WO2023226506A1 - Procédé et appareil de réglage d'état de déplacement de véhicule, et support de stockage et appareil électronique - Google Patents

Procédé et appareil de réglage d'état de déplacement de véhicule, et support de stockage et appareil électronique Download PDF

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Publication number
WO2023226506A1
WO2023226506A1 PCT/CN2023/079403 CN2023079403W WO2023226506A1 WO 2023226506 A1 WO2023226506 A1 WO 2023226506A1 CN 2023079403 W CN2023079403 W CN 2023079403W WO 2023226506 A1 WO2023226506 A1 WO 2023226506A1
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WIPO (PCT)
Prior art keywords
sign
time
effective
vehicle
information
Prior art date
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PCT/CN2023/079403
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English (en)
Chinese (zh)
Inventor
刘伟良
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中兴通讯股份有限公司
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Publication of WO2023226506A1 publication Critical patent/WO2023226506A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits

Definitions

  • Embodiments of the present disclosure relate to the field of communications, and specifically, to a vehicle driving state adjustment method, device, storage medium, and electronic device.
  • road traffic sign information in existing relevant standards is not complete, and there is only one time-effective attribute.
  • the vehicle may be in a state such as before the traffic sign takes effect, is taking effect, or has finished taking effect. Under these conditions, vehicles may be congested and traffic efficiency may be inefficient.
  • Embodiments of the present disclosure provide a vehicle driving state adjustment method, device, storage medium and electronic device to at least solve the problems in the related art of poor timeliness of road traffic sign information leading to traffic congestion and low traffic efficiency.
  • a vehicle driving state adjustment method which is applied to a vehicle-mounted terminal.
  • the method includes: receiving roadside information, wherein the roadside information carries information about road traffic signs, so The information on the road traffic sign includes the sign's effective time and the sign's effective section; parse the roadside information to obtain the sign's effective time and the sign's effective section; adjust the vehicle's driving according to the sign's effective time and the sign's effective section. state.
  • a vehicle driving state adjustment method includes: receiving roadside information sent by a processor, wherein the roadside information carries information about road traffic signs, The information of the road traffic sign includes the sign effective time and the sign effective road section; the roadside information is sent to the vehicle-mounted terminal, so that the vehicle-mounted terminal adjusts the vehicle driving state according to the sign effective time and the sign effective road section.
  • a computer-readable storage medium is also provided, and a computer program is stored in the storage medium, wherein the computer program is configured to execute any of the above method embodiments when running. steps in.
  • an electronic device including a memory and a processor.
  • a computer program is stored in the memory, and the processor is configured to run the computer program to perform any of the above. Steps in method embodiments.
  • Figure 1 is a hardware structure block diagram of a mobile terminal of a vehicle driving state adjustment method according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart 1 of a vehicle driving state adjustment method according to an embodiment of the present disclosure
  • Figure 3 is a flow chart 2 of a vehicle driving state adjustment method according to an embodiment of the present disclosure
  • Figure 4 is a flowchart three of a vehicle driving state adjustment method according to an embodiment of the present disclosure
  • FIG. 5 is a schematic structural diagram of Msg_RSI according to this embodiment.
  • Figure 6 is a flow chart of RSI issuance according to this embodiment.
  • Figure 7 is a flow chart for guiding vehicle driving according to the RSI effective time according to this embodiment.
  • Figure 8 is a flow chart for guiding a vehicle according to RSI according to this embodiment.
  • Figure 9 is a schematic diagram of a tidal lane guidance vehicle according to this embodiment.
  • Figure 10 is a schematic diagram of a bus lane guidance vehicle according to this embodiment.
  • FIG 11 is a block diagram 1 of the vehicle driving state adjustment device according to this embodiment.
  • Figure 12 is a second block diagram of the vehicle driving state adjustment device according to this embodiment.
  • Figure 13 is a block diagram three of the vehicle driving state adjustment device according to this embodiment.
  • FIG. 1 is a hardware structure block diagram of a mobile terminal of a vehicle driving state adjustment method according to an embodiment of the present disclosure.
  • the mobile terminal may include one or more (only shown in Figure 1 A) processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data, wherein the above-mentioned mobile terminal may also include a processor for communication Functional transmission device 106 and input and output device 108.
  • the structure shown in Figure 1 is only illustrative, and it does not limit the structure of the above-mentioned mobile terminal.
  • the mobile terminal may also include more or fewer components than shown in FIG. 1 , or have a different configuration than shown in FIG. 1 .
  • the memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle driving state adjustment method in the embodiment of the present disclosure.
  • the processor 102 runs the computer program stored in the memory 104, thereby Execute various functional applications and business chain address pool slicing processing, that is, implement the above method.
  • Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to the mobile terminal through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • Transmission device 106 is used to receive or send data via a network.
  • Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal.
  • the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet.
  • the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet wirelessly.
  • NIC Network Interface Controller
  • FIG. 2 is a flowchart 1 of the vehicle driving state adjustment method according to an embodiment of the present disclosure.
  • the application In the vehicle terminal This process may include, but is not limited to, the following steps:
  • Step S202 Receive roadside information, wherein the roadside information carries information about road traffic signs.
  • the information about road traffic signs may include, but is not limited to, the sign effective time and the sign effective section;
  • the vehicle receives RSI sent by the roadside unit or the OBU (On board Unit) of other vehicles through the PC5 interface.
  • the vehicle can also receive RSI directly through the base station network through the Uu interface.
  • PC5 The interface is the interface for the vehicle module to interact with the vehicle, roadside equipment, and people. It is the interface for direct D2D (Device to Device) communication between UEs using V2X services.
  • the Uu interface is an air interface and is not limited to 4G scenarios.
  • Step S204 analyze the roadside information to obtain the sign effective time and the sign effective road section;
  • the sign effective time and the sign effective road section are encapsulated in the time details list (timeDetailsList) of the RSI.
  • the time details list can be a new one or an existing one.
  • the sign takes effect.
  • the road segments are encapsulated in the road segment set (referenceLinks) associated with the traffic sign information of the RSI and the path set (referencePaths) associated with the traffic sign information.
  • the above step S204 may specifically include, but is not limited to: reading the time details of the RSI.
  • timeDetailsList parse the sign effective time from the time details list, or parse the sign effective time from the time details timeDetails of the RSI; from the road segment collection (referenceLinks) associated with the information of the road traffic sign and the traffic
  • the sign-valid road segments are parsed in the path set (referencePaths) associated with the sign information.
  • the time details list may include, but is not limited to: effective date type, effective period, and effective date range; the effective date type may include, but is not limited to: working days, holidays, and weekday dates.
  • the effective time of the flag when there is only an effective date type in the time details list, the effective time of the flag is effective throughout the day; when there is only an effective period in the time details list, the effective time of the flag is effective for the period set within the date; time When there is only an effective date range in the details list, the effective time of the flag is to take effect within the set date; when there are at least two of the effective date type, the effective period, and the effective date range in the time details list , the flag effective time is the intersection of the at least two.
  • Step S206 Adjust the vehicle driving state according to the sign effective time and the sign effective road section.
  • This guidance method adjusts the vehicle driving status according to the effective time of the road traffic sign and the road section where the sign is effective. It can use the road traffic sign information to guide driving. It can autonomously adjust the driving status according to the guidance method to reduce violations, improve traffic efficiency, and adapt to Complex road conditions.
  • step S206 may include, but is not limited to, but is not limited to:
  • S3 Adjust the driving state of the vehicle according to the adjustment plan; or prompt the adjustment plan through an alarm.
  • step S2 it may also include determining whether the vehicle driving state needs to be adjusted based on the sign effective time, the road section where the sign is effective, and the road traffic sign requirements. Specific examples include but are not limited to: determining whether the vehicle is in the sign.
  • the vehicle Within the road section between the effective time and the sign effective time, further, obtain the current time and current location of the vehicle; determine whether the time difference between the current time and the initial time of the sign effective time is less than the preset time, or determine whether the Whether the current time is within the effective time of the sign, or whether the time difference between the end time of the sign effective time and the current time is less than the preset time; if the judgment result is yes, determine that the vehicle is in the The sign is in effect time; if the judgment result is no, it is determined that the vehicle is not in the sign effective time; it is judged that the current Whether the distance difference between the previous position and the initial position of the sign-valid road section is less than a preset distance, or whether the current position belongs to the sign-valid road section.
  • the current position is from the initial position to the end position of the valid road section. Within the coverage range, or determine whether the distance difference between the end position of the road section with the sign in effect and the current position is less than the preset distance; if the judgment result is yes, determine that the vehicle is in the road section with the sign in effect; after judging If the result is no, it is determined that the vehicle is not on the road section where the sign is effective; if the vehicle is on the road section between the time when the sign is effective and the sign is effective, it is determined whether the current driving track meets the requirements of the road traffic sign; If the judgment result is no, it is determined that the vehicle driving state needs to be adjusted; if the judgment result is yes, it is determined that the vehicle driving state does not need to be adjusted.
  • FIG. 3 is a flow chart 2 of the vehicle driving state adjustment method according to an embodiment of the present disclosure. As shown in Figure 3, it is applied to roadside equipment. or vehicle-mounted terminal, the method may include, but is not limited to:
  • Step S302 Receive roadside information sent by the processor, wherein the roadside information carries information about road traffic signs.
  • the information about road traffic signs may include, but is not limited to, the sign effective time and the sign effective section;
  • Step S304 Send the roadside information to the vehicle-mounted terminal, so that the vehicle-mounted terminal adjusts the vehicle driving state according to the sign effective time and the sign effective road section.
  • This guidance method adjusts the vehicle driving status according to the effective time of the road traffic sign and the road section where the sign is effective. It can use the road traffic sign information to guide driving. It can autonomously adjust the driving status according to the guidance method to reduce violations, improve traffic efficiency, and adapt to Complex road conditions.
  • the roadside device in order to adapt to the standard structure of the previous roadside information, can convert the roadside information to the previous standard and then forward it to the vehicle-mounted terminal, or it can forward it directly.
  • Direct forwarding requires The vehicle-mounted terminal learns the update status of the roadside information structure in advance. Specifically, it extracts the sign effective time from the time details list (timeDetailsList) of the roadside information, and encapsulates the sign effective time into the time details timeDetails of the roadside information. and send the encapsulated roadside information to the vehicle-mounted terminal; or directly send the roadside information to the vehicle-mounted terminal.
  • timeDetailsList time details list
  • Figure 4 is a flow chart 3 of the vehicle driving state adjustment method according to an embodiment of the present disclosure. As shown in Figure 4, it is applied to a processor, The methods may include, but are not limited to:
  • Step S402 Obtain information about road traffic signs, where the information about road traffic signs may include, but is not limited to, the time when the sign becomes effective and the section where the sign takes effect;
  • Step S404 encapsulate the sign effective time and the sign effective road section into roadside information
  • Step S406 Send the roadside information to the vehicle-mounted terminal through the roadside device, so that the vehicle-mounted terminal adjusts the vehicle driving state according to the sign effective time and the sign effective road section.
  • This guidance method adjusts the vehicle driving status according to the effective time of the road traffic sign and the road section where the sign is effective. It can use the road traffic sign information to guide driving. It can autonomously adjust the driving status according to the guidance method to reduce violations, improve traffic efficiency, and adapt to Complex road conditions.
  • the above step S404 may specifically include, but is not limited to: encapsulating the sign effective time and the sign effective road section into the time details list timeDetailsList of the roadside information; encapsulating the sign effective road section The road segment collection referenceLinks associated with the road traffic sign information and the path collection referencePaths associated with the traffic sign information.
  • the road traffic sign requirements are encapsulated into the description information of the road traffic sign, so that the vehicle-mounted terminal determines the need to adjust the vehicle driving state based on the sign effective time, the road section where the sign takes effect and the road traffic sign requirements.
  • the adjustment plan is determined based on the sign's effective time, the road section where the sign is effective, and the road traffic sign requirements, and the vehicle driving state is adjusted according to the adjustment plan or the adjustment plan is prompted by an alarm.
  • timeDetailsList may include, but is not limited to: effective date type effectiveDays, effective period EffectiveTimeRange and/or effective date range EffectiveDateRange; the effectiveDays is used to set the attribute of the date type that marks the effective date, where, The above date types include working days, holidays and weekday dates; the EffectiveTimeRange is used to set the effective period; the EffectiveDateRange is used to set the effective date.
  • the effective time of the flag when there is only effectiveDays in the timeDetailsList, the effective time of the flag is effective for the whole day; when there is only EffectiveTimeRange in the timeDetailsList, the effective time of the flag is effective for the period set within the date; so When only EffectiveDateRange exists in the timeDetailsList, the effective time of the flag is to take effect within the set date; when at least two of the effectiveDays, the EffectiveTimeRange, and the EffectiveDateRange exist in the timeDetailsList, the effective time of the flag is The intersection of said at least two.
  • the road traffic sign message improvement method involved in this embodiment is mainly used in the input, distribution, analysis and other processes of cooperative intelligent transportation systems and vehicle communication system application data messages, which may include, but is not limited to, but is not limited to, using platform input , distribution, vehicle parsing method.
  • This method can be applied to any device or process that uses cooperative intelligent transportation systems or vehicle communication systems to apply data messages for road traffic sign information, such as using platform input and distribution or using cameras and radars to identify and distribute, etc. .
  • This method is a complete supplement to the standard and does not involve the network environment itself.
  • the application and implementation of the standard information may involve the entry, distribution, broadcast and other systems related to the Internet of Vehicles, and may also involve the use of codec software for corresponding messages.
  • This embodiment involves receiving information related to the Internet of Vehicles, which may involve communicating with the RSU, or using the RSI distribution system.
  • the vehicle should also be equipped with a coding and decoding system for the corresponding message.
  • FIG. 5 is a schematic structural diagram of Msg_RSI according to this embodiment. As shown in Figure 5, the structural diagram shows various attributes in (Road Side Information, referred to as RSI). The definitions and types of attributes have been specified in the national standard. illustrate.
  • RSI Real Side Information
  • This embodiment adds a timeDetailsList attribute to RSI's (Road Traffic Sign, RTS for short) Data, and defines its type as RSITimeDetailsList.
  • the codes corresponding to the added parts in this embodiment are as follows. It should be pointed out that the attributes, types, etc. added in the embodiment are only for explanation and do not limit this embodiment itself.
  • the effectiveDays attribute is an attribute used to set the date type that marks the effective date.
  • the effective date type includes working days, holidays, and weekday date settings.
  • the effective date type is only an example here, other date types can also be added.
  • the EffectiveDays type is derived from BIT STRING, so if you need to set which type of date is effective, set the value of the corresponding type to 1, otherwise set it to 0.
  • the effectiveTimeRange attribute is used to set the effective period
  • the effectiveDateRange attribute is used to set the effective date period.
  • Both are of EffectiveRange type.
  • startTime is set to the start date or date
  • endTime is set to the end date or time. Both attributes are optional.
  • DDateTime is a data type that has been defined in the national standard and is used to represent time.
  • TimeDetailsWithEffectiveDays is a combination of EffectiveTimeRange, EffectiveDateRange and EffectiveDays. Each combination determines the effective time of a group of marks on a certain date and within a certain period of time.
  • a certain sign is effective from 8:00-9:00 Monday to Friday:
  • timeDetailsList [ ⁇ effectiveDays: 000011111, effectiveTimeRange: ⁇ startTime: ⁇ hour: 8, minute: 0, second: 0, offset: 480 ⁇ , endTime: ⁇ hour: 9, minute: 0, second: 0, offset: 480 ⁇ ⁇ ].
  • timeDetailsList [ ⁇ effectiveDays: 010000000 ⁇ ].
  • a certain sign will be effective from 9:00-17:00 from January 1 to January 7, 2022:
  • timeDetailsList [ ⁇ effectiveTimeRange: ⁇ startTime: ⁇ hour: 9, minute: 0, second: 0, offset: 480 ⁇ , endTime: ⁇ hour: 17, minute: 0, second: 0, offset: 480 ⁇ , effectiveDateRange: ⁇ startTime: ⁇ year: 2022, month: 1, day: 1, offset: 480 ⁇ , endTime: ⁇ hour: 2022, minute: 1, second: 7, offset: 480 ⁇ ].
  • timeDetailsList is optional. When it is not set, timeDetails will be executed first. If timeDetails is not set, the flag will always take effect.
  • timeDetailsList the effectiveDays, EffectiveTimeRange, and EffectiveDateRange of each element in the list are optional. In practice, at least one item of existing data should be kept, otherwise setting timeDetailsList is meaningless.
  • the default setting is all days within the type date. Effective; when there is only EffectiveTimeRange in the element, the set period will be effective in all dates by default; when there is only EffectiveDateRange in the element, it will be effective in the specified date range.
  • the intersection is obtained, that is, they take effect within the corresponding type period of the corresponding date range, corresponding date type.
  • Commonly used is a combination of date type and time period.
  • the information added in the standard belongs to the OPTIONAL field, and the original message supports extensions, so this modification can be compatible with the current standard.
  • Figure 5 shows the definition of RSI in standard T/CSAE 53-2020.
  • the specific message body ASN.1 is defined as follows:
  • msgCnt represents the number of the message
  • moy represents the sending time of the message
  • id represents the number of the RSU device
  • tefPos indicates the reference position of the roadside message
  • rtes and RTSs contain road traffic events and road traffic sign information respectively.
  • RTSs is a sequence composed of RTSData.
  • RTSList:: SEQUENCE(SIZE(1..16))OF
  • RTSId represents the number of the RTS message
  • signType represents the traffic sign information, and its value refers to the serial number of the "Traffic Sign Chinese Name Index” in the national standard GB5768.2-2009
  • signPos is used to indicate the coordinates of the traffic sign.
  • number 111 is the minimum speed limit sign, but the number can only indicate its sign type and does not reflect the minimum speed limit; for example, the number of the dedicated lane for multi-member vehicles is 129. , the number indicates that it is a dedicated lane for multi-member vehicles, but it does not specify the minimum number of people, vehicle types, etc. it restricts; for example, the speed limit sign is numbered 85, but the number only indicates that it is a speed limit sign and does not specify its What is the specific speed limit? timeDetails indicates the effective start or end time of the flag.
  • ReferencePaths and referenceLinks are used by the on-board unit to determine the effective area of the traffic sign.
  • ReferencePaths represents a set of paths associated with traffic sign information. This message uses an ordered sequence of location points to describe the center line of the affected area of the traffic event. At the same time, the radius is used to represent the vertical distance between the boundary of the affected area and the center line, reflecting the area's width to cover the actual road segment.
  • ReferenceLinks represents a collection of road segments associated with traffic sign information. Each road segment information contains the upstream and downstream node IDs of the road segment, that is, the intersection ID, and can also contain lane information. If no lane is specified, all lanes of the road segment are included by default. The road segment is a directed line segment, and the corresponding direction is determined by the upstream and downstream nodes.
  • timeDetails is an original attribute in the standard, where startTime represents the start time, endTime represents the end time, and endTimeConfidence represents the confidence of the end time.
  • MinuteOfTheYear used for the time in the timeDetails attribute Type definition The value of this type is used to represent the current year and the total number of minutes that have passed (UTC time). Its resolution is 1 minute.
  • RTE Road Traffic Event
  • EventType EventType, --Type of event, according to China GB/T 29100-2012
  • priority RSIPriority OPTIONAL -the urgency of this RSI data, a relative--degree of merit compared with other RSI data
  • eventConfidence Confidence OPTIONAL -indicate the event confidence set by event source--the probability/confidence of the detected event--being truly extent at a certain place,--to help vehicle determine whether to trust the received information.
  • rteId is the number of the message
  • eventType is the event type, refer to the national standard GB/T 29100-2012
  • eventSource is the source of the event
  • eventPos is the place where the event occurs
  • eventRadius is the radius where the event occurs
  • timeDetails is the start and end time of the event.
  • priority is the priority of the RSI
  • referencePaths is the reference path where the event occurs
  • referenceLinks is the reference road segment and lane where the event occurs.
  • eventConfidence represents the event confidence set by the event source.
  • RSU Road Side Unit
  • Figure 6 is a flow chart of RSI issuance according to this embodiment. As shown in Figure 6, it may include, but is not limited to:
  • the roadside device broadcasts the corresponding message to surrounding vehicles
  • S604 determine whether the vehicle's driving status complies with the sign regulations (corresponding to the requirements of the above-mentioned road traffic signs). If the structure is No, a reminder will be sent to the driver or the driving status will be automatically adjusted.
  • step S601 the traffic sign data of each road is entered or dynamically collected and sent to the roadside device.
  • the roadside device dynamically converts the modified standard RSI according to the current time. After the conversion is completed, the original standard data is forwarded to the vehicle.
  • step S603 the vehicle receives the corresponding message and compares the validity of the flag through the current time.
  • step S604 it is determined whether the driving state of the vehicle meets the sign requirements, and a reminder is issued to the driver or the driving posture is automatically adjusted.
  • This embodiment can also guide the vehicle to drive according to the effective time of the road traffic sign.
  • the vehicle can remind the vehicle driver based on the time-sensitive information of the RSI broadcast by the RSU to the vehicle and combined with the effective road section, or guide the autonomous vehicle to change its driving posture.
  • Figure 7 is a flow chart for guiding vehicle driving according to the RSI effective time according to this embodiment. As shown in Figure 7, it can include, but is not limited to:
  • Step S701 The vehicle (specifically, the vehicle-mounted terminal) obtains the RSI and parses the RTS message therein;
  • Step S702 The vehicle parses the timeliness, location and other information in the RTS message. If there is no time limit information, it will be effective for all time periods by default; if there is road section information and other information, the corresponding information will be parsed out;
  • Step S703 combine the time information, location information, road section information and other information to determine whether the sign is in a valid state, determine how the vehicle will adjust the vehicle driving state to meet the sign information, obtain an adjustment plan, and send a warning message to the driver;
  • Step S704 According to the determined adjustment plan, the vehicle driving state is adjusted, and the vehicle driving speed, path, etc. are controlled.
  • FIG. 8 is a flow chart for guiding a vehicle according to RSI according to this embodiment. As shown in Figure 8, it can include, but is not limited to:
  • Step S801 the vehicle enters the RSU broadcast range
  • Step S802 the vehicle's on-board terminal receives the RSI
  • Step S803 the vehicle's on-board terminal parses the RTS information
  • Step S804 determine whether the vehicle is in the sign effective time. If the determination result is no, execute step S805. If the determination result is yes, execute step S806;
  • Step S805 determine whether you are still driving on the road section that is about to take effect within the threshold time. If the determination result is no, execute step S808. If the determination result is yes, execute step S807;
  • Step S806 determine whether the vehicle is on a road section where the sign is valid. If the determination result is no, step S805 is executed. If the determination result is yes, step S807 is executed;
  • Step S807 determine whether the vehicle meets the road traffic sign requirements. If the determination result is no, execute step S810. If the determination result is yes, execute step S811;
  • Step S808 determine whether it meets the requirements for road traffic signs that are about to take effect. If the determination result is no, execute step S809. If the determination result is yes, execute step S811;
  • Step S809 adjust the vehicle status to make the vehicle comply with road traffic sign requirements, and issue a reminder to the driver, and then proceed to step S811;
  • Step S810 adjust the driving state of the vehicle by changing lanes, reducing speed, increasing speed, parking, etc., and remind the driver to ensure that the vehicle meets the requirements of road traffic signs;
  • Step S811 maintain normal driving
  • Step S812 determine whether the sign is valid for the road section within the threshold time. If the determination result is no, return to step S811. If the determination result is yes, perform step S813;
  • Step S813 Adjust the vehicle driving state according to the traffic flow conditions on the road section where the exit sign is valid.
  • FIG. 9 is a schematic diagram of a tidal lane guided vehicle according to this embodiment.
  • vehicles A, B, and C are traveling normally on lanes 901, 902, and 903 respectively.
  • the RTS message is modified according to the method in this disclosure to carry the tidal lane sign information, the effective time of the tidal lane and other information.
  • the current time is 06:59:50 and the given threshold time is 10 seconds.
  • the steps to guide vehicle B to drive through RSI are as follows:
  • Vehicle B drives into the RSU broadcast range
  • Vehicle B receives RSI
  • Vehicle B parses the RTS information
  • Vehicle B is not yet in the effective time of the tidal lane sign.
  • the next step is to determine whether it is still driving on the road section that is about to take effect within the threshold time;
  • Vehicle B will still drive on the effective road section within the threshold time
  • Vehicle B currently does not comply with the traffic sign requirements that will come into effect and is driving in the wrong direction;
  • Vehicle B adopts a lane change method, leaves lane 902 and drives to lane 901, and issues a reminder to the driver;
  • the vehicle starts to drive normally
  • Vehicle B changes lanes to lane 901 and has exited the corresponding road section
  • Vehicle B adjusts its status according to vehicle A in front.
  • FIG. 10 is a schematic diagram of a bus lane guided vehicle according to this embodiment.
  • vehicle A is traveling in lane 1002.
  • the directions of lanes 1001 and 1002 are from left to right, among which lane 1002 is a bus lane.
  • the effective time is 07:00-09:00 and 17:00-19:00 on working days.
  • the RTS message is modified according to the method in this disclosure to carry the bus lane sign information, as well as the bus lane's effective time period, effective time type and other information.
  • the current time is 16:59:50 and the given threshold time is ten seconds.
  • the steps to guide vehicle A to drive through RSI are as follows:
  • Vehicle A drives into the RSU broadcast range
  • Vehicle A receives RSI
  • Vehicle A parses the RTS message, parses the effective time period and effective time type contained in it, and converts it to the current time;
  • Vehicle A is not in the effective time of the bus lane sign.
  • the next step is to determine whether it is still on the road section that is about to take effect within the threshold time;
  • Vehicle A will still drive on the effective road section within the threshold time
  • Vehicle A currently does not meet the traffic sign requirements that are about to take effect and is occupying the road;
  • Vehicle A adopts a lane change method, leaves lane 1002 and drives to lane 1001, and issues a reminder to the driver;
  • Vehicle A starts driving normally
  • Vehicle A has entered lane 1001 and exited the bus lane section;
  • Vehicle A adjusts its speed and other conditions according to the road conditions ahead.
  • the vehicle can use the idle lane to drive as much as possible while complying with the requirements of road traffic signs, and can automatically guide the vehicle out of the corresponding lane within the threshold time.
  • This example demonstrates the effective utilization of lanes by the guidance method in the present disclosure, improves the traffic rate of the road, and effectively reduces traffic congestion. The occurrence of violations.
  • this embodiment adds the function of adding multiple time types of effective time settings and allowing multiple sets of effective times to be added at the same time, which can make the time definition of road traffic signs more convenient, speed up parsing, reduce consumption, and reduce redundancy. Remain.
  • the guidance method proposed according to the present disclosure can improve the road traffic rate to a certain extent.
  • the present disclosure improves the method of providing road traffic sign information in a cooperative intelligent transportation system.
  • a vehicle driving state adjustment device is also provided.
  • Figure 11 is a block diagram of the vehicle driving state adjustment device according to this embodiment. As shown in Figure 11, it is applied to a vehicle-mounted terminal.
  • Devices may include, but are not limited to:
  • the first receiving module 112 is configured to receive roadside information, where the roadside information carries information about road traffic signs.
  • the information about road traffic signs may include, but is not limited to, the sign effective time and the sign effective section;
  • the parsing module 114 is used to parse the roadside information to obtain the sign effective time and the sign effective road section;
  • the adjustment module 116 is used to adjust the vehicle driving state according to the sign effective time and the sign effective road section.
  • the adjustment module 116 may include, but is not limited to:
  • An extraction submodule used to extract road traffic sign requirements from the description information of the roadside information
  • Determination submodule used to determine the adjustment plan based on the sign effective time, the sign effective road section and the road traffic sign requirements when it is determined that the vehicle driving status needs to be adjusted;
  • An adjustment sub-module is used to adjust the driving state of the vehicle according to the adjustment plan; or to prompt the adjustment plan through an alarm.
  • the adjustment module 116 may include a judgment sub-module, which includes but is not limited to:
  • the first judgment unit is used to judge whether the vehicle is within the sign effective time and the sign effective road section;
  • the second judgment unit is used to judge whether the current driving track meets the road traffic sign requirements when the vehicle is in the sign effective time and the sign effective road section;
  • a first determination unit configured to determine that the vehicle driving state needs to be adjusted if the judgment result is no
  • the second determination unit is configured to determine that there is no need to adjust the vehicle driving state if the determination result is yes.
  • the first judgment unit is also used to obtain the current time and current location of the vehicle
  • the parsing module is further configured to parse the flag effective time from the time details list timeDetailsList of the roadside information, or parse the flag from the time details timeDetails of the roadside information. Effective time;
  • the sign-valid road sections are parsed from the road section set referenceLinks associated with the information on the road traffic sign and the path set referencePaths associated with the traffic sign information.
  • the time details list may include, but is not limited to: effective date type, effective period and/or effective date range;
  • the effective date types include working days, holidays and weekday dates.
  • the effective time of the flag when there is only an effective date type in the time details list, the effective time of the flag is the whole day; when there is only an effective period in the time details list, the effective time of the flag is the date The time period set within will take effect; when only the effective date range exists in the time details list, the flag effective time will take effect within the set date; the effective date type, the effective period, and all the effective date ranges will exist in the time details list. If there are at least two of the above effective date ranges, the effective time of the mark is the intersection of the at least two.
  • a vehicle driving state adjustment device is also provided.
  • Figure 12 is a second block diagram of the vehicle driving state adjustment device according to this embodiment. As shown in Figure 12, it is applied to roadside equipment or vehicle-mounted equipment. Terminal, the device may include, but is not limited to:
  • the second receiving module 122 is configured to receive roadside information sent by the processor, where the roadside information carries information about road traffic signs.
  • the information about road traffic signs may include, but is not limited to, sign effective time and The road section where the sign is effective;
  • the first sending module 124 is used to send the roadside information to the vehicle-mounted terminal, so that the vehicle-mounted terminal adjusts the vehicle driving state according to the sign effective time and the sign effective road section.
  • the first sending module 124 is also configured to read the time details list timeDetailsList of the roadside information and extract the sign effective time from the time details list, and add the sign effective time to Encapsulate the time details of the roadside information into timeDetails, and send the encapsulated RSI to the vehicle-mounted terminal; or directly send the roadside information to the vehicle-mounted terminal.
  • a vehicle driving state adjustment device is also provided.
  • Figure 13 is a block diagram three of the vehicle driving state adjustment device according to this embodiment. As shown in Figure 13, it is applied to a processor.
  • Devices may include, but are not limited to:
  • the acquisition module 132 is used to obtain information about road traffic signs, where the information about road traffic signs may include, but is not limited to, the time when the sign becomes effective and the section where the sign takes effect;
  • the encapsulating module 134 is used to encapsulate the sign effective time and the sign effective road section into roadside information
  • the second sending module 136 is configured to send the roadside information to the vehicle-mounted terminal through the roadside device, so that the vehicle-mounted terminal adjusts the vehicle driving state according to the sign effective time and the sign effective road section.
  • the encapsulation module 134 is also used to encapsulate the sign effective time and the sign effective road section into the timeDetailsList of the roadside information;
  • the sign-valid road section is encapsulated into a road section set referenceLinks associated with the information of the road traffic sign and a path set referencePaths associated with the traffic sign information.
  • the time details list may include, but is not limited to: effective date type, effective period, and effective date range;
  • the effective date type may include, but is not limited to, working days, holidays, and weekday dates.
  • the effective time of the flag when there is only an effective date type in the time details list, the effective time of the flag is the whole day; when there is only an effective period in the time details list, the effective time of the flag is the date The time period set within will take effect; when only the effective date range exists in the time details list, the flag effective time will take effect within the set date; the effective date type, the effective period, and all the effective date ranges will exist in the time details list. If there are at least two of the above effective date ranges, the effective time of the mark is the intersection of the at least two.
  • the encapsulation module 134 is also used to encapsulate the road traffic sign requirements into the description of the roadside information, so that the vehicle-mounted terminal can determine the effective time of the sign, the road section in which the sign is effective, and the road information.
  • the adjustment plan is determined based on the sign's effective time, the road section where the sign is effective, and the road traffic sign requirements, and the vehicle's driving status is adjusted according to the adjustment plan or passed
  • the alarm method prompts the adjustment plan.
  • Embodiments of the present disclosure also provide a computer-readable storage medium that stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.
  • the computer-readable storage medium may include but is not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM) , mobile hard disk, magnetic disk or optical disk and other media that can store computer programs.
  • ROM read-only memory
  • RAM random access memory
  • mobile hard disk magnetic disk or optical disk and other media that can store computer programs.
  • Embodiments of the present disclosure also provide an electronic device, which may include a memory and a processor.
  • a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.
  • the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.
  • modules or steps of the present disclosure can be implemented using general-purpose computing devices, and they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices. They may be implemented in program code executable by a computing device, such that they may be stored in a storage device for execution by the computing device, and in some cases may be executed in a sequence different from that shown herein. Or the described steps can be implemented by making them into individual integrated circuit modules respectively, or by making multiple modules or steps among them into a single integrated circuit module. As such, the present disclosure is not limited to any specific combination of hardware and software.

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Abstract

La présente invention concerne un procédé et un appareil de réglage d'état de déplacement de véhicule, ainsi qu'un support de stockage et un appareil électronique. Le procédé de réglage d'état de déplacement de véhicule consiste : à recevoir des informations de bord de route, les informations de bord de route transportant des informations de panneaux de signalisation, et les informations comprennent un temps effectif de signalisation et une section de route effective de signalisation ; à analyser les informations de bord de route, de façon à obtenir le temps effectif de signalisation et la section de route effective de signalisation ; et à régler un état de déplacement de véhicule en fonction du temps effectif de signalisation et de la section de route effective de signalisation. Les problèmes de congestion du trafic et de faible efficacité du passage causés par le manque d'actualité des informations de panneaux de signalisation routière peuvent être résolus. Dans le procédé de réglage d'état de déplacement de véhicule, un état de déplacement de véhicule est ajusté en fonction d'un temps effectif de panneaux de signalisation en combinaison avec une section de route à signalisation efficace, de telle sorte que des informations de panneau de signalisation peuvent être utilisées pour guider la conduite, et un état de déplacement peut être réglé de manière autonome selon un procédé de guidage, ce qui permet de réduire les infractions, d'améliorer l'efficacité de passage et d'adapter à des conditions de route compliquées.
PCT/CN2023/079403 2022-05-25 2023-03-02 Procédé et appareil de réglage d'état de déplacement de véhicule, et support de stockage et appareil électronique WO2023226506A1 (fr)

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EP1503354A1 (fr) * 2003-07-30 2005-02-02 Robert Bosch Gmbh Génération des informations routières par la interpretation des scénarios des panneaux de signalisation et des informations de navigation dans une vehicule
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