CN113129460B

CN113129460B - Method for determining driving direction of vehicle in intelligent traffic system and vehicle-mounted unit

Info

Publication number: CN113129460B
Application number: CN202110285085.2A
Authority: CN
Inventors: 王强; 郭琦杰
Original assignee: Shenzhen Chenggu Technology Co ltd
Current assignee: Shenzhen Chenggu Technology Co ltd
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2024-01-02
Anticipated expiration: 2041-03-17
Also published as: CN113129460A

Abstract

The application is applicable to the technical field of intelligent transportation, and provides a method for determining the driving direction of a vehicle in an intelligent transportation system and a vehicle-mounted unit, wherein the method comprises the following steps: if information broadcasted by a roadside set-up roadside unit (RSU) is detected, acquiring the running direction of the vehicle where the OBU is located, wherein the information carries a unique identifier of the RSU; reporting the running direction to the RSU corresponding to the unique identifier of the RSU, wherein the running direction is used for indicating the RSU to judge whether the running direction is the same as the portal direction of the portal where the RSU is positioned; and if the request sent by the RSU is received, responding to the request, wherein the request comprises a transaction request, an information reading request or a file updating request. By the method, whether the running direction is the same as the gantry direction can be accurately judged.

Description

Method for determining driving direction of vehicle in intelligent traffic system and vehicle-mounted unit

Technical Field

The application belongs to the technical field of intelligent transportation, and particularly relates to a method for determining a driving direction of a vehicle in an intelligent transportation system, a vehicle-mounted unit, a roadside erection roadside unit and a computer readable storage medium.

Background

Currently, electronic toll collection (Electronic Toll Collection, ETC) systems are being vigorously pushed around in order to solve the congestion problem of highways. In the ETC system, a Road Side Unit (RSU) is installed On a portal of an expressway, and when a vehicle is within a communication range of the RSU, for example, when the vehicle passes through the portal at a high speed, microwave communication is performed between an On Board Unit (OBU) of the vehicle and the RSU, so that a toll corresponding to the vehicle is deducted.

However, in practical situations, some sections of the expressway are complex, for example, on an interchange section of the expressway, the same section with a relatively close forward and reverse distance, etc., if the complicated sections are all erected with the portal frame, different RSUs with similar distances will affect each other, so that the RSUs and the OBUs erected on the overpasses of the complicated sections are prone to error communication, and further, toll deduction errors are caused. In order to reduce the probability of erroneous communication between a closely located RSU and an OBU passing through a portal. In the existing method, the RSU judges whether the running direction of the vehicle is in the same direction as the door frame direction of the current door frame or not by the following modes: and estimating the time of the vehicle reaching the current portal by combining the portal direction of the portal of the previous transaction or the current portal information and the running speed of the vehicle, and further judging whether the vehicle runs in a reverse direction compared with the current portal, wherein if the vehicle runs in the reverse direction, the running direction of the vehicle is in the same direction as the portal direction of the current portal. After judging that the running direction is the same as the portal direction of the current portal, the device communicates with the OBU to execute corresponding fee deduction operation.

However, in the above method, it is difficult to accurately determine whether the running direction of the vehicle is the same as the door frame direction of the current door frame, which results in a fee deduction error.

Disclosure of Invention

The embodiment of the application provides a method for determining the running direction of a vehicle in an intelligent traffic system, which can accurately judge whether the running direction of the vehicle is the same as the door frame direction of a current door frame.

In a first aspect, an embodiment of the present application provides a method for determining a driving direction of a vehicle in an intelligent transportation system, which is applied to an on-board unit OBU, including:

if information broadcasted by a roadside set-up roadside unit (RSU) is detected, acquiring the running direction of the vehicle where the OBU is located, wherein the information carries a unique identifier of the RSU;

reporting the running direction to the RSU corresponding to the unique identifier of the RSU, wherein the running direction is used for indicating the RSU to judge whether the running direction is the same as the portal direction of the portal where the RSU is positioned;

and if the request sent by the RSU is received, responding to the request, wherein the request comprises a transaction request, an information reading request or a file updating request.

In a second aspect, an embodiment of the present application provides a method for determining a driving direction of a vehicle in an intelligent transportation system, which is applied to an RSU, including:

broadcasting information, wherein the information carries a unique identifier of the RSU;

and if the running direction of the vehicle where the OBU is located and reported by the OBU is received and is the same as the portal direction of the portal where the RSU is located, sending a request to the OBU, wherein the request comprises a transaction request, an information reading request or a file updating request.

In a third aspect, an embodiment of the present application provides an on-board unit, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a roadside set-up roadside unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the second aspect when executing the computer program.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the method according to the first or second aspect.

In a sixth aspect, embodiments of the present application provide a computer program product for causing an on-board unit to perform the method of the first aspect described above when the computer program product is run on the on-board unit.

Compared with the prior art, the embodiment of the application has the beneficial effects that:

after detecting the information broadcast by the RSU, the OBU acquires the running direction of the vehicle where the OBU is located and reports the running direction to the RSU, so that the RSU can judge whether the running direction is the same as the portal direction of the portal where the RSU is located. Meanwhile, the running direction is irrelevant to the portal directions of other portals, namely whether other portals exist in the road section where the RSU is located or not does not influence the accuracy of the acquired running direction, and the portal directions where the RSU is located are fixed, so that whether the running direction of the vehicle is identical to the portal directions can be accurately judged through the method. Furthermore, when the OBU receives a request from the RSU, it will respond to the request. Since the request includes a transaction request, an information reading request or a file updating request, the RSU can achieve accurate deduction of the fee of the vehicle through communication with the OBU when the request includes a transaction request.

It will be appreciated that the advantages of the second to sixth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a flowchart of a method for determining a driving direction of a vehicle in a first intelligent transportation system applied to an OBU according to an embodiment of the present application;

FIG. 2 is a schematic illustration of the direction of an OBU and the direction of a vehicle according to one embodiment of the present disclosure;

fig. 3 is a flowchart of a method for determining a driving direction of a vehicle in a second intelligent transportation system applied to an OBU according to an embodiment of the present application;

fig. 4 is a flowchart of a method for determining a driving direction of a vehicle in an intelligent transportation system applied to an RSU according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the interaction of a conventional RSU with an OBU;

fig. 6 is a schematic diagram of interaction between an RSU and an OBU in combination with a driving direction according to an embodiment of the present application;

FIG. 7 is a schematic diagram of an on-board unit according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a roadside set-up roadside unit according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

In the existing method, since whether the running direction of the vehicle is the same as the door frame direction of the current door frame or not is judged, the door frame direction information of the door frame of the previous transaction needs to be relied on, and therefore if the door frame direction information of the door frame of the previous transaction is not available or the door frame direction of the door frame of the previous transaction is judged to be wrong, a wrong judgment result is obtained. In the case of a complex road section, the probability of the wrong judgment of the gantry direction of the gantry of the previous transaction is also high, so that the probability of obtaining the wrong judgment result is also high. Meanwhile, because the portal direction of the portal of the previous transaction needs to be read, a large amount of air interface resources are occupied, and the expansion of future business is not facilitated. In addition, since the running speeds of different vehicles are generally different, and the expressway generally has a plurality of service areas, the accuracy of the time when the vehicle reaches the current portal, which is estimated only according to the running speed of the vehicle, is low, and thus the accuracy of the obtained determination result of whether the running direction is the same as that of the portal is also low. In order to improve accuracy of an obtained judgment result, the embodiment of the application provides a method for determining a running direction of a vehicle in an intelligent transportation system, in the method, after an OBU detects information broadcasted by an RSU, the OBU acquires the running direction of the vehicle in which the OBU is located, reports the acquired running direction, after the RSU receives the running direction, compares the running direction with a portal direction of the RSU, and sends a request to the OBU when the running direction is identical to the portal direction, and the OBU responds to the request after receiving the request. Namely, the judgment result of whether the running direction is the same as the portal direction of the current portal can be obtained without reading the portal directions of other portals, and the following detailed description is made with reference to the specific embodiments.

Embodiment one:

fig. 1 shows a flowchart of a method for determining a driving direction of a vehicle in a first intelligent transportation system according to an embodiment of the present application, where in this embodiment, the method for determining a driving direction is applied to an on-board unit OBU, and directions related to this embodiment are included angles with the same direction, for example, all included angles with north, and in the following description, all included angles with north are taken as an example, and details are as follows:

step S11, if information broadcasted by a roadside set Road Side Unit (RSU) is detected, the running direction of the vehicle where the OBU is located is obtained, and the information carries a unique identifier of the RSU.

In this embodiment, the OBU is installed in a vehicle, and one OBU can only correspond to one vehicle; the RSUs are mounted on the portals and one RSU can only correspond to one portal. As the vehicle passes near the portal, the OBU on the vehicle will detect information broadcast by the RSU on the portal, which in turn acquires the direction of travel of the vehicle. The information broadcast by the RSU includes a unique identifier of the RSU, and in actual situations, the information broadcast by the RSU may also include configuration information of the RSU, and the like.

In some embodiments, the running direction of the vehicle may be acquired by the vehicle itself and then sent to the OBU of the vehicle, for example, after the OBU detects the information broadcasted by the RSU, the OBU instructs the vehicle to acquire the running direction and then receives the running direction fed back by the vehicle; the traveling direction of the vehicle may be directly acquired by the OBU, and is not limited herein.

And step S12, reporting the running direction to the RSU corresponding to the unique identifier of the RSU, wherein the running direction is used for indicating the RSU to judge whether the running direction is the same as the portal direction of the portal where the RSU is positioned.

Specifically, the portal direction is the same as the highway direction in which it is located. The same expressway is generally provided with a forward direction and a reverse direction, and if the forward direction is E, the reverse direction is generally E+/-180 degrees, and the expressway spanned by the interchange is generally about 90 degrees.

In this embodiment, if the OBU receives information broadcast by a plurality of RSUs in the same time period, the acquired running directions are reported to the RSUs respectively.

In step S13, if a request sent by the RSU is received, the request includes a transaction request, an information reading request, or a file updating request.

The request sent by the RSU may be embodied in the form of a request frame, and after the OBU receives the request sent by the RSU, the request is responded, for example, if the request received by the OBU is a transaction request, the transaction request is responded, so as to complete deduction of the vehicle; if the request received by the OBU is an information reading request, information corresponding to the information reading request is searched and reported to the RSU.

In practical situations, since the vehicles and the door frames with the same direction need to communicate, in this embodiment, the OBU generally receives the request sent by the RSU when the RSU determines that the driving direction is the same as the door frame direction, so as to save the resources of the OBU.

In this embodiment of the present application, after detecting information broadcast by the RSU, the OBU obtains a running direction of a vehicle in which the OBU is located, and reports the running direction to the RSU, so that the RSU can determine whether the running direction is the same as a gantry direction of a gantry in which the RSU is located. Meanwhile, the running direction is irrelevant to the portal directions of other portals, namely whether other portals exist in the road section where the RSU is located or not does not influence the accuracy of the acquired running direction, and the portal directions where the RSU is located are fixed, so that whether the running direction of the vehicle is identical to the portal directions can be accurately judged through the method. Furthermore, when the OBU receives a request from the RSU, it will respond to the request. Since the request includes a transaction request, an information reading request or a file updating request, the RSU can achieve accurate deduction of the fee of the vehicle through communication with the OBU when the request includes a transaction request.

In some embodiments, if the traveling direction of the vehicle is obtained by the OBU, the obtaining the traveling direction of the vehicle where the OBU is located in step S11 includes:

a1, acquiring direction information of the OBU and an angle difference between the OBU and a corresponding vehicle.

Specifically, a device for acquiring an azimuth is built in the OBU, for example, a built-in electronic compass is used for acquiring an absolute included angle between the OBU and the north direction.

A2, acquiring the running direction of the vehicle where the OBU is located according to the direction information of the OBU and the angle difference between the OBU and the vehicle.

In the above-mentioned A1 to A2, the direction information of the OBU means an absolute angle with the north direction obtained by the device for obtaining the azimuth built in the OBU. The angle difference between the OBU and the vehicle refers to the angle difference between the front surface of the OBU and the direction of the head of the vehicle. Considering that the front windshield of the vehicle has a certain radian and the difference of the mounting structure of the OBU itself, the front surface of the OBU has a certain angle difference with the vehicle head (the schematic diagram of the direction of the OBU and the direction of the vehicle is shown in fig. 2), that is, the direction information of the OBU is not directly taken as the running direction of the vehicle, but the running direction of the vehicle is determined by combining the direction information of the OBU and the corresponding angle difference, so that the accuracy of the obtained running direction is improved.

In some embodiments, the angular difference between the OBU and the corresponding vehicle is obtained by:

b1, acquiring the angle difference between the OBU and the corresponding vehicle according to the installation requirement of the OBU on the vehicle.

Specifically, if the installation requirement of the OBU is preset, for example, when the OBU is installed in the vehicle, the front direction of the OBU and the position of the OBU in the vehicle are preset, only the OBU satisfying the installation requirement can be activated. In this way, since the OBU is fixedly mounted on the vehicle, for example, on the front windshield of the vehicle, the relative position of the OBU and the vehicle is fixed, and the angle difference between the mounted OBU and the vehicle is necessarily within a preset angle difference range, the angle difference between the OBU and the vehicle can be obtained according to the mounting requirement of the OBU. Meanwhile, because the vehicle is clearly inaccurate to reverse in the expressway driving, the direction of the vehicle head, namely the driving direction of the vehicle, can be determined by reading the direction information of the OBU and combining the angle difference between the OBU and the corresponding vehicle.

Alternatively, the angle difference between the OBU and the corresponding vehicle is obtained by:

and B2, acquiring a picture of the vehicle on which the OBU is mounted, identifying the angle difference between the OBU and the vehicle in the picture, and acquiring the angle difference between the OBU and the corresponding vehicle according to the identification result.

The picture of the vehicle on which the OBU is installed can be determined by photographing or recording video. Specifically, after the OBU is installed on the vehicle, a picture of the vehicle on which the OBU is installed is uploaded to a system corresponding to the OBU, the OBU and the vehicle in the picture are identified through the system, and the angle difference between the OBU and the vehicle is determined according to the identification result, for example, the angle difference between the front face of the OBU and the head of the vehicle is determined.

Fig. 3 shows a flowchart of a method for determining a driving direction of a vehicle in a second intelligent transportation system according to an embodiment of the present application, where step S12 is mainly refined, and is described in detail as follows:

in step S31, if information broadcasted by the roadside set-up road side unit RSU is detected, the traveling direction of the vehicle in which the OBU is located is obtained, and the information carries the unique identifier of the RSU.

The manner of acquiring the driving direction may refer to the above step A1 and step A2, and will not be described herein.

Step S32, reporting the vehicle service list containing the running direction to the RSU corresponding to the unique identifier of the RSU, wherein the running direction is used for indicating the RSU to judge whether the running direction is the same as the portal direction of the portal where the RSU is positioned.

The vehicle service table (Vehicle Service Table, VST) describes the types of application services (e.g., ETC transaction services) supported by the OBU itself and the relevant setting information (e.g., information of the OBU itself).

In this embodiment, the driving direction may be stored in a reserved bit not used in the VST or in a new byte of the VST. It should be noted that the original VST does not have a field for storing the driving direction.

In step S33, if a request sent by the RSU is received, the request includes a transaction request, an information reading request, or a file updating request.

In the embodiment of the present application, since the running direction is stored in the VST, and in the existing method, the OBU also reports the VST to the RSU, so that the VST stored in the running direction is reported to the RSU, so that the number of interactions between the OBU and the RSU can be reduced, and system resources are saved.

In some embodiments, to facilitate calculation of the direction angle value, a counterclockwise range of the driving direction of the vehicle (i.e. the angle between the driving direction of the vehicle and the north direction) is defined as 0 to 360 degrees, and step S32 includes:

and C1, storing the running direction in a new byte of the vehicle service table, and reporting the vehicle service table with the running direction to the RSU corresponding to the unique identifier of the RSU. Specifically, the number of bytes added may be a fixed value or a dynamic value related to the angle value corresponding to the driving direction, for example, since one byte has 8 bits and the range of values that can be stored is 0-255, if one angle value is expected to correspond to one value stored by the byte, only 1 byte is needed to be added when the angle value corresponding to the driving direction is within 0-255, and when the angle value is greater than 255, 2 bytes are needed to be added. Of course, if only 1 byte is desired to be added, each value of the byte represents 360/255 degrees.

Alternatively, step S32 includes:

and C2, storing the running direction in the existing reserved bit of the vehicle service table, and reporting the vehicle service table stored with the running direction to the RSU corresponding to the unique identifier of the RSU.

The reserved bits of the vehicle service table may be in the same byte (or field) or in different fields. For example, only the most significant bit is used in the device type/version field within the VST, which is used to determine the OBU type (i.e., to indicate whether the OBU type is a two-piece OBU, a compound pass card (Compound Pass Card, CPC), etc.), the remaining 7 bits are reserved bits which are unused, so the remaining 7 reserved bits can be used to transmit direction information for the direction of travel, i.e., 0-360 degrees are represented within the system using a 0-127 value, and step 1 is determined to represent 360/127, i.e., step 1 represents the angle 360/127 of the head from north counter-clockwise. For example, assuming that the included angle corresponding to the driving direction is D, the included angle D is converted into a transmission value F, and f=d×127/360, and the value F is reported through the equipment type field in the VST. Because the reserved bits in the VST are directly used for storing and reporting the driving direction, the RSU can obtain the driving direction of the vehicle only by identifying reserved fields in the equipment type/version fields, thereby improving the identification efficiency.

In some embodiments, the traveling direction may also be reported by other data frames (i.e., data frames other than VST), such as other dedicated short range communication (Dedicated Short Range Communication, DSRC) primitives extended by Getsecure, etc. Getsecure is a data frame of the vehicle information reported by the OBU, and a primitive generally refers to a program segment composed of a plurality of instructions and used for realizing a specific function.

In some embodiments, step S12 includes:

if the information broadcast by the RSU does not carry the portal direction of the portal where the RSU is located, reporting the running direction to the RSU corresponding to the unique identifier of the RSU.

In this embodiment, if the running direction is the same as the portal direction, the information broadcast by the RSU does not carry the portal direction of the portal in which the RSU is located, and at this time, the OBU reports the running direction of the vehicle in which the OBU is located to the RSU.

In some embodiments, if the OBU determines that the running direction is the same as the gantry direction, the information broadcasted by the RSU will carry the gantry direction of the gantry where the RSU is located, and at this time, the running direction determining method further includes:

if the information broadcasted by the RSU carries the portal direction of the portal where the RSU is located, judging whether the portal direction is the same as the running direction.

In this embodiment, if the OBU analyzes the gantry direction from the information broadcast by the RSU, the gantry direction is compared with the travel direction acquired by the OBU, if the gantry direction is the same as the travel direction acquired by the OBU, the two are determined to be the same, otherwise, the two are determined to be different.

In some embodiments, considering that the vehicle may change lanes, when the driving direction of the vehicle has a small angle with the expressway direction, in order to improve the accuracy of the determination result, an upper limit threshold (for example, -20 °) and/or a lower limit threshold (for example, 20 °) are set, the OBU adds the acquired gantry direction to the upper limit threshold, and/or adds the acquired gantry direction to the lower limit threshold, so as to obtain an upper limit value and/or a lower limit value respectively, and if the driving direction is determined to be smaller than the upper limit value and/or greater than the lower limit value, the two are determined to be the same, otherwise, the two are determined to be different. For example, if the upper limit threshold and the lower limit threshold are set at the same time, an upper limit value and a lower limit value are obtained after the upper limit threshold and the lower limit threshold are added to the gantry direction, if the travel direction is determined to be smaller than the upper limit value and larger than the lower limit value, the travel direction is determined to be the same as the gantry direction, otherwise, the travel direction is determined to be different from the gantry direction.

In some embodiments, the upper threshold and/or the lower threshold are/is a dynamically changing value, which is related to the portal where the RSU is located, for example, when the high-speed road section where the portal is located is a complex road section (for example, an overpass road section) and is a common road section, the corresponding upper threshold and/or lower threshold are different, and by the above arrangement, the accuracy of the subsequent determination result can be improved.

In some embodiments, the travel direction determination method further comprises:

and D1, if the gantry direction is different from the running direction, and the transaction request sent by the RSU is received, rejecting the transaction request.

And D2, if the door frame direction is judged to be the same as the running direction, and a transaction request sent by the RSU is received, responding to the transaction request.

In this embodiment, the OBU responds to the transaction request sent by the RSU only when the gantry direction is the same as the running direction, and refuses to respond to the transaction request when the gantry direction is different from the running direction, so that the RSU can avoid the wrong fee deduction of the OBU, and the fee deduction accuracy rate is improved.

In some embodiments, the OBU receives the specified information sent by the RSU, e.g., the receiving RSU sends forward congestion information only to the OBUs of the same vehicle, etc. Since the transmitted designation information relates to the direction, and the determination result of whether the traveling direction is the same as the portal direction is accurate, the OBU can receive the accurate designation information.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Embodiment two:

fig. 4 shows a flowchart of a method for determining a driving direction of a vehicle in an intelligent transportation system according to an embodiment of the present application, where the driving direction determining method is applied to an RSU, and the RSU is an RSU that communicates with an OBU according to the first embodiment, and is described in detail below:

step S41, broadcasting information, which carries the unique identification of the RSU.

In this embodiment, if the running direction is the same as the gantry direction through the RSU, the broadcast information does not include the gantry direction of the gantry where the RSU is located; if the OBU judges whether the running direction is the same as the portal direction, the broadcasting information also comprises the portal direction of the portal where the RSU is located.

In step S42, if the running direction of the vehicle where the OBU is located and the running direction is the same as the gantry direction of the gantry where the RSU is located, which is reported by the OBU, a request is sent to the OBU, where the request includes a transaction request, an information reading request, or a file updating request.

The OBU may report the corresponding driving direction by reporting the VST carrying the driving direction, which is specifically referred to embodiment one and will not be described herein.

In this embodiment, the RSU resolves the corresponding running direction according to the manner in which the OBU reports the running direction, for example, assuming that the OBU reports the running direction through the reserved bit of the device type field in the VST, the RSU resolves the corresponding running direction from the reserved bit of the device type field. Assuming that the value corresponding to the reserved bit is F, the value is converted into a running direction d=f×360/127 of the vehicle, and the D is compared with the gantry direction.

In this embodiment, if the RSU determines that the traveling direction is different from the gantry direction (i.e., the directions of the two are opposite, or the two are on other road sections of the interchange), interaction with the OBU is stopped, or a sleep frame is issued to the OBU, so that the OBU enters a sleep state.

In some embodiments, the RSU may send the specified information to the OBU according to the determination result of whether the driving direction is the same as the direction of the door frame, for example, only send the front congestion information to the vehicles with the same direction.

In the embodiment of the application, since the running direction reported by the OBU is irrelevant to the gantry directions of other portals, namely whether other portals exist on the road section where the RSU is located or not does not influence the accuracy of the running direction, and the gantry direction where the RSU is located is fixed, whether the running direction of the vehicle is identical to the gantry direction can be accurately judged through the method. In addition, the RSU sends the request to the OBU only when the driving direction is the same as the direction of the door frame, so that the error fee deduction of the OBU can be avoided, and the fee deduction accuracy rate is improved.

In some embodiments, the determining in step S42 whether the running direction is the same as the gantry direction of the gantry in which the RSU is located includes:

e1, acquiring an upper limit threshold and/or a lower limit threshold.

And E2, determining a corresponding upper limit value and/or a corresponding lower limit value according to the upper limit threshold value and/or the lower limit threshold value and the gantry direction. For example, an upper limit value is added to the gantry direction to obtain an upper limit value, and a lower limit value is added to the gantry direction to obtain a lower limit value.

And E3, if the running direction is greater than the lower limit value and/or less than the upper limit value, judging that the running direction is the same as the door frame direction of the door frame where the RSU is located, otherwise, judging that the running direction is different from the door frame direction of the door frame where the RSU is located.

For example, if the corresponding upper limit value and lower limit value are determined according to the upper limit threshold value, the lower limit threshold value and the portal direction, whether the running direction is greater than the lower limit value and less than the upper limit value is determined, if yes, the running direction and the portal direction are determined to be the same, otherwise, the running direction and the portal direction are determined to be different.

In some embodiments, the upper threshold and/or the lower threshold are/is a dynamically changing value, where the E1 specifically includes:

and acquiring a corresponding upper limit threshold and/or lower limit threshold according to the position of the RSU.

For example, when the high-speed road section where the portal is located is a complex road section (such as an overpass road section) and is a common road section, the corresponding upper limit threshold and/or lower limit threshold are different, and through the above arrangement, the accuracy of the subsequent judgment result can be improved.

In order to more clearly describe the difference between the interaction of the RSU and the OBU of the embodiments of the present application and the interaction of the existing RSU and the OBU, the following description is made with reference to fig. 5 and 6.

Fig. 5 is an interaction of an existing RSU with an OBU, and fig. 6 is an interaction of an RSU with an OBU according to an embodiment of the present application.

Referring to fig. 5, it can be seen that the existing RSU and the OBU do not have information about the running direction of the vehicle during interaction, while in fig. 6, the OBU reports to the RSU through the extended VST (for example, the running direction of the vehicle is stored in the reserved bit of the original VST), so that the RSU can determine whether the running direction of the vehicle is the same as the direction of the gantry, if so, the RSU issues a vehicle information request frame (i.e. interacts with the OBU according to the standard procedure), otherwise, directly issues a link release frame to the OBU. In the conventional interaction between the RSU and the OBUS, whether the traveling direction and the gantry direction are the same is not determined, and therefore, a fee deduction error may be caused.

Embodiment III:

fig. 7 is a schematic structural diagram of an on-board unit according to an embodiment of the present application. As shown in fig. 7, the in-vehicle unit 7 of this embodiment includes: at least one processor 70 (only one processor is shown in fig. 7), a memory 71 and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 implementing the steps in any of the method embodiments described above when executing the computer program 72.

The on-board unit 7 may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of the in-vehicle unit 7 and is not meant to be limiting as the in-vehicle unit 7 may include more or less components than illustrated, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The processor 70 may be a central processing unit (Central Processing Unit, CPU) and the processor 70 may be any other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 71 may in some embodiments be an internal storage unit of the on-board unit 7, such as a hard disk or a memory of the on-board unit 7. The memory 71 may in other embodiments also be an external storage device of the on-board unit 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the on-board unit 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the in-vehicle unit 7. The memory 71 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 71 may also be used for temporarily storing data that has been output or is to be output.

Embodiment four:

fig. 8 is a schematic structural diagram of a roadside unit according to an embodiment of the present disclosure. As shown in fig. 8, the roadside set-up roadside unit 8 of this embodiment includes: at least one processor 80 (only one processor is shown in fig. 8), a memory 81 and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, which processor 80 implements the steps of any of the two method embodiments described above when executing the computer program 82.

The roadside rack roadside unit 8 may include, but is not limited to, a processor 80, a memory 81. It will be appreciated by those skilled in the art that fig. 8 is merely an example of a roadside-mounted roadside unit 8 and is not intended to limit the roadside-mounted roadside unit 8, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as input-output devices, network access devices, and the like.

The processor 80 may be a CPU, the processor 80 may also be other general purpose processors, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 81 may in some embodiments be an internal storage unit of the roadside set-up roadside unit 8, such as a hard disk or a memory of the roadside set-up roadside unit 8. The memory 81 may also be an external storage device of the roadside set-up roadside unit 8 in other embodiments, such as a plug-in hard disk, SMC, SD Card, flash Card, etc. provided on the roadside set-up roadside unit 8. Further, the memory 81 may also include both an internal memory unit and an external memory device of the roadside set-up roadside unit 8. The memory 81 is used for storing an operating system, application programs, boot loader programs, data, and other programs, etc., such as program code of the computer program. The memory 81 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiment of the application also provides a network device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.

Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that may be performed in the various method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A method for determining a traveling direction of a vehicle in an intelligent transportation system, applied to an on-board unit OBU, comprising:

if information broadcasted by a roadside set-up roadside unit (RSU) is detected, acquiring the running direction of the vehicle in which the OBU is positioned, wherein the information carries a unique identifier of the RSU, and the running direction is represented by an included angle between the head of the vehicle and a designated direction;

reporting the running direction to the RSU corresponding to the unique identifier of the RSU, wherein the RSU is used for judging whether the running direction is the same as the portal direction of the portal where the RSU is positioned; judging whether the running direction is the same as the door frame direction of the door frame where the RSU is located by the following modes: acquiring an upper limit threshold and/or a lower limit threshold; determining corresponding upper limit values and/or lower limit values according to the upper limit threshold values and/or the lower limit threshold values and the gantry direction; if the running direction is greater than the lower limit value and/or less than the upper limit value, judging that the running direction is the same as the door frame direction of the door frame where the RSU is located, otherwise, judging that the running direction is different from the door frame direction of the door frame where the RSU is located;

if a request sent by the RSU is received, responding to the request, wherein the request comprises a transaction request, an information reading request or a file updating request;

the obtaining the running direction of the vehicle where the OBU is located includes:

acquiring direction information of the OBU and an angle difference between the OBU and the corresponding vehicle, wherein the direction information of the OBU refers to an absolute included angle with north acquired by a device which is arranged in the OBU and used for acquiring the direction, and the angle difference between the OBU and the vehicle refers to an angle difference between the front surface of the OBU and the direction of the head of the vehicle;

and acquiring the running direction of the vehicle where the OBU is located according to the direction information of the OBU and the angle difference between the OBU and the vehicle.

2. The method for determining the traveling direction of a vehicle in an intelligent transportation system according to claim 1, wherein the angular difference between the OBU and the corresponding vehicle is obtained by:

acquiring the angle difference between the OBU and the corresponding vehicle according to the installation requirement of the OBU on the vehicle;

or,

and acquiring a picture of the vehicle on which the OBU is mounted, identifying the angle difference between the OBU and the vehicle in the picture, and acquiring the angle difference between the OBU and the corresponding vehicle according to the identification result.

3. The method for determining a traveling direction of a vehicle in an intelligent transportation system according to claim 1, wherein reporting the traveling direction to the RSU corresponding to the unique identifier of the RSU comprises:

storing the running direction in a byte newly added in a vehicle service table, and reporting the vehicle service table stored with the running direction to the RSU corresponding to the unique identifier of the RSU;

or,

and storing the running direction in the existing reserved bit of the vehicle service table, and reporting the vehicle service table storing the running direction to the RSU corresponding to the unique identifier of the RSU.

4. The method for determining a traveling direction of a vehicle in an intelligent transportation system according to claim 1, wherein reporting the traveling direction to the RSU corresponding to the unique identifier of the RSU comprises:

5. The travel direction determining method of a vehicle in an intelligent transportation system according to claim 4, wherein the travel direction determining method further comprises:

if the portal direction carried by the information broadcast by the RSU is different from the driving direction and a transaction request sent by the RSU is received, rejecting the transaction request;

and if the portal direction is the same as the running direction and a transaction request sent by the RSU is received, responding to the transaction request.

6. A method for determining a traveling direction of a vehicle in an intelligent transportation system, applied to an RSU, comprising:

if the running direction of the vehicle where the OBU is located and reported by the OBU is the same as the portal direction of the portal where the RSU is located, sending a request to the OBU, wherein the request comprises a transaction request, an information reading request or a file updating request, the running direction is represented by an included angle between the head of the vehicle and a specified direction, and the running direction is determined according to direction information of the OBU and an angle difference between the OBU and the vehicle, wherein the direction information of the OBU refers to an absolute included angle with the north direction obtained by a device which is arranged in the OBU and used for obtaining the direction, and the angle difference between the OBU and the vehicle refers to an angle difference between the front of the OBU and the head direction of the vehicle;

judging whether the running direction is the same as the portal direction of the portal where the RSU is located by the following modes:

acquiring an upper limit threshold and/or a lower limit threshold;

determining corresponding upper limit values and/or lower limit values according to the upper limit threshold values and/or the lower limit threshold values and the gantry direction;

if the running direction is greater than the lower limit value and/or less than the upper limit value, the running direction is judged to be the same as the door frame direction of the door frame where the RSU is located, otherwise, the running direction is judged to be different from the door frame direction of the door frame where the RSU is located.

7. An on-board unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 5 when executing the computer program.

8. A roadside set-up roadside unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of claim 6 when executing the computer program.

9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 6.