the external signal source;

    Perform data aggregation according to the current RSU sensing result and / or data in a data packet received from an external signal source to generate a data packet that conforms to a preset data structure;

    Providing the data packet to the communication module of the current RSU for sending.
18. The method according to claim 17, wherein:

    A data structure of the data packet includes a time stamp field;

    The method further includes:

    Add time stamp information to the data packet according to the time point when the sensor module senses the target, so that the receiver obtains the delay between the time stamp information and the current receiving time after receiving the data packet broadcast by the RSU Time length, and according to the delay time length, the current position information of the specific target in the data packet is predicted.
19. The method according to claim 18, wherein:

    The data structure of the data packet further includes a maximum trusted time offset field;

    The method further includes:

    Configure the maximum confidence time offset information for the data packet, so that the receiver determines whether to predict the current location information of the corresponding target based on the maximum confidence time offset information and the delay time length, if not If necessary, the target is directly added to the preset list, and if necessary, the target is added to the list after prediction.
20. The method according to claim 18, wherein:

    The data structure of the data packet further includes a time-shift derived flag field;

    The method further includes:

    Use the time when the target is perceived and the position information of the target at the perceived time as the initial data of the target;

    According to a preset time offset, multiple data packet copies are generated, and each data packet copy is used to record the corresponding time point of the target after each time offset and the position information of the target. ;

    Adding a time-shift derivative flag to the data packet copy, so that the receiver obtains position information of each target corresponding to the closest point in time when the data packet was received from the data packet copy.
21. The method according to claim 17, wherein:

    The data structure of the data packet further includes a transmission interval field;

    The method further includes:

    The data packet transmission interval information of the RSU is configured, so that after receiving a data packet of an RSU, the receiver determines whether to wait for the next data packet of the RSU to make a form decision according to the transmission interval of the RSU.
22. The method according to claim 17, wherein:

    The data structure of the data packet further includes a confidence field;

    The method further includes:

    A corresponding confidence degree is determined according to a generation manner of the data packet, and is added to the data packet.
23. The method according to claim 17, wherein:

    The data structure of the data packet further includes a flag field for indicating whether data aggregation has been performed;

    The method further includes:

    If a data packet is generated by aggregating the current RSU's sensing result with a data packet from an external signal source, a data aggregation flag is added to the data packet.
24. The method according to claim 17, wherein:

    A data record entry in the data packet includes a priority field;

    The method further includes:

    A danger level of the target is determined according to the perception data corresponding to the target, and priority information is added to the target according to the danger level.
25. The method according to claim 24, wherein:

    When performing the aggregation processing, for a data packet of an external signal source that is too far away from the current RSU, or a data packet sent by an external signal source that is sent for a long time, to determine whether it contains a data record entry with a matching priority, If included, it is reserved for aggregation processing, otherwise discarded.
26. The method according to claim 17, wherein:

    The data record entry of the data packet further includes a field for indicating a time offset;

    The method further includes:

    For the information of the target in the data packet from the external signal source included in the data packet, according to the difference between the data packet of the external signal source and the time stamp of the current data packet, a data record corresponding to the target Entries add time offset information.
27. A method for processing road condition information, which is characterized in that the method is applied to a terminal device associated with a traffic participant and includes:

    Receive a data packet from at least one roadside device RSU, the data packet is generated by the RSU by sensing a target in a sensing range and / or data aggregation processing is performed on data packets from an external signal source of;

    By processing the data packet of the RSU, road condition information is obtained, where the road condition information includes at least one target perceived in the surrounding environment and its corresponding information.
28. The method according to claim 27, wherein:

    When the data packets of multiple RSUs are received, the processing the data packets of the RSU includes:

    Determine whether the same target is included in the data packets of the multiple RSUs, and if so, perform a merge process.
29. The method according to claim 27, wherein:

    The data structure of the data packet includes a timestamp field, which carries the time point information of the target in the data packet being perceived;

    The method further includes:

    The information about the same target in the data packet corresponding to the latest timestamp is determined as the information of the target.
30. The method according to claim 29, wherein:

    The obtaining road condition information includes:

    Obtain a delay time length between the timestamp information and the current receiving time, and predict the current position information of the specific target in the data packet according to the delay time length.
31. The method according to claim 30, wherein:

    The data structure of the data packet further includes a maximum trusted time offset field;

    The prediction further includes:

    Determine whether the current position information of the corresponding target needs to be predicted based on the maximum confidence time offset information and the delay time length; if not required, directly add the target to the target list; if necessary, predict after Add to the target list.
32. The method according to claim 29, wherein:

    The data packet includes a copy of the data packet, and the copy of the data packet includes a time point at which the perceived target is perceived, and after each time offset has passed, the corresponding time point and the predicted position of the target are about to appear. information;

    The data structure of the data packet copy further includes a time-shift derivative flag;

    The method further includes:

    Position prediction information of each target corresponding to a point in time closest to the current receiving moment is obtained from the data packet copy.
33. The method according to claim 27, wherein:

    The data structure of the data packet further includes a transmission interval field;

    The driving decision according to the information of the targets in the target list includes:

    After receiving a data packet of an RSU, it is determined whether to wait for the next data packet of the RSU before making a form decision according to the transmission interval of the RSU.
34. The method according to claim 27, wherein:

    The data structure of the data packet further includes a confidence field;

    The driving decision according to the information of the targets in the target list includes:

    Make a driving decision based on the confidence information corresponding to the data packet.
35. The method according to claim 27, wherein:

    The data record entry in the data packet includes a priority field, and the priority field is used to indicate a danger level of the target;

    The method further includes:

    Make a driving decision based on the priority information corresponding to the target.
36. A road condition information processing device, characterized in that the device is applied to a roadside unit RSU and includes:

    A sensing result obtaining unit, configured to obtain a sensing result of a sensor module of the current RSU sensing a target that enters its sensing range;

    A data packet receiving unit, configured to receive, through the communication module of the current RSU, a data packet sent by at least one external signal source; the data packet sent by the external signal source includes at least one data record corresponding to at least one of the external signals Information about the target discovered by the source;

    A data aggregation unit, configured to perform data aggregation according to a current RSU sensing result and / or data in a data packet received from an external signal source, and generate a data packet conforming to a preset data structure;

    A data packet providing unit is configured to provide the data packet to a communication module of the current RSU for transmission.
37. A road condition information processing device, characterized in that the device is applied to a terminal device associated with a traffic participant and includes:

    A data packet receiving unit, configured to receive a data packet from at least one roadside device RSU, where the data packet is a sensing result by the RSU by sensing a target within a sensing range, and / or data from an external signal source Packets are generated after data aggregation processing;

    A data processing unit is configured to obtain road condition information by processing a data packet of the RSU, where the road condition information includes at least one perceived target in a surrounding environment and corresponding information.
38. A computer system, comprising:

    One or more processors; and

    A memory associated with the one or more processors, where the memory is used to store program instructions, and when the program instructions are read and executed by the one or more processors, perform the following operations:

    Obtaining the sensing result of the current RSU sensor module perceiving a target within its sensing range;

    Receiving a data packet from at least one external signal source through a communication module of the current RSU; the data packet sent by the external signal source includes at least one data record corresponding to information of at least one target discovered by the external signal source;

    Perform data aggregation according to the current RSU sensing result and / or data in a data packet received from an external signal source to generate a data packet that conforms to a preset data structure;

    Providing the data packet to the communication module of the current RSU for sending.

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