CN114973706B - Vehicle-road cooperative communication method and device, traffic signal control equipment and road side equipment - Google Patents
Vehicle-road cooperative communication method and device, traffic signal control equipment and road side equipment Download PDFInfo
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- CN114973706B CN114973706B CN202110222712.8A CN202110222712A CN114973706B CN 114973706 B CN114973706 B CN 114973706B CN 202110222712 A CN202110222712 A CN 202110222712A CN 114973706 B CN114973706 B CN 114973706B
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Abstract
The embodiment of the application discloses a vehicle-road cooperative communication method and device, traffic signal control equipment and road side equipment, wherein the method comprises the following steps: the traffic signal control equipment acquires first information from the first road side equipment through data frame transmission; the traffic signal control equipment acquires dynamic traffic information of a second intersection from the second road side equipment through data frame transmission; the traffic signal control equipment acquires current traffic light timing information of each intersection in the intersections; the traffic signal control equipment determines the prior traffic strategy information aiming at the target vehicle according to the first information, the dynamic traffic information of the second intersection and the plurality of current traffic light timing information; the traffic signal control equipment adjusts or maintains a plurality of current traffic light timing information according to the priority traffic strategy information so that the target vehicle passes through the intersection preferentially, thereby realizing cooperative communication of the vehicle and the road, and further improving the traffic efficiency and traffic safety of the intersection.
Description
Technical Field
The application relates to the field of intelligent transportation, in particular to a vehicle-road cooperative communication method and device, traffic signal control equipment and road side equipment.
Background
With the rapid increase of urban population, motor vehicles and non-motor vehicles, the problems of traffic jam, traffic safety and the like of cities are increasingly serious. Therefore, how to effectively cooperatively control the communication among the vehicle-mounted equipment, the road side equipment, the traffic signal control equipment and other equipment so as to optimize the traffic right of vehicles, improve the traffic order, improve the traffic capacity and the traffic efficiency of intersections, reduce traffic jams, improve traffic safety and the bearing capacity of urban road networks, and further research is needed.
Disclosure of Invention
The embodiment of the application provides a vehicle-road cooperative communication method and device, traffic signal control equipment and road side equipment, which aim to realize vehicle-road cooperative communication by transmitting information through data frames, and improve the traffic efficiency and traffic safety of intersections by taking dynamic traffic information of each intersection and a plurality of current traffic light timing information into a priority traffic strategy.
In a first aspect, an embodiment of the present application provides a vehicle-road cooperative communication method, which is applied to traffic signal control devices in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the method comprises the following steps:
Transmitting through a data frame to obtain first information from the first roadside device, the first information including at least one of: dynamic traffic information of the first intersection, vehicle information of the target vehicle, and time when the target vehicle is about to reach the intersection;
transmitting the data frame to acquire dynamic traffic information of the second intersection from the second road side equipment;
acquiring current traffic light timing information of each intersection in the intersection;
determining priority traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the current traffic light timing information;
and adjusting or maintaining a plurality of current traffic light timing information according to the priority traffic strategy information so that the target vehicle passes through the intersection preferentially.
In a second aspect, an embodiment of the present application provides a vehicle-road cooperative communication method, which is applied to a first road side device in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises the first road side equipment, at least one second road side equipment, traffic signal control equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the method comprises the following steps:
Acquiring vehicle information of the target vehicle from the first vehicle-mounted device, and determining the time when the target vehicle is about to reach the intersection according to the vehicle information;
acquiring dynamic traffic information of the first intersection;
transmitting, by a data frame transmission, first information to the traffic signal control device, the first information including at least one of: the dynamic traffic information of the first intersection, the vehicle information, and the time when the target vehicle is about to reach the intersection;
transmitting through the data frame to obtain second information from the traffic signal control device, the second information including at least one of: the method comprises the steps of aiming at the prior traffic strategy information of the target vehicle, the intersection direction of the prior traffic of the target vehicle and the time length of the traffic light of the prior traffic of the target vehicle, wherein the prior traffic strategy information is used for adjusting or maintaining the current traffic light timing information of each intersection in the intersection so that the target vehicle passes through the intersection preferentially.
In a third aspect, an embodiment of the present application provides a vehicle-road cooperative communication device, which is applied to traffic signal control equipment in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the device comprises a processing unit and a communication unit, wherein the processing unit is used for:
Transmitting, by the communication unit, a data frame to obtain first information from the first roadside device, the first information including at least one of: dynamic traffic information of the first intersection, vehicle information of the target vehicle, and time when the target vehicle is about to reach the intersection;
transmitting the data frame through the communication unit to acquire dynamic traffic information of the second intersection from the second road side equipment;
acquiring current traffic light timing information of each intersection in the intersection;
determining priority traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the current traffic light timing information;
and adjusting or maintaining a plurality of current traffic light timing information according to the priority traffic strategy information so that the target vehicle passes through the intersection preferentially.
In a fourth aspect, an embodiment of the present application provides a vehicle-road cooperative communication device, which is applied to a first road side device in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises the first road side equipment, at least one second road side equipment, traffic signal control equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the device comprises a processing unit and a communication unit, wherein the processing unit is used for:
Acquiring, by the communication unit, vehicle information from the first vehicle-mounted device, and determining a time when the target vehicle is about to reach the intersection based on the vehicle information, the vehicle information including at least one of: the load factor of the target vehicle, the travel route information of the target vehicle, the identification information of the target vehicle, the position information of the target vehicle, the speed information of the target vehicle, and the vehicle type of the target vehicle;
acquiring dynamic traffic information of the first intersection through the communication unit, and determining the time when the target vehicle is about to reach the intersection according to the vehicle information;
transmitting, by the communication unit, a data frame to transmit first information to the traffic signal control device, the first information including at least one of: the dynamic traffic information of the first intersection, the vehicle information, and the time when the target vehicle is about to reach the intersection;
transmitting the data frame by the communication unit to obtain second information from the traffic signal control device, the second information including at least one of: the method comprises the steps of aiming at the prior traffic strategy information of the target vehicle, the intersection direction of the prior traffic of the target vehicle and the time length of the traffic light of the prior traffic of the target vehicle, wherein the prior traffic strategy information is used for adjusting or maintaining the current traffic light timing information of each intersection in the intersection so that the target vehicle passes through the intersection preferentially.
In a fifth aspect, an embodiment of the present application provides a traffic signal control apparatus, including a processor, a memory, and a communication interface, the memory storing one or more programs, and the one or more programs being executed by the processor, the one or more programs being for executing instructions of the steps in the first aspect of the embodiment of the present application.
In a sixth aspect, an embodiment of the present application provides a roadside device, which is a first roadside device, including a processor, a memory, and a communication interface, where the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs are used to execute instructions for performing steps in the second aspect of the embodiment of the present application.
It can be seen that in the embodiment of the present application, first, the first road side device obtains the vehicle information of the target vehicle from the first vehicle-mounted device, and determines the time when the target vehicle is about to reach the intersection according to the vehicle information; secondly, the first road side equipment acquires dynamic traffic information of a first intersection and sends the first information to the traffic signal control equipment through a data frame; thirdly, the traffic signal control equipment transmits the first information from the first road side equipment through the data frame, and acquires the dynamic traffic information of the second intersection from the second road side equipment through the data frame; next, the traffic signal control device acquires current traffic light timing information of each intersection in the intersection, and determines preferential traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the plurality of current traffic light timing information; then, the traffic signal control equipment adjusts or maintains a plurality of current traffic light timing information according to the priority traffic strategy information so as to enable the target vehicle to pass through the intersection preferentially; finally, the first road side equipment transmits through the data frame to acquire second information from the traffic signal control equipment. According to the vehicle-road cooperative communication system, dynamic traffic information of each intersection, vehicle information of a target vehicle and time when the target vehicle is about to reach the intersection can be transmitted through the data frame, and priority traffic strategy information of the target vehicle is determined through the first information, the dynamic traffic information of each intersection and the current traffic light timing information to ensure that the target vehicle is in optimal traffic, so that vehicle-road cooperative communication is realized through the data frame transmission information, and the dynamic traffic information of each intersection and the current traffic light timing information are referred to the priority traffic strategy to improve traffic efficiency and traffic safety of the intersection.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent that the figures described below are merely some embodiments of the application. Other figures can be obtained from these figures without inventive effort for the person skilled in the art.
Fig. 1 is a schematic diagram of an architecture of a vehicle-road cooperative communication system according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a vehicle-road cooperative communication method provided by an embodiment of the application;
fig. 3 is a functional unit composition block diagram of a vehicle-road cooperative communication device according to an embodiment of the present application;
fig. 4 is a functional unit composition block diagram of still another vehicle-road cooperative communication device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a traffic signal control apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a first road side device according to an embodiment of the present application.
Detailed Description
For better understanding of the technical solutions of the present application by those skilled in the art, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the description of the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, software, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may alternatively include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Before describing the technical scheme of the embodiment of the application, the related concepts, the vehicle-road cooperative communication system, the software and hardware structures of the electronic equipment and the like possibly related to the application are introduced.
The vehicle-road cooperative communication system of the embodiment of the application can comprise a bus detection module, a dynamic traffic information acquisition module, a priority traffic decision module, a priority traffic result display module and the like. The method comprises the following steps:
the vehicle detection module: information such as the load factor of the vehicle, the position of the vehicle, the speed of the vehicle and the like is detected through a vehicle-to-everything (V2X) technology.
Dynamic traffic information acquisition module: the method mainly comprises the steps of obtaining original data of pedestrians, non-motor vehicles, motor vehicles and the like of the whole intersection through intelligent sensors (such as laser radars and cameras) of the intersection, and obtaining dynamic traffic information and the like of the whole intersection according to the original data.
The priority passing decision module: the vehicle priority traffic strategy is mainly generated according to the time when the vehicle arrives at the intersection, dynamic traffic information, a current timing scheme, the load factor of the vehicle and the like.
Priority passing result display module: on the one hand, the vehicle priority passing result is displayed to the driver and passengers on the in-vehicle display screen of the vehicle with the priority passing right; on the other hand, it informs other vehicles at the intersection of the vehicle priority passing result through the traffic prompt screen of the intersection so as to remind the other vehicles to drive carefully at the intersection.
In addition, the vehicle-road cooperative communication system of the embodiment of the application may specifically include an on-board unit (OBU), a Road Side Unit (RSU), a traffic signal controller (road traffic signal controller, TSC), a traffic prompt screen (or referred to as an intersection prompt screen), a tail screen, an in-vehicle display screen, a passenger-carrying statistics device, an intelligent sensor, and an edge calculation unit.
(1) Vehicle-mounted unit
The vehicle-mounted unit is arranged on the vehicle and can realize V2X communication and support the hardware unit of V2X application. The OBU can acquire information (such as information about a load factor of the vehicle, a position of the vehicle, a speed of the vehicle, and the like) of a vehicle detection module on the vehicle, and send the information to the roadside unit through a broadcasting mode. In addition, the OBU may also be referred to as an in-vehicle device.
The on-board unit can obtain the real-time accurate position, speed and passenger carrying quantity of the vehicle. When the vehicle is about to reach an intersection, the on-board unit and the road side unit may communicate through DSRC/LTE-V/NR-V2X. Therefore, the roadside unit can acquire the identification information of the vehicle, the travel route information, the position information of the vehicle, the load factor information of the vehicle, and the like through communication with the on-vehicle unit.
(2) Road side unit
The road side unit is installed at the intersection, and can realize V2X communication and support the hardware unit of V2X application. The RSU can receive the information sent by the OBU and has the capability of sensing dynamic traffic information of the intersection through the edge computing unit. In addition, the RSU may also be referred to as a roadside device.
Lane-level map information of the intersection is stored in the roadside unit. When a vehicle is about to reach an intersection, a corresponding table of a road opening map and signal phases in a road side unit can be queried through map matching and course angle information (OBU can be acquired through a built-in GPS module and a GPS antenna) of the vehicle, so that signal phase information required by the vehicle can be accurately acquired.
The correspondence table is set in advance according to the actual situation of the intersection. Each driving direction of each intersection corresponds to the signal phase of one traffic signal lamp. When the travel route of the vehicle is fixed, the travel direction is fixed at each intersection, so that it can inquire about its corresponding required signal phase.
It should be noted that, the traffic signal lamp according to the embodiment of the present application may be referred to as a traffic light, and the signal phase information may be referred to as phase information of the traffic light, traffic light phase information, or phase information of the traffic light, which is not limited in particular.
(3) Traffic signal controller
The traffic signal controller is installed at the intersection, and can change the order of road traffic signals, adjust timing and control the running of road traffic signal lamps (such as the phase and period of control signals). In addition, the TSC may also be referred to as a traffic signal control device.
(4) Traffic prompt screen
The traffic prompt screen is arranged in each direction of the intersection and used for displaying information such as a vehicle priority passing result and traffic light duration of priority passing.
The road side unit can communicate with traffic prompt screens of various intersections installed at the intersections. Therefore, the traffic prompt screen can display the direction of the intersection where the vehicles pass preferentially, the duration of the traffic light where the vehicles pass preferentially, and the like, so that other vehicles without the function of passing preferentially can be informed in advance, the traffic safety and the traffic efficiency of the whole intersection are improved, and the influence of the preferential traffic of the vehicles on other vehicles is reduced.
(5) Vehicle tail screen and in-vehicle display screen
The tail screen is mounted at the tail of the vehicle, and the display interface of the tail screen faces the outside of the vehicle and is used for prompting other vehicles behind the vehicle. The display screen in the vehicle can display the light color of the traffic signal lamp, the remaining display time of the light color, the traffic light time length of the vehicle passing preferentially and the like, and is used for prompting a driver of the vehicle and prompting passengers in the vehicle, so that the driving safety of the driver and the riding experience of the passengers are improved.
The road side unit can broadcast information including a vehicle ID of the prior traffic, a direction of the prior traffic intersection, a duration of the prior traffic light and the like to vehicles at the whole intersection. The vehicles at the whole intersection are matched with the vehicle ID of the vehicle to determine whether the vehicle is the vehicle with the priority traffic or not through the vehicle-mounted unit. If the vehicle is a vehicle with priority passing, the vehicle-mounted unit displays information such as the direction of the intersection where the vehicle passes preferentially, the duration of the traffic light where the vehicle passes preferentially and the like on the display screen in the vehicle in a wired or wireless communication mode, so that the safety of a driver passing through the intersection and the riding experience of passengers on the vehicle are improved.
The vehicle-mounted unit can be connected with a tail screen at the tail of the vehicle in a wired or wireless communication mode, and can display signal phases (such as lamplight colors) and countdown information and the like of traffic signals of vehicles passing through a plurality of directions (such as left turn, straight run, right turn, turning around and the like) of the intersection on the tail screen, so that the situation that the vehicles behind break the red light due to the fact that vehicles in front shield the red-green light of the intersection is avoided, and the safety of other vehicles passing through the intersection is improved.
The vehicle-mounted unit can be connected with an in-vehicle display screen of the vehicle in a wired or wireless communication mode. And displaying the result of the prior traffic of the vehicle (such as displaying a prior traffic strategy, the time of the prior traffic light and the like) through pictures on the display screen in the vehicle, and performing language broadcasting (such as broadcasting the prior traffic strategy, the time of the prior traffic light and the like). Through the display or broadcasting of the display screen in the vehicle, the driver is guaranteed to know the result of the preferential passing of the vehicle, the decision making of the bus driver in advance is facilitated, and the experience of passengers riding the vehicle is improved.
(6) Passenger carrying statistical equipment
The passenger carrying statistical equipment is arranged at the door position of the vehicle (such as the front and rear door positions of the bus), the condition that passengers get on or off the bus is detected and obtained through a camera, and finally the number of passengers of the bus is obtained.
For example, passenger-carrying statistics devices are respectively installed at the positions of passengers on the front and rear doors of a bus, and the number of passengers on the front and rear doors is counted. The two passenger carrying statistical devices are respectively connected with the vehicle-mounted unit through a wired network or a wireless network, and the vehicle-mounted unit gathers the passenger carrying number counted by the two passenger carrying statistical devices, so that the passenger carrying rate of the bus is obtained. In the driving process of the bus, in order to avoid error in passenger carrying statistics caused by the position of passengers standing at the front and rear doors of the bus, the fact that the passenger carrying rate of the vehicle-mounted unit is kept unchanged when the doors of the bus are closed is considered, and the fact that the passenger carrying rate changes due to the fact that passengers stand at the detection areas of the front and rear doors of the bus in the driving process of the bus and the decision of bus priority is influenced is avoided.
(7) Intelligent sensor
The intelligent sensor is arranged at the intersection and used for detecting the original data of motor vehicles, pedestrians, non-motor vehicles and the like at the intersection and uploading the original data to the edge computing unit.
Wherein, intelligent sensor can include laser radar and camera. The laser radar can obtain the point cloud data of each intersection in the intersection, and the camera can obtain the image and video information of each intersection in the intersection.
It should be noted that, the intelligent sensor not only can obtain the traffic information of the traffic on the lane, but also can obtain the traffic information of pedestrians and non-motor vehicles at the intersection, so that the information full perception of all traffic participants at the intersection is realized, the purpose that the vehicles pass preferentially can be realized more accurately, and the traffic efficiency at the intersection is improved.
(8) Edge calculation unit
The edge computing unit is arranged at the intersection and is used for receiving the original data from the laser radar and the camera, processing the original data, fusing multi-sensor data and the like, so that the dynamic traffic information of the intersection structure is obtained. In addition, the edge computing unit may also be referred to as an edge computing device.
The edge calculation unit may perform processes such as point cloud ROI extraction, point cloud clustering, and target tracking on the obtained point cloud data, so as to obtain information such as a position, a speed, a type, and a heading angle of a target object (such as a pedestrian, a non-motor vehicle, and a motor vehicle).
The edge calculating unit may perform processing such as object detection and identification on the acquired image and video information, so as to obtain a type, a position, a speed, a lane where the vehicle is located, a vehicle queuing length corresponding to each lane, a traffic flow of each lane, a vehicle type, and the like of object detection.
The vehicle queuing length of each lane can be obtained by calculating the distance from the farthest vehicle of each lane to the intersection stop line of the lane through the image and video information; and counting the number n of vehicles passing through the intersection stop line of each lane in a preset time (such as 10 minutes) through the image and video information, so as to obtain the corresponding vehicle flow of 6n (pcu/h) of each lane.
Illustratively, as shown in fig. 1, the vehicle-road cooperative communication system includes an in-vehicle device 1101, a tail screen 1102, an in-vehicle display screen 1103, a passenger statistics device 1104, a passenger statistics device 1105, a road side device 1201, a traffic signal control device 1202, a traffic signal lamp 1203, an edge computing device 1204, a laser radar 1205, a camera 1206, and a traffic prompt screen 1207.
In connection with the above description, the following describes the steps of the vehicle-road cooperative communication method from the viewpoint of a method example, referring to fig. 2. Fig. 2 is a schematic flow chart of a vehicle-road cooperative communication method provided by an embodiment of the present application, where the method is applied to a vehicle-road cooperative communication system, and the system includes a traffic signal control device, a first road side device, at least one second road side device, a first vehicle-mounted device, at least one second vehicle-mounted device, and at least one first traffic prompt screen, where the traffic signal control device is installed at an intersection, the first vehicle-mounted device is installed on a target vehicle, the first road side device is installed at a first intersection in the intersection, the second road side device is installed at a second intersection in the intersection, the first intersection is an intersection where the target vehicle currently passes, the second vehicle-mounted device is installed on the first vehicle, and the first traffic prompt screen is installed at an intersection in the intersection; the method comprises the following steps:
s201, the first vehicle-mounted device acquires vehicle information of a target vehicle and sends the vehicle information to the first road side device.
Wherein the vehicle information may include at least one of: the load factor of the target vehicle, the travel route information of the target vehicle, the identification information of the target vehicle, the position information of the target vehicle, the speed information of the target vehicle, the vehicle type of the target vehicle.
First, the first vehicle-mounted device is installed on the target vehicle, the first road side device is installed at a first intersection in the intersections, and the first intersection is an intersection where the target vehicle currently passes. The target vehicle may include a bus, an ambulance, a fire truck, an police car, a private car, etc. The first intersection may include at least one of at least one straight lane, at least one left-turn lane, at least one right-turn lane. That is, the first intersection may include one or more lanes.
Second, the vehicle information may be carried in the priority passage request information. The priority traffic request information is used for requesting to execute priority traffic judgment for the target vehicle. Therefore, when the target vehicle is about to reach the intersection, if the target vehicle needs to pass through the intersection preferentially, the target vehicle may first send the preferential traffic request information to the first road side device through the first vehicle-mounted device, and then judge whether to execute preferential traffic for the target vehicle by the first road side device or the traffic signal control device.
Finally, the first vehicle device may obtain the load factor of the target vehicle through a wired network or a wireless network (e.g., ethernet, wi-Fi, controller area network CAN, etc.) with the load statistics device on the target vehicle. The first vehicle-mounted device may acquire the location information of the target vehicle through a wired network or a wireless network with a global satellite navigation system (e.g., GPS, GLONASS, GALILEO, BDS, etc.) on the target vehicle. The first vehicle-mounted device may acquire speed information of the target vehicle through a wired network or a wireless network with a sensor (e.g., hall sensor, wheel speed sensor, etc.) on the target vehicle. The vehicle type of the target vehicle may be used to indicate which of the bus, ambulance, fire truck, traffic truck, police car, private car, etc. types the target vehicle is. The identification information of the target vehicle may be used to indicate a unique Identification (ID) of the target vehicle. When the target vehicle is not a vehicle having a fixed travel route such as a bus, the first vehicle-mounted device may acquire travel route information and the like of the target vehicle by reading the travel route between the departure point and the destination set by the user in the navigation software.
S203, the first road side equipment acquires vehicle information from the first vehicle-mounted equipment, and determines the time when the target vehicle is about to reach the intersection according to the vehicle information.
It should be noted that, since the first vehicle-mounted unit may obtain vehicle information such as a real-time accurate position, a driving speed, a passenger carrying rate, etc. of the target vehicle, when the target vehicle is about to reach an intersection and the target vehicle needs to preferentially pass through the intersection, communication may be performed between the first vehicle-mounted device and the first road side device through a dedicated short-range communication technology (DSRC), a long term evolution vehicle technology (long term evolution-vehicle, LTE-V), a new wireless V2X technology (new radio-V2X, NR-V2X), etc., so that the vehicle information from the first vehicle-mounted device is obtained by the first road side device.
Specifically, determining the time when the target vehicle is about to reach the intersection according to the vehicle information may include the following steps: determining the distance L from the target vehicle to an intersection (or a stop line of the intersection, a zebra crossing of the intersection, a crosswalk line of the intersection and the like) according to the position information of the target vehicle in the vehicle information; and calculating the time t when the target vehicle is about to reach the intersection according to the speed information v of the target vehicle in the vehicle information and the distance L between the target vehicle and the intersection.
S205, the first road side equipment acquires dynamic traffic information of the first road junction and transmits the first information to the traffic signal control equipment through a data frame.
Wherein the first information may include at least one of: dynamic traffic information, vehicle information, and time when a target vehicle is about to reach an intersection at a first intersection.
Specifically, the first road side device obtains the dynamic traffic information of the first intersection, which may include the following steps: the first road side device obtains dynamic traffic information of a first intersection from the edge computing device.
It should be noted that, first, the edge computing device may obtain point cloud data from the lidar at each intersection of the intersection, and perform processing such as point cloud ROI extraction, point cloud clustering, and target tracking on the point cloud data, so as to obtain information such as a position, a speed, a type, and a heading angle of a target object (such as a pedestrian, a non-motor vehicle, and a motor vehicle).
In addition, the edge computing equipment can acquire the image and video information of the camera in each intersection of the intersection, and acquire the type, position and speed of a target object (such as pedestrians, non-motor vehicles, motor vehicles and the like) by performing artificial intelligence algorithm (such as YOLO algorithm, regional convolution neural network R-CNN algorithm, rapid R-CNN algorithm and the like) on the image and video information; counting the number of vehicles passing through the intersection stop line of each lane in a preset time (such as 10 minutes) through the image and video information to obtain the corresponding vehicle flow of each lane; counting the number of target objects through the image and video information; and calculating the distance from the furthest vehicle of each lane to the intersection stop line of the lane through the image and video information so as to acquire the queuing length of the vehicle of each lane and the like.
Specifically, the dynamic traffic information of the first intersection may include at least one of: pedestrian information at the first intersection, non-motor vehicle information at the first intersection, motor vehicle information at the first intersection.
Further, the pedestrian information of the first intersection includes at least one of position information of each pedestrian of the first intersection, and pedestrian number information of the first intersection.
The edge computing device may obtain, through the lidar and/or the camera, the positions of pedestrians, the number of pedestrians, etc. near the first intersection (including on the pedestrian crossing safety island at the first intersection, on the crosswalk at the first intersection, etc.).
Further, the non-motor vehicle information of the first intersection may include at least one of: the method comprises the steps of position information of non-motor vehicles at a first intersection, speed information of the non-motor vehicles at the first intersection, quantity information of the non-motor vehicles at the first intersection and running direction information of the non-motor vehicles at the first intersection.
The edge computing device may obtain, via the laser radar and/or the camera, a position, a speed, a traveling direction, etc. of the non-motor vehicle near the first intersection (including on a lane at the first intersection, on a crosswalk at the first intersection, etc.).
Further, the motor vehicle information at the first intersection may include at least one of: at least one of position information of the motor vehicle at the first intersection, driving speed information of the motor vehicle at the first intersection, vehicle type information of the motor vehicle at the first intersection, lane information of the motor vehicle at the first intersection, vehicle queuing length information corresponding to each lane at the first intersection, and vehicle flow of each lane at the first intersection.
It should be noted that, the edge computing device may obtain, through the lidar and/or the camera, the position of the motor vehicle at the first intersection (including on each lane of the first intersection), the lane in which the motor vehicle is located, the vehicle queuing length corresponding to each lane, the vehicle flow rate of each lane, the vehicle type, the driving speed, and the like.
Therefore, the intelligent sensor (such as a laser radar and a camera) arranged at the intersection can not only acquire the motor vehicle information of each intersection at the intersection, but also acquire the pedestrian information and the non-motor vehicle information of each intersection at the intersection, so that the holographic perception of the information of all traffic participants at the intersection is realized, the aim of realizing the preferential passing of vehicles is realized more accurately, and the passing efficiency of the intersection is improved.
The following embodiments of the present application will specifically describe a data frame.
In one possible example, the frame format of the data frame may include at least one of the following fields: a start field, a type field, a control field, a length field, a data field, a check field, and an end field.
The data frame is a basic unit for transmitting information. The data frame may be composed of 7 fields including a start field, a type field, a control field, a length field, a data field, a check field, and an end field, and the length of each field is in "bytes".
In particular, the start field may be used to indicate a start flag of a data frame, which is composed of one byte, and the start flag value may be 68H.
Therefore, the embodiment of the application can realize that the data is analyzed for the field information from the start mark indicated by the start domain by defining the start domain, thereby ensuring that the data frame is accurately analyzed.
Further, the start field may include a first start field having a length of 1 byte and a second start field having a length of 1 byte.
It should be noted that, in the embodiment of the present application, by setting two start domains, the problem that the field information cannot be resolved correctly due to the loss of a single start domain is avoided, thereby being beneficial to increasing the reliability of data transmission.
In particular, a type field may be used to indicate a device type and a device address, the type field being located after the start field, the type field may be 2 bytes in length. The device type may be used to indicate a device type of the vehicle-road cooperative communication system. For example, the device type is used to indicate a roadside device or a traffic signal control device.
It should be noted that, for the type field, one byte is used to store the device type and one byte is used to store the device address. Wherein the device type byte is preceded and the device address byte is followed. In addition, for the roadside device, the type value of the device type thereof may be fixed to 11H, and the address value of the device address thereof may be fixed to 01H. The type value for its device type may be fixed to 01H for other than roadside devices.
Illustratively, the type field takes on its value as shown in Table 1.
TABLE 1
| Device type | Device address | Description of the application |
| 01H/11H | 01H | --- |
Further, the type field is located between the first start field and the second start field.
Therefore, the embodiment of the application can realize clear indication of the device type and the device address of the device for transmitting the data frame by defining the type domain, avoid the unobserved knowledge of the data frames transmitted by the devices, realize correct analysis of the data frames by the type domain, and further improve the accuracy and the efficiency of the data frame transmission process.
Specifically, a control field may be used to indicate a frame type and an information Identification (ID) of the data frame, the control field being located after the type field, the control field being 2 bytes in length.
It should be noted that, for the control field, one byte is used to store the frame type and one byte is used to store the information ID. Wherein the frame type byte is preceded and the information ID byte is followed. In addition, the frame type of the data frame may include a set frame, a set response frame, a query response frame, and the like.
Illustratively, the control field takes on its value as shown in Table 2.
TABLE 2
Therefore, the embodiment of the application can realize clear indication of the frame type and the information identification of the transmitted data frame by defining the control domain, and avoid unaware of what the transmitted data frame is functional (namely, the query message or the status message), thereby realizing correct analysis of the data frame by the control domain and further improving the accuracy and the efficiency of the data frame transmission process.
Specifically, a length field may be used to indicate the length of the data field, the length field being located after the control field, the length of the length field being 2 bytes.
Therefore, the embodiment of the application can realize clear indication of the length of the data field of the transmission data frame by defining the length field, avoid unaware of the length of the data field of the transmission data frame, realize correct analysis of the data field through the length field, and further improve the accuracy and efficiency of the transmission process of the data frame.
In particular, a data field may be used for transmitting information data, the data field being located after a length field, the length of the data field being variable.
Therefore, according to the embodiment of the application, the length of the data field is set to be variable, so that information data with different lengths can be transmitted according to different communication scene requirements, and the flexibility of setting the data frames is improved.
Specifically, the check field may be used to indicate the exclusive or result of all data from the type field to before the check field, which is located after the data field, and the check field has a length of 1 byte.
It should be noted that the check field may be used to store a check code.
Therefore, the embodiment of the application can realize the verification of other domains in the data frame by defining the verification domain, thereby realizing the correct analysis of the data frame through the verification domain and further improving the accuracy of the data frame transmission process.
Specifically, an end field may be used to indicate an end flag of the data frame, where the end field is located after the check field, and the length of the end field is 1 byte.
Therefore, the embodiment of the application can realize correct analysis of the data frame by defining the end domain, thereby improving the accuracy and efficiency of the data frame transmission process.
In summary, the embodiment of the application divides the data frames transmitted between the devices in the vehicle-road cooperative communication system into different domains, and correctly analyzes the data frames by the functions, byte numbers and positions of the different domains, thereby improving the accuracy and efficiency of the data frame transmission process. An example of the frame format of the data frame is described below, as shown in table 3.
TABLE 3 Table 3
| Domain | Number of bytes | Numerical value | Description of the application |
| First initiation Domain | 1 | 68H | Frame start flag 1 |
| Type field | 2 | -- | Device type and device address |
| Second initiation Domain | 1 | 68H | Frame start marker 2 |
| Control domain | 2 | -- | Frame type and information ID |
| Length field | 2 | -- | Representing data field length, unit bytes |
| Data field | Variable | -- | Data |
| Verification domain | 1 | -- | For checking whether the information is correct or not |
| End field | 1 | 16H | End of frame marker |
In one possible example, the frame types of the data frames include a query frame L and a query response frame R; the first roadside apparatus transmitting the first information to the traffic signal control apparatus through the data frame transmission may include the steps of: the method comprises the steps that first road side equipment obtains a query frame L from traffic signal control equipment, wherein the query frame L is used for requesting the first road side equipment to send first information; the first road side equipment sends a query response frame R to the traffic signal control equipment, and a data field in the query response frame R is used for bearing first information.
It should be noted that, the traffic signal control device may actively send the query frame L to the first road side device in a fixed time interval manner. After the first road side equipment receives the inquiry frame L, the first road side equipment can reply an inquiry response frame R carrying first information to the traffic signal control equipment, so that the information is transmitted through the data frame to realize vehicle-road cooperative communication.
Illustratively, the frame format of query frame L of an embodiment of the present application is shown in Table 4.
TABLE 4 Table 4
It should be noted that, the frame format of the query frame L shown in table 4 may be referred to as the frame format of the query frame L, which is not described in detail.
Illustratively, the frame format of the query response frame R of the embodiment of the present application is shown in table 5.
TABLE 5
It should be noted that, the frame format of the query response frame referred to later may refer to the frame format of the query response frame R shown in table 5, which is not described in detail.
S207, the traffic signal control equipment transmits through a data frame to acquire first information from the first road side equipment.
In one possible example, the frame types of the data frames include a query frame L and a query response frame R; the traffic signal control apparatus transmitting through a data frame to acquire first information from the first roadside apparatus may include the steps of: the traffic signal control equipment sends a query frame L to the first road side equipment, wherein the query frame L is used for requesting the first road side equipment to send out first information; the traffic signal control device receives a query response frame R from the first road side device, and a data field in the query response frame R is used for carrying first information.
It should be noted that, the traffic signal control device may actively send the query frame L to the first road side device in a fixed time interval manner. After the first road side equipment receives the inquiry frame L, the first road side equipment can reply an inquiry response frame R carrying first information to the traffic signal control equipment, so that the information is transmitted through the data frame to realize vehicle-road cooperative communication.
S209, the second road side equipment acquires the dynamic traffic information of the second intersection, and transmits the dynamic traffic information of the second intersection to the traffic signal control equipment through data frame transmission.
Specifically, the second road side device obtains the dynamic traffic information of the second intersection, which may include the following steps: the second roadside device obtains dynamic traffic information for a second intersection from the edge computing device.
It should be noted that, in conjunction with the above description, the edge computing device may obtain point cloud data from the lidar at each intersection of the intersection, and the edge computing device may obtain image and video information from the camera at each intersection of the intersection.
Specifically, the dynamic traffic information of the second intersection may include at least one of: pedestrian information at the second intersection, non-motor vehicle information at the second intersection, motor vehicle information at the second intersection.
Further, the pedestrian information of the second intersection includes at least one of position information of each pedestrian of the second intersection, and pedestrian number information of the second intersection.
Further, the non-motor vehicle information at the second intersection may include at least one of: position information of a non-motor vehicle at the second intersection, speed information of the non-motor vehicle at the second intersection and driving direction information of the non-motor vehicle at the second intersection.
Further, the motor vehicle information at the second intersection may include at least one of: at least one of position information of the motor vehicle at the second intersection, driving speed information of the motor vehicle at the second intersection, vehicle type information of the motor vehicle at the second intersection, lane information of the motor vehicle at the second intersection, vehicle queuing length information corresponding to each lane at the second intersection, and vehicle flow of each lane at the second intersection.
Therefore, the intelligent sensor (such as a laser radar and a camera) arranged at the intersection can not only acquire the motor vehicle information of each intersection at the intersection, but also acquire the pedestrian information and the non-motor vehicle information of each intersection at the intersection, so that the holographic perception of the information of all traffic participants at the intersection is realized, the aim of realizing the preferential passing of vehicles is realized more accurately, and the passing efficiency of the intersection is improved.
In one possible example, the frame types of the data frames include a query frame M and a query response frame S; the second road side device transmitting the dynamic traffic information of the second intersection to the traffic signal control device through the data frame transmission may include the steps of: the second road side equipment acquires a query frame M from the traffic signal control equipment, wherein the query frame M is used for requesting the second road side equipment to issue dynamic traffic information of a second intersection; the second road side equipment sends a query response frame S to the traffic signal control equipment, and a data field in the query response frame S is used for bearing dynamic traffic information of a second intersection.
It should be noted that, the traffic signal control device may actively send the query frame M to the second roadside device by means of a fixed time interval. After the second road side equipment receives the query frame M, the second road side equipment can reply the query response frame S carrying the dynamic traffic information of the second road port to the traffic signal control equipment, so that the information is transmitted through the data frame to realize the cooperative communication of the vehicle and the road.
S211, the traffic signal control equipment transmits the data frames to acquire dynamic traffic information of a second intersection from the second road side equipment.
In one possible example, the frame types of the data frames include a query frame M and a query response frame S; the traffic signal control device transmitting through the data frame to acquire dynamic traffic information of the second intersection from the second roadside device may include the steps of: the traffic signal control equipment sends a query frame M to the second road side equipment, wherein the query frame M is used for requesting the second road side equipment to send dynamic traffic information of a second intersection; the traffic signal control device receives a query response frame S from the second road side device, and a data field in the query response frame S is used for bearing dynamic traffic information of the second road junction.
It should be noted that, the traffic signal control device may actively send the query frame M to the second roadside device by means of a fixed time interval. After the second road side equipment receives the query frame M, the second road side equipment can reply the query response frame S carrying the dynamic traffic information of the second road port to the traffic signal control equipment, so that the information is transmitted through the data frame to realize the cooperative communication of the vehicle and the road.
S213, the traffic signal control equipment acquires current traffic light timing information of each intersection in the intersections.
The current traffic light timing information may include current signal phase information and remaining display time of the current signal phase information.
The current signal phase information may be understood as a signal phase currently displayed by a traffic signal lamp at each intersection in the intersection at a time when the first vehicle-mounted device initiates the vehicle priority request information to the first road side device. In addition, the current signal phase information can be green light phase or red light phase. Accordingly, the traffic signal control apparatus can judge the phase information of the traffic light at the time when the target vehicle finally reaches the intersection by the current signal phase information, the time when the target vehicle is about to reach the intersection, and the remaining display time of the current signal phase information.
For example, if the current signal phase information is a green light phase and the time when the target vehicle is about to reach the intersection is longer than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally reaches the intersection is a red light phase, that is, the green light is changed into the red light, so that the target vehicle cannot preferentially pass through the intersection.
S215, the traffic signal control equipment determines the prior traffic strategy information aiming at the target vehicle according to the first information, the dynamic traffic information of the second intersection and the plurality of current traffic light timing information.
The priority traffic policy information is used for adjusting or maintaining a plurality of current traffic light timing information so that the target vehicle passes through the intersection preferentially.
In one possible example, the traffic signal control apparatus determining the priority traffic policy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection, and the plurality of current traffic light timing information may include the steps of: under the condition that the passenger carrying rate of a target vehicle in the vehicle information is larger than a preset threshold value, the traffic signal control equipment determines the minimum green light duration of each intersection in the intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection; and determining the prior traffic strategy information aiming at the target vehicle according to the plurality of minimum green light time lengths, the time when the target vehicle is about to reach the intersection and the plurality of current traffic light timing information.
Specifically, the preset threshold may be a preset threshold obtained by big data statistics. The preset threshold value can be one value in a value range of 5% -80%. For example, the preset threshold may be 5%, 10%, 20%, 30%, 50%, etc.
It should be noted that, when the load factor of the target vehicle is smaller than the preset threshold, the first road side device or the traffic signal control device does not execute the priority traffic request of the target vehicle, so as to avoid the waste of priority traffic time.
Specifically, the priority traffic policy information includes one of phase hold, green light extension, red light cut-off. The traffic control method and the traffic control system can ensure that the target vehicle passes through the intersection with the green light phase through the priority traffic strategy information, so that waiting time of the target vehicle at the intersection is reduced.
The embodiment of the application specifically describes how to determine the minimum green light duration of each intersection in the intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection.
Mode one:
if the dynamic traffic information of the first intersection comprises the motor vehicle information of the first intersection, the following formula is satisfied when the first intersection corresponding to the minimum green light of the motor vehicle is determined according to the dynamic traffic information of the first intersection:
T i ＝ω 1 *T q +ω 2 *T p ,i∈{1,2,...,M}；
T q ＝t s +n*3600/S；
T p ＝C*q/(S*D s )；
T l ＝max{T 1 ,T 2 ,...,T M }；
Wherein T is i The minimum green light duration of the i-th lane of the first intersection corresponding to the traffic light phase is represented, and M represents the total number of lanes of the first intersection. For example, the first intersection is a north-south traffic intersection, and the intersection has 1 left-turn lane, 1 right-turn lane, and 2 straight lanes, 4 lanes in total.
Wherein omega 1 And omega 2 Representing a preset weight coefficient omega 1 +ω 2 =1. For example omega 1 Take 0.5, omega 2 Taking 0.5, the dynamic adjustment can be carried out according to the actual situation.
Wherein T is q Representing the minimum green light time length calculated by the vehicle queuing length; t is t s The preset vehicle start time for the motor vehicle is indicated, and the value is generally 0.3-0.5 seconds.
Where n represents the number of vehicles on the ith lane, which is converted into a standard, e.g., n=l/5.5, L represents the vehicle queuing length corresponding to the ith lane, and the unit is meter (m). It should be noted that, first, in the embodiment of the present application, the number n of vehicles passing through the intersection stop line corresponding to the ith lane in a preset time (e.g. 10 minutes) may be counted, so as to obtain the vehicle flow 6*n (veh/h) corresponding to the ith lane, and the vehicle flow may be obtained from the time when the target vehicle sends the vehicle priority traffic information. Second, the type of vehicle on the i-th lane affects the calculation of the number of vehicles n, for example, n=1.0 (number of small cars+number of cars) +1.5 (number of large cars+number of medium trucks) +2.0 of large trucks. Finally, the vehicle queuing length refers to the distance of the furthest motor vehicle from each lane to the lane stop line of that lane, and is acquired from the time when the target vehicle sends the vehicle priority traffic information.
Wherein T is p Representing the minimum green light time length of traffic flow calculation; s represents the saturated flow. If the ith lane is a straight lane, S can take 1650pcu/h; if the ith lane is a left-turning lane, S can take 1500pcu/h; if the i-th lane is a right turn lane, S may take 1500pcu/h. C represents the phase period of the signal lamp at the first intersection in seconds(s). q represents the corresponding traffic flow of the ith lane in veh/h. D (D) s Representing a conversion factor, which may take a value of 0.9.
Wherein T is l And indicating the minimum green light time length of the motor vehicle corresponding to the first road opening. It will be appreciated that T l And the maximum value of the minimum green light duration of the corresponding motor vehicle lane of each lane in the first intersection. For example, the first intersection is a north-south traffic intersection, and the intersection has 4 lanes, the minimum green time of the intersection corresponding to the motor vehicle is equal to the maximum value of the minimum green times of the motor vehicles corresponding to the 4 lanes.
It should be noted that, in the embodiment of the application, the number of vehicles (such as the number of vehicles on the ith lane) of each lane in the accurate intersection can be obtained in real time through the intelligent sensor, the edge computing device and the like, so that the vehicle queuing length and the vehicle flow calculated by the number of vehicles are ensured to be more accurate, and the minimum green light duration (such as T) calculated by the vehicle queuing length and the vehicle flow is ensured l ) The vehicle traffic system is more accurate, not only can reach a more accurate target of preferential traffic of vehicles, but also can improve traffic efficiency of the intersections.
Mode two:
if the dynamic traffic information of the first intersection comprises pedestrian information of the first intersection, the minimum green light time of the first intersection corresponding to the pedestrian determined according to the dynamic traffic information of the first intersection meets the following formula:
wherein T is m Representing the minimum green light time length of the pedestrian corresponding to the first road opening; l' represents the width of the first intersection (i.e. the length of the crosswalk corresponding to the first intersection); v represents the preset walking speed of the pedestrian, and the general value is 1.0m/s; kappa represents a preset multiple determined by the number of pedestrians at the first intersection, for example, as shown in table 6.
TABLE 6
| Number of pedestrians | Preset multiple k |
| Less than 5 people | 1.0 |
| 5 to 15 people | 1.5 |
| 15 or more people | 2.0 |
It should be noted that, in the embodiment of the application, the number of pedestrians (such as the number of pedestrians at the first intersection) at each intersection in the accurate intersection can be obtained in real time through the intelligent sensor, the edge computing device and the like, so that the preset multiple (such as k) calculated by the number of pedestrians is ensured to be more accurate, and the minimum green light duration (such as T) calculated by the preset multiple is ensured m ) The method is more accurate, not only can the more accurate target of preferential passing of vehicles be achieved, but also the passing efficiency of the crossing can be improved 。
Mode three:
if the dynamic traffic information of the first intersection comprises non-motor vehicle information of the first intersection, the following formula is satisfied when the first intersection determined according to the dynamic traffic information of the first intersection corresponds to the minimum green lamp of the non-motor vehicle:
wherein T is n Representing the minimum green light time length of the first road opening corresponding to the non-motor vehicle; l' represents the width of the first intersection (i.e. the length of the crosswalk corresponding to the first intersection); v' represents the speed of the non-motor vehicle, and is generally 5.5m/s; kappa' represents a preset multiple determined by the number of non-motor vehicles at the first intersection. For example, as shown in table 7.
TABLE 7
| Quantity of non-motor vehicles | Preset multiple kappa' |
| Below 5 | 1.0 |
| 5～15 | 1.5 |
| 15 or more | 2.0 |
It should be noted that, in the embodiment of the application, the number of non-motor vehicles at each intersection in the accurate intersection can be obtained in real time through the intelligent sensor, the edge computing equipment and the likeThe quantity (such as the number of the non-motor vehicles at the first intersection) so as to ensure that the preset multiple (such as kappa') calculated by the number of the non-motor vehicles is more accurate, and further ensure that the minimum green light duration (such as T) calculated by the preset multiple n ) The vehicle traffic system is more accurate, not only can reach a more accurate target of preferential traffic of vehicles, but also can improve traffic efficiency of the intersections.
Mode four:
if the dynamic traffic information of the first intersection comprises the motor vehicle information of the first intersection, the non-motor vehicle information of the first intersection and the pedestrian information of the first intersection, the minimum green light time of the first intersection determined according to the dynamic traffic information of the first intersection meets the following formula:
T＝max{T l ,T m ,T n }；
wherein T represents the minimum green light duration of the first intersection. It can be understood that T is the maximum value of the minimum green light time length of the first road opening corresponding to the motor vehicle, the minimum green light time length of the first road opening corresponding to the pedestrian, and the minimum green light time length of the first road opening corresponding to the non-motor vehicle.
By combining the above description, the same can be said that the minimum green time length of the second intersection is determined according to the dynamic traffic information of the second intersection, so as to determine the minimum green time length of each intersection in the intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection.
The following embodiments of the present application specifically describe how to determine preferential traffic policy information for a target vehicle according to a plurality of minimum green light durations, a time when the target vehicle is about to reach an intersection, and a plurality of traffic light timing information.
Specifically, the phase holding, green light extension and red light interception of the embodiment of the application are specifically described as follows:
Phase hold: if the current signal phase information is a green light phase and the time when the target vehicle is about to reach the intersection is smaller than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally reaches the intersection is still the green light phase. Therefore, the traffic signal control device does not need to adjust the current signal phase information, i.e. adopts a phase assurance mechanism. Or if the current signal phase information is a red light phase and the time when the target vehicle is about to reach the intersection is longer than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally reaches the intersection is a green light phase. Therefore, the traffic signal control apparatus does not need to adjust the current signal phase information.
And (5) prolonging the green light: if the current signal phase information is a green light phase and the time when the target vehicle is about to reach the intersection is longer than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally reaches the intersection is a red light phase. Therefore, the traffic signal control device needs to perform green light extension control on the current signal phase information, namely, a green light extension mechanism is adopted.
Where green light extension time = time when the target vehicle is about to reach the intersection-remaining display time of the current signal phase information.
Cutting off the red light: if the current signal phase information is a red light phase and the time when the target vehicle is about to reach the intersection is smaller than the remaining display time of the current signal phase information, the phase information of the traffic light when the target vehicle finally reaches the intersection is still the red light phase. Therefore, the traffic signal control apparatus needs to perform red light early-break control on the current signal phase information, that is, to compress green light display times of other passing directions (i.e., other lanes than the lane of the first intersection where the target vehicle is located and all lanes of other intersections than the first intersection).
If the target vehicle is on the i-th lane of the first intersection and the first intersection is a north-south traffic intersection, other passing directions include other lanes except the i-th lane of the north-south traffic intersection and all lanes of the east-west traffic intersection. In addition, when the vehicle queuing length of a certain lane is detected to be longer, the green time corresponding to the lane is not compressed or is less compressed, so that intersection congestion caused by the compressed green time is avoided; when detecting that the number of pedestrians and non-motor vehicles which need to pass at a certain intersection is large, the green light time corresponding to the passing of passers-by and the passing of the non-motor vehicles is less compressed, and the intersection congestion caused by the compressed green light time is avoided.
Wherein, the maximum time length of red light cut-off = sum of green light time lengths of other release directions-sum of minimum green light time lengths of other release directions. In addition, when the right turn lane is always the green light, the right turn lane needs to be excluded from other passing directions, and then the sum of green light durations in other passing directions and the sum of minimum green light durations in other passing directions are calculated, which is not particularly limited.
In summary, the embodiment of the present application determines the priority traffic policy information according to the current signal phase information, the time when the target vehicle is about to reach the intersection, and the remaining display time of the current signal phase information. If the priority traffic strategy information comprises phase maintenance, the traffic signal control equipment maintains a plurality of current traffic light timing information so that the target vehicle passes through the intersection preferentially; or if the priority traffic strategy information comprises green light extension, the traffic signal control equipment determines green light extension time information according to the time when the target vehicle is about to reach the intersection and the residual display time of the current signal phase information, and adjusts a plurality of current traffic light timing information according to the green light extension time information so as to enable the target vehicle to preferentially pass through the intersection; or if the priority traffic policy information comprises red light interception, the traffic signal control equipment determines maximum duration information of the red light interception according to the plurality of current traffic light timing information, and adjusts the plurality of current traffic light timing information according to the maximum duration information of the red light interception so as to enable the target vehicle to pass through the intersection preferentially.
Therefore, in the embodiment of the application, the dynamic traffic information of each intersection is acquired through the intelligent sensors (such as the laser radar and the camera) and the edge computing unit which are arranged at the intersection, and then the minimum green light duration corresponding to each intersection is determined by the road side equipment according to the dynamic traffic information of each intersection. Therefore, when the red light interception strategy is adopted, the maximum red light time for intercepting the prior traffic of the vehicle can be dynamically adjusted according to the actual condition of the intersection, so that the influence of the prior traffic of the target vehicle on other vehicles is reduced to the greatest extent.
S217, the traffic signal control equipment adjusts or maintains a plurality of current traffic light timing information according to the priority traffic strategy information so that the target vehicle passes through the intersection preferentially.
In one possible example, after S217, the method may further include the steps of: the traffic signal control device transmits the second information to the first roadside device through a data frame.
Wherein the second information includes at least one of: the traffic control method comprises the steps of priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light duration of the priority traffic of the target vehicle.
It should be noted that, since the first road side device itself stores the identification information of the target vehicle, the traffic signal control device may only need to send information such as the priority traffic policy information, the direction of the intersection where the target vehicle preferentially passes, the duration of the traffic light where the target vehicle preferentially passes, and the like, that is, the second information, to the first road side device, without sending the identification information of the target vehicle.
Specifically, the frame types of the data frames include a query frame N and a query response frame T; the traffic signal control apparatus transmitting the second information to the first roadside apparatus through data frame transmission may include the steps of: the traffic signal control equipment acquires a query frame N from the first road side equipment, wherein the query frame N is used for requesting the traffic signal control equipment to issue second information; the traffic signal control device sends a query response frame T to the first road side device, and a data field in the query response frame T is used for bearing second information.
It should be noted that, the first road side device may actively send the query frame N to the traffic signal control device in a fixed time interval manner. After the traffic signal control device receives the inquiry frame N, the traffic signal control device may reply an inquiry response frame T carrying the second information to the first road side device, so that the information is transmitted through the data frame to implement vehicle-road cooperative communication.
In one possible example, after S217, the method may further include the steps of: the traffic signal control device transmits the third information to the second roadside device through the data frame.
Wherein the third information includes at least one of: the method comprises the steps of identifying information of a target vehicle, priority traffic strategy information, intersection direction of priority traffic of the target vehicle and traffic light time of priority traffic of the target vehicle.
In contrast to the second information described above, since the second roadside apparatus itself does not store the identification information of the target vehicle, the traffic signal control apparatus needs to transmit information such as the identification information of the target vehicle, the priority traffic policy information, the intersection direction in which the target vehicle preferentially passes, the traffic light duration in which the target vehicle preferentially passes, and the like, i.e., third information, to the second roadside apparatus, and needs to transmit the identification information of the target vehicle to the second roadside apparatus. And then, the second road side equipment broadcasts third information to the first vehicle-mounted equipment, the second vehicle-mounted equipment and the first traffic prompt screen. The purpose of broadcasting the identification information of the target vehicle is: the first vehicle-mounted device and the second vehicle-mounted device can judge whether the vehicle is the target vehicle or not by comparing the acquired identification information of the target vehicle with the identification information of the vehicle.
Specifically, the frame types of the data frames include a query frame P and a query response frame W; the traffic signal control apparatus transmitting the second information to the second roadside apparatus through the data frame transmission may include the steps of: the traffic signal control equipment acquires a query frame P from the second road side equipment, wherein the query frame P is used for requesting the traffic signal control equipment to issue third information; the traffic signal control device sends a query response frame W to the second road side device, and a data field in the query response frame W is used for carrying third information.
It should be noted that, the second road side device may actively send the query frame P to the traffic signal control device in a fixed time interval manner. After the traffic signal control device receives the query frame P, the traffic signal control device may reply to the second road side device with the query response frame W carrying the third information, so that the information is transmitted through the data frame to implement vehicle-road cooperative communication.
S219, the first road side equipment transmits through the data frame to acquire second information from the traffic signal control equipment.
In one possible example, the frame types of the data frames include a query frame N and a query response frame T; the first road side device transmitting through the data frame to acquire the second information from the traffic signal control device may include the steps of: the first road side equipment sends a query frame N to the traffic signal control equipment, wherein the query frame N is used for requesting the traffic signal control equipment to send out second information; the first road side equipment acquires a query response frame T from the traffic signal control equipment, and a data field in the query response frame T is used for bearing second information.
Wherein the second information includes at least one of: the traffic control method comprises the steps of priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light duration of the priority traffic of the target vehicle.
It should be noted that, since the first road side device itself stores the identification information of the target vehicle, the traffic signal control device may only need to send information such as the priority traffic policy information, the direction of the intersection where the target vehicle preferentially passes, the duration of the traffic light where the target vehicle preferentially passes, and the like, that is, the second information, to the first road side device, without sending the identification information of the target vehicle.
In addition, the first road side device can actively send a query frame N to the traffic signal control device in a fixed time interval mode. After the traffic signal control device receives the inquiry frame N, the traffic signal control device may reply an inquiry response frame T carrying the second information to the first road side device, so that the information is transmitted through the data frame to implement vehicle-road cooperative communication.
In one possible example, if the vehicle-road cooperative communication system further includes at least one second vehicle-mounted device and at least one first traffic prompt screen, the second vehicle-mounted device being mounted on the first vehicle, the first traffic prompt screen being mounted on an intersection in the intersection, the method may further include, after S219, the steps of: the first road side equipment broadcasts third information to the first vehicle-mounted equipment, the second vehicle-mounted equipment and the first traffic prompt screen.
Wherein the third information includes at least one of: the method comprises the steps of identifying information of a target vehicle, priority traffic strategy information, intersection direction of priority traffic of the target vehicle and traffic light time of priority traffic of the target vehicle.
When the first road side device obtains the second information, the first road side device may combine the second information and/or the identification information of the target vehicle into third information, and then broadcast the third information to the first vehicle-mounted device, the second vehicle-mounted device and the first traffic prompt screen. The purpose of broadcasting the identification information of the target vehicle is: the first vehicle-mounted device and the second vehicle-mounted device can judge whether the vehicle is the target vehicle or not by comparing the acquired identification information of the target vehicle with the identification information of the vehicle.
In addition, the first road side equipment can communicate with at least one first traffic prompt screen, and information including the intersection direction of the preferential traffic of the target vehicle, the duration of the traffic light of the preferential traffic of the target vehicle and the like is broadcasted to the first traffic prompt screen. Therefore, the first traffic prompt screen can display the direction of the intersection where the target vehicle preferentially passes and the time length of the traffic light where the target vehicle preferentially passes at the intersection so as to inform other vehicles without the preferentially passing function in advance, thereby being beneficial to improving the passing safety of the whole intersection and reducing the influence of the preferentially passing of the target vehicle on other vehicles.
In addition, the first road side device may broadcast information including identification information of the target vehicle (i.e., the target vehicle ID), a direction of the intersection in which the target vehicle preferentially passes, a duration of a traffic light in which the target vehicle preferentially passes, and the like to vehicles (including the target vehicle and at least one first vehicle) at the entire intersection. The vehicles at the whole intersection determine whether the own vehicle is a priority traffic vehicle (i.e. whether the own vehicle is a target vehicle) by matching the target vehicle ID with the vehicle ID of the own vehicle through the vehicle-mounted device.
If the vehicle is a target vehicle, the first vehicle-mounted device displays information such as the intersection direction in which the target vehicle preferentially passes, the traffic light duration in which the target vehicle preferentially passes and the like on the in-vehicle display screen of the target vehicle in a wired or wireless communication mode, so that the safety of a driver passing through the intersection and the riding experience of passengers on the vehicle are improved.
If the vehicle is a target vehicle, the first vehicle-mounted device displays information such as the direction of an intersection where the target vehicle preferentially passes, the duration of a traffic light where the target vehicle preferentially passes and the like on a tail screen of the target vehicle in a wired or wireless communication mode, so that the situation that the rear vehicle runs the red light due to the fact that the target vehicle shields the red and green light of the intersection is avoided, and the safety of other vehicles passing through the intersection is further improved.
It can be seen that in the embodiment of the present application, first, the first road side device obtains the vehicle information of the target vehicle from the first vehicle-mounted device, and determines the time when the target vehicle is about to reach the intersection according to the vehicle information; secondly, the first road side equipment acquires dynamic traffic information of a first intersection and sends the first information to the traffic signal control equipment through a data frame; thirdly, the traffic signal control equipment transmits the first information from the first road side equipment through the data frame, and acquires the dynamic traffic information of the second intersection from the second road side equipment through the data frame; next, the traffic signal control device acquires current traffic light timing information of each intersection in the intersection, and determines preferential traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the plurality of current traffic light timing information; then, the traffic signal control equipment adjusts or maintains a plurality of current traffic light timing information according to the priority traffic strategy information so as to enable the target vehicle to pass through the intersection preferentially; finally, the first road side equipment transmits through the data frame to acquire second information from the traffic signal control equipment. According to the vehicle-road cooperative communication system, dynamic traffic information of each intersection, vehicle information of a target vehicle and time when the target vehicle is about to reach the intersection can be transmitted through the data frame, and priority traffic strategy information of the target vehicle is determined through the first information, the dynamic traffic information of each intersection and the current traffic light timing information to ensure that the target vehicle is in optimal traffic, so that vehicle-road cooperative communication is realized through the data frame transmission information, and the dynamic traffic information of each intersection and the current traffic light timing information are referred to the priority traffic strategy to improve traffic efficiency and traffic safety of the intersection.
The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that in order to achieve the above-described functions, the traffic signal control device and the road side device comprise corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the application can divide the functional units of the traffic signal control device and the road side device according to the method example, for example, each functional unit can be divided corresponding to each function, and two or more functions can be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, but only one logic function is divided, and another division manner may be adopted in actual implementation.
In the case of integrated units, fig. 3 shows a functional unit block diagram of a vehicle-road cooperative communication device. The vehicle-road cooperative communication device 300 is applied to traffic signal control equipment, and specifically includes: a processing unit 320 and a communication unit 330. The processing unit 320 is used for controlling and managing the actions of the traffic signal control device, e.g., the processing unit 320 is used for supporting the traffic signal control device to perform some or all of the steps in fig. 2, as well as other processes for the techniques described herein. The communication unit 330 is used to support communication of the traffic signal control device with other devices. The vehicle-road cooperative communication apparatus 300 may further include a storage unit 310 for storing program codes and data of the vehicle-road cooperative communication apparatus 300.
The processing unit 320 may be a processor or controller, such as a CPU, general-purpose processor, DSP, ASIC, FPGA, transistor logic, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with embodiments of the application. In addition, processing unit 320 may also be a combination that performs computing functions, such as a combination comprising one or more microprocessors, DSPs, and microprocessors. The communication unit 330 may be a communication interface, transceiver circuit, etc. The storage unit 310 may be a memory. When the processing unit 320 is a processor, the communication unit 330 is a communication interface, and the storage unit 310 is a memory, the vehicle-road cooperative communication apparatus 300 according to the embodiment of the present application may be a traffic signal control device shown in fig. 5.
Specifically, the processing unit 320 is configured to perform any step performed by the traffic signal control device in the above-described method embodiment, and when performing data transmission such as sending, the communication unit 330 is optionally invoked to complete the corresponding operation. The following is a detailed description.
The processing unit 320 is configured to: transmitting via a data frame to obtain first information from a first roadside device, the first information including at least one of: dynamic traffic information of a first intersection, vehicle information of a target vehicle and time when the target vehicle is about to reach the intersection; acquiring current traffic light timing information of each intersection in the intersection; determining preferential traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the multiple current traffic light timing information; and adjusting or maintaining a plurality of current traffic light timing information according to the priority traffic strategy information so as to enable the target vehicle to pass through the intersection preferentially.
It should be noted that, the specific implementation of each operation performed by the vehicle-road cooperative communication apparatus 300 may be referred to the corresponding description of the method embodiment shown in fig. 2, which is not repeated herein.
In one possible example, the frame format of the data frame includes at least one of the following fields: a start field, a type field, a control field, a length field, a data field, a check field, and an end field.
In one possible example, a start field is used to indicate a start flag of a data frame; or, the type field is used for indicating the type of the device and the address of the device, the type field is positioned behind the start field, and the length of the type field is 2 bytes; or the control domain is used for indicating the frame type and the information identification ID of the data frame, and the control domain is positioned behind the type domain and has a length of 2 bytes; or, the length field is used for indicating the length of the data field, the length field is positioned behind the control field, and the length of the length field is 2 bytes; alternatively, the data field is located after the length field, the length of the data field being variable; or the check domain is used for indicating the exclusive or result of all data from the type domain to the front of the check domain, the check domain is positioned behind the data domain, and the length of the check domain is 1 byte; or the end domain is used for indicating an end mark of the data frame, the end domain is positioned behind the check domain, and the length of the end domain is 1 byte.
In one possible example, the start domain includes a first start domain having a length of 1 byte and a second start domain having a length of 1 byte; the type field is located between the first start field and the second start field.
In one possible example, the processing unit 320 is specifically configured to, in determining the priority traffic policy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection, and the plurality of current traffic light timing information: under the condition that the passenger carrying rate of a target vehicle in the vehicle information is larger than a preset threshold value, determining the minimum green light duration of each intersection in the intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection; and determining the prior traffic strategy information aiming at the target vehicle according to the plurality of minimum green light time lengths, the time when the target vehicle is about to reach the intersection and the plurality of current traffic light timing information.
In one possible example, the frame types of the data frames include a query frame L and a query response frame R; in terms of transmission over a data frame to obtain first information from a first roadside device, the processing unit 320 is specifically configured to: sending a query frame L to the first road side equipment, wherein the query frame L is used for requesting the first road side equipment to issue first information; and receiving a query response frame R from the first road side equipment, wherein a data field in the query response frame R is used for bearing the first information.
In one possible example, the frame types of the data frames include a query frame M and a query response frame S; in terms of transmitting via data frames to obtain dynamic traffic information from a second intersection of a second roadside device, the processing unit 320 is specifically configured to: the query frame M is sent to the second road side equipment and is used for requesting the second road side equipment to issue dynamic traffic information of the second intersection; and receiving the query response frame S from the second road side equipment, wherein the data field in the query response frame S is used for bearing the dynamic traffic information of the second intersection.
In one possible example, the frame types of the data frames include a query frame N and a query response frame T; after said adjusting or maintaining a plurality of said current traffic light timing information in accordance with said priority traffic policy information to cause said target vehicle to preferentially pass said intersection, the processing unit 320 is further configured to: acquiring the query frame N from the first road side device, where the query frame N is used to request the traffic signal control device to issue second information, and the second information includes at least one of the following: the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light time length of the priority traffic of the target vehicle; and sending the query response frame T to the first road side equipment, wherein a data field in the query response frame T is used for bearing the second information.
In one possible example, the frame types of the data frames include a query frame P and a query response frame W; after said adjusting or maintaining a plurality of said current traffic light timing information in accordance with said priority traffic policy information to cause said target vehicle to preferentially pass said intersection, the processing unit 320 is further configured to: acquiring the query frame P from the second road side device, where the query frame P is used to request the traffic signal control device to issue third information, and the third information includes at least one of the following: the identification information of the target vehicle, the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light duration of the priority traffic of the target vehicle; and sending the query response frame W to the second road side equipment, wherein a data field in the query response frame W is used for bearing the third information.
In the case of an integrated unit, fig. 4 provides a block diagram of the functional units of yet another vehicle-road cooperative communication apparatus. The vehicle-road cooperative communication apparatus 400 includes a processing unit 420 and a communication unit 430. The processing unit 420 is configured to control and manage the actions of the first roadside device, for example, the processing unit 420 is configured to support the first roadside device to perform the steps in fig. 2 and other processes for the technical solutions described in the present application. The communication unit 430 is configured to support communication between the first roadside device and other devices. The vehicle-road cooperative communication apparatus 400 may further include a storage unit 410 for storing program codes executed by the vehicle-road cooperative communication apparatus 400 and the transmitted data.
The processing unit 420 may be a processor or controller, for example, CPU, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various exemplary logical blocks, modules, and circuits described in connection with the present disclosure. The processing unit 420 may also be a combination that performs computing functions, e.g., including one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like. The communication unit 430 may be a communication interface, a transceiver, a transceiving circuit, etc., and the storage unit 410 may be a memory. When the processing unit 420 is a processor, the communication unit 430 is a communication interface, and the storage unit 410 is a memory, the vehicle-road cooperative communication apparatus 400 according to the embodiment of the present application may be a first road side device shown in fig. 6.
In particular, the processing unit 420 is configured to perform any of the steps performed by the first roadside device in the above-described method embodiment, and when performing data transmission such as sending, the communication unit 430 is optionally invoked to complete the corresponding operation. The following is a detailed description.
The processing unit 420 is configured to: acquiring vehicle information of a target vehicle from first vehicle-mounted equipment, and determining the time when the target vehicle is about to reach the intersection according to the vehicle information; acquiring dynamic traffic information of a first road junction; transmitting, by the data frame transmission, first information to the traffic signal control device, the first information including at least one of: dynamic traffic information, vehicle information and time when a target vehicle is about to reach an intersection at a first intersection; transmitting through the data frame to obtain second information from the traffic signal control device, the second information including at least one of: the method comprises the steps of aiming at the prior traffic strategy information of the target vehicle, the direction of the intersection where the target vehicle is preferentially passed and the time length of the traffic light where the target vehicle is preferentially passed, wherein the prior traffic strategy information is used for adjusting or maintaining the current traffic light timing information of each intersection in the intersection so that the target vehicle preferentially passes through the intersection.
It should be noted that, the specific implementation of each operation performed by the vehicle-road cooperative communication apparatus 400 may be referred to the corresponding description of the method embodiment shown in fig. 2, which is not repeated herein.
In one possible example, the frame format of the data frame includes at least one of the following fields: a start field, a type field, a control field, a length field, a data field, a check field, and an end field.
In one possible example, the start field is used to indicate a start flag of the data frame; or the type field is used for indicating the type of the device and the address of the device, the type field is positioned behind the starting field, and the length of the type field is 2 bytes; or the control domain is used for indicating the frame type and the information identification ID of the data frame, the control domain is positioned behind the type domain, and the length of the control domain is 2 bytes; or, the length field is used to indicate the length of the data field, the length field is located after the control field, and the length of the length field is 2 bytes; alternatively, the data field is located after the length field, and the length of the data field is variable; or, the check field is used for indicating the exclusive or result of all data from the type field to the front of the check field, the check field is located behind the data field, and the length of the check field is 1 byte; or the end field is used for indicating an end mark of the data frame, the end field is located after the check field, and the length of the end field is 1 byte.
In one possible example, the start field includes a first start field having a length of 1 byte and a second start field having a length of 1 byte; the type field is located between the first start field and the second start field.
In one possible example, the frame types of the data frames include a query frame L and a query response frame R; in terms of transmitting via data frames to send first information to the traffic signal control device, the processing unit 420 is specifically configured to: acquiring the query frame L from the traffic signal control equipment, wherein the query frame L is used for requesting the first road side equipment to issue the first information; and sending the inquiry response frame R to the traffic signal control equipment, wherein a data field in the inquiry response frame R is used for bearing the first information.
In one possible example, the frame types of the data frames include a query frame N and a query response frame T; in terms of the transmission of the data frame to obtain the second information from the traffic signal control device, the processing unit 420 is specifically configured to: the inquiry frame N is sent to the traffic signal control equipment and is used for requesting the traffic signal control equipment to send the second information; and acquiring a query response frame T from the traffic signal control equipment, wherein a data field in the query response frame T is used for bearing the second information.
In one possible example, the vehicle-road cooperative communication system further includes at least one second vehicle-mounted device mounted on a first vehicle and at least one first traffic-prompting screen mounted on an intersection in the intersection; the vehicle information includes identification information of the target vehicle; after said transmitting over said data frame to obtain second information from said traffic signal control device, the processing unit 420 is further configured to: broadcasting third information to the first vehicle-mounted device, the second vehicle-mounted device and the first traffic prompt screen, wherein the third information comprises at least one of the following: the identification information of the target vehicle, the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light time length of the priority traffic of the target vehicle.
The following describes a schematic structural diagram of a traffic signal control device according to an embodiment of the present application, as shown in fig. 5. The traffic signal control apparatus 500 includes a processor 510, a memory 520, a communication interface 530, and at least one communication bus for connecting the processor 510, the memory 520, and the communication interface 530.
Processor 510 may be one or more central processing units, CPUs. In the case where the processor 510 is a CPU, the CPU may be a single core CPU or a multi-core CPU. Memory 520 includes, but is not limited to, random access Memory (Random Access Memory, RAM), read-Only Memory (ROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), or portable Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), and Memory 520 is used to store related instructions and data. The communication interface 530 is used to receive and transmit data.
The processor 510 in the traffic signal control device 500 is configured to read one or more programs 521 stored in the memory 520 for performing the steps of: transmitting via a data frame to obtain first information from a first roadside device, the first information including at least one of: dynamic traffic information of a first intersection, vehicle information of a target vehicle and time when the target vehicle is about to reach the intersection; transmitting the data frame to acquire dynamic traffic information of a second intersection from the second road side equipment; acquiring current traffic light timing information of each intersection in the intersection; determining preferential traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the multiple current traffic light timing information; and adjusting or maintaining a plurality of current traffic light timing information according to the priority traffic strategy information so as to enable the target vehicle to pass through the intersection preferentially.
It should be noted that, the specific implementation of each operation performed by the traffic signal control apparatus 500 may be referred to the corresponding description of the method embodiment shown in fig. 2, which is not repeated herein.
The following describes a schematic structural diagram of a first roadside device according to an embodiment of the present application, as shown in fig. 6. The first roadside device 600 includes a processor 610, a memory 620, a communication interface 630, and at least one communication bus for connecting the processor 610, the memory 620, the communication interface 630.
The processor 610 may be one or more Central Processing Units (CPUs). In the case where the processor 610 is a CPU, the CPU may be a single core CPU or a multi-core CPU. Memory 620 includes, but is not limited to, random access Memory (Random Access Memory, RAM), read-Only Memory (ROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), or portable Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), and Memory 620 is used to store relevant instructions and data. The communication interface 630 is used to receive and transmit data.
The processor 610 in the first roadside device 600 is configured to read one or more programs 621 stored in the memory 620 for performing the steps of: acquiring vehicle information of a target vehicle from first vehicle-mounted equipment, and determining the time when the target vehicle is about to reach the intersection according to the vehicle information; acquiring dynamic traffic information of a first road junction; transmitting, by the data frame transmission, first information to the traffic signal control device, the first information including at least one of: dynamic traffic information, vehicle information and time when a target vehicle is about to reach an intersection at a first intersection; transmitting through the data frame to obtain second information from the traffic signal control device, the second information including at least one of: the method comprises the steps of aiming at the prior traffic strategy information of the target vehicle, the direction of the intersection where the target vehicle is preferentially passed and the time length of the traffic light where the target vehicle is preferentially passed, wherein the prior traffic strategy information is used for adjusting or maintaining the current traffic light timing information of each intersection in the intersection so that the target vehicle preferentially passes through the intersection.
It should be noted that, for a specific implementation of each operation performed by the first roadside apparatus 600, reference may be made to the corresponding description of the method embodiment shown in fig. 2, which is not repeated herein.
The present application also provides a computer-readable storage medium storing a computer program for electronic data exchange, the computer program being operable to cause a computer to perform part or all of the steps of any one of the methods described in the method embodiments above.
Embodiments of the present application also provide a computer program product, wherein the computer program product comprises a computer program operable to cause a computer to perform part or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package.
For the purposes of simplicity of explanation, the various method embodiments described above are depicted as a series of acts in combination. It will be appreciated by persons skilled in the art that the application is not limited by the order of acts described, as some steps in embodiments of the application may be performed in other orders or concurrently. Moreover, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts and modules referred to are not necessarily required in the present embodiments.
In the foregoing embodiments, the present application has been described with particular emphasis on each embodiment, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
In several embodiments provided by the present application, it should be appreciated by those skilled in the art that the described apparatus may be implemented in other ways. It will be appreciated that the above described apparatus embodiments are merely illustrative. For example, the above-described division of units is only one logical function division, and there may be another division manner in practice. That is, multiple units or components may be combined or integrated into another piece of software, and some features may be omitted or not performed. Further, the illustrated or discussed coupling, direct coupling, or communication connection may be through some interface, device, or unit, or may be in electrical or other form.
The above units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. It will be appreciated that the technical solution of the application, which contributes to the prior art or all or part of the technical solution, may be embodied in the form of a computer software product. The computer software product is stored in a memory and includes instructions for causing a computer device (personal computer, server, network device, etc.) to perform all or part of the steps of an embodiment of the application. The computer-readable storage medium may be stored in various memories such as a usb disk, a ROM, a RAM, a removable hard disk, a magnetic disk, and an optical disk.
While the embodiments of the present application have been described in detail, those skilled in the art should appreciate that the embodiments of the present application are merely for aiding in understanding the core concept of the technical solution of the present application, and thus the embodiments of the present application may vary in specific implementation and application scope. The description herein should not be construed as limiting the scope of the application. In addition, on the basis of the technical scheme of the embodiment of the application, any modification, equivalent replacement, improvement and the like which are arbitrarily made are included in the protection scope of the embodiment of the application.
Claims (16)
1. A vehicle-road cooperative communication method is characterized by being applied to traffic signal control equipment in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the method comprises the following steps:
Transmitting a query frame L in a frame type of a data frame to the first road side device, where the query frame L is used to request the first road side device to issue first information, and the first information includes at least one of the following: dynamic traffic information of the first intersection, vehicle information of the target vehicle, and time when the target vehicle is about to reach the intersection;
receiving a query response frame R in a frame type of the data frame from the first road side equipment, wherein a data field in the query response frame R is used for bearing the first information;
transmitting a query frame M in the frame type of the data frame to the second road side equipment, wherein the query frame M is used for requesting the second road side equipment to issue dynamic traffic information of the second intersection;
receiving a query response frame S in the frame type of the data frame from the second road side equipment, wherein a data field in the query response frame S is used for bearing dynamic traffic information of the second road junction; acquiring current traffic light timing information of each intersection in the intersection;
determining priority traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the current traffic light timing information;
And adjusting or maintaining a plurality of current traffic light timing information according to the priority traffic strategy information so that the target vehicle passes through the intersection preferentially.
2. The method of claim 1, wherein the frame format of the data frame comprises at least one of the following fields: a start field, a type field, a control field, a length field, a data field, a check field, and an end field.
3. The method of claim 2, wherein the start field is used to indicate a start flag of the data frame; or,
the type field is used for indicating the type of the device and the address of the device, the type field is positioned behind the starting field, and the length of the type field is 2 bytes; or,
the control domain is used for indicating the frame type and the information identification ID of the data frame, the control domain is positioned behind the type domain, and the length of the control domain is 2 bytes; or,
the length field is used for indicating the length of the data field, the length field is positioned behind the control field, and the length of the length field is 2 bytes; or,
the data field is located after the length field, and the length of the data field is variable; or,
The check field is used for indicating exclusive OR results of all data from the type field to the front of the check field, the check field is positioned behind the data field, and the length of the check field is 1 byte; or,
the end field is used for indicating an end mark of the data frame, the end field is located after the check field, and the length of the end field is 1 byte.
4. The method of claim 2, wherein the start field comprises a first start field and a second start field, the first start field being 1 byte in length and the second start field being 1 byte in length;
the type field is located between the first start field and the second start field.
5. The method of any of claims 1-4, wherein the determining the priority traffic policy information for the target vehicle based on the first information, the dynamic traffic information for the second intersection, and the plurality of current traffic light timing information comprises:
determining the minimum green light duration of each intersection in the intersection according to the dynamic traffic information of the first intersection and the dynamic traffic information of the second intersection under the condition that the passenger carrying rate of the target vehicle in the vehicle information is larger than a preset threshold value;
And determining the prior traffic strategy information aiming at the target vehicle according to the minimum green light duration, the time when the target vehicle is about to reach the intersection and the current traffic light timing information.
6. The method according to any one of claims 1-4, wherein the frame types of the data frames include a query frame N and a query response frame T;
after said adjusting or maintaining a plurality of said current traffic light timing information in accordance with said priority traffic policy information to cause said target vehicle to preferentially pass said intersection, said method further comprises:
acquiring the query frame N from the first road side device, where the query frame N is used to request the traffic signal control device to issue second information, and the second information includes at least one of the following: the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light time length of the priority traffic of the target vehicle;
and sending the query response frame T to the first road side equipment, wherein a data field in the query response frame T is used for bearing the second information.
7. The method according to any one of claims 1-4, wherein the frame types of the data frames include a query frame P and a query response frame W;
After said adjusting or maintaining a plurality of said current traffic light timing information in accordance with said priority traffic policy information to cause said target vehicle to preferentially pass said intersection, said method further comprises:
acquiring the query frame P from the second road side device, where the query frame P is used to request the traffic signal control device to issue third information, and the third information includes at least one of the following: the identification information of the target vehicle, the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light duration of the priority traffic of the target vehicle;
and sending the query response frame W to the second road side equipment, wherein a data field in the query response frame W is used for bearing the third information.
8. The vehicle-road cooperative communication method is characterized by being applied to first road side equipment in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises the first road side equipment, at least one second road side equipment, traffic signal control equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the method comprises the following steps:
Acquiring vehicle information of the target vehicle from the first vehicle-mounted device, and determining the time when the target vehicle is about to reach the intersection according to the vehicle information;
acquiring dynamic traffic information of the first intersection;
acquiring an inquiry frame L in a frame type of a data frame from the traffic signal control equipment, wherein the inquiry frame L is used for requesting the first road side equipment to issue first information, and the first information comprises at least one of the following: the dynamic traffic information of the first intersection, the vehicle information, and the time when the target vehicle is about to reach the intersection;
transmitting a query response frame R in the frame type of the data frame to the traffic signal control equipment, wherein a data field in the query response frame R is used for bearing the first information;
transmitting an inquiry frame N in the frame type of the data frame to the traffic signal control equipment, wherein the inquiry frame N is used for requesting the traffic signal control equipment to issue second information, and the second information comprises at least one of the following: aiming at the prior traffic strategy information of the target vehicle, the intersection direction of the prior traffic of the target vehicle and the traffic light time length of the prior traffic of the target vehicle, the prior traffic strategy information is used for adjusting or maintaining the current traffic light timing information of each intersection in the intersection so that the target vehicle passes through the intersection preferentially;
And acquiring a query response frame T in the frame type of the data frame from the traffic signal control equipment, wherein a data field in the query response frame T is used for bearing the second information.
9. The method of claim 8, wherein the frame format of the data frame comprises at least one of: a start field, a type field, a control field, a length field, a data field, a check field, and an end field.
10. The method of claim 9, wherein the start field is used to indicate a start flag of the data frame; or,
the type field is used for indicating the type of the device and the address of the device, the type field is positioned behind the starting field, and the length of the type field is 2 bytes; or,
the control domain is used for indicating the frame type and the information identification ID of the data frame, the control domain is positioned behind the type domain, and the length of the control domain is 2 bytes; or,
the length field is used for indicating the length of the data field, the length field is positioned behind the control field, and the length of the length field is 2 bytes; or,
the data field is located after the length field, and the length of the data field is variable; or,
The check field is used for indicating exclusive OR results of all data from the type field to the front of the check field, the check field is positioned behind the data field, and the length of the check field is 1 byte; or,
the end field is used for indicating an end mark of the data frame, the end field is located after the check field, and the length of the end field is 1 byte.
11. The method of claim 9, wherein the start field comprises a first start field and a second start field, the first start field being 1 byte in length and the second start field being 1 byte in length;
the type field is located between the first start field and the second start field.
12. The method of any of claims 8-11, wherein the vehicular cooperative communication system further comprises at least one second onboard device mounted on a first vehicle and at least one first traffic-prompting screen mounted on an intersection in the intersection; the vehicle information includes identification information of the target vehicle;
after the transmitting by the data frame to obtain the second information from the traffic signal control device, the method further includes:
Broadcasting third information to the first vehicle-mounted device, the second vehicle-mounted device and the first traffic prompt screen, wherein the third information comprises at least one of the following: the identification information of the target vehicle, the priority traffic strategy information, the intersection direction of the priority traffic of the target vehicle and the traffic light time length of the priority traffic of the target vehicle.
13. The vehicle-road cooperative communication device is characterized by being applied to traffic signal control equipment in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises traffic signal control equipment, first road side equipment, at least one second road side equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the device comprises a processing unit and a communication unit, wherein the processing unit is used for:
transmitting, by the communication unit, a query frame L in a frame type of a data frame to the first roadside device, where the query frame L is used to request the first roadside device to issue first information, and the first information includes at least one of the following: dynamic traffic information of the first intersection, vehicle information of the target vehicle, and time when the target vehicle is about to reach the intersection;
Receiving, by the communication unit, a query response frame R in a frame type of the data frame from the first roadside device, where a data field in the query response frame R is used to carry the first information;
transmitting a query frame M in the frame type of the data frame to the second road side equipment through the communication unit, wherein the query frame M is used for requesting the second road side equipment to issue dynamic traffic information of the second intersection;
receiving, by the communication unit, a query response frame S in a frame type of the data frame from the second road side device, where a data field in the query response frame S is used to carry dynamic traffic information of the second intersection; acquiring current traffic light timing information of each intersection in the intersection;
determining priority traffic strategy information for the target vehicle according to the first information, the dynamic traffic information of the second intersection and the current traffic light timing information;
and adjusting or maintaining a plurality of current traffic light timing information according to the priority traffic strategy information so that the target vehicle passes through the intersection preferentially.
14. The vehicle-road cooperative communication device is characterized by being applied to first road side equipment in a vehicle-road cooperative communication system; the vehicle-road cooperative communication system comprises the first road side equipment, at least one second road side equipment, traffic signal control equipment and first vehicle-mounted equipment, wherein the traffic signal control equipment is installed at an intersection, the first vehicle-mounted equipment is installed on a target vehicle, the first road side equipment is installed at a first intersection in the intersection, the second road side equipment is installed at a second intersection in the intersection, and the first intersection is an intersection through which the target vehicle currently passes; the device comprises a processing unit and a communication unit, wherein the processing unit is used for:
Acquiring vehicle information of the target vehicle from the first vehicle-mounted device through the communication unit, and determining a time when the target vehicle is about to reach the intersection according to the vehicle information;
acquiring dynamic traffic information of the first intersection through the communication unit;
acquiring, by the communication unit, a query frame L in a frame type of a data frame from the traffic signal control device, where the query frame L is used to request the first roadside device to issue first information, and the first information includes at least one of the following: the dynamic traffic information of the first intersection, the vehicle information, and the time when the target vehicle is about to reach the intersection;
transmitting a query response frame R in the frame type of the data frame to the traffic signal control equipment through the communication unit, wherein a data field in the query response frame R is used for bearing the first information;
transmitting, by the communication unit, a query frame N of the frame types of the data frames to the traffic signal control device, where the query frame N is used to request the traffic signal control device to issue second information, and the second information includes at least one of the following: aiming at the prior traffic strategy information of the target vehicle, the intersection direction of the prior traffic of the target vehicle and the traffic light time length of the prior traffic of the target vehicle, the prior traffic strategy information is used for adjusting or maintaining the current traffic light timing information of each intersection in the intersection so that the target vehicle passes through the intersection preferentially;
And acquiring a query response frame T in the frame type of the data frame from the traffic signal control equipment, wherein a data field in the query response frame T is used for bearing the second information.
15. A traffic signal control apparatus comprising a processor, a memory and a communication interface, the memory storing one or more programs and the one or more programs being executed by the processor, the one or more programs comprising instructions for performing the steps in the method of any of claims 1-7.
16. A roadside device, characterized in that it is a first roadside device comprising a processor, a memory and a communication interface, the memory storing one or more programs and the one or more programs being executed by the processor, the one or more programs comprising instructions for performing the steps in the method of any of claims 8-12.
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