CN109756867B - Vehicle-road cooperative vehicle-mounted terminal application system based on LTE-V - Google Patents
Vehicle-road cooperative vehicle-mounted terminal application system based on LTE-V Download PDFInfo
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Abstract
The invention discloses a vehicle-road cooperative vehicle-mounted terminal application system based on LTE-V. In the system, the vehicle utilizes the characteristics of low delay and high coverage range of LTE-V communication to maintain wireless short wave communication with other vehicles and road side equipment in real time, and interacts information with a vehicle road cooperation background server through a 4G network. The vehicle senses the surrounding traffic condition by receiving the real-time state information of other vehicles and the real-time information of the traffic participants sent by the road side equipment, and judges and analyzes the map-road relationship, the road distance and the collision time of the vehicle and other traffic participants, traffic signs or events according to the state information of the vehicle and the map information of the lane track points of the local. According to different traffic scenes judged by the system, the driver is prompted to have different traffic events and early warning information through visualization, driving safety is enhanced, and traffic efficiency is improved.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a vehicle-road cooperative vehicle-mounted terminal application system based on LTE-V.
Background
With the rise of vehicle-road cooperation technology and the vigorous development of internet of things/vehicle networking, the vehicle-mounted positioning service terminal is required to be capable of realizing intelligent cooperation and coordination between vehicles and infrastructure and between vehicles through vehicle-vehicle and vehicle-road information interaction and sharing, so that the aims of optimizing and utilizing system resources, improving road traffic safety and relieving traffic jam are fulfilled.
With the continuous increase of traffic accidents and traffic jams, a large number of traffic control and traffic guidance facilities are applied to an actual road traffic system, the data base of normal operation of the traffic control and traffic guidance facilities is various types of traffic sensors, but the traffic data collected by the sensors are only from floating cars, part of intersections and a small number of road sections, and are only local traffic data compared with the whole city, and the data are not complete for the traffic control and traffic guidance, so that the traffic control and traffic guidance cannot be effective in real time. On the other hand, the vehicle acquires the traffic information only by depending on the information broadcast of a traffic broadcasting station and a variable information board beside the road, the time delay of the information is often large, and the driver is difficult to be provided with global, intuitive and real-time traffic information, so that the driving operation reaction of the driver is delayed; meanwhile, the driver is difficult to judge and react emergently to the traffic incident which occurs in a short time and a short distance.
The automotive and traffic fields are typical application fields of wireless networks, and vehicle-mounted terminals become an important class of mobile communication terminals. A Vehicle-to-Vehicle (V2V) and a Vehicle-to-road (V2I) wireless communication device are used for information interaction, and a Cooperative Vehicle-to-Vehicle and road System (CVIS) is used for effectively providing information services for Vehicle-mounted terminals and realizing integrated information coordination and cooperation of people, vehicles and roads and is greatly dependent on a plurality of wireless network technologies for deployment and application. On the other hand, with the rapid development of various Wireless communication technologies and the wide deployment of Wireless network infrastructures, in many communication scenarios, different types of networks coexist in large numbers and overlap, such as 3G (3rd-Generation, third Generation mobile communication technology) cellular networks, WiFi (Wireless Fidelity ) Wireless networks, DSRC (Dedicated Short Range Communications), satellite microwave communication networks, etc., which together form a complex multi-network environment, and provide diversified transmission functions for information interaction processes between vehicle-mounted terminals and roadside facilities in a vehicle-road cooperative system. These wireless communication techniques are not significantly effective at low latency and high coverage.
Disclosure of Invention
In view of the above, in order to solve the above problems in the prior art, the present invention provides an LTE-V based vehicle-road cooperative vehicle-mounted terminal application system.
The invention solves the problems through the following technical means:
an LTE-V based vehicle-road cooperative vehicle-mounted terminal application system comprises:
the vehicle sensor is used for receiving positioning data of the vehicle positioning equipment and vehicle state data in the vehicle control bus;
the vehicle safety information management module is used for collecting positioning data and vehicle state data, integrating the collected positioning data and the collected vehicle state data into vehicle safety information of the vehicle, and carrying out state detection on the vehicle safety information of the vehicle;
the wireless transceiving module is used for reporting the vehicle safety information of the vehicle to the vehicle-road cooperation server;
the LTE-V receiving and sending module is used for directly establishing LTE-V communication with other vehicles, establishing LTE-V communication with roadside equipment, receiving vehicle safety information sent by other vehicles, and traffic participant information, map information, traffic light state information, traffic signs and event information sent by the roadside equipment;
the map information management module is used for carrying out state detection and updating on the received map information;
the traffic light information management module is used for carrying out state detection and updating on the received traffic light state information;
the remote vehicle safety information management module is used for carrying out state detection and updating on the received vehicle safety information sent by other vehicles;
the road side safety information management module is used for carrying out state detection and updating on the received traffic participant information;
the sign and event management module is used for carrying out state detection and updating on the received traffic signs and event information;
the map correlation calculation module is used for judging the road relationship, the road distance and the collision time of the vehicle and other traffic participants according to the received map information;
the vehicle-mounted terminal early warning service module is used for detecting vehicle safety information of a vehicle, vehicle safety information sent by other vehicles, and effectiveness of traffic participant information and map information sent by road side equipment, if the vehicle safety information is effective in real time, the vehicle safety information of the vehicle, the vehicle safety information sent by other vehicles, the traffic participant information and the map information sent by the road side equipment are combined, whether corresponding early warning trigger exists or not is judged according to different conditions through the calculated road relation, road distance and collision time between the vehicle and all current traffic participants, and finally the most dangerous early warning is prompted to a driver to finish early warning analysis of a dynamic traffic event;
the system is used for detecting the effectiveness of vehicle safety information of a vehicle, traffic light state information sent by road side equipment, traffic sign and event information and map information, and if the effectiveness is real-time, the system is combined with the vehicle safety information of the vehicle, the traffic light state information sent by the road side equipment, the traffic sign and event information and the map information to complete early warning analysis of a static traffic event through the calculated road relationship and distance between the traffic sign and event occurrence place and the vehicle place;
and the early warning prompt management module is used for triggering corresponding early warning according to the analysis of the early warning application of the early warning service module of the vehicle-mounted terminal and completing interface and voice prompt.
Further, the early warning of the dynamic traffic incident comprises forward collision early warning, vehicle emergency state early warning, emergency vehicle reminding, intersection collision early warning, left turn assisting, blind area lane change early warning, reverse overtaking early warning and weak traffic participant collision early warning.
Further, the early warning of the static traffic incident comprises speed limit early warning, vehicle interior label prompting, red light running early warning, green wave vehicle speed guiding and front congestion early warning.
Further, the map correlation calculation module includes:
the lane positioning unit is used for positioning the vehicle and other traffic participants on the lane according to the map information, the remote vehicle safety information and the vehicle safety information, finding out the nearest track point by calculating the coordinate distance between the vehicle coordinate and all the lane track points in the map information, and finally judging the lane where the vehicle is located;
the road relation calculation unit is used for judging the road relation after determining the lane positioning information of the vehicle and the traffic participants;
the road distance calculation unit is used for calculating the actual road distance between the vehicle and other traffic participants after the judgment of the road relationship between the vehicle and the other traffic participants is finished;
and the road collision time calculation unit is used for calculating the relative speed according to the map road relationship and calculating the road collision time according to the relative speed and the road distance if the vehicle and the traffic participants are positioned on the lane.
Further, the road relationship includes a link relationship, a lane relationship, a front-rear relationship.
Further, the wireless transceiver module is a 4G transceiver module.
Compared with the prior art, the invention has the beneficial effects that at least:
1. different from the road perception of the traditional laser radar/image recognition technology, the method uses the LTE-V communication between workshops and the LTE-V communication between vehicles and roadside equipment to complete the road perception through the positioning information and the state information of other traffic participants in the communication information. Compared with expensive laser radars, the cost is low; compared with the traditional positioning algorithm, the real-time performance is higher.
2. The invention is easy to install, and can be accessed to early warning application only by newly assembling a vehicle-mounted terminal, LTE-V communication equipment and GNSS positioning equipment on the existing vehicle. Traditional early warning application needs to be reequiped through a plurality of laser radar, camera, or millimeter wave radar whole.
3. The vehicle supports 14 vehicle-road collaborative early warning applications: the method comprises the following steps of forward collision early warning, emergency braking early warning, abnormal vehicle reminding, vehicle out-of-control early warning, road danger prompting, speed limit early warning, vehicle interior signboard prompting, emergency vehicle reminding, intersection collision early warning, left-turn assisting, blind area lane changing early warning, reverse overtaking early warning, red light running early warning, weak traffic participant collision early warning, green wave vehicle speed guiding and front congestion reminding. The traffic is more efficient while the safety driving is guaranteed.
4. Compared with the traditional road sensing system through the camera and the laser radar, the road sensing system can sense the traffic condition beyond the visual range or at a longer distance through the LTE-V communication between vehicles and between the vehicles and road side equipment.
5. The invention can assist the real-time monitoring of the traffic state by reporting the state information of the vehicle to the vehicle-road cooperative server. Meanwhile, the supervision platform issues a traffic event, and the vehicle gives a warning to the driver of the traffic event to implement a traffic junction.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an LTE-V-based vehicle-road cooperative vehicle-mounted terminal application system of the present invention;
FIG. 2 is a network topology diagram of the application system of the vehicle-road cooperative vehicle-mounted terminal based on LTE-V of the present invention;
FIG. 3 is a schematic diagram of the structure of the map information of the present invention;
FIG. 4 is a schematic diagram of the structure of the vehicle safety information of the present invention;
FIG. 5 is a schematic diagram of the structure of the traffic light status information of the present invention;
FIG. 6 is a schematic diagram of the structure of the traffic participant information of the present invention;
FIG. 7 is a schematic diagram of the structure of the traffic sign and event information of the present invention;
FIG. 8 is a flow chart of the lane positioning of the present invention;
FIG. 9 is a flow chart of a road segment relationship calculation in a road relationship of the present invention;
FIG. 10 is a flow chart of a lane-relationship calculation in the road-relationship of the present invention;
FIG. 11 is a flow chart of context calculation in a road relationship of the present invention;
FIG. 12 is a flow chart of intersection relationship calculation in a road relationship of the present invention;
FIG. 13 is a flow chart of a road distance calculation of the present invention;
FIG. 14 is a flow chart of the road time to collision calculation of the present invention;
FIG. 15 is a flow chart of a traffic dynamics information early warning detection application of the present invention;
FIG. 16 is a flow chart of a traffic static information warning application and analysis method of the present invention;
FIG. 17 is a flow chart of green wave vehicle speed guidance in the traffic static information warning application and analysis method of the present invention;
fig. 18 is a flow chart of the warning of red light running in the traffic static information warning application and analysis method of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an application system based on LTE-V vehicle-road cooperation with a vehicle-mounted terminal. The system integrates the vehicle safety information (vehicle state information) of the vehicle by receiving the positioning data of the vehicle positioning system and the vehicle state data in the vehicle control bus, and reports the vehicle safety information to the vehicle-road cooperation server. Meanwhile, the system directly establishes LTE-V communication with other vehicles, establishes LTE-V communication with roadside equipment, completes road positioning of the vehicle and other traffic participants through road positioning calculation, finally completes analysis of early warning application through map and road relation judgment of the vehicle and other traffic participants, triggers corresponding early warning, and completes interface and voice prompt.
The system keeps LTE-V communication with other vehicles and road side equipment, receives vehicle safety information sent by other vehicles, traffic participant information and map information sent by the road side equipment, and completes early warning analysis of dynamic traffic events by using the information. The early warning comprises the following steps: the method comprises the following steps of forward collision early warning, vehicle emergency state early warning, emergency vehicle reminding, intersection collision early warning, left turn assisting, blind area lane change early warning, reverse overtaking early warning and weak traffic participant collision early warning.
Meanwhile, the system also receives traffic light state information, traffic signs and event information sent by the road side equipment, and completes early warning analysis of static traffic events by using the information. The early warning comprises the following steps: speed limit early warning, vehicle interior sign prompting, red light running early warning, green wave vehicle speed guiding and front congestion early warning.
1. System architecture and network topology relationship
Fig. 2 depicts a network topology relationship of the application system of the vehicle-road cooperative vehicle-mounted terminal:
in the vehicle-road cooperative application system, the network connection between the vehicle and the road side equipment is realized by LTE-V wireless communication, and the network connection between the vehicle and other vehicles is realized by LTE-V wireless communication. Through LTE-V communication, the system wirelessly broadcasts the safety information of the vehicle, receives the safety information of the vehicle sent by other vehicles, and receives information of other traffic participants, map information, traffic light state information, traffic signs and event information sent by road side equipment. Meanwhile, the vehicle-road cooperative vehicle-mounted terminal application system is also communicated with the vehicle-road cooperative server through the 4G network, and reports the vehicle information in real time. The application system of the vehicle-road cooperative vehicle-mounted terminal completes the cooperative early warning application of different vehicle roads through real-time far vehicle information, traffic light state information, traffic sign and event information and map information.
The system acquires vehicle state information (such as vehicle lamps, a braking system, vehicle speed and the like) through the CAN controller, acquires positioning information of the vehicle through the differential positioning equipment, the information is used for early warning analysis of the vehicle, and simultaneously the system transmits the vehicle information to other vehicles through the LTE-V network.
2. Detailed description of LTE-V interaction data
The following describes the structure and definition of interaction data between vehicles and roadside devices.
2.1 map information
Description of the Structure and Definitions
In the system, map information is used for assisting in judging lane positioning of traffic participants in a map, the map information in a vehicle is obtained by road side equipment through LTE-V network broadcasting, and the definition of the map information is described as follows. As shown in fig. 3, the map information includes link information and lane information. Wherein, two ordered nodes define a directed road section, and the node can be the starting point or the intersection of a section of road. The link information includes coordinates and ID information of the upstream node and the local node, and the connection order of the links can be determined by the upstream and downstream relationship of the nodes. Meanwhile, the road section information comprises road section names, speed limits, width, road section track point information and a lane information list. The road section track point information describes the track and the direction of the road section by defining a series of ordered coordinate point information, and the position of the vehicle in the road section can be positioned by the information. The lane information list in the link information defines lane information of all lanes of the link. The lane information includes ordered lane ID (from left to right), lane type (such as bus lane, bicycle lane, etc.), steering information allowed at the end of the lane (straight running, left turning, head dropping, etc.), lane speed limit information, lane track point information, and lane connection attribute. The lane connection attribute comprises node information of a downstream road section connected with the lane, ID information of the lane connected with the node information, steering information of a connection point and a traffic light phase ID corresponding to a tail node of the lane.
Road section and lane track point recording
The map track points are obtained by driving a real vehicle on a road and collecting real-time GNSS data, and the distance between the track points is required to be smaller than half of the lane width plus the GNSS error distance so as to facilitate the positioning and distinguishing of the lanes. And after the original track point data is obtained, the original track point data is arranged into a format required by the map information and uploaded to a vehicle-road cooperation server or directly stored in road side equipment.
2.2 vehicle safety information
Description of the Structure and Definitions
The vehicle broadcasts vehicle safety information through an LTE-V network to inform surrounding vehicles of real-time state information of the vehicle. The host vehicle also receives this information to know the state of another vehicle. The vehicle safety information broadcasted by surrounding vehicles plays a role in auxiliary analysis in the vehicle dynamic information early warning application. FIG. 4 depicts the definition and structure of vehicle safety information. The positioning information and the direction angle information are obtained by GNSS positioning equipment of the vehicle, and other vehicle state information is obtained from a CAN controller of the vehicle (such as the state of a brake system and the state of a vehicle lamp). And the size of the vehicle license plate is obtained through a preset configuration document. The positioning information in the vehicle safety information supports the lane positioning of the vehicle in the map information, and the direction angle and steering lamp information supports the prediction of the steering behavior of the vehicle at the intersection and the lane changing behavior on the road section. The historical track points are used for judging the curvature radius of the current vehicle, and are responsible for establishing a track equation in the calculation of the non-road collision time and used for judging whether the current vehicle intersects with the tracks of other traffic participants.
2.3 traffic light status information
Structural definition and description
The road side equipment broadcasts traffic light state information in an LTE-V network to inform states of a plurality of traffic lights nearby surrounding vehicles, and is applied to green wave vehicle speed guidance and red light running early warning in static information early warning application. FIG. 5 illustrates the definition and structure of traffic light status information. All the traffic lights are positioned on the intersection nodes of the map information, and the traffic lights with different phase IDs correspond to one or more different lanes. Different traffic lights report the time information of all the light color states (the light colors comprise green light, yellow flash and the like).
When the vehicle-mounted terminal is used for carrying out related application of the traffic lights of the vehicle road system, the traffic light phase ID of the tail intersection node of the lane is searched through map information. And then finding the traffic light of the phase of the node according to the traffic light state information, and acquiring the time information of the relevant state.
2.4 traffic participant information
Structural definition and description
Fig. 6 is a structure diagram of traffic participant information, and a vehicle receives traffic participant information broadcast by a roadside device in an LTE-V network to obtain other traffic participant information. The vehicles can not only sense surrounding vehicles through safety information between the vehicles, but also sense surrounding environment through traffic participant information broadcast by the road side equipment. When the vehicle cannot be directly connected with other vehicles, the state of other vehicles or pedestrians can be known by receiving the traffic participant information. The information of the participation of the traffic people is applied to the early warning application analysis of the dynamic information.
The road side equipment identifies the traffic participants through the camera and then identifies the depth information through the millimeter wave radar. Wherein "participant types" are classified as motor vehicles, non-motor vehicles, pedestrians; the 'participant data source' can be millimeter wave radar, a monitoring screen and an LTE-V network, and the information can also be derived from self state information broadcast by the traffic participants through LTE-V communication equipment.
2.5 traffic sign and event information
Structural definition and description
Fig. 7 is a structural diagram of traffic sign and event information, and a vehicle receives the traffic sign and event information sent by the road side device to know the sign or event type of the surrounding traffic, the occurrence location of the event, and the action range. The method is applied to static information early warning analysis. The traffic sign types include GB 5768 road traffic sign and marking part 2: all sign types defined in road traffic signs. The in-vehicle device distinguishes the different flags by "flag and event type ID". The vehicle-mounted system initiates the reminding of the traffic sign to the driver when the driver is about to pass the sign through the sign information sent by the road side equipment.
The mark and the event type ID are also used for distinguishing different traffic events, including self-defined traffic events such as dangerous road sections, congestion road sections and the like. If the traffic event is self-defined, the event type, such as 'slippery road ahead', needs to be described in the 'text description'. In the vehicle-mounted prompting application, if a plurality of signs or events start at the same place, the vehicle-mounted application prompts the driver of the sign or event with the highest priority according to the priority level.
3. Map computing method
The early warning analysis of the vehicle-mounted terminal needs to judge the road relationship, the road distance and the collision time between the vehicle and other traffic participants. Firstly, the vehicle and other traffic participants are positioned on the lane according to the map information, the far vehicle safety information and the vehicle safety information.
3.1 lane positioning
In lane positioning, the nearest track point is found out by calculating the coordinate distance between the vehicle coordinate and all the lane track points in the map information, and finally the lane where the vehicle is located is judged. Meanwhile, the positioning calculation can also judge the steering behavior of the vehicle at the next intersection. And after the calculation is finished, track point information, lane track point information, upstream and downstream node information and vehicle intersection steering information of the positioning road section are stored. The flow chart is shown in fig. 8.
3.2 road relation judgment
After the lane positioning information of the vehicle and the traffic participants is determined, the road relationship can be judged. The road relationship includes a link relationship, a lane relationship, a front-rear relationship. The result of the road relationship determination will be applied to the road distance calculation and the collision time calculation. The following road relationships are used to define the road relationship between the host vehicle and other traffic participants (vehicles, pedestrians).
3.2.1 road segment relations
The road section relations of two different traffic participants comprise the same road section relation, the connected upstream road section relation, the connected downstream road section relation, the adjacent reverse road section relation and the distant road section relation. If the information of the upstream and downstream nodes of the road section where the vehicle and other traffic participants are located is the same, the road section is the same. If the downstream node of the road section where the vehicle is located is the same as the upstream node of the road section where other traffic participants are located, and the upstream node of the vehicle is different from the downstream node, the vehicle and the other traffic participants belong to a connected downstream road section relationship. If the upstream node of the road section where the vehicle is located is the same as the downstream node of the road section where other traffic participants are located, and the downstream node of the vehicle is different from the upstream node, the vehicle and the other traffic participants belong to a connected upstream road section relationship. If the upstream node of the road section where the vehicle is located is the same as the downstream node of the road section where other traffic participants are located, and the downstream node of the vehicle is the same as the upstream node of the other traffic participants, the road section relationship is an adjacent reverse road section. When none of the above relations is satisfied, the road section relation of the two vehicles is defined as a distant road section. The flow chart is shown in fig. 9.
3.2.2 lane relationships
The lane relations include the same lane, the connected upstream lane, the connected downstream lane, the adjacent reverse lane, the left adjacent lane, the right adjacent lane and the distant lane relation. If the host vehicle and other traffic participants are in the same road section and the lane IDs are the same, the lane relationship is the same lane. If the road section relationship between the vehicle and other traffic participants is a downstream road section, and all the downstream lanes of the lane in which the vehicle is located include the lanes in which the other traffic participants are located, the lane relationship is the connected downstream lanes. If the road section relationship between the vehicle and other traffic participants is an upstream road section, and all the downstream lanes of the lanes where the other traffic participants are located include the lane where the vehicle is located, the lane relationship is a connected upstream lane. If the host vehicle and other traffic participants are in the same road section and the difference between the ID of the lane in which the host vehicle is located and the ID of the lane in which the other traffic participants are located is 1, the lane relationship is the adjacent lane on the left or the right. The flow chart is shown in fig. 10.
3.2.3 front-to-back relationship
The anteroposterior relationships include anterior, posterior, and undefined relationships. When the road sections are in the same road section, when the serial number of the track point of the road section where the vehicle is located is smaller than the serial numbers of the track points of the road sections of other traffic participants, the other traffic participants are positioned in front of the vehicle, otherwise, the other traffic participants are positioned in the back. When the road section relation is the connected downstream road section, other traffic participants are positioned in front of the vehicle. When the road section relationship is the connected upstream road section, other traffic participants are positioned behind the vehicle. And when the road section relationship is a reverse adjacent road section, mapping the coordinates of the vehicle to the nearest point in the road section track points of other traffic participants, wherein if the sequence number of the road section track point of the mapping point is greater than the sequence numbers of the road section track points of the other traffic participants, the other traffic participants are positioned in front of the vehicle, otherwise, the other traffic participants are positioned in the back. The flow chart is shown in fig. 11.
3.2.4 intersection relations
The intersection relationship is mainly divided into a crossing relationship and a crossing relationship. In the intersection, when the vehicles come from different road sections and finally intersect with the same lane, the intersection relationship of the two vehicles is an intersection relationship. When the driving tracks of the vehicles cross at the intersection and finally drive on different road sections, the intersection relationship of the two vehicles is a staggered relationship. According to the steering information of the vehicle at the intersection and the different steering information of other vehicles at different positions of the intersection, the intersection relationship is subdivided, and finally, the intersection position of the remote vehicle at the intersection is judged to be crossed or intersected with the vehicle. The flow chart is shown in fig. 12.
3.3 road distance calculation
After the judgment of the road relationship between the vehicle and other traffic participants is completed, the actual road distance between the vehicle and other traffic participants can be calculated. Distance calculation is obtained by accumulating distances of road section track coordinate points, namely accumulating the distance of every two road section track points between two vehicles and adding the error distance between the vehicles and the road section track points. The accumulated range of the distance is different according to different road relations and track point serial numbers of the vehicle and other traffic participants. Fig. 13 is a detailed flowchart illustration of road distance calculation. If the road section relationship between the vehicle and other traffic participants is an adjacent reverse road section, the coordinate of the vehicle is mapped to the nearest point in the road section track points of the other traffic participants, then the distance from the mapped point to the end of the road section of the other traffic participants is calculated, and the distance from the other traffic participants to the end of the road section is subtracted, so that the actual road distance between the two vehicles is obtained.
3.4 road Collision time calculation
Fig. 14 is a detailed collision time calculation flow. If the vehicle or other traffic participants are too far away from the nearest lane, it is determined that the traffic participants or the vehicle are not in the lane. For the calculation of the collision time outside the lane, a track prediction equation of the vehicle and the traffic participants needs to be established, whether an intersection exists on the future track or not is solved, and if so, the time difference of reaching the intersection is calculated. If the vehicle and the traffic participants are positioned on the lanes, the relative speed is calculated according to the map road relationship, and the road collision time is calculated according to the relative speed and the road distance.
4. Traffic dynamic information early warning application and analysis method
The vehicle-mounted terminal can acquire the information of the vehicle in real time and receive the information of other traffic participants and the vehicle safety information in the LTE-V network, meanwhile, in the application of dynamic information early warning detection, the effectiveness of the information of the vehicle and the information of other traffic participants is firstly detected, and if the effectiveness is realized in real time, the road relationship, the road distance and the collision time between the vehicle and all the current traffic participants are calculated. And judging whether corresponding early warning is triggered or not according to different conditions, and finally prompting the most dangerous early warning to the driver. Fig. 15 is a flow chart of a traffic dynamics information early warning detection application.
4.1 real-time detection of various information
The time stamps of information acquisition are recorded in all data interacted in the LTE-V network, whether the information is valid or not is judged according to the time difference between the local time and the time stamps in the information in the early warning service, and the information is regarded as invalid when the time difference is larger than a certain threshold value according to different information types.
4.2 front impact detection
The forward collision early warning application means that when the vehicle is located on a lane, a distant vehicle is located on the same or a next connected lane, and if the vehicle and the distant vehicle have collision danger, the forward collision early warning application gives a collision danger prompt to a driver and marks the direction of the vehicle on a map. The application is also applicable to scenes with curves and blocked sight lines by other vehicles. The triggering condition needs to be met, the lane relation of the two vehicles is the same lane or the lanes connected at the downstream, the front-back relation is judged that the far vehicle is in front of the vehicle, and the collision time is smaller than the safety threshold value.
4.3 vehicle emergency detection
The early warning of the vehicle emergency state means that when the vehicle runs on a lane, and a distant vehicle on the same road section or a connected road section in the current direction is released to be started by emergency braking, is started by double-flash (or the vehicle is static), and when a vehicle out-of-control device is started, if the vehicle and the distant vehicle have collision danger or the distant vehicle is in a danger early warning range, the early warning service provides corresponding early warning information for a driver. The triggering condition needs to meet the condition that the road section relationship between the remote vehicle and the vehicle is the same or the next connected road section, the front and rear relationship is that the remote vehicle is in front of the vehicle, and the lamp state of the remote vehicle is the opening of an emergency lamp, or a braking system alarms that the vehicle is out of control, an anti-lock system is opened, and a braking auxiliary system is opened.
4.4 Emergency vehicle detection
In the emergency vehicle reminding function, the vehicle runs on a lane and receives the information of a remote vehicle in real time, and when an emergency vehicle (such as a police vehicle, a fire engine and an ambulance) appears on an up-and-down road section or the road section, the emergency vehicle reminding application sends a prompt for avoiding the emergency vehicle to a driver so that the driver can avoid the emergency vehicle in time. The emergency vehicle early warning triggering needs to meet the following condition that when the relationship between the remote vehicle and the road section of the vehicle is the same road section or the road sections connected upstream and downstream, and the basic type information of the remote vehicle is a fire truck, a redemption vehicle or a police vehicle.
4.5 Blind zone \ lane change assist
The blind area lane change early warning means that when the vehicle has lane change behavior, if other vehicles exist in the left and right adjacent lanes, and in the blind area of the vehicle, the blind area lane change early warning can remind the vehicle that the vehicle exists in the left or right blind area, so that a driver can stop changing lanes in time. The blind area and lane change auxiliary trigger needs to meet the following conditions, the lane relationship between a distant vehicle and the vehicle is a left adjacent lane or a right adjacent lane, the front-back relationship is that the distant vehicle is in front of the vehicle, the lamp state of the vehicle is that a left steering lamp or a right steering lamp is turned on, the time for the distant vehicle to travel to the blind area of the vehicle is shorter than the safe lane change time of the vehicle, or the distance between the two vehicles is shorter than a safe threshold value (the distant vehicle is in the blind area).
4.6 reverse overtaking early warning detection
In the reverse overtaking early warning, when the vehicle has the reverse overtaking behavior of borrowing the lane, if the vehicle exists on the reverse lane and the vehicle has the collision danger, the reverse overtaking early warning can give a warning to the driver to remind the driver to stop the reverse overtaking behavior. The triggering of the reverse overtaking early warning needs to meet the following conditions, the lane relation between a far vehicle and the vehicle is a reverse adjacent lane, the front-back relation is that the far vehicle is in front of the vehicle, the vehicle lamp state of the vehicle is that a left turn lamp is turned on, and the meeting time of the two vehicles is less than the time threshold value of safe overtaking.
4.7 early warning and detection of intersection collision
The early warning of the intersection collision means that the vehicle is driven to the intersection to prepare for straight running or turning right, and when the vehicle is in a lane in the lateral direction and the collision danger is possibly generated between the vehicle and the intersection, the driver is reminded to decelerate and pay attention to the coming vehicle on the left or right of the intersection. The intersection collision early warning needs to be met, the intersection relationship between the vehicle and the distant vehicle is that the distant vehicle crosses the vehicle track from the left or the right at the intersection, and the time difference between the two vehicles reaching the intersection is smaller than the safety threshold.
4.8 left turn assist
In the left turn assist application, the vehicle is driven to the intersection to prepare for left turn, and when there is a vehicle on the opposite lane and there is a collision risk with the vehicle at the intersection, the driver is reminded to decelerate and pay attention to the vehicle coming in front of the intersection. The intersection collision early warning needs to be met, the intersection relationship between the vehicle and the distant vehicle is that the distant vehicle crosses the vehicle track from the front at the intersection, and the time difference between the two vehicles reaching the intersection is smaller than a safety threshold value.
4.9 Weak traffic participant Collision detection
In the early warning of the collision of the weak traffic participants, the vehicle runs on a lane or other positions, when pedestrians are nearby, if the vehicle has the danger of colliding the pedestrians, the early warning application of the collision of the weak traffic participants gives a prompt to a driver. The early warning needs to be met, the collision time of the pedestrian and the vehicle on the road is smaller than a safety threshold value, or the time difference of the vehicle and the pedestrian reaching the track intersection point is smaller than the safety threshold value, or the distance between the pedestrian and the vehicle is smaller than the safety threshold value.
5. Traffic static information early warning application and analysis method
As shown in fig. 16, the vehicle-mounted terminal collects the vehicle information in real time, receives the traffic sign and event information and the traffic light status information broadcast by the roadside device, and in the static early warning detection application, first detects the validity of the vehicle information and the traffic sign and event. The application of the static information early warning mainly comprises early warning of a vehicle interior sign, early warning of speed limit, early warning of front congestion, green wave vehicle speed guiding and prompting and early warning of running red light. The early warning application preferentially judges whether traffic light related applications are triggered or not. Positioning on a map lane according to the collected vehicle positioning information, inquiring the state information of the corresponding traffic lights in the traffic light information list according to the traffic light phase matched with the lane, and analyzing whether to trigger early warning. And if the traffic light early warning is not triggered, analyzing other traffic static early warning applications. And analyzing and early warning according to the road relationship between the traffic sign and the incident place and the vehicle place.
5.1, interior label of vehicle
The vehicle interior label is used for receiving road side marks and event information broadcast by road side equipment in real time by the vehicle, and prompting mark contents to a driver by the vehicle interior label when a traffic mark exists in front of a road section where the vehicle runs. The traffic sign and the road section of the vehicle are in the same road section, and the front and back relations are that the traffic sign is in front of the vehicle. And if the early warning of the plurality of in-vehicle signboards is triggered simultaneously, screening the most urgent sign according to the road distance and the priority for early warning.
5.2 speed limit early warning
In the speed limit early warning function, the vehicle receives road side signs, event information (including speed limit signs) and map information (including speed limit information) broadcasted by road side equipment in real time, and when the driving speed of the vehicle on a lane exceeds the speed limit, the speed limit early warning application sends overspeed reminding to a driver. The early warning application can inquire whether the speed limit is marked on the current road section according to the position of the vehicle, if the speed limit is marked, whether the current vehicle speed is greater than the maximum speed limit specified by the mark is judged, if the speed limit is not marked, whether the corresponding lane speed limit exists in the map information is inquired, and then the vehicle speed is judged.
5.3 Forward Congestion Cumption
The forward congestion function is that the vehicle receives road side signs and event information (including congestion information of different lanes) broadcast by road side equipment in real time, and when a relation between a congestion place and a road section of the vehicle is a next connected road section, the forward congestion early warning function prompts a driver to jam ahead. The road side equipment collects the state information of surrounding traffic participants according to a detection method of the road side equipment, judges the congestion state of a lane, and broadcasts a congestion place and a congestion range to surrounding vehicles through traffic event information if a congestion road section is detected. After the information of the congested road sections of the road side equipment is received, the vehicle can mark the congested road sections on the map.
5.4 Green wave vehicle speed guidance
The green wave vehicle speed guiding function means that the vehicle runs on a lane, and when the tail end of the lane where the vehicle belongs is provided with a corresponding traffic light, the green wave vehicle speed guiding application gives a vehicle speed suggestion, so that the vehicle can smoothly pass through an intersection without decelerating or stopping. The functional flow diagram is shown in fig. 17.
5.5 early warning of running red light
In the red light running early warning application, the vehicle receives traffic light state information broadcast by road side equipment in real time, and when the vehicle has a danger of running through the red light, the vehicle reminds a driver to decelerate. The application scene is also suitable for the condition that the sight line is blocked or the traffic light is going to turn red. The specific flowchart is shown in fig. 18.
In the application system of the vehicle-road cooperative vehicle-mounted terminal based on the LTE-V, the vehicle keeps wireless short wave communication with other vehicles and road side equipment in real time by utilizing the characteristics of low delay and high coverage range of the LTE-V communication, and interacts information with the vehicle-road cooperative background server through a 4G network. The vehicle senses the surrounding traffic condition by receiving the real-time state information of other vehicles and the real-time information of the traffic participants sent by the road side equipment, and judges and analyzes the map-road relationship, the road distance and the collision time of the vehicle and other traffic participants, traffic signs or events according to the state information of the vehicle and the map information of the lane track points of the local. According to different traffic scenes judged by the system, the driver is prompted to have different traffic events and early warning information through visualization, driving safety is enhanced, and traffic efficiency is improved.
The method comprises the steps of forward collision early warning, emergency braking early warning, abnormal vehicle reminding, vehicle out-of-control early warning, road danger prompting, speed limit early warning, vehicle interior label prompting, emergency vehicle reminding, intersection collision early warning, left-turning assistance, blind area lane change early warning, reverse overtaking early warning, red light running early warning, weak traffic participant collision early warning, green wave vehicle speed guiding and forward congestion reminding. In different scenes, the vehicle-mounted terminal can trigger early warning in real time and prompt corresponding early warning information to a driver, so that the driver has enough time to take emergency measures and avoid traffic accidents.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. The utility model provides a vehicle road vehicle-mounted terminal application system in coordination based on LTE-V which characterized in that includes:
the vehicle sensor is used for receiving positioning data of the vehicle positioning equipment and vehicle state data in the vehicle control bus;
the vehicle safety information management module is used for collecting positioning data and vehicle state data, integrating the collected positioning data and the collected vehicle state data into vehicle safety information of the vehicle, and carrying out state detection on the vehicle safety information of the vehicle;
the wireless transceiving module is used for reporting the vehicle safety information of the vehicle to the vehicle-road cooperation server;
the LTE-V receiving and sending module is used for directly establishing LTE-V communication with other vehicles, establishing LTE-V communication with roadside equipment, receiving vehicle safety information sent by other vehicles, and traffic participant information, map information, traffic light state information, traffic signs and event information sent by the roadside equipment;
the map information management module is used for carrying out state detection and updating on the received map information;
the traffic light information management module is used for carrying out state detection and updating on the received traffic light state information;
the remote vehicle safety information management module is used for carrying out state detection and updating on the received vehicle safety information sent by other vehicles;
the road side safety information management module is used for carrying out state detection and updating on the received traffic participant information;
the sign and event management module is used for carrying out state detection and updating on the received traffic signs and event information;
the map correlation calculation module is used for judging the road relationship, the road distance and the collision time of the vehicle and other traffic participants according to the received map information;
the vehicle-mounted terminal early warning service module is used for detecting vehicle safety information of a vehicle, vehicle safety information sent by other vehicles, and effectiveness of traffic participant information and map information sent by road side equipment, if the vehicle safety information is effective in real time, the vehicle safety information of the vehicle, the vehicle safety information sent by other vehicles, the traffic participant information and the map information sent by the road side equipment are combined, whether corresponding early warning trigger exists or not is judged according to different conditions through the calculated road relation, road distance and collision time between the vehicle and all current traffic participants, and finally the most dangerous early warning is prompted to a driver to finish early warning analysis of a dynamic traffic event;
the system is used for detecting the effectiveness of vehicle safety information of a vehicle, traffic light state information sent by road side equipment, traffic sign and event information and map information, and if the effectiveness is real-time, the system is combined with the vehicle safety information of the vehicle, the traffic light state information sent by the road side equipment, the traffic sign and event information and the map information to complete early warning analysis of a static traffic event through the calculated road relationship and distance between the traffic sign and event occurrence place and the vehicle place;
the early warning prompt management module is used for triggering corresponding early warning according to the analysis of the early warning application of the early warning service module of the vehicle-mounted terminal and completing interface and voice prompt;
the map correlation calculation module judges the road relationship, the road distance and the collision time of the vehicle and other traffic participants according to the received map information, and specifically comprises the following steps:
firstly, positioning a vehicle and other traffic participants on a lane according to map information, remote vehicle safety information and vehicle safety information;
lane positioning: in lane positioning, the nearest track point is found out by calculating the coordinate distance between the vehicle coordinate and all the lane track points in the map information, and finally the lane where the vehicle is located is judged; meanwhile, the positioning calculation can also judge the steering behavior of the vehicle at the next intersection; after the calculation is finished, track point information, lane track point information, upstream and downstream node information and vehicle intersection steering information of the positioning road section are stored;
judging the road relationship: after determining the lane positioning information of the vehicle and the traffic participants, judging the road relationship; the road relation comprises a road section relation, a lane relation and a front-back relation; the result of the road relation judgment is applied to the calculation of the road distance and the calculation of the collision time; the following road relations are used for defining the road relations between the vehicle and other traffic participants;
link relation: the road section relations of two different traffic participants comprise the same road section relation, the connected upstream road section relation, the connected downstream road section relation, the adjacent reverse road section relation and the distant road section relation; if the information of the upstream and downstream nodes of the road section where the vehicle and other traffic participants are located is the same, the road section is the same; if the downstream node of the road section where the vehicle is located is the same as the upstream node of the road section where other traffic participants are located, and the upstream node of the vehicle is different from the downstream node, the vehicle and the other traffic participants belong to a connected downstream road section relationship; if the upstream node of the road section where the vehicle is located is the same as the downstream node of the road section where other traffic participants are located, and the downstream node of the vehicle is different from the upstream node, the vehicle and the other traffic participants belong to a connected upstream road section relationship; if the upstream node of the road section of the vehicle is the same as the downstream nodes of the road sections of other traffic participants, and the downstream node of the vehicle is the same as the upstream nodes of other traffic participants, the road section relationship is an adjacent reverse road section; when the relations are not satisfied, defining the road section relation of the two vehicles as a distant road section;
lane relation: the lane relations comprise the relations of the same lane, an upstream lane connected with the same lane, a downstream lane connected with the upstream lane, an adjacent reverse lane, a left adjacent lane, a right adjacent lane and a far lane; if the vehicle and other traffic participants are in the same road section and the lane IDs are the same, the lane relationship is the same lane; if the road section relationship between the vehicle and other traffic participants is a downstream road section and all downstream lanes of the lane in which the vehicle is located contain lanes in which other traffic participants are located, the lane relationship is a connected downstream lane; if the road section relationship between the vehicle and other traffic participants is an upstream road section and all downstream lanes of the lanes where the other traffic participants are located contain the lane where the vehicle is located, the lane relationship is a connected upstream lane; if the vehicle and other traffic participants are in the same road section, and the difference between the ID of the lane in which the vehicle is located and the ID of the lane in which the other traffic participants are located is 1, the lane relation is the adjacent lane on the left or right;
the context: the front and back relations comprise front, back and undefined relations; when the road sections are the same, when the serial number of the track point of the road section where the vehicle is located is smaller than the serial numbers of the track points of the road sections of other traffic participants, the other traffic participants are positioned in front of the vehicle, otherwise, the other traffic participants are positioned in the back; when the road section relation is the connected downstream road section, other traffic participants are positioned in front of the vehicle; when the road section relationship is the connected upstream road section, other traffic participants are positioned behind the vehicle; when the road section relationship is a reverse adjacent road section, mapping the coordinates of the vehicle to the nearest point in the road section track points of other traffic participants, if the road section track point serial number of the mapping point is greater than the road section track point serial numbers of the other traffic participants, enabling the other traffic participants to be positioned in front of the vehicle, otherwise, enabling the other traffic participants to be positioned in the back;
intersection relationship: in the intersection relation, the intersection relation is divided into a cross relation and a staggered relation; in the intersection, when the vehicles come from different road sections and finally intersect with the same lane, the intersection relationship of the two vehicles is the intersection relationship; when the driving tracks of the vehicles cross at the intersection and finally drive on different road sections, the intersection relationship of the two vehicles is a staggered relationship; according to the steering information of the vehicle at the intersection and different steering information of other vehicles at different positions of the intersection, subdividing the intersection relationship, and finally judging which position of the remote vehicle at the intersection will be crossed or intersected with the vehicle;
calculating the road distance: after the judgment of the road relation between the vehicle and other traffic participants is completed, calculating the actual road distance between the vehicle and other traffic participants; distance calculation is obtained by accumulating distances of coordinate points of the road section track, namely accumulating the distance of every two road section track points between two vehicles and adding the error distance between the vehicles and the road section track points; the accumulated range of the distance is different according to different road relations and track point serial numbers of the vehicle and other traffic participants; if the road section relationship between the vehicle and other traffic participants is an adjacent reverse road section, mapping the coordinates of the vehicle to the nearest point in the road section track points of the other traffic participants, then calculating the distance from the mapping point to the end of the road section of the other traffic participants, and subtracting the distance from the end of the road section of the other traffic participants to obtain the actual road distance between the two vehicles;
calculating the road collision time: if the vehicle or other traffic participants are too far away from the nearest lane, judging that the traffic participants or the vehicle are not positioned on the lane; calculating the collision time outside the lane by establishing a track prediction equation of the vehicle and the traffic participants, solving whether an intersection exists on the future track, and calculating the time difference of reaching the intersection if the intersection exists; if the vehicle and the traffic participants are positioned on the lanes, the relative speed is calculated according to the map road relationship, and the road collision time is calculated according to the relative speed and the road distance.
2. The LTE-V based vehicle-road cooperative vehicle-mounted terminal application system of claim 1, wherein the early warning of dynamic traffic events comprises forward collision early warning, vehicle emergency state early warning, emergency vehicle reminding, intersection collision early warning, left turn assistance, blind zone lane change early warning, reverse overtaking early warning, and weak traffic participant collision early warning.
3. The LTE-V based vehicle-road cooperative vehicle-mounted terminal application system as claimed in claim 1, wherein the early warning of static traffic events comprises speed limit early warning, in-vehicle signboard prompting, red light running early warning, green wave vehicle speed guiding and front congestion early warning.
4. The LTE-V based vehicle-road cooperative vehicle-mounted terminal application system according to claim 1, wherein the map related calculation module comprises:
the lane positioning unit is used for positioning the vehicle and other traffic participants on the lane according to the map information, the remote vehicle safety information and the vehicle safety information, finding out the nearest track point by calculating the coordinate distance between the vehicle coordinate and all the lane track points in the map information, and finally judging the lane where the vehicle is located;
the road relation calculation unit is used for judging the road relation after determining the lane positioning information of the vehicle and the traffic participants;
the road distance calculation unit is used for calculating the actual road distance between the vehicle and other traffic participants after the judgment of the road relationship between the vehicle and the other traffic participants is finished;
and the road collision time calculation unit is used for calculating the relative speed according to the map road relationship and calculating the road collision time according to the relative speed and the road distance if the vehicle and the traffic participants are positioned on the lane.
5. The LTE-V based vehicle-road cooperative vehicle-mounted terminal application system according to claim 4, wherein the road relationship comprises a road section relationship, a lane relationship, a front-back relationship.
6. The LTE-V based vehicle-road cooperative vehicle-mounted terminal application system according to claim 1, wherein the wireless transceiver module is a 4G transceiver module.
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