CN114449481A - Method and system for determining current signal light color of lane based on V2X technology - Google Patents
Method and system for determining current signal light color of lane based on V2X technology Download PDFInfo
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- CN114449481A CN114449481A CN202210143262.8A CN202210143262A CN114449481A CN 114449481 A CN114449481 A CN 114449481A CN 202210143262 A CN202210143262 A CN 202210143262A CN 114449481 A CN114449481 A CN 114449481A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/02—Services making use of location information
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Abstract
The invention provides a method and a system for determining the current signal lamp color of a lane based on a V2X technology, which comprises the following steps: step S1: RSU equipment broadcasts map information and intersection signal lamp information of a local area outwards; step S2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU; step S3: obtaining GPS longitude and latitude information of the vehicle through OBU equipment, and calculating real-time lane information and lane phase information of the vehicle by combining received map information broadcasted by RSU equipment; step S4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located. The invention effectively solves the problems of reduced recognition rate, false recognition and the like when the vehicle sensing equipment meets severe weather, and improves the driving safety; intersection signal lamp information can be broadcasted to all vehicles with V2X equipment around, and information coverage rate is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method and a system for determining the current signal lamp color of a lane based on a V2X technology.
Background
At present, the automatic driving vehicle generally adopts vehicle self sensing equipment (cameras and radars) to identify the color of a signal lamp at an intersection, the method depends on the identification precision of the sensing equipment, the problems of reduced identification rate, false identification and the like exist under the influence of severe weather environment, and the driving safety is seriously influenced.
V2X, meaning vehicle to evolution, i.e. the exchange of information from vehicle to outside. The method introduces a method for realizing data fusion calculation of a vehicle according to GPS positioning information acquired by the vehicle, MAP packet data broadcasted by a Road Side Unit (RSU) and signal SPAT data to obtain the light color of a signal lamp of a current lane based on a V2X technology.
The method adopts the radio broadcast communication technology, is not interfered by the external weather environment, has the advantages of long communication distance, high recognition rate, large bearing information quantity, high accuracy and the like, can effectively make up the defects of the sensing equipment of the vehicle and helps improve the safety guarantee of drivers and passengers.
Therefore, when the automatic driving vehicle runs through the intersection, the current signal light color is obtained, the automatic driving computer is further enabled to complete lane route planning, and application scenes such as vehicle green wave guiding or red light running early warning are achieved.
Patent document CN106909937B (application number: CN201710070814.6) discloses a traffic signal light recognition method, a vehicle control method, a device, and a vehicle, wherein the traffic signal light recognition method includes: acquiring an image in front of a vehicle in real time; determining a region of interest of the image of the front of the vehicle; converting the image of the region of interest from an RGB space to an HSI space to obtain an HSI component map of the region of interest; performing local dynamic threshold segmentation on the S component of the HSI component diagram to segment a traffic signal lamp area; and classifying the traffic signal lamp area by using a preset classifier to acquire the information of the traffic signal lamp. However, the method depends on the identification precision of the sensing equipment, and has the problems of reduced identification rate, false identification and the like under the influence of severe weather environment.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a method and a system for determining the current signal light color of a lane based on the V2X technology.
The method for determining the current signal light color of the lane based on the V2X technology comprises the following steps:
step S1: RSU equipment broadcasts map information and intersection signal lamp information of a local area outwards;
step S2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU;
step S3: calculating the lane where the vehicle is located and lane phase information in real time according to received map information broadcasted by the RSU equipment;
step S4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located.
Preferably, the V2X device OBU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the vehicle, the V2X device RSU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the crossing electric police pole; the OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet MAP packet and a signal lamp data packet SPAT packet broadcasted by the RSU, determines a lane according to own GPS information, and matches according to lane phase information and signal lamp phase information to obtain the current signal lamp color of the lane.
Preferably, lane1, lane2 are two lanes, pos1, pos2 are two road point position information on lane2 lane, width is lane width of lane2, distance is distance between two road points of pos1, pos2, pos is position information of vehicle OBU device, d _ lo is longitude difference between point pos and point pos1, and d _ la is latitude difference between point pos and point pos 1;
in a lane2 lane, collecting two point location information pos1 and pos2, taking the two points as reference road points, taking the connecting line of the two points as the central axis of the lane, taking width as the lane width, and defining a drawn rectangular area as a road section of the lane 2;
establishing a coordinate system by taking the position pos of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the forward direction of a Y axis of the coordinate system, and calibrating a distance hd from the antenna of the OBU equipment to the head of the vehicle, a distance td from the antenna of the OBU equipment to the tail of the vehicle, a distance ld from the antenna of the OBU equipment to the left side of the vehicle and a distance rd from the antenna of the OBU equipment to the right side of the vehicle;
and calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360
lo＝2*pi*r*((pos_lo-pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
la is the distance between two latitude points pos and pos 1; pi is the circumference ratio, and takes the value of 3.1415926; r is the radius of the earth, and takes the value of 6378245 in meters; pos _ la is the latitude of position pos; pos1_ la is the latitude of position pos 1; lo is pos, the distance between two longitude points pos 1; pos _ lo is the longitude of location pos; pos1_ lo is the longitude of location pos 1; rotate is radian; the heading is an angle of the advancing direction of the vehicle relative to the true north direction in a clockwise manner; d _ lo is the arc length between two points of longitude; d _ la is the arc length between two latitudes;
calculating a longitude and latitude difference value, judging whether the vehicle is in a lane section of lane2 according to conditions when the longitude difference is less than or equal to lane width and the latitude difference is less than or equal to distance between road points;
and obtaining lane phase information according to the lane attributes, and matching the lane phase information with the signal lamp phase information to obtain the current lamp color state of the signal lamp with the same phase information.
Preferably, in the step S1:
the RSU equipment on the electric police pole broadcasts map information of a local area outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information and connection relation among roads of the local area;
the RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
Preferably, in the step S3:
the vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
The invention provides a system for determining the current signal light color of a lane based on a V2X technology, which comprises the following steps:
module M1: RSU equipment broadcasts map information and intersection signal lamp information of a local area outwards;
module M2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU;
module M3: calculating the lane where the vehicle is located and lane phase information in real time according to received map information broadcasted by the RSU equipment;
module M4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located.
Preferably, the V2X device OBU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the vehicle, the V2X device RSU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the crossing electric police pole; the OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet MAP packet and a signal lamp data packet SPAT packet broadcasted by the RSU, determines a lane according to own GPS information, and matches according to lane phase information and signal lamp phase information to obtain the current signal lamp color of the lane.
Preferably, lane1, lane2 are two lanes, pos1, pos2 are two road point position information on lane2 lane, width is lane width of lane2, distance is distance between two road points of pos1, pos2, pos is position information of vehicle OBU device, d _ lo is longitude difference between point pos and point pos1, and d _ la is latitude difference between point pos and point pos 1;
in a lane2 lane, collecting two point location information pos1 and pos2, taking the two points as reference road points, taking the connecting line of the two points as the central axis of the lane, taking width as the lane width, and defining a drawn rectangular area as a road section of the lane 2;
establishing a coordinate system by taking the position pos of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the forward direction of a Y axis of the coordinate system, and calibrating a distance hd from the antenna of the OBU equipment to the head of the vehicle, a distance td from the antenna of the OBU equipment to the tail of the vehicle, a distance ld from the antenna of the OBU equipment to the left side of the vehicle and a distance rd from the antenna of the OBU equipment to the right side of the vehicle;
and calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360
lo＝2*pi*r*((pos_lo-pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
la is the distance between two latitude points pos and pos 1; pi is the circumference ratio, and takes the value of 3.1415926; r is the radius of the earth, which is 6378245 in meters; pos _ la is the latitude of position pos; pos1_ la is the latitude of position pos 1; lo is pos, the distance between two longitude points pos 1; pos _ lo is the longitude of location pos; pos1_ lo is the longitude of location pos 1; rotate is radian; the heading is an angle of the advancing direction of the vehicle relative to the true north direction in a clockwise manner; d _ lo is the arc length between two points of longitude; d _ la is the arc length between two latitudes;
calculating a longitude and latitude difference value, judging whether the vehicle is in a lane section of lane2 according to conditions when the longitude difference is less than or equal to lane width and the latitude difference is less than or equal to distance between road points;
and obtaining lane phase information according to the lane attributes, and matching the lane phase information with the signal lamp phase information to obtain the current lamp color state of the signal lamp with the same phase information.
Preferably, in said module M1:
the RSU equipment on the electric police pole broadcasts map information of a local area outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information and connection relation among roads of the local area;
the RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
Preferably, in said module M3:
the vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention effectively solves the problems of reduced recognition rate, false recognition and the like when the vehicle sensing equipment meets severe weather, and improves the driving safety;
2. the invention can broadcast the intersection signal lamp information to all vehicles with V2X equipment around, thereby improving the information coverage rate;
3. the invention has the advantages of long communication distance, high recognition rate, large information bearing amount, high accuracy and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a system topology diagram;
FIG. 2 is a detailed flow chart;
fig. 3 is a basic algorithm used by the system.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1:
according to the method for determining the current signal light color of the lane based on the V2X technology, as shown in FIGS. 1-3, the method comprises the following steps:
step S1: the RSU equipment broadcasts map information of a local area and intersection signal light information outwards;
step S2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU;
step S3: calculating the lane where the vehicle is located and lane phase information in real time according to received map information broadcasted by the RSU equipment;
step S4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located.
Specifically, a V2X device OBU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the vehicle, a V2X device RSU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the intersection electric police pole; the OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet MAP packet and a signal lamp data packet SPAT packet broadcasted by the RSU, determines a lane according to own GPS information, and matches according to lane phase information and signal lamp phase information to obtain the current signal lamp color of the lane.
Specifically, lane1 and lane2 are two lanes, pos1 and pos2 are two road point position information on a lane2 lane, width is the lane width of lane2, distance is the distance between two road points pos1 and pos2, pos is the position information of the vehicle OBU device, d _ lo is the longitude difference between the point pos and the point pos1, and d _ la is the latitude difference between the point pos and the point pos 1;
in a lane2 lane, collecting two point location information pos1 and pos2, taking the two points as reference road points, taking the connecting line of the two points as the central axis of the lane, taking width as the lane width, and defining a drawn rectangular area as a road section of the lane 2;
establishing a coordinate system by taking the position pos of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the forward direction of a Y axis of the coordinate system, and calibrating a distance hd from the antenna of the OBU equipment to the head of the vehicle, a distance td from the antenna of the OBU equipment to the tail of the vehicle, a distance ld from the antenna of the OBU equipment to the left side of the vehicle and a distance rd from the antenna of the OBU equipment to the right side of the vehicle;
and calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360
lo＝2*pi*r*((pos_lo-pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
la is the distance between two latitude points pos and pos 1; pi is the circumference ratio, and the value is 3.1415926; r is the radius of the earth, and takes the value of 6378245 in meters; pos _ la is the latitude of position pos; pos1_ la is the latitude of position pos 1; lo is the distance between two longitude points pos, pos 1; pos _ lo is the longitude of location pos; pos1_ lo is the longitude of location pos 1; rotate is radian; the heading is an angle of the advancing direction of the vehicle relative to the true north direction in a clockwise manner; d _ lo is the arc length between two points of longitude; d _ la is the arc length between two latitudes;
calculating a longitude and latitude difference value, judging whether the vehicle is in a lane section of lane2 according to conditions when the longitude difference is less than or equal to lane width and the latitude difference is less than or equal to distance between road points;
and obtaining lane phase information according to the lane attributes, and matching the lane phase information with the signal lamp phase information to obtain the current lamp color state of the signal lamp with the same phase information.
Specifically, in the step S1:
the RSU equipment on the electric police pole broadcasts map information of a local area outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information and connection relation among roads of the local area;
the RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
Specifically, in the step S3:
the vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
Example 2:
example 2 is a preferred example of example 1, and the present invention will be described in more detail.
The person skilled in the art can understand that the method for determining the current signal light color of the located lane based on the V2X technology provided by the present invention as a specific embodiment of the system for determining the current signal light color of the located lane based on the V2X technology, that is, the system for determining the current signal light color of the located lane based on the V2X technology can be implemented by executing the flow of steps of the method for determining the current signal light color of the located lane based on the V2X technology.
The invention provides a system for determining the current signal light color of a lane based on a V2X technology, which comprises the following steps:
module M1: RSU equipment broadcasts map information and intersection signal lamp information of a local area outwards;
module M2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU;
module M3: calculating the lane where the vehicle is located and lane phase information in real time according to received map information broadcasted by the RSU equipment;
module M4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located.
Specifically, a V2X device OBU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the vehicle, a V2X device RSU and its auxiliary antenna LTE antenna, GNSS antenna and V2X antenna installed on the intersection electric police pole; the OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet MAP packet and a signal lamp data packet SPAT packet broadcasted by the RSU, determines a lane according to own GPS information, and matches according to lane phase information and signal lamp phase information to obtain the current signal lamp color of the lane.
Specifically, lane1 and lane2 are two lanes, pos1 and pos2 are two road point position information on a lane2 lane, width is the lane width of lane2, distance is the distance between two road points pos1 and pos2, pos is the position information of the vehicle OBU device, d _ lo is the longitude difference between the point pos and the point pos1, and d _ la is the latitude difference between the point pos and the point pos 1;
in a lane2 lane, collecting two point location information pos1 and pos2, taking the two points as reference road points, taking the connecting line of the two points as the central axis of the lane, taking width as the lane width, and defining a drawn rectangular area as a road section of the lane 2;
establishing a coordinate system by taking the position pos of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the forward direction of a Y axis of the coordinate system, and calibrating a distance hd from the antenna of the OBU equipment to the head of the vehicle, a distance td from the antenna of the OBU equipment to the tail of the vehicle, a distance ld from the antenna of the OBU equipment to the left side of the vehicle and a distance rd from the antenna of the OBU equipment to the right side of the vehicle;
and calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360
lo＝2*pi*r*((pos_lo-pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
la is the distance between two latitude points pos and pos 1; pi is the circumference ratio, and takes the value of 3.1415926; r is the radius of the earth, and takes the value of 6378245 in meters; pos _ la is the latitude of position pos; pos1_ la is the latitude of position pos 1; lo is pos, the distance between two longitude points pos 1; pos _ lo is the longitude of location pos; pos1_ lo is the longitude of location pos 1; rotate is radian; the heading is an angle of the advancing direction of the vehicle relative to the true north direction in a clockwise manner; d _ lo is the arc length between two points of longitude; d _ la is the arc length between two latitudes;
calculating a longitude and latitude difference value, judging whether the vehicle is in a lane section of lane2 according to conditions when the longitude difference is less than or equal to lane width and the latitude difference is less than or equal to distance between road points;
and obtaining lane phase information according to the lane attribute, and matching the lane phase information with the signal lamp phase information to obtain the current lamp color state of the signal lamp with the same phase information.
Specifically, in the module M1:
the RSU equipment on the electric police pole broadcasts map information of a local area outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information and connection relation among roads of the local area;
the RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
Specifically, in the module M3:
the vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
Example 3:
example 3 is a preferred example of example 1, and the present invention will be described in more detail.
A method and a system for determining the current signal lamp color of a lane where a vehicle is located based on a V2X technology are provided, and the system for implementing the method comprises a V2X device (OBU) and an auxiliary antenna (an LTE antenna, a GNSS antenna and a V2X antenna) thereof which are installed on the vehicle, and a V2X device (RSU) and an auxiliary antenna (an LTE antenna, a GNSS antenna and a V2X antenna) thereof which are installed on an intersection electric police rod. The OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet (MAP packet) and a signal lamp data packet (SPAT packet) broadcasted by the RSU, determines the lane according to the GPS information of the OBU equipment, and matches the lane phase information and the signal lamp phase information to obtain the current signal lamp color of the lane.
1. The RSU equipment on the electric police pole broadcasts map information of local areas outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information, connection relations among roads and the like of the local areas.
2. The RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
And 3, the OBU equipment obtains signal lamp phase information of the current intersection according to the received map information and signal lamp information broadcasted by the RSU.
4. The vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
5. And combining the lane phase information and the signal lamp phase information to obtain the current signal lamp color of the lane where the vehicle is located.
6. The specific flow chart is as follows as shown in fig. 2.
As shown in fig. 3, lane1 and lane2 are two lanes, pos1 and pos2 are two road point position information on lane2 lane, width is lane width of lane2, distance is the distance between two road points pos1 and pos2, pos is position information of the vehicle OBU device, d _ lo is the longitude difference between point pos and point pos1, and d _ la is the latitude difference between point pos and point pos 1.
(1) In the lane2, two point location information pos1 and pos2 are collected, the two points are taken as reference road points, the connecting line of the two points is taken as the central axis of the lane, the width is taken as the lane width, and the drawn rectangular area is defined as a road section of the lane 2.
(2) And then establishing a coordinate system by taking the position (pos) of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the positive direction of the Y axis of the coordinate system (which indicates that the antenna of the OBU equipment needs to calibrate the distance hd from the head of the vehicle, the distance td from the tail of the vehicle, the distance ld from the left side of the vehicle and the distance rd from the right side of the vehicle).
(3) And calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360；
lo＝2*pi*r*((pos_lo–
pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
(4) and the calculated longitude and latitude difference value meets the following conditions that the longitude difference is less than or equal to the width of the lane and the latitude difference is less than or equal to the distance between the road points, and whether the vehicle is in the lane2 road section is judged according to the conditions.
(5) And finally, obtaining lane phase information according to the lane attributes, and matching the lane phase information with the phase information of the signal lamp to obtain the current lamp color state of the signal lamp with the same phase information.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for determining the current signal light color of a lane based on a V2X technology is characterized by comprising the following steps:
step S1: RSU equipment broadcasts map information and intersection signal lamp information of a local area outwards;
step S2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU;
step S3: calculating the lane where the vehicle is located and lane phase information in real time according to received map information broadcasted by the RSU equipment;
step S4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located.
2. The method for determining the current signal light color of the lane according to the V2X technology, wherein the method comprises the following steps:
the system comprises a V2X device OBU and auxiliary antennas thereof, namely an LTE antenna, a GNSS antenna and a V2X antenna, which are installed on a vehicle, and a V2X device RSU and auxiliary antennas thereof, namely an LTE antenna, a GNSS antenna and a V2X antenna, which are installed on an intersection electric police rod; the OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet MAP packet and a signal lamp data packet SPAT packet broadcasted by the RSU, determines a lane according to own GPS information, and matches according to lane phase information and signal lamp phase information to obtain the current signal lamp color of the lane.
3. The method for determining the current signal light color of the lane according to the V2X technology, wherein the method comprises the following steps:
lane1 and lane2 are two lanes, pos1 and pos2 are two road point position information on a lane2 lane, width is the lane width of lane2, distance is the distance between two road points pos1 and pos2, pos is the position information of the vehicle OBU equipment, d _ lo is the longitude difference between a point pos and the point pos1, and d _ la is the latitude difference between the point pos and the point pos 1;
in a lane2 lane, collecting two point location information pos1 and pos2, taking the two points as reference road points, taking the connecting line of the two points as the central axis of the lane, taking width as the lane width, and defining a drawn rectangular area as a road section of the lane 2;
establishing a coordinate system by taking the position pos of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the forward direction of a Y axis of the coordinate system, and calibrating a distance hd from the antenna of the OBU equipment to the head of the vehicle, a distance td from the antenna of the OBU equipment to the tail of the vehicle, a distance ld from the antenna of the OBU equipment to the left side of the vehicle and a distance rd from the antenna of the OBU equipment to the right side of the vehicle;
and calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360
lo＝2*pi*r*((pos_lo-pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
la is the distance between two latitude points pos and pos 1; pi is the circumference ratio, and takes the value of 3.1415926; r is the radius of the earth, and takes the value of 6378245 in meters; pos _ la is the latitude of position pos; pos1_ la is the latitude of position pos 1; lo is pos, the distance between two longitude points pos 1; pos _ lo is the longitude of location pos; pos1_ lo is the longitude of location pos 1; rotate is radian; the heading is an angle of the advancing direction of the vehicle relative to the true north direction in a clockwise manner; d _ lo is the arc length between two points of longitude; d _ la is the arc length between two latitudes;
calculating a longitude and latitude difference value, judging whether the vehicle is in a lane section of lane2 according to conditions when the longitude difference is less than or equal to lane width and the latitude difference is less than or equal to distance between road points;
and obtaining lane phase information according to the lane attribute, and matching the lane phase information with the signal lamp phase information to obtain the current lamp color state of the signal lamp with the same phase information.
4. The method for determining the current signal light color of the lane according to claim 1 based on the V2X technology, wherein in the step S1:
the RSU equipment on the electric police pole broadcasts map information of a local area outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information and connection relation among roads of the local area;
the RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
5. The method for determining the current signal light color of the lane according to claim 1 based on the V2X technology, wherein in the step S3:
the vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
6. A system for determining the current signal light color of a lane based on the V2X technology is characterized by comprising the following steps:
module M1: RSU equipment broadcasts map information and intersection signal lamp information of a local area outwards;
module M2: the OBU equipment obtains signal lamp phase information of the current intersection according to received map information and intersection signal lamp information broadcasted by the RSU;
module M3: calculating the lane where the vehicle is located and the lane phase information in real time according to the received map information broadcasted by the RSU equipment;
module M4: and combining the signal lamp phase information and the lane phase information to obtain the current signal lamp color of the lane where the vehicle is located.
7. The system for determining the current signal light color of the lane based on the V2X technology as claimed in claim 1, wherein:
the system comprises a V2X device OBU and auxiliary antennas thereof, namely an LTE antenna, a GNSS antenna and a V2X antenna, which are installed on a vehicle, and a V2X device RSU and auxiliary antennas thereof, namely an LTE antenna, a GNSS antenna and a V2X antenna, which are installed on an intersection electric police rod; the OBU equipment on the vehicle communicates with the RSU equipment through a PC5 port to acquire a MAP data packet MAP packet and a signal lamp data packet SPAT packet broadcasted by the RSU, determines a lane according to own GPS information, and matches according to lane phase information and signal lamp phase information to obtain the current signal lamp color of the lane.
8. The system for determining the current signal light color of the lane based on the V2X technology as claimed in claim 1, wherein:
lane1 and lane2 are two lanes, pos1 and pos2 are two road point position information on a lane2 lane, width is the lane width of lane2, distance is the distance between two road points pos1 and pos2, pos is the position information of the vehicle OBU equipment, d _ lo is the longitude difference between a point pos and the point pos1, and d _ la is the latitude difference between the point pos and the point pos 1;
in a lane2 lane, collecting two point location information pos1 and pos2, taking the two points as reference road points, taking the connecting line of the two points as the central axis of the lane, taking width as the lane width, and defining a drawn rectangular area as a road section of the lane 2;
establishing a coordinate system by taking the position pos of the OBU equipment of the vehicle as the origin of the coordinate system and taking the advancing direction of the vehicle as the forward direction of a Y axis of the coordinate system, and calibrating a distance hd from the antenna of the OBU equipment to the head of the vehicle, a distance td from the antenna of the OBU equipment to the tail of the vehicle, a distance ld from the antenna of the OBU equipment to the left side of the vehicle and a distance rd from the antenna of the OBU equipment to the right side of the vehicle;
and calculating the longitude difference d _ lo and the latitude difference d _ la between the two points according to the position information of pos1 and pos, wherein the specific formula is as follows:
la＝2*pi*r*(pos_la–pos1_la)*0.0000001/360
lo＝2*pi*r*((pos_lo-pos1_lo)*0.0000001/360)*cos(pi*pos_la*0.0000001/180)；
rotate＝pi*heading*0.0125/180；
d_lo＝(lo*cos(rotate)-la*sin(rotate))*100
d_la＝(lo*sin(rotate)+la*cos(rotate))*100
la is the distance between two latitude points pos and pos 1; pi is the circumference ratio, and takes the value of 3.1415926; r is the radius of the earth, and takes the value of 6378245 in meters; pos _ la is the latitude of position pos; pos1_ la is the latitude of position pos 1; lo is the distance between two longitude points pos, pos 1; pos _ lo is the longitude of location pos; pos1_ lo is the longitude of location pos 1; rotate is radian; the heading is an angle of the advancing direction of the vehicle relative to the true north direction in a clockwise manner; d _ lo is the arc length between two points of longitude; d _ la is the arc length between two latitudes;
calculating a longitude and latitude difference value, judging whether the vehicle is in a lane section of lane2 according to conditions when the longitude difference is less than or equal to lane width and the latitude difference is less than or equal to distance between road points;
and obtaining lane phase information according to the lane attributes, and matching the lane phase information with the signal lamp phase information to obtain the current lamp color state of the signal lamp with the same phase information.
9. The system for determining the current signal light color of the lane according to claim 1 based on the V2X technology, wherein in the module M1:
the RSU equipment on the electric police pole broadcasts map information of a local area outwards according to preset road basic data, wherein the map information comprises intersection information, road section information, lane information and connection relation among roads of the local area;
the RSU equipment on the electric police pole communicates with the intersection signal machine in a wired network mode, and broadcasts an intersection signal lamp message outwards, wherein the intersection signal lamp message contains current state information of a current intersection signal lamp.
10. The system for determining the current signal light color of the lane according to claim 1 based on the V2X technology, wherein in the module M3:
the vehicle obtains GPS longitude and latitude information through the OBU device, and real-time lane information and lane phase information of the vehicle are calculated by combining received map information broadcasted by the RSU device.
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| CN115497286A (en) * | 2022-09-02 | 2022-12-20 | 东风悦享科技有限公司 | Front intersection real-time traffic state display system and method based on V2X |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115497286A (en) * | 2022-09-02 | 2022-12-20 | 东风悦享科技有限公司 | Front intersection real-time traffic state display system and method based on V2X |
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